Calibration and design of automated diagnostic analyzers

Abstract

An analytical device that analyzes biological samples prepared by a pre-analytical system and a method of operating an analytical device that receives biological samples for processing. The analytical device is automated and has a housing in which biological samples are processed for analysis. The analytical device has an inventory control system for consumables used in the analytical device. The consumables are stored above and below a processing deck in the analytical device. The inventory control system can include racks for selectively storing consumables below the deck, machine readable labels on the processing deck for managing the consumables thereon, and a support plate for the sample processing plate that manages waste from the processing plate. The analytical device includes an inventory robot disposed in the housing that includes an inventory scanner and an end effector configured to handle various consumables and used for calibration.

Description

[Technical field]

[0001] The present technology relates to a system and method for automatically preparing biological samples for testing. In some implementations, the system may include advantageous features for calibrating one or more robots. In some implementations, the system may include advantageous features for managing consumables.

[0002] [CROSS REFERENCE TO RELATED APPLICATIONS] This application claims priority from U.S. Provisional Patent Application Nos. 63 / 271,332 and 63 / 271,475, filed October 25, 2021, both of which are incorporated herein by reference. This application is also related to U.S. Patent Application No. 16 / 088,531, filed September 26, 2018, which is a national stage entry under 35 U.S.C. 371 of International Application No. PCT / US2017 / 018346, published in English, filed February 17, 2017, which claims priority from U.S. Provisional Patent Application No. 62 / 326,259, filed April 22, 2016, both of which are incorporated herein by reference.

[0003] Diagnostic testing of biological samples is beneficial in the medical industry's efforts to rapidly and effectively diagnose and treat disease. Clinical laboratories performing such diagnostic tests already receive hundreds or even thousands of samples daily, with ever-increasing demand. The challenge of managing such large volumes of samples has been assisted by the automation of sample analysis. Automated sample analysis is typically performed by automated analyzers, which are generally self-contained systems that perform a multi-step process on the biological sample to obtain a diagnostic result.

[0004] Some current automated clinical analyzers provide the user with a set of automated tests or assays that can be performed on a provided sample. In addition, when a sample arrives at the laboratory, it is often not ready for analysis. To prepare a sample for testing on an automated analyzer, a laboratory technician typically transfers an aliquot of the sample from the primary container in which it was received by the laboratory to a secondary container appropriate for the analyzer. In addition, the technician must typically know what test should be performed on the sample so that he or she can select a test-specific reagent or diluent to pair with the sample. This can be time consuming and can lead to operator error and exposure to communicable diseases.

[0005] There are also pre-analytical systems that aid in preparing samples for analysis and are intended to remove the operator from the workflow between receipt of the sample in the laboratory and the test result on the analytical device. However, many of these systems still require significant technician involvement before the sample is loaded into the pre-analytical system, after the sample has been prepared by the pre-analytical system, and after the analytical device has completed its analysis.

[0006] For example, some pre-analytical systems can automatically transfer an aliquot of a sample from a primary container to a secondary container. However, such systems often require a technician to manually match the identification codes of the first and second containers before loading them into the system, which can be time consuming and prone to error.

[0007] In addition, many of these systems cannot be integrated with one or more analytical devices, and vice versa. In this regard, a technician must be present to manually transfer samples from the pre-analytical system to the analytical device, and from the analytical device to a storage location once the analysis is complete. This requires skilled labor to perform unskilled tasks and can be distracting in that the technician must keep an eye on the progression of samples in the pre-analytical systems and analytical device, and be prepared to transfer samples when they are ready, in order to minimize downtime.

[0008] Additionally, current pre-analytical systems typically prepare samples at a different rate than the analyzer evaluates the samples, further complicating the integration between the pre-analytical system and the analyzer. In this regard, a technician may need to continually track samples prepared by the pre-analytical system until an entire batch of samples has been accumulated for manual transfer to the analyzer. Alternatively, the technician may transfer only a partial batch to the analyzer, which may reduce the productivity of the analyzer.

[0009] Thus, while current automated pre-analytical systems and analytical devices are beneficial to clinical laboratories, there is room for better integration and automation of the various systems. Summary of the Invention

[0010] The present disclosure describes devices, systems, and methods for sample processing and analysis. In particular, an analytical device included in a high throughput system is described. In one embodiment, the high throughput system can also include a second analytical device and a pre-analytical system integrated with both the first and second analytical devices. These components (i.e., the analytical devices and the pre-analytical system) are modular and can be integrated in several different configurations to suit the diagnostic needs of a particular laboratory.

[0011] Certain analytical devices described herein generally have multiple decks or levels in a vertical arrangement. One deck can store consumables for various assays and can accommodate consumable waste, including liquid waste. In one embodiment, enough consumables can be stored within the analytical device to allow the analytical device to operate for an extended period of time (e.g., 24 hours or more) without reloading the system. As a result, the device only needs to be loaded with consumables and emptied of waste once in a 24-hour cycle. The deck can also include a detector to detect an analyte, e.g., a DNA target.

[0012] In some implementations, the system may include features that are advantageous for calibrating one or more robots. For example, a robot is disclosed that includes two or more downwardly extending posts. A method for calibrating the robot may include lowering each post into a corresponding cutout or notch and then moving each post toward or away from each other until each post contacts a corner of each corresponding cutout or notch. The positions of one or more components of the robot may then be stored in memory and used as a reference point for future movements of the robot.

[0013] In some implementations, the system can include advantageous features for managing consumables. For example, the system can include a consumable reservoir coupled to a housing by one or more drawer slides. When the consumable reservoir is pulled out of the housing and pushed into the housing, a stopper can alternate between two positions. In one position, the stopper can prevent a door of the housing from being closed, which can prevent a user from damaging the door and / or the consumable reservoir. In the other position, the stopper can assist in pushing the consumable reservoir into the housing.

[0014] One aspect of the disclosure relates to an automated analyzer having a housing with a robotic arm disposed therein adapted to move a consumable within the housing. The robotic arm has an end effector carrying an article. The end effector comprises a body rotatably connected to an articulated arm, the body comprising a pair of connecting members. The end effector has a first finger and a second finger coupled to the connecting member of the body. Each of the first finger and the second finger extends between a first end and a second end, each of the first finger and the second finger having an offset formed and located at the second end. The offset has a first deflection surface. The robotic arm also has a wedge comprising a deflection side and a protrusion formed and protruding from the deflection side. The deflection side and the protrusion are configured to engage and attach to the offset of the finger to connect the finger to the body of the end effector. Optionally, the deflection wedge surface is complementary to the surface of the deflection offset to which it is joined.

[0015] Optionally, the wedge and offset are secured to one another. In one embodiment, the wedge and offset have complementary openings therein that align when the wedge and offset are secured to one another. Optionally, the wedge and offset have complementary openings therein that align when the wedge and offset are secured to one another. In one embodiment, the wedge further comprises a protrusion that is received by the protrusion opening in the offset when the wedge and offset are engaged. In a further embodiment, a screw is received in each of the complementary openings to secure the wedge to the offset.

[0016] Also described herein is an automated analyzer having a housing. An inventory robot is disposed within the housing. Optionally, the inventory robot has a scanner. The housing also optionally includes a processing deck disposed therein. The processing deck includes at least one processing module having a first location for receiving dry reagent consumables, a second location for receiving liquid reagent consumables, a third location for receiving processing plate consumables, a fourth location for receiving amplification cartridge consumables, and a plurality of machine-readable labels disposed at each of the first, second, third, and fourth locations for scanning and reading by the scanner of the inventory robot to detect the presence of consumables on the processing module to control the inventory of the processing deck.

[0017] The processing deck can have an opening below which the magnetic extractor is disposed, and the automated analyzer further comprises a processing plate support assembly disposed in the opening above the magnetic extractor. A machine-readable label can be disposed at each of the first location, the second location, the third location, or the fourth location. In one embodiment, the machine-readable label can be disposed at a fifth location, the fifth location being between the fourth location and the opening below which the magnetic extractor is disposed. The machine-readable label disposed at the fifth location can be covered by the processing plate support assembly when the processing plate support assembly is disposed over the opening.

[0018] The processing plate support assembly can have a cutout configured to receive a structure extending from a bottom of the processing plate consumable, the structure comprising a plurality of extraction tubes, a mixing well, and a pipette tip holding station. The processing plate support assembly can have at least two tapered cutouts on a surface thereof. The tapered cutouts can be configured to receive an engagement feature from an end effector. The processing plate support assembly can have at least one machine readable label disposed on a top surface thereof, the processing plate consumable can be disposed over the machine readable label when the processing plate consumable is present on the processing plate support assembly.

[0019] Also described herein is an automated analyzer having a housing and a consumables reservoir disposed within the housing, the consumables reservoir having a base, a plurality of columns extending upwardly from the base, and a plurality of support structures connected to the plurality of columns. Each of the plurality of support structures is disposed within a compartment for receiving one of at least two types of consumables therein. In one embodiment, the two types of consumables can be a dry reagent plate and a liquid reagent plate. Each support structure can have a first arm and a second arm, each of the first arm and the second arm extending between a first end and a second end. Optionally, each of the first arm and the second arm can include a tab at the second end of each arm to hold the reagent plate within the compartment.

[0020] The consumable storage can be positioned below the processing deck. One of the first arm and the second arm can have a flange that is received in a complementary groove on the consumable when the consumable is properly placed in the compartment. The flange can have a first size and is disposed in the compartment that receives the first type of consumable, and the flange can have a second size and is disposed in the compartment that receives the second type of consumable, each compartment configured to receive only one type of consumable. The compartment that receives the first type of consumable can have a flat surface on which the consumable is supported, and the compartment that receives the second type of consumable has a flange that supports a skirt of the second type of consumable. The compartment that receives the first type of consumable includes an offset that receives a portion of a frame of the first type of consumable.

[0021] Another aspect of the disclosure relates to a system including a robot including an end effector having two or more downwardly extending posts, a notch or cutout for each post, and one or more processors. A cross-sectional area of ​​each notch or cutout can be greater than a cross-sectional area of ​​each corresponding post, and each notch or cutout can include at least one corner. The one or more processors can be configured to calibrate the robot, at least in part, by controlling the robot to position each post of the end effector over a corresponding notch or cutout, controlling the robot to lower the end effector until each post extends at least partially through a corresponding notch or cutout, controlling the robot to move each post toward or away from each other until each post contacts at least one corner of each corresponding notch or cutout, and storing a position of the end effector in a memory while each post contacts at least one corner of each corresponding notch or cutout.

[0022] In some implementations, each cutout or notch is positioned by a location where the robot is configured to retrieve or place one or more consumables. In some implementations, each cutout or notch is provided in a teaching tool. In some implementations, at least one cutout or notch is triangular, heart-shaped, or teardrop-shaped.

[0023] In some implementations, the end effector further comprises two or more fingers, each finger having at least one of the two or more posts. In some implementations, the one or more processors are further configured to calibrate the robot, at least in part, by storing in the memory a position of each finger while each post is in contact with at least one corner of each corresponding cutout or notch. In some implementations, each post is removably coupled to a corresponding finger of the end effector.

[0024] In some implementations, each post is coupled to a teaching tool held by an end effector of the robot. In some implementations, at least one post includes an engagement feature sized to engage a corresponding notch in the consumable.

[0025] In some implementations, the edges on either side of the at least one corner of the at least one cutout are straight. In some implementations, the edges on either side of the at least one corner of the at least one cutout are curved. In some implementations, the angle between the edges on either side of the at least one corner of the at least one cutout is between 85 degrees and 95 degrees.

[0026] Yet another aspect of the disclosure relates to a method of calibrating a robot with an end effector having two or more downwardly extending posts, the method including controlling the robot to position each post over a corresponding notch or notch, where a cross-sectional area of ​​each notch or notch is greater than a cross-sectional area of ​​each corresponding post and where each notch or notch includes at least one corner, controlling the robot to lower the end effector until each post extends at least partially through the corresponding notch or notch, controlling the robot to move each post toward or away from each other until each post contacts at least one corner of each corresponding notch or notch, and storing the position of the end effector in a memory while each post contacts at least one corner of each corresponding notch or notch.

[0027] Yet another aspect of the disclosure relates to a system including a housing, a consumable storage, one or more drawer slides, a track, and a stopper. The housing can include a side wall and a door, the door hinged to the side wall of the housing. The consumable storage can include a side plate and one or more storage compartments extending from the side plate. The one or more drawer slides can couple the side plate of the consumable storage to the side wall of the housing such that the consumable storage can be pulled out of the housing or pushed into the housing while the door is open. The track can couple to the side plate of the consumable storage and include an angled portion. The stopper can be hinged to the side wall of the housing. The stopper can also be coupled to a bearing configured to slide along the track when the consumable storage is pulled out of the housing or pushed into the housing. The stopper can be movable between a first position that prevents the door from closing when the bearing slides along the track and a second position that allows the door to close.

[0028] In some implementations, the stopper moves to a first position when the consumable reservoir is pulled out of the housing, and the stopper moves to a second position when the consumable reservoir is pushed into the housing. In some implementations, the bearing contacts an inclined portion of the track while the stopper is in the second position. In some implementations, the track also includes a horizontal portion, and the bearing contacts the horizontal portion while the stopper is in the first position.

[0029] In some implementations, the stopper is a member of a hinge coupled to a sidewall of the housing. In some implementations, the system can further include a hinge coupled to a sidewall of the housing, the stopper being coupled to the member of the hinge by a bearing. In some implementations, the system can further include a torsion spring disposed within the hinge, the torsion spring providing a downward force to the bearing as it slides along the track. [Brief description of the drawings]

[0030] [Figure 1] FIG. 1 is a front perspective view of a high throughput diagnostic system according to one embodiment of the present disclosure. [Diagram 2] FIG. 2 is a front partial perspective view of a first analytical device of the system of FIG. 1 without its outer housing and certain components therein, according to one embodiment of the present disclosure. [Diagram 3] FIG. 3 is a front perspective view of the analysis device of FIG. 2. [Figure 4A] FIG. 1 is a perspective view of a first pipette tip according to one embodiment of the present disclosure. [Figure 4B] FIG. 2 is a perspective view of a second pipette tip according to one embodiment of the present disclosure. [Diagram 5] FIG. 1 is a perspective view of a sample container shuttle according to one embodiment of the present disclosure. [Figure 6] FIG. 2 is a perspective view of a processing plate according to one embodiment of the present disclosure. [Figure 7] FIG. 1 is a perspective view of a dry reagent plate according to one embodiment of the present disclosure. [Figure 8] FIG. 1 is a perspective view of a liquid reagent plate according to one embodiment of the present disclosure. [Figure 9] FIG. 1 is a top view of an amplification cartridge according to one embodiment of the present disclosure. [Figure 10A] FIG. 1 is a rear perspective view of a consumable reservoir according to one embodiment of the present disclosure. [Figure 10B] FIG. 1 is a rear perspective view of a waste reservoir according to one embodiment of the present disclosure. [Figure 10C] FIG. 1 is a front perspective view of a pipette tip drawer according to one embodiment of the present disclosure. [Figure 11A] FIG. 2 illustrates a top view of a processing deck according to one embodiment of the present disclosure. [Figure 11B] FIG. 11B is a top view of a first processing module of the processing deck of FIG. 11A according to one embodiment of the present disclosure. [Figure 11C]FIG. 11B is a schematic diagram of a sample vessel being engaged by a sample vessel retaining assembly of the processing deck of FIG. 11A. [Figure 12A] FIG. 11C is a front perspective view of an extractor of the processing module of FIG. 11B according to one embodiment of the present disclosure. [Figure 12B] FIG. 12B is a top view of the extractor of FIG. 12A. [Figure 12C] FIG. 13 is a perspective view of an alternative embodiment of the extractor and processing plate. [Figure 12D] FIG. 12D is a side view of the extractor and processing plate of FIG. 12C. [Figure 12E] 12D is a partial perspective view of a processing deck of the system of FIG. 1, including the extractor and processing plate of FIG. 12C. [Figure 13A] FIG. 1 illustrates a front perspective view of an inventory robot according to one embodiment of the present disclosure. [Figure 13B] FIG. 13B is a diagram of an end effector of the robot of FIG. 13A according to one embodiment of the present disclosure. [Figure 13C] FIG. 13C is a view of an amplifier cartridge engaging member of the end effector of FIG. 13B. [Figure 13D] FIG. 13D is a side view of the engagement member of FIG. 13C engaging the amplification cartridge. [Figure 14A] FIG. 1 illustrates a front view of a liquid handling assembly according to an embodiment of the present disclosure. [Figure 14B] FIG. 14B is a front perspective view of a multi-channel pipettor of the liquid handling assembly of FIG. 14A. [Figure 15] FIG. 3 is a block diagram of an example architecture of a computing system with the analysis device of FIG. 2, including example components suitable for implementing the methods of the present disclosure. [Figure 16] 3 is a flow diagram of a method of using the analytical device of FIG. 2 according to one embodiment of the present disclosure. [Figure 17A] FIG. 2 is a front view of an analytical device according to another embodiment of the present disclosure. [Figure 17B] FIG. 17B is a front perspective view of the analytical device of FIG. 17A. [Figure 17C] FIG. 17B is a side view of the analysis device of FIG. 17A. [Figure 18A] FIG. 17B is a front perspective view of the analyzer of FIG. 17A including the outer skin but without the front door. [Figure 18B] FIG. 18B is a partial front perspective view of the analyzer of FIG. 18A, including a single front door. [Figure 18C] FIG. 2 is a perspective view of a mobile consumable inventory. [Figure 19] FIG. 13 is a front perspective view of a consumable reservoir according to another embodiment. [Figure 20] FIG. 20 is a partial rear perspective view of the consumable reservoir of FIG. 19. [Figure 21] FIG. 20 is a partial front view of the consumables reservoir of FIG. 19. [Figure 22] FIG. 20 is a partial cross-sectional view of the consumable reservoir of FIG. [Diagram 23] FIG. 1 is a rear perspective view of an internal consumable reservoir according to one embodiment of the present disclosure. [Figure 24] FIG. 24 is a front perspective view of the internal consumables reservoir of FIG. [Diagram 25] FIG. 24 is a partial front view of the internal consumable reservoir of FIG. 23 with a reagent plate placed therein. [Figure 26] FIG. 24 is a partial cross-sectional view of the internal consumable reservoir of FIG. 23 with a reagent plate placed therein. [Figure 27] FIG. 13 is a front perspective view of an internal consumable reservoir according to another embodiment. [Figure 28A] FIG. 1 is a perspective view of a consumable reservoir according to one embodiment of the present disclosure. [Figure 28B] FIG. 28B is a front view of the consumables reservoir of FIG. 28A. [Figure 29C] FIG. 28B is a perspective view of the consumable reservoir of FIG. 28A within the analytical device. [Figure 28D] FIG. 28B is a side view of the consumable reservoir of FIG. 28A. [Figure 28E] FIG. 28B is a side perspective view of the consumable reservoir of FIG. 28A. [Figure 28F] 28B is a perspective view of a portion of the consumable reservoir of FIG. 28A and a portion of the analytical device of FIG. 28C. [Figure 29A]FIG. 11B is a top view of a processing module of the processing deck of FIG. 11A without the processing plate support assembly, reagent plate and cartridges placed thereon. [Figure 29B] FIG. 29B is a top view of the processing module of FIG. 29A with the processing plate support assembly positioned thereon. [Figure 29C] FIG. 29C is a perspective view of the processing plate support assembly of FIG. 29B. [Diagram 30] FIG. 13 is a top perspective view of an end effector according to another embodiment. [Diagram 31] FIG. 30 is a portion of a partially exploded front perspective view of the end effector of FIG. 29. [Figure 32A] FIG. 1 is a perspective view of an end effector of a robot according to one embodiment of the present disclosure. [Figure 32B] FIG. 32B is a top view of the end effector of FIG. 32A. [Figure 32C] FIG. 32B is a front view of the end effector of FIG. 32A. [Fig. 32D] FIG. 32B is a side view of the end effector of FIG. 32A. [Figure 32E] FIG. 32B is a perspective view of the end effector of FIG. 32A above a pair of cutouts. [Figure 33A] FIG. 2 is a perspective view of a pair of cutouts according to one embodiment of the present disclosure. [Figure 33B] FIG. 33B is a top view of the cutaway portion of FIG. 33A. [Diagram 34] FIG. 32B is a perspective view of the end effector of FIG. 32A with multiple cutouts disposed within a consumable storage compartment. [Fig. 35A-35D] 1A-1C each illustrate a step in a calibration process according to one embodiment of the present disclosure. [Fig. 36A-36D] 1A-1C each illustrate a step in a calibration process according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] The embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, like reference numerals identify similar or identical elements. It should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be embodied in various forms. Known functions or structures are not described in detail to avoid obscuring the present disclosure in unnecessary detail. Therefore, details regarding specific structures and functions disclosed herein should not be construed as limiting, but merely as a basis for the claims and as a representative basis for teaching those skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.

[0032] As used herein, the terms "about," "generally," and "substantially" are intended to mean that slight deviations from absolute are included within the scope of the term so modified. Also, in the following description, when referring to particular directions, such as left, right, front, rear, up and down, it should be understood that such directions are described with respect to the perspective of a user facing the system described below during exemplary operation.

[0033] As used herein, the singular forms "a," "an," and "the" include both singular and plural referents unless the context clearly dictates otherwise.

[0034] FIG. 1 illustrates a high throughput system 00 including a first analytical device 2000, a second analytical device 4000, and a pre-analytical system 10, such as that described in U.S. Application No. 16 / 077,875, filed August 14, 2018 (the "'875 Application"), which is a national phase entry under 35 U.S.C. § 371 of International Application No. PCT / US2017 / 018358, filed February 17, 2017, and published in English, which claims priority to U.S. Provisional Application No. 62 / 409,013, filed October 17, 2016, and U.S. Provisional Application No. 62 / 296,349, filed February 17, 2016, both of which are incorporated herein by reference. The analytical devices 2000, 4000 and the pre-analytical system 10 are modular and can be physically connected and disconnected from each other, and can be electronically connected and disconnected from each other. It should be understood that the first analytical device 2000 differs from the second analytical device 4000 in terms of the operations and assays they perform, but the second analytical device 4000 is identical to the first analytical device 2000, so that the pre-analytical system 10 can be coupled to at least two of the same analytical devices. It should also be understood that the modularity of the pre-analytical system 10 allows it to be coupled to any analytical device so configured. As shown, the first analytical device 2000 and the second analytical device 4000 are arranged in a linear arrangement on opposite sides of the pre-analytical system 10. Although the pre-analytical system 10 and analytical devices 2000, 4000 are configured to be in this physical arrangement, it is envisioned that the pre-analytical system 10 may be configured to accommodate more than two analytical devices, and that the pre-analytical system 10 and analytical devices 2000, 4000 may be configured to be arranged in other physical arrangements, such as, for example, an L-shape.

[0035] Analytical equipment associated with pre-analytical systems As shown in FIG. 2, the first analytical device can be coupled to either side of the pre-analytical system 10. In this regard, the sample container shuttle transport assembly 300a of the pre-analytical system 10 extends toward the left side of the analytical device 2000 when the analytical device 2000 is located on the right side of the system 10, or the sample container shuttle transport assembly 300b of the pre-analytical system 10 extends toward the right side of the analytical device 2000 when the analytical device 2000 is located on the left side of the system 10. Such assemblies 300a, 300b may terminate adjacent to the threshold of the analytical device as shown. However, in some embodiments, such assemblies 300a, 300b may extend into the analytical device 2000 across the threshold of the analytical device. An inventory robot 2300, described further below, can retrieve the sample container shuttle 2030 from such assemblies 300a, 300b regardless of which side of the analytical device 2000 the sample container shuttle 2030 is delivered to.

[0036] Structural Frame 2 and 3, the analytical device 2000 comprises a structural frame 2011, comprised of several support components, such as segments of metal tubing, configured to support and define various decks or levels for sample processing and analysis. Such decks may comprise a detection / analysis deck 2012, an inventory deck 2014, a processing deck 2016, and a liquid handling robot deck 2018. However, more or fewer decks may be implemented to reduce the horizontal length or vertical height of the analytical device 2000. The analytical device 2000 also comprises a housing or shell 2010 that encloses its internal components, as shown in FIG.

[0037] Deck Relationships The detection / analysis deck 2012 is disposed near the bottom of the analytical instrument 2000 and below the inventory deck 2014. The inventory deck 2014 is disposed between the processing deck 2016 and the detection / analysis deck 2012. The processing deck 2016 is disposed between the inventory deck 2014 and the liquid handling robot deck 2018. The liquid handling robot deck 2018 is disposed near the top of the analytical instrument 2000. The detection / analysis deck 2012, inventory deck 2014, and processing deck 2016 are each located at the front of the analytical instrument 2000 and terminate before reaching the rear of the analytical instrument 2000 to provide spaces that run the length of the analytical instrument 2000 in the left-right direction and extend along the height of the analytical instrument 2000 to intersect with the detection / analysis deck 2012, inventory deck 2014, and processing deck 2016. The inventory robot 2300 is disposed within a space provided such that the inventory robot 2300 has access to each of the three decks mentioned above.

[0038] consumables 4A-8 show various consumables that can be automatically handled and utilized to perform an extensive menu of assays on several categories of samples, including blood, mucus, sputum, urine, feces, liquid-based cytological samples, etc. Such a menu also includes assays involving Chlamydia trachomatis, Neisseria gonorrhoeae, Trichomonas vaginalis, Group B hemolytic streptococci, enterobacteria (e.g., Campylobacter, Salmonella, Shigella, Escherichia coli, Shigella dysenteriae), and enteric parasites (e.g., Giardia lamblia, Cryptosporidium, Entamoeba histolytica), as well as determination of blood viral load (e.g., HIV, HCV, and HBV). The ability to perform such an extensive menu of assays is supported in part by the consumable design. Such consumables include pipette tips, sample containers, sample container shuttles, processing plates, dry reagent plates, liquid reagent plates, and amplification cartridges.

[0039] Pipette Tips The pipette tips 2020 include a first pipette tip 2020a (FIG. 4A) and a second pipette tip 2020b (FIG. 4B). The first pipette tip 2020a is larger than the second pipette tip 2020b. For example, the first pipette tip 2020a can be a 1 mL tip and the second pipette tip 2020b can be a 175 μL tip. However, the analytical device 2000 can accommodate pipette tips of any size as needed.

[0040] Sample shuttle and sample container The sample container shuttle 2030 (FIG. 5) is similar to shuttle 284 of the '875 application and includes receptacles 2032 each configured to receive a sample container 03. The particular shuttle 2030 shown includes two rows of six receptacles 2032 for a total of 12 receptacles. However, any number of receptacles 2032 may be provided. For example, the shuttle 2030 may include two rows of 12 receptacles 2032 for a total of 24 receptacles. In the particular analyzer 2000 shown, a batch of samples may include a total of 24 samples corresponding to a total of 24 sample containers. However, the analyzer 2000 may perform dual lane assays or other multi-lane assays in which a single sample is processed and analyzed more than once in a run. Thus, some batches of 24 samples may only require a total of 12 sample containers to achieve their total sample count. Thus, having each shuttle 2030 accommodate half of a total sample batch provides the analytical device with the flexibility to efficiently accommodate dual lane or other multi-lane assays.

[0041] The shuttle 2030 also includes a first lateral opening 2034 for engagement with the inventory robot 2300 and a second lateral opening 2036 that intersects with the corresponding receptacle 2032 to allow a sample vessel holding assembly (described below) access to the vessel 03 disposed therein. The sample vessel 03 is the same as the third type vessel 03 of the '875 application. In this regard, the sample vessel 03 includes a cap having a pierceable seal 09.

[0042] Processing Plate The processing plate 2040 (FIG. 6) comprises a plate body 2041. Engagement members 2049 extend from an upper surface of the plate body 2041. Such engagement members 2049 comprise an engagement notch 2042. The notch 2042 is thus positioned above the plate body 2041 and inboard to the side of the plate body 2041. This allows an end effector, such as end effector 2360, described further below, to grasp the processing plate 2040 from above the plate body 2041. However, in some embodiments of the plate 2040, the notch 2042 can extend into a side of the body 2041, allowing the inventory robot 2300 to engage the processing plate 2400 from around the body 2041.

[0043] The plate body 2041 defines, at least in part, a plurality of extraction tubes 2044, mixing wells 2046, and pipette tip holding stations 2047. Each extraction tube 2044 has a corresponding mixing well 2046 and pipette tip holding station 2047 aligned therewith. The extraction tubes 2044 are located closer to the midline of the body 2041 than the mixing wells 2046, which are located closer to the midline of the body 2041 than the pipette tip holding stations 2047. The extraction tubes 2044 have an opening defined by the body 2041 and a tube body 2045 extending from a bottom surface 2043 of the body 2041. The tube body 2045 defines an outer surface of revolution, such as a conical surface of revolution. The pipette tip holding station 2047 also has an opening defined by the body 2041 and a sleeve 2048 extending from the bottom surface 2043. Such sleeves 2048 keep the pipette tips 2020 stable when disposed therein, even if the processing plate is moved. Two rows of extraction tubes 2044, mixing wells 2046, and pipette tip holding stations 2047 are provided and arranged parallel to one another. In the particular embodiment shown, the processing plate 2040 includes two rows of six extraction tubes 2044, mixing wells 2046, and pipette tip holding stations 2047, allowing twelve samples to be processed therein. However, more or less are envisioned. For example, the processing plate 2040 could include two rows of twelve extraction tubes 2044, mixing wells 2046, and pipette tip holding stations 2047, or even a single row of the like. The processing plate 2040 includes an identifier, such as a bar code, on its side or other surface to help the analysis device 2000 identify the plate.

[0044] Dry Reagent Plate The dry reagent plate 2050 (FIG. 7) comprises a plate body 2051. An engagement notch 2052 extends into a side 2053 of the body 2051, allowing the inventory robot 2300 to engage the dry reagent plate 2050 from any two opposing sides of the dry reagent plate 2050. The plate body 2051 defines a number of dry reagent compartments 2054. A pierceable membrane (not shown) is disposed over each of these compartments 2054 and sealed to the plate body 2051, such that when the membrane is pierced to gain access to one compartment, the remaining compartments remain sealed. This allows the plate 2050 to be stored until needed for another batch of samples. As shown, there are a total of 96 reagent compartments 2054, allowing the reagent plate 2050 to be utilized for four separate runs for a batch of 24 samples. However, this total number may vary. The dry reagent plate 2050 also includes an identifier, such as a bar code, on its side 2053 or other surface that helps the analytical instrument 2000 identify the plate.

[0045] In one embodiment, two dry reagent plates 2050 are utilized for each assay: a first dry reagent plate or extraction reagent plate 2050a and a second dry reagent plate or amplification reagent plate 2050b (see FIG. 10C). In this regard, the extraction reagent plate 2050a is loaded with lysis buffer and extraction beads, and the amplification reagent plate 2050b is loaded with master mix reagents.

[0046] Each reagent compartment 2054 in the same plate 2050 is loaded with the same reagents such that the reagent plate is assay specific. Thus, when more than one assay is performed by the analytical device 2000, separate reagent plates are utilized, each having reagents specific to that assay. Thus, for one assay performed by the analytical device 2000, at least two dry reagent plates 2050 are utilized (e.g., one extraction reagent plate 2050a and one amplification reagent plate 2050b). Similarly, when two different assays are performed by the analytical device 2000, at least four dry reagent plates 2050 are utilized (e.g., two extraction reagent plates 2050a and two amplification reagent plates 2050b). Although the extraction dry reagent plate 2050a and the amplification dry reagent plate 2050b are described as separate, it is envisioned that they may be combined into a single reagent plate.

[0047] Liquid Reagent Plate The liquid reagent plate 2060 (FIG. 8) comprises a plate body 2061 defined by upper and lower surfaces and a side surface 2062 extending therebetween. An engagement notch 2064 extends into the side surface 2062 of the body 2061, allowing the inventory robot 2300 to engage the liquid reagent plate 2060 from any two opposing sides thereof. The liquid reagent plate 2060 comprises a plurality of reagent compartments 2066 organized into four processing rows 2066. Each of these rows 2066 includes four compartments 2066a-d, each compartment holding a reagent for a sample processing step. For example, each processing column 2066 includes a first compartment 2066a for a reconstitution buffer, a second compartment 2066b for a wash buffer, a third compartment 2066c for an elution buffer, and a fourth compartment 2066d for a neutralization buffer. These compartments 2066a-2066d are arranged in the order in which they are used. However, they may be arranged otherwise. In addition, each compartment 2066 holds enough reagents to process an entire batch of samples, for example, a total of 24 batches of samples. A pierceable membrane (not shown) is disposed over each of these compartments 2066 and sealed to the plate body 2061, so that when the membrane is pierced to gain access to one compartment, the remaining compartments remain sealed. This allows the liquid reagent plate 2060 to be stored until needed for another batch of samples. The liquid reagent plate 2060 may also include an identifier, such as a bar code, on its side 2062 or other surface to help the analytical instrument 2000 identify the plate.

[0048] Amplification Cartridge Amplification cartridge 2070 (FIG. 9) is similar to the BD MAX™ PCR cartridge associated with the BD MAX™ system (Becton Dickinson, Franklin Lakes, NJ) and is described in U.S. Patent Nos. 7,332,130, 7,998,708, 8,105,783, 8,440,149, 8,709,787, and 8,765,076, the entire disclosures of which are incorporated herein by reference. Amplification cartridge 2070 includes an inlet port 2073, a microfluidic channel (not shown), a wax valve 2074, an amplification chamber 2075, and a vent 2076. A processed sample is inserted into cartridge 2070 via inlet port 2073 and travels down the microfluidic channel into amplification chamber 2075. Vent 2076 allows air to escape as the sample travels down the channel. Wax valve 2074, when melted, seals chamber 2075 so that amplification of the sample can occur within chamber 2075. A transparent or translucent window partially defining chamber 2075 allows a detector to detect the presence of an analyte or target within chamber 2075.

[0049] The amplification cartridge 2070 also includes engagement notches 2072 that extend into the sides of the cartridge 2070. These notches 2072 extend into the cartridge 2070 on opposite sides of the cartridge 2070 and taper inwardly toward the midline of the cartridge. Additionally, the notches 2072 are located on the sides adjacent to the sides of the cartridge that contain the inlet port 2073 and the vent 2076. This prevents the notches 2072 from interfering with these structures. The notches 2072 allow the inventory robot 2300 to engage the amplification cartridge 2070 so that the cartridge 2070 can be carried by the robot 2300. However, in some embodiments, the amplification cartridge 2070 may not have such notches 2072 and may employ other mechanisms for engagement with the robot gripper. The underside 2079 of the cartridge 2070 that intersects with the notch 2072 is beveled or otherwise contoured to match the contour of the robot engagement post 2365, as described further below and shown in FIGURE 13D, thereby forming a recess or depression 2077 in the underside 2079 around the notch 2072 that further aids in robotic engagement. The amplification cartridge also includes an identifier, such as a bar code, on its top surface 2078 or bottom surface 2079 to help the analysis device 2000 identify the cartridge.

[0050] Staging of consumables 10A-10C show various aspects of the placement of consumables within the inventory deck 2014 and the processing deck 2016. The inventory deck 2014 includes at least one consumables reservoir, such as a consumables reservoir 2110 (FIG. 10A), and an internal consumables reservoir 4040 (see FIGS. 23, 24, and 27). The inventory deck 2014 also includes at least one waste reservoir, such as a waste reservoir 2130 (FIG. 10B). The processing deck 2016 also includes a plurality of pipette tip drawer assemblies 2140 (FIG. 10C). The consumables reservoir 2110, the waste reservoir 2130, and the pipette tip drawer 2140 are each accessible by a user from the front of the analytical device 2000 to allow the user to load and unload various consumables utilized by the analytical device 2000. However, the internal consumables reservoir 4040 is not easily accessible to a user to load / unload consumables therefrom. The internal consumables reservoir 4040 can be reached for service / maintenance.

[0051] Consumables Storage 10A, the consumable storage 2110 comprises a support structure or beam 2114 extending horizontally from a column 2118 having a plurality of sheet metal rails (not shown) extending vertically from a base 2119. The support structure 2114 defines compartments for individual consumables such that the consumables can be loaded into the compartments from a first side of the column 2118 and unloaded from a second side of the column 2118. For example, the support structure 2114 can slidably receive and support a dry reagent plate 2050 or a liquid reagent plate 2060, as shown in FIG. 10A. Such plates 2050 and 2060 can be slid into their respective compartments from the front side of the column 2118 by a user with an identifier, such as a barcode, facing toward the interior of the system 2000. An inventory robot 2300, described further below, can scan the identifier to identify the particular plate and remove the appropriate plate 2050, 2060 from the back of the column 2118 as needed. In this regard, consumables such as plates 2050 and 2060 may be loaded by a user in any order, as the system 2000, with assistance from the robot 2300, can perform an inventory check and automatically determine the order in which the consumables were loaded by the user. In addition, the support structure 2114 holds the plates 2050, 2060 at its lower end such that its openings 2052, 2064 are exposed, thereby allowing the robot 2300 to engage selected plates for removal from their respective individual compartments. Also, as shown, the amplification cartridges 2070 can be stacked at the top end of the consumable reservoir 2110 within their respective cartridge storage compartments 2116. The cartridges 2070 can be stacked by a user in the storage compartment 2116 from the front side of the system 2000 and removed therefrom by the robot 2300.

[0052] In one embodiment, the consumable reservoir 2110 can be mounted on a set of tracks that allow the reservoir 2110 to be pulled out like a drawer for refilling. A pneumatic piston (not shown) can assist in opening the reservoir 2110 and can also provide damping to prevent the reservoir 2110 from closing too quickly and pushing the consumable out of position. In other embodiments, the reservoir 2110 can be hinged so that a door 2112 can swing open towards the user to expose the reservoir for refilling.

[0053] 19-22, in an alternative embodiment, the consumable reservoir 4010 can include a plurality of fully machined columns 4012 extending vertically upward from a base 4014 of the consumable reservoir 4010. The consumable reservoir 4010 can further include a plurality of support structures 4016 integrally connected to the columns 4012. Each of the support structures 4016 defines a compartment 4018 for receiving and holding the reagent plate 2050, 2060 therein after the reagent plate 2050, 2060 is loaded through a front opening 4022 of the consumable reservoir 4010. As shown, the reagent plate 2050 is adapted to receive dry reagents and the reagent plate 2060 is adapted to receive liquid reagents. The overall length and width of the reagent plates are the same so that any reagent plate can be inserted into any compartment. However, as shown, the liquid reagent plate 2060 is somewhat taller than the dry reagent plate 2050. One skilled in the art will appreciate that the consumable reservoir 4010 may be adapted to accommodate any conventionally sized reagent plate having conventional dimensions.

[0054] 20, each support structure 4016 includes a first arm 4024 and a second arm 4026 with a space therebetween. Each of the first arm 4024 and the second arm 4026 extends horizontally between a first end 4028 and a second end 4030. As shown in FIG. 20, a tab 4032 is formed on the second end 4030 of each arm 4023, 4026 to support the reagent plate 2050, 2060 within the support structure 4016 and to retain the reagent plate 2050, 2060 within the compartment 4018 after the reagent plate 2050, 2060 is placed into the compartment 4018 through the front opening 4022 of the compartment 4018.

[0055] The first arm 4024 includes flanges 4034, 4036 extending horizontally between the first end 4028 and the second end 4030 of the first arm 4024, as shown in FIG. 21. As shown, the flanges 4034, 4036 have a vertical height. The flanges 4034, 4036 provide stability and retention to the reagent plate 2050, 2060 while it is held within the compartment 4018. For example, when the reagent plate 2050, 2060 is slid into the compartment 4018, grooves formed in the bottom of the reagent plate 2050, 2060 allow the flanges 4034, 4036 of the support structure 4016 to be received therein such that the reagent plate 2050, 2060 may be securely held within the compartment 4018. Additionally, the flange 4034 is configured to receive only the dry reagent plate 2050, and the flange 4036 is configured to receive only the liquid reagent plate 2060. This selectivity is achieved by locating a mating groove 2055 (shown in FIG. 7) in the dry reagent plate 2050 that selectively mates with the flange 4034, and a mating groove 2067 (shown in FIG. 8) in the dry reagent plate 2050 that selectively mates with the flange 4036. Thus, the flanges 4034, 4036 prevent a user from inserting a dry reagent plate 2050 into a compartment for a liquid reagent plate 2060, and vice versa.

[0056] The length of each of the first arm 4024 and the second arm 4026 is approximately equal to the length of the reagent plates 2050 , 2060 , thereby allowing the reagent plates 2050 , 2060 to fit snugly within the compartment 4018 .

[0057] Although the consumable reservoir 4010 in the illustrated embodiment has nine compartments and is therefore configured to store nine sets of reagent plates, it is contemplated that the consumable reservoir 4010 may be configured to store any number of sets of reagent plates deemed appropriate by one of ordinary skill in the art for the intended use of the consumable reservoir 4010. In the illustrated embodiment, the set of reagent plates includes two dry reagent plates 2050 and one liquid reagent plate 2060. As noted above, the reagent plates are configured differently but have about the same height and about the same width.

[0058] 23-26, there may be one or more internal consumable reservoirs 4040 for storing additional reagent plates 2050, 2060 and / or used reagent plates 2050, 2060 from previous sample processing by the system. The internal consumable reservoirs 4040 are modular units that are not accessible to users under normal operation. However, an inventory robot can access the internal consumable reservoirs 4040 during normal operation. Additionally, the internal consumable reservoirs 4040 may be accessible for maintenance, servicing, etc.

[0059] The internal consumable reservoir 4040 comprises a frame 4042 and a number of compartments having either shelves 4044 or flanges 4048 configured to receive and hold the reagent plates 2050, 2060. Thus, the compartments having shelves 4044 for the dry reagent plate 2050 and the compartments having flanges to receive the liquid reagent plate 2060 are constructed differently. For example, the shelves 4044 for the dry reagent plate 2050 comprise a base 4046 on which the dry reagent plate 2050 can sit. In the case of the liquid reagent plate 2060, the shelves 4044 comprise a pair of flanges 4048 extending from each side of the frame 4042 towards each other with a space therebetween. As shown in FIG. 25, the flanges 4048 support each side of the body of the liquid reagent plate 2060 that is placed on top of it when the liquid reagent plate 2060 is placed in the internal consumable reservoir 4040. This structure is desirable for the liquid reagent plate 2060 because the liquid reagent compartments 2066 extend below the body 2061 of the reagent plate 2060. More generally, the internal consumable reservoir can receive a reagent plate that may be stable when placed on a flat surface and that is more securely supported by the frame than structures that extend below the frame. A reagent plate may have compartments that extend at different distances from the reagent storage body. In such cases, the reagent plate, when placed on a flat surface, is supported only by the compartment that extends furthest below the body. Such a reagent plate will tend to seat less securely than a reagent plate having compartments that extend a uniform distance from the body of the reagent plate. Thus, as shown in Figures 23-26, a compartment having a shelf 4044 is referred to as a "shelf compartment" and a compartment having a flange 4048 is referred to as a "flange compartment."

[0060] Each shelf compartment 4044 includes a plurality of first side offsets 4050 and a plurality of second side offsets 4052 defined and disposed on a first side 4054 and a second side 4056, respectively, of the shelf compartment 4044. The side offsets 4050, 4052 are used to guide an inventory robot to center the reagent plate 2050 when placing the reagent plate 2050 on the shelf compartment 4044, as shown in FIG. 25. Each side offset 4050, 4052 extends between a sidewall 4058 and a base 4046 of the shelf compartment 4044 or a flange 4048 of the flange compartment, at an angle that is not perpendicular to either the sidewall 4058 or the base 4046. The body or frame of the reagent plates 2050 , 2060 is sized to fit within the space provided between the first side offset 4050 and the second side offset 4052 .

[0061] Each shelf compartment 4044 of the dry reagent plate 2050 further comprises a plurality of front offsets 4060 defined and positioned at a front of the shelf compartment 4044 to provide a lead-in for an inventory robot to accurately place the dry reagent plate 2050 on the shelf 4044. Each of the plurality of front offsets 4060 extends upwardly from the base 4046 of the shelf compartment 4044 at an angle that is not perpendicular to the base 4046 of the shelf compartment 4044. The plurality of front offsets 4060 are positioned and oriented such that when the dry reagent plate 2050 is placed on a shelf of the shelf compartment 4044, as shown in FIG. 26 , a front portion of the body of the dry reagent plate 2050 (i.e., the plate frame, but not the frame receiving portion) fits between the plurality of front offsets 4060.

[0062] The internal consumable storage 4040 in the illustrated embodiment includes four shelf compartments 4044 and two flange compartments 4048 for storing two sets of reagent plates 2050, 2060, however, the internal consumable storage 4040 can be configured to store any number of sets of reagent plates 2050, 2060 as deemed appropriate by one of skill in the art for the intended use of the internal consumable storage 4040.

[0063] 27, in an alternative embodiment, the internal consumable storage portion 4062 includes a plurality of shelf compartments 4064, each having a U-shaped flange 4066 for holding a reagent plate 2050, 2060, and a plurality of front offsets 4068 defined and positioned at the front of the shelf compartment 4064 to provide a lead-in for an inventory robot to accurately place the reagent plate 2050, 2060 on the shelf compartment 4064. The plurality of front offsets are configured and positioned similarly to the front offsets of the embodiment shown in FIGS.

[0064] The consumable reservoir 4010 and the inner consumable reservoir 4040 are made from one or more materials having properties suitable for the desired application, including strength, weight, rigidity, etc. Metals that are corrosion resistant (e.g., stainless steel, etc.) are generally preferred. Metals coated with liquid impermeable polymers are also contemplated.

[0065] 28A-28E show another embodiment of the consumables storage. For example, the consumables storage 4120 includes a front plate 4121 and a side plate 4122. The front plate 4121 includes a handle 4123. The side plate 4122 is slidably coupled to a side wall 5001 of the analyzer 5000 via drawer slides 4124 and 4125. In some implementations, a damper (not shown) can be built into the drawer slides 4124 and 4125 or can be added as a separate subassembly. As best seen in FIG. 28C, a user can access the consumables storage 4120 by opening the door 4112 and pulling the handle 4123. As shown, the wall 4114 and the base 4115 extend horizontally from the side plate 4122. Collectively, the walls 4114 and the base 4115 form a storage compartment at the bottom end of the consumables reservoir 4120. Consumables, such as processing plates 2040, can be stacked in these storage compartments by a user from the front side of the analyzer 5000 and retrieved therefrom by an inventory robot (e.g., inventory robot 2300). In some implementations, the angle between the side plate 4122 and the base 4115 can be less than 90 degrees to ensure that the processing plates 2040 are biased against the side plate 4122. For example, the angle between the side plate 4122 and the base 4115 can be 89 degrees. As shown, the support structure 4116 also extends horizontally from the side plate 4122. The support structure 4116 defines a storage compartment at the top end of the consumables reservoir 4120. Consumables, such as amplification cartridges 2070, can be stacked into these storage compartments by a user from the front of the analytical device 5000 and retrieved therefrom by an inventory robot (eg, inventory robot 2300).

[0066] The analytical device 5000 may be similar to the analytical device 2000. For example, the analytical device 5000 may include a housing, one or more processing decks, an inventory robot, a liquid handling robot, a consumable storage area, and a detector. In addition, the analytical device 5000 may utilize the same consumables as the analytical device 2000, such as the previously described pipette tips 2020, shuttle 2030, processing plate 2040, liquid reagent plate 2060, dry reagent plate 2050, and amplification cartridge 2070. However, the analytical device 5000 may differ with respect to the arrangement and configuration of the consumable storage area. For example, as best seen in FIG. 28C, the analytical device 5000 may include a consumable reservoir 4120 and an additional consumable reservoir 4110. The additional consumable reservoir 4110 may be positioned between the consumable reservoir 4120 and the waste reservoir 4130. Similar to the consumable reservoir 2110, the additional consumable reservoir 4110 may comprise a support structure configured to slidably receive and support the dry reagent plate 2050 and / or the liquid reagent plate 2060. However, the additional consumable reservoir 4110 may not comprise a storage compartment configured to receive the amplification cartridge 2070. Instead, as described above, the consumable reservoir 4120 may comprise a storage compartment configured to receive the amplification cartridge 2070. The waste reservoir 4130 may be compared to the waste reservoir 2130, which is described in more detail below.

[0067] The consumable storage 4120 can include one or more advantageous features. For example, as best seen in FIG. 28A, the consumable storage 4120 can include one or more cutouts 5701. As described in more detail below, these cutouts can be used to quickly and effectively calibrate the inventory robot (e.g., inventory robot 2300). As shown, the base 4115 includes a cutout 5701. However, the support structure 4116 can include similar features. In some implementations, the support structure 4116 can include similarly shaped cutouts. In other implementations, the support structure 4116 can include differently shaped cutouts and / or notches.

[0068] As another example, as best seen in Figures 28B, 28E, and 28F, the analysis device 5000 can advantageously include a stopper 4151, a torsion spring 4153, a hinge 4154, and a track 4155. As shown, the torsion spring 4153 is positioned within the hinge 4154 that is coupled to the side wall 5001. The track 4155 is coupled to the side plate 4122. As best seen in Figure 28E, unlike the drawer slides 4124 and 4125 that are generally horizontal, the track 4155 can include both a horizontal portion 4155a and an angled portion 4155b. As best seen in Figure 28F, the stopper 4151 can be connected to the member 4152 of the hinge 4154 via a bearing 4156. Assisted by the downward force provided by the torsion spring 4153, the bearing 4156 can slide along the track 4155 as the consumables reservoir 4120 is opened and closed by a user. As described in more detail below, these components can prevent a user from damaging the analyzer 2000 by closing the door 4112 while the consumables reservoir 4120 is in an open or partially open position. Additionally, these components can assist a user in pushing the consumables reservoir 4120 back into the housing of the analyzer 5000.

[0069] As best seen in FIG. 28F, when the consumable reservoir 4120 is in an open or partially open position (e.g., when the consumable reservoir 4120 is fully or partially pulled out of the analyzer 5000), the bearing 4156 may rest on the horizontal portion 4155a of the track 4155. When the bearing 4156 is positioned on the horizontal portion 4155a, the stopper 4151 prevents a user from closing the door 4112. As shown, the door 4112 is coupled to the side wall 5001 via a hinge 4113. The hinge 4113 is a "swing clear" or "offset" hinge. However, in other implementations, the hinge 4113 can be replaced with another type of hinge, such as a "ball bearing" hinge, a "butt" hinge, or a "spring loaded" hinge. The stopper 4151 limits the rotation of the hinge 4113 so that the user cannot close the door 4112 when the bearing 4156 is positioned on the horizontal portion 4155a.

[0070] When the consumable reservoir 4120 is in a closed or partially closed position (e.g., when the consumable reservoir 4120 is fully or partially pushed into the analyzer 5000), the bearing 4156 may rest on the angled portion 4155b of the track 4155. When the bearing 4156 is positioned on the angled portion 4155b, the stopper 4151 may be positioned below the hinge 4113. As a result, the stopper 4151 does not impede the rotation of the hinge 4113 while the bearing 4156 is positioned on the angled portion 4155b, and the user may be able to close the door 4112. In some implementations, the stopper 4151 may prevent the user from closing the door 4112 when the bearing 4156 is positioned on an upper section of the angled portion 4155b (e.g., the half of the angled portion 4155b that is directly coupled to the horizontal portion 4155a). In such an implementation, the user may be able to close the door 4112 only when the bearing 4156 is positioned on the lower section of the inclined portion 4155b (e.g., the half of the inclined portion 4155b that is not directly connected to the horizontal portion 4155a).

[0071] In some implementations, the weight of the stopper 4151 combined with the downward force generated by the torsion spring 4153 may cause the consumable reservoir 4120 to slide back into the housing of the analytical device 5000. More specifically, while the bearing 4156 is positioned on the angled portion 4155b, the downward force exerted on the bearing 4156 by the stopper 4151 and the torsion spring 4153 may cause the bearing 4156 to push the consumable reservoir 4120 back into the housing of the analytical device 5000. Stated another way, the angled portion 4155b creates a horizontal force that redirects the downward force generated by the stopper 4151 and the torsion spring 4153 and causes the bearing 4156 to push the consumable reservoir 4120 back into the housing of the analytical device 5000.

[0072] In some implementations, the hinge 4154 can include a hole 4157 configured to receive, for example, a pin or screw. The member 4152 can also include a hole (not shown) configured to receive, for example, a similarly sized pin or screw. The holes can be aligned such that a user can insert a pin or screw into both holes. By doing so, the user can keep the door 4112 in an open or partially open position. More specifically, the pin or screw can prevent the stopper 4151 from falling under the hinge 4113 when the consumable reservoir 4120 is in a closed or partially closed position. This can be particularly advantageous during assembly of the analysis device 5000.

[0073] As best seen in FIG. 28D, the side plate 4122 may advantageously include a cutout 4161. When the consumables reservoir 4120 is in a closed or partially closed position (e.g., when the consumables reservoir 4120 is fully or partially pushed into the analyzer 5000), the cutout 4161 may allow a user and / or an inventory robot (e.g., inventory robot 2300) to access a compartment 4162 in the side wall 5001. The compartment 4162 may be configured to receive any of the consumables described above. Additionally, as best seen in FIG. 28E, when the consumables reservoir 4120 is in an open or partially open position (e.g., when the consumables reservoir 4120 is fully or partially pulled out of the analyzer 5000), the cutout 4161 may allow a user to inspect one or more cables in the analyzer 5000 via a panel 4163.

[0074] Various modifications can be made to the analytical device 5000 while still maintaining one or more of the advantages described above. For example, the consumables reservoir 4120 can be configured like the consumables reservoir 2110 with the support structure 2114, the storage compartment 2116, and the column 2118. However, in such an implementation, the consumables reservoir 4120 can still include, for example, the notch 5701, the track 4155, and / or the notch 4161. As another example, the stopper 4151 can be replaced with a stopper having a different shape. As shown, the stopper 4151 is generally rectangular. However, various shapes are suitable for preventing the hinge 4113 from rotating. Similarly, the member 4152, the torsion spring 4153, the hinge 4154, and the track 4155, the bearing 4156, and / or the hole 4157 can be configured differently. For example, in other implementations, the horizontal portion 4155a and / or the inclined portion 4155b of the track 4155 can be replaced by a track portion that is curved rather than straight. As another example, the horizontal portion 4155a can be replaced by, for example, an inclined track. In such implementations, the inclination of this portion of the track 4155 can be equal to or less than the inclination of the inclined portion 4155b. As yet another example, the stopper 4151 can be removed and instead, the member 4152 can be used to prevent the user from closing the door 4112. In some such implementations, the shape of the member 4152 can be changed. For example, the length of the member 4152 can be increased.

[0075] Waste Storage The waste reservoir 2130 (FIG. 10B) comprises a door 2132 that is accessed by a user at the front of the analyzer 2000. A waste compartment 2134 having an opening 2136 parallel to the door 2132 is attached to the rear side of the door 2132. The reservoir 2130 also comprises a shelf 2138 extending from the waste compartment 2134. This shelf 2138 allows used processing plates 2040 to be stacked thereon by the inventory robot 2300 as shown. The reservoir 2130 can also accommodate liquid containers within the opening 2136 that can communicate with one or more liquid waste receptacles 2260 (see FIG. 11B) located on the processing deck 2016. The waste reservoir 2130 can be attached to a set of tracks that allow the reservoir 2130 to be pulled out like a drawer for emptying. A pneumatic piston (not shown) can assist in opening the reservoir 2130 and can also provide damping to prevent the reservoir 2130 from opening too quickly and hitting the processing plate 2040. Alternatively, the reservoir 2130 can be hinged so that it swings open towards the user for emptying.

[0076] Pipette Tip Retractor The pipette tip drawer assembly 2140 (FIG. 10C) comprises a tip drawer 2142, which is a generally box-like structure including side walls 2144 and a lateral wall 2145 with one or more openings for receiving a pipette tip rack carrying a plurality of pipette tips. In the illustrated embodiment, there are two openings in the lateral wall 2145 of the tip drawer 2142 for receiving two pipette tip racks (not shown). The first rack can comprise a first pipette tip and the second rack can comprise a second pipette tip. The pipette tip drawer 2142 is mounted to one or more tracks 2148 that allow the drawer 2142 to be partially extended from the analyzer 2000 for removal of an empty tip rack and refilling with a new tip rack. A door (not shown) can be attached to one end of the drawer 2142 such that when the drawer 2142 is closed, the door forms part of the outer shell of the analyzer. A pneumatic piston 2149 can assist in opening the drawer 2142 and can also provide damping to prevent the drawer 2142 from opening and closing too quickly.

[0077] Processing Module Processing Modules / Lane 11A shows a processing deck 2016 comprising multiple processing modules 2200 arranged side by side. As shown, the processing deck 2016 comprises three processing modules, namely a first processing module 2200a, a second processing module 2200b, and a third processing module 2200c. However, the analyzer 2000 may comprise more or fewer processing modules 2200 to accommodate the throughput demands and space requirements of a particular laboratory. The processing modules 2200a-2200c are similarly configured with respect to their physical arrangement, the difference between them being their location relative to a shuttle platform having a jaw assembly that functions as a sample container holding assembly 2210 that may be shared by adjacent modules. For example, the first processing module 2200a and the second processing module 2200b can both utilize a first sample vessel holding assembly 2210ab to hold a sample vessel 03 therefor, and the second processing module 2200b and the third processing module 2200c can both utilize a second sample vessel holding assembly 2210bc to hold a sample vessel 03 therefor.

[0078] Although each processing module 2200 is similarly configured, each processing module 2200 can perform a wide variety of assays such that each processing module 2200 can perform a different assay than the assays being performed simultaneously in another processing module. In this regard, each processing module 2200 can be automatically designated and redesignated to perform any number of assay types depending on the processing needs at a particular time. For example, a first processing module 2200a may be designated to perform a first assay, a second processing module 2200b may be designated to perform a second assay, and a third processing module 2200c may be designated to perform a third assay, each assay being different. However, once those assays are completed, any one of the processing modules 2200a-2200c can be automatically redesignated to perform a different assay, such that each of the first processing module 2200a, the second processing module 2200b, and the third processing module 2200c, for example, perform the same assay. The analytical device 2000 is therefore adaptable to adapt to real-time needs, provided that sufficient consumables for a particular assay are stocked within its housing 2010 .

[0079] Processing module example 11B shows a first processing module 2200a, which is illustrative of the other processing modules. The first processing module 2200a generally comprises a first sample container holding assembly 2210ab (shared by the second processing module 2200b), a dry reagent station 2220, a liquid reagent station 2230, an extractor 2240, an amplification cartridge station 2250, a pipette tip drawer 2140, and a waste receptacle 2260. These components can be arranged in any configuration. However, in the illustrated embodiment, the dry reagent station 2220 and the liquid reagent station 2230 are located at the rear end of the processing deck 2016 and are disposed adjacent to each other. The first extractor 2240a and the second extractor 2240b are located adjacent to the reagent stations 2220 and 2230, and are positioned between the amplification cartridge station 2250 and the reagent stations 2220, 2230. This allows for efficient transfer of liquids between them. The pipette tip drawer 2140 is located at the front of the processing deck 2016, allowing easy access to it by the user. The processing module 2200a preferably includes three pipette tip drawers 2140, each holding a first pipette tip rack 2022a carrying a first pipette tip 2020a and a second pipette tip rack 2022b carrying a second pipette tip 2020b. This amount of pipette tips 2020 allows the processing module 2200a to perform approximately 12 assay runs without refilling. The sample container holding assembly 2210ab is disposed to the side of the extractors 2240a, 2240b and the reagent stations 2220, 2230, and between the first processing module 2200a and the second processing module 2200b. Also between the first 2200a and second 2200b processing modules is a waste receptacle 2260. The waste receptacle allows used pipette tips to be discarded from above the processing deck 2016 into the waste reservoir 2130.The waste container 2260 may also include a liquid waste inlet (not shown) that allows liquid waste to be disposed of into a bottle or some other container within the waste reservoir 2130 .

[0080] Sample Container Holding Assembly The sample vessel retaining assembly 2210ab is similar to the sample vessel retaining assembly 1100 of the '875 application in that it includes a clamp assembly 2212 that closes against the shuttle 2030 disposed within the clamp assembly to retain the shuttle 2030 and the vessels 03 within the shuttle 2030 while an aliquot is aspirated from the vessels 03. In this regard, the clamp assembly 2212 includes engagement members 2214 that are configured to protrude through a second lateral opening 2036 in the shuttle 2030 when the clamp assembly 2212 is closed to engage the skirt 07 at the bottom end of the sample vessels 03, as best seen in FIG. 11C. These engagement members 2214 penetrate / engage within the skirt 07 of the respective vessels 03 to prevent the vessels 03 from inadvertently dislodging from the shuttle 2030 during aspiration. However, unlike the holding assembly 1100, the holding assembly 2210ab has a stationary platform 2216 upon which the shuttle 2030 rests, whereas the holding assembly 1100 utilizes a moving conveyor 1116. Thus, instead of a conveyor transporting the shuttle 2030 into position within the clamp assembly 2210ab, the inventory robot 2300 places the shuttle 2030 into position within the clamp assembly 2212.

[0081] Reagent Plate Station The dry reagent plate station 2220 and the liquid reagent plate station 2230 may each comprise a receptacle defined by a pair of rails or other support structures (not shown) extending from the surface of the deck 2016. Such receptacles may receive corresponding reagent plates to help ensure that each plate is positioned in the correct location. As shown, the processing module 2200a comprises one dry reagent plate station 2220 and one liquid reagent plate station 2230. Because the analyzer 2000 typically utilizes two dry reagent plates 2050a, 2050b per assay performed, the dry reagent plates 2050a, 2050b are swapped during operation. However, it is envisioned that additional dry reagent plate stations may be incorporated into the processing module 2200a to allow each of the reagent plates 2050a, 2050b to be positioned on the processing deck 2016 at one time. The processing module 2200 a can also include a recessed support structure that allows the amplification cartridge 2070 to be precisely positioned by the inventory robot 2300 .

[0082] 29A-29C, each of the processing modules 2200a-2200c may further comprise a plurality of identification tags 2232 for detecting the presence of consumables on the processing modules 2200a-2200c to control the inventory of the processing deck 2016 and the processing plate support assembly 2090 (FIGS. 29B and 29C). Only one of the three processing modules 2200a-2200c shown in FIG. 11A is shown in FIG. 29A-29C. The processing module is simply listed as 2200 in FIG. 29A. However, it is contemplated that what is described in FIG. 29A-29C may be deployed on any or all of the processing modules 2200a-2200c. Specifically, a number of identification tags 2232 in each processing module 2200a-c are used to detect the presence of the dry reagent plate 2050, the liquid reagent plate 2060, the amplification cartridge 2070, the processing plate 2040, and the processing plate support assembly 2090 on the processing module 2200a-c. As can be seen in FIG. 29B, the processing plate support assembly 2090 is configured to be positioned within a recess 2238 defined on the processing module 2200a-c over the extractor 2240 to support the processing plate 2040 during pipetting operations. The processing plate 2040 is shown positioned directly above the extractor 2240 shown in FIG. 29A. The extractor 2240 is shown in detail in FIG. 12A-12D and described in detail elsewhere herein.

[0083] The processing plate support assembly 2090 comprises a support plate 2092 and a plurality of drip receptacles 2094 removably attached to a bottom surface of the support plate 2092, as shown in FIG. 29C. The plurality of drip receptacles 2094 are configured to receive used pipette tips (not shown) and collect any waste that drips from those pipette tips disposed within a respective one 2096 of the plurality of drip receptacles 2094. Each of the plurality of drip receptacles 2094 comprises a plurality of individual bottom closed receptacles 2096 connected via a dividing wall 2098 to prevent cross-contamination between a pipette disposed within the respective one 2096 of the plurality of drip receptacles 2094 and liquid collecting within the respective one 2096 of the plurality of drip receptacles 2094. The plurality of drip receptacles 2094 of the processing plate support assembly 2090 are dimensioned to be disposed and inserted within the recesses 2238 of the processing modules 2200a-c. The processing plate support assembly 2090 is accessible by a user so that it can be removed from the recesses 2238 of the processing modules 2200a-2200c for cleaning.

[0084] A plurality of identification tags 2232, 2233, 2235 are disposed on the surface of each of the dry reagent plate station 2220, the liquid reagent plate station 2230, and the amplification cartridge station 2250, respectively. For the processing plate support assembly 2090, the identification tag 2234 is disposed on the surface of the processing module 2200 between the amplification cartridge station 2250 and the recess 2238, as shown in FIG. 29A. The identification tag 2234 allows the system to detect whether the processing plate support assembly is in the correct position. Specifically, the system can detect the identification tag 2234 only if the processing plate is not in the correct position. This is evident from FIG. 29B. For the processing plate 2040, the identification tag 2236 is disposed on the upper surface 2092 of the processing plate support assembly 2090, as shown in FIG. 29B and FIG. 29C.

[0085] Each of the plurality of identification tags 2232-2236 is positioned such that the identification tag 2232-2236 is covered when an associated consumable or processing plate support assembly is placed at a designated location on the surface of the processing modules 2200a-2200c. To detect the presence of consumables and processing plate support assemblies on the processing modules 2200a-2200c, optionally a liquid handling robot 2400 (shown in FIG. 14A) moves across the processing deck 2016 and scans the identification tags 2232-2236 that are not covered by an associated consumable or processing plate support assembly. For example, if the dry reagent plate 2050 is not present in the dry reagent plate station 2220 on one of the processing modules 2200a-2200c, the identification tag 2232 positioned on the dry reagent plate station 2220 for the dry reagent plate 2050 will not be covered and therefore will be exposed, thereby enabling the liquid handling robot to read the identification tag 2232 positioned on the dry reagent plate station 2220 and record the absence of the dry reagent plate 2050 in one of the processing modules 2200a-2200c in which the barcode 2232 is detected.

[0086] The identification tags carry a machine-readable code or image. In one embodiment, the identification tags 2232-2236 are bar codes, and a scanner mounted on the end effector of the inventory robot can scan and read the tags. Alternatively, other identification tags, such as radio frequency identification (RFID), near field tags, etc., can be implemented.

[0087] extractor The extractor assembly includes two extractors, a first extractor 2240a and a second extractor 2240b, as shown in Figures 12A and 12B. Each extractor 2240a, 2240b includes a housing 2242, a printed circuit board 2247 ("PCB"), a motor 2244, a drive mechanism 2246, a permanent magnet 2241, and a heating element 2248. Another exemplary extractor assembly includes the BD MAX™ System (Becton Dickinson, Franklin Lakes, NJ) extractor, described in U.S. Patent No. 8,133,671, the disclosure of which is incorporated herein by reference in its entirety. The permanent magnet 2241 is attached to the drive mechanism 2246 and disposed within the housing 2242. The permanent magnets 2241 are arranged in two rows of six magnets to form six pairs of adjacent magnets 2241a, 2241b. This side-by-side pairing of magnets 2241a, 2241b has been found to enhance the magnetic attraction of the magnetic beads in the processing plate 2040 over that of a single magnet. The rows of magnets 2241 are movably connected to a drive mechanism 2246 and are movable in and out of the housing 2242 through an opening in the top of the housing 2242 via the drive mechanism 2246 operated by a motor 2244.

[0088] The PCB 2247 and the heating elements 2248 are connected to both sides of the housing 2242. The heating elements 2248 are arranged in two rows of six each and extend above the housing 2242. Each heating element 2242 defines a recess 2249 forming a cup-like structure having a geometric shape that fits the outer rotating surface of the extraction tube 2045 of the processing plate. This allows the heating element 2248 to directly contact such rotating surface to transfer heat to the extraction tube 2044 and also allows the processing plate 2040 to be stably supported by the extractor 2240. In addition, the width of the extractors 2240a, 2240b is such that the pipette tips 2020 can be placed in the pipette tip holding station and extend through the processing plate 2040 without any interference by the extractor 2240 when the processing plate is held thereby. When the motor 2244 is operated, the array of permanent magnets 2241 can be moved upwardly into the space 2243 between the heating element 2248 and the adjacent extraction tube 2244, attracting magnetic beads that may be disposed therein.

[0089] 12C and 12D show an extractor 2240' and a processing plate 2040 according to a further embodiment of the present disclosure. As previously described, the processing plate may include engagement notches 2042 on both sides of the plate body 2041. However, instead of the engagement notches 2042 being located on the sides of the plate body 2041, the processing plate 2040 preferably includes engagement members 2049 extending from the top surface of the plate body 2041. Such engagement members 2049 include engagement notches 2042. Thus, the processing plate 2040 has notches 2042 located above the plate body 2041 and inwardly relative to the sides of the plate body 2041. This allows the end effector 2360 to grip the processing plate 2040 from above rather than from the sides of the plate body 2041, which allows the end effector 2360 to operate in a nearly tight space, as described in more detail below.

[0090] The extractor 2240' is similar to the extractor 2240, except that the extractor 2240' includes a drip tray 2280. The drip tray 2280 includes trough members 2281a, 2281b connected by an intermediate member 2088, as shown. Thus, the drip tray 2280 is of a different configuration than the drip accommodation shown in FIG. 29C. The intermediate member 2088 extends between the two sides of the extractor 2240' and includes openings for the extraction tube 2044 and the mixing well 2046 to extend through so that the extraction tube 2044 can engage the heating element 2248 of the extractor 2240', as best shown in FIG. 12D. Additionally, the intermediate member 2088 generally serves to support the processing plate 2040, as it has a flat upper surface that allows the processing plate body 2041 to rest thereon. Each trough member 2281a, 2281b includes an outer shield 2082, an inner shield 2084, and a lower shield 2086. The inner shield 2084 is connected to and extends downwardly from the middle member 2088, such that when the processing plate 2040 is attached to the extractor 2240', the inner shield 2084 is located between the heating elements 2248 and the row of pipette sleeves 2048, as best shown in FIG. 12D. The lower shield 2086 is connected to and extends between the outer shield 2082 and the inner shield 2084. The outer shield 2082 extends upwardly from the lower shield 2082. This configuration forms a trough sized to receive the row of pipette tips 2020 when the pipette tips 2020 are disposed in a respective one of the pipette sleeves 2048. In this regard, the trough members 2281a, 2281b form a barrier within the system 2000 that helps prevent contamination from the pipette tips 2020, which may be stored within the pipette sleeve 2048 for reuse.

[0091] 12E shows a third processing module 2200c with an extractor 2240'. A processing plate 2040 is attached to said extractor 2240'. The extractor 2240' and processing plate 2040 are disposed between the dry reagent plate 2050 and the liquid reagent plate 2060 and the pipette tip chute 2135 and the amplification cartridge 2070. However, as shown, the processing plate 2040 generally sits lower on the processing deck 2016 than these surrounding components. However, to help conserve the overall size of the system 2000, the side-to-side clearance between these components and the processing plate 2040 is minimal. Therefore, it may be difficult for the end effector 2360 to have sufficient clearance to place the processing plate 2040 on the extractor 2240' and pick it up therefrom. In this regard, the processing plate 2040 provides engagement members 2049 that provide sufficient clearance for the end effector 2360 to pick and place the processing plate 2040. Also as shown, elongated openings 2017 extend through the surface of the processing deck 2016, allowing reusable pipette tips 2020 attached to the processing plate 2040 to extend therethrough. The drip tray trough members 2281a, 2281b align with such openings 2017 and shield the system 2000 from contamination by drips from the pipette tips 2020.

[0092] Detector Each process module 2200a-c has an associated detector 2270, which in the embodiment shown in FIG. 10A is located in the detection / analysis deck 2012 at the bottom of the analyzer 2000. For example, the first process module 2200a is associated with a first detector 2270a, the second process module 2200b is associated with a second detector 2270b, and the third process module 2200c is associated with a third detector 2270c. The location of the detectors 2270a-c below the process deck 2016 helps isolate the detectors 2270a-c from possible contaminants. An exemplary detector is that of the BD MAX™ system (Becton Dickinson, Franklin Lakes, NJ), described in U.S. Pat. No. 8,133,671, the disclosure of which is incorporated herein by reference in its entirety. Each of the detectors 2270a-c comprises a reader head 2271 and a thermocycler 2275. The reader head 2271 comprises a light emitter and a detector (not shown) configured to detect the presence of a fluorescent probe in the chamber 2075 of the amplification cartridge 2070. The thermocycler 2275 comprises a moveable platform 2276 having a recess 2277 configured to receive the amplification cartridge 2070. The thermocycler 2275 has a heating element (not shown) that cyclically heats the contents of the amplification cartridge 2070, e.g., purified DNA, to a predetermined temperature to aid in the amplification of such contents. The reader head 2271 is suspended from the structure of the analysis device 2000 such that its reader points in a downward direction. The thermocycler 2275 is disposed below the reader head 2271 and includes a motor 2278 and a drive screw that vertically moves a platform 2276 to press the amplification cartridge 2070 against the reader head 2271. The space that exists between the thermocycler 2275 and the reader head 2271 is large enough to allow the inventory robot 2300 to place the amplification cartridge 2070 on the thermocycler 2275.

[0093] Consumables handling 13A-13D show an inventory robot 2300 according to one embodiment of the present disclosure. The inventory robot 2300 helps to inventory all consumables in the analyzer 2000 and also handles all consumables in the analyzer 2000. In addition, the inventory robot 2300 can reach into the pre-analytical system 10 from the analyzer 2000 to shuttle the shuttle 2030 with the sample containers 03 between the analyzer 2000 and the pre-analytical system 10. In this regard, the housing of the analyzer 2000 can include a side opening on its left or right side sized to allow the robot 2300 to reach through. The inventory robot 2300 includes a track member 2310, a body / post 2320, a shoulder 2330, a first arm member 2340, a second arm member 2350, and an end effector or hand 2360.

[0094] Robot Arm The track member 2310 extends laterally from one side of the analyzer 2000 to the other and is located closer to the rear end of the analyzer 2000 than the previously mentioned forwardly located decks 2012, 2014, and 2016. The body 2320 is slidably mounted to the track member 2310 and extends perpendicularly therefrom. The body 2320 is coupled to the track member 2310 via a carriage 2322. The carriage 2322 and the track member 2310 form a linear motor that allows the body 2320 to translate laterally along a single axis. One example of a linear motor that may be implemented in the analyzer 2000 is a Festo Linear Motor Actuator ("FLMA") (Festo AG & Co. KG, Esslingen am Neckar, Germany). However, other drive mechanisms, such as a belt and pulley mechanism, are envisioned for driving the body 2320 along the track member 2310.

[0095] The shoulder 2330 is slidably mounted to the body 2320 such that the shoulder 2330 can be driven along the vertical axis of the body 2320, which can also be achieved by a linear motor or some other drive mechanism. The shoulder 2330 is attached to the first arm member 2340 at one end thereof such that the first arm member 2340 can rotate about a vertical axis shared by both the shoulder 2330 and the first arm member 2340. The second arm member 2350 is connected to the other end of the first arm member 2340 such that the second arm member 2350 can rotate about a vertical axis shared by both the arm members 2340 and 2350. The end effector 2360 is connected to the end of the second arm member 2350 remote from the first arm member 2340 and is rotatable about a vertical axis shared by the end effector 2360 and the second arm member 2350.

[0096] End effector The end effector 2360 comprises a body 2362 and a pair of movable fingers 2363a, 2363b coupled to the body 2362. The movable fingers 2363a, 2363b are operable to move toward or away from each other to grasp or release an item, as shown in FIG. 13A. In this regard, the movable fingers 2363a, 2363b generally remain parallel during movement. The end effector 2360 also comprises an identifier reader 2366, such as a barcode scanner, on a surface of the body 2362 that generally faces away from the fingers 2363a, 2363b. The body 2362 is capable of rotating approximately 180 degrees relative to the second arm member 2350, thereby enabling such identifier reader 2366 to face the front of the analyzer 2000 and scan consumables located on the inventory deck 2014 or elsewhere. The body 2362 can also include an identifier reader on its bottom surface such that such a reader can read an upward facing identifier, for example, an identifier that may be located on the amplification cartridge 2070.

[0097] The fingers 2363a, 2363b are specifically configured to engage with a variety of different consumables. In this regard, the fingers 2363a, 2363b include a first engagement feature 2361 and a second engagement feature 2364. The first engagement feature 2361 is a tab or protrusion that extends inwardly from one finger 2363 to the other finger 2363 as shown. The first engagement feature 2361 is sized to fit within the engagement notches 2042, 2052, 2064 of the plates 2040, 2050, 2060, respectively, and the first lateral opening 2034 of the shuttle 2030. In operation, when the fingers 2363a, 2363b close onto the consumable, a first engagement feature 2361 extends into a corresponding notch or opening in the consumable to prevent the consumable from falling out, while the fingers 2363a, 2363b themselves clamp onto the sides of the consumable to further control and retain such item. As shown, each finger 2363a, 2363b preferably includes two engagement features 2361 which help prevent the consumable from inadvertently rotating within the finger's grip.

[0098] The second engagement feature 2364 is generally located opposite the fingers 2363a, 2363b to the first engagement feature 2361 and includes downwardly extending posts or dovetails 2365. The posts 2365 extend from a generally planar bottom surface 2366 of the engagement feature 2364 and taper outwardly therefrom to form a frustoconical surface of revolution, as best seen in FIG. 13C. These posts 2365 engage with corresponding notches 2072 in the amplification cartridge 2070. As described above, the amplification cartridge 2070 includes a sloped or contoured surface around each notch 2072 that forms a recess 2077. In operation, as the posts 2365 slide into their respective notches 2072, the posts 2365 eventually reach this recess 2077. Upon reaching recess 2077, post 2365 is received within recess 2077 in a mating manner, as shown in Figure 13D. This helps provide a stable platform for cartridge 2070 to move about analyzer 2000, as recess 2077 matches the rotational surface of the post. Additionally, the flare or taper of post 2365 helps prevent cartridge 2070 from falling off.

[0099] As shown in FIG. 13B, each finger 2363a, 2363b includes three engagement features 2364. However, while more or fewer engagement features 2364 are envisioned, it is preferred that each finger 2363a, 2363b includes a single second engagement feature 2364. This allows the fingers 2363 to fully engage an amplification cartridge 2070 that may be inadvertently rotated about a vertical axis such that the sides are no longer parallel to the fingers 2363a. This may be a significantly more difficult task for fingers 2363a, 2363b having two or more engagement features 2364, since at least some of the features 2364 may not be able to properly align with corresponding notches 2072 of the amplification cartridge 2070 if such a cartridge 2070 is inadvertently rotated.

[0100] Additionally, each finger 2363a, 2363b may be flexible so that it can bend downward or upward about a horizontal axis, but is sufficiently resilient so that it does not readily yield upon contact. Such flexibility may be imparted to each finger 2363a, 2363b along its length near its terminal end, including the second engagement feature 2364. This allows the fingers 2363a, 2363b to automatically adjust to engage an amplification cartridge 2070 that may be tilted about a horizontal axis such that the cartridge 2070 is not parallel to the fingers 2363a, 2363b.

[0101] 30 and 31, there is shown an end effector 5002 according to an alternative embodiment of the present disclosure. The end effector 5002 includes a pair of fingers 5004 attached to a body 5006 of the end effector 5002. An engagement mechanism 5008 of the end effector 5002 is substantially similar to the engagement mechanism of the end effector of the previous embodiment.

[0102] 30 , each finger 5004 extends between a first end 5010 and a second end 5012 with an offset 5014 formed and located at the second end 5012. The offset 5014 extends upwardly from a bottom of the finger 5004 at a non-perpendicular angle to the elongated portion 5016 of the finger 5004. The offset 5014 allows a top surface 5018 of the offset 5014 to securely engage a bottom surface (not shown) of a connecting member 5020 of the body 5006 of the end effector 5002 when they are engaged for installation.

[0103] 31, the offset 5014 may include a first offset opening 5022, a second offset opening 5024, and a protruding opening 5026 defined and disposed between the first offset opening 5022 and the second offset opening 5024. When the offset 5014 is engaged with a connecting member 5020 for attachment of the finger 5004 to the body 5006 of the end effector 5002, the first offset opening 5022, the second offset opening 5024, and the protruding opening 5026 are dimensioned to closely align with a first connecting member hole 5028, a second connecting member hole 5030, and a protruding hole 5032, respectively, defined on the connecting member 5020 of the body 5006.

[0104] The end effector 5002 may further comprise a wedge 5034 to ensure secure fixation of each finger 5004 to the connecting member 5020 of the body 5006 of the end effector 5002. The wedge 5034 is configured and designed to prevent shifting (and / or rotation) of the fingers 5004 and provide stability when forceful contact occurs on the fingers 5004 (e.g., picking up a consumable). The wedge 5034 may be a generally complementary deflection surface to the offset 5014. As used herein, "approximately" or "about" contemplates a variance of about plus or minus 10%. When assembled, the offset 5014 and the wedge 5034 form a complementary and secure deflection interface.

[0105] 31 , the wedge 5034 can include a biased (or angled) side 5036 for the wedge 5034 to tightly engage the offset 5014 of the finger 5004 to connect the finger 5004 to the body 5006. A first wedge opening 5038 and a second wedge opening 5040 are defined on the wedge 5034, and a protrusion 5042 is formed and disposed between the first wedge opening 5038 and the second wedge opening 5040. The protrusion 5042 protrudes from the biased side 5036 of the wedge 5034. The protrusions 5042 are configured to pass through the protruding openings 5026 in the offsets 5014 of the fingers 5004 and mate with the protruding holes 5032 in the connecting members 5020 of the body 5006 to precisely position the fingers 5004 from front to rear.

[0106] Once the finger 5004 is attached to the connecting member 5020 of the body 5006 and the protrusion 5042 of the wedge 5034 is inserted through the finger 5004 and the connecting member 5020 of the body 5006, a screw 5044 or other suitable connector can be inserted through the aligned holes / openings to attach the wedge 5034 to the offset 5014 of the finger 5004 and the offset 5014 of the finger 5004 to the connecting member 5020 of the body 5006.

[0107] Liquid Handling 14A and 14B show a liquid handling robot 2400 according to one embodiment of the present disclosure. The liquid handling robot 2400 is suspended above the processing deck 2016 on the liquid handling robot deck 2018. The liquid handling robot 2400 comprises a track member 2405 that extends laterally from one side of the analytical device 2000 to the other. A plurality of multi-channel pipettors 2440 are connected to the track member 2405 via a carriage 2420 and a lateral arm 2430. The arm 2430 is connected to the carriage 2420, which is slidably connected to the track member 2405 such that the arm 2430 extends laterally relative to the track member 2405. The carriage 2420 and the track member 2405 form a linear motor that allows the multi-channel pipettors 2440 and the arm 2430 to be driven laterally along the track member 2405. An example of such a linear motor is the Festo Linear Motor Actuator ("FLMA") (Festo AG & Co. KG, Esslingen am Neckar, Germany). As shown, there is one multichannel pipettor 2440 for each processing module 2200. Thus, in this particular embodiment, there are three pipette assemblies: a first multichannel pipettor 2440a, a second multichannel pipettor 2440b, and a third multichannel pipettor 2440c. The first multichannel pipettor 2440a corresponds to the first processing module 2200a, the second multichannel pipettor 2440b corresponds to the second processing module 2200b, and the third multichannel pipettor 2440c corresponds to the third processing module 2200c. However, more or less multichannel pipettors 2440 are possible, based on the number of processing modules 2200.

[0108] Multichannel Pipettor 14B illustrates a multi-channel pipettor 2440 according to one embodiment of the present disclosure, which is representative of multi-channel pipettors 2440a-c. The multi-channel pipettor 2440 includes a backplane connector 2450 and a number of liquid handling assemblies 2442 connected to the backplane connector 2450. In the illustrated embodiment, there are three liquid handling assemblies 2442a-c: a first liquid handling assembly 2442a, a second liquid handling assembly 2442b, and a third liquid handling assembly 2442c. However, more or less are contemplated. Each liquid handling assembly 2442a-c includes a main board assembly 2460a-c and a pipette assembly 2470a-c. The liquid handling assemblies 2442a-c are connected to the backplane connector 2450 in close proximity to one another.

[0109] Each main board assembly 2460 serves to provide data, power, and positive / negative air pressure to a corresponding pipette assembly 2470. In the illustrated embodiment, there are three pipette assemblies 2460, namely, a first pipette assembly 2460a, a second pipette assembly 2460b, and a third pipette assembly 2460c. These assemblies 2460a-c correspond to respective liquid handling assemblies 2442a-c. Each main board assembly 2460 is similar to the main board assembly 1401 described and shown in Figures 27A and 27B of the '875 application. In this regard, each main board assembly 2460 comprises a housing 2462 having various components disposed therein, such as a PCB, positive and negative pressure inputs, valves, and liquid / gas conduits in communication with the inputs and valves. The mainboard assemblies 2460a-c also include a z-drive mechanism that includes a vertical rail 2464 on one side of the housing 2462, a motor 2466, and a drive shaft (not shown). The drive shaft is disposed within the housing 2462.

[0110] Each pipette assembly 2470 is similar to the pipette assembly 502 of FIGS. 17A-17D and the pipette assembly 1402 of FIGS. 27A-27B of the '875 application, except that each pipette assembly 2470 is not hinged to its respective main board assembly 2460 and does not rotate to multiple hinge positions. Each pipette assembly 2470 is rotationally constrained and moves in the vertical z-direction along a vertical rail 2464 via a motor 2466. Thus, the first pipette assembly 2470a, the second pipette assembly 2470b, and the third pipette assembly 2470c can move independently in the vertical or z-direction. In other respects, the pipette assembly 2470 is constructed similarly to the pipette assemblies 502 and 1402, particularly with respect to its pipette channel assembly (not shown) and pipette tip ejector assembly 2472.

[0111] The backplane connector 2450 is similar to the backplane connector 1600 of Figures 29A and 29B of the '875 Application, except that the backplane connector 2450 is configured to mount a plurality of liquid handling assemblies 2442, such as the first assembly 2442a, the second assembly 2442b, and the third assembly 2442c shown. In this regard, the backplane connector 2450 includes several connectors (not shown), such as Ethernet, multi-pin, positive pressure input connectors, and negative pressure input connectors, for connecting to the main board assemblies 2470a-2470c of each liquid handling assembly 2442 and for providing necessary power, pressure, and data signals to the liquid handling assemblies 2442a-2442c. This helps to reduce or eliminate external cabling that may become tangled and difficult to manage with multiple liquid handling assemblies 2442 connected in such close proximity.

[0112] automation Figure 15 shows a schematic architecture of the computing system of the analytical apparatus 2000. The computing system 2500 may be a subsystem within the system 1300 of Figure 26 of the '875 application, which shows a computing system diagram of the high throughput system 00. In this regard, the inter-instrument bus 2504 and the workflow computing device 2540 are the same as the bus 1320 and the computing device 1330 shown in Figure 26 of the '875 application. In addition, the computer control device 2510 is similar to the computing device 1360, and is described in more detail herein, along with its inputs and outputs within the analytical apparatus 2000.

[0113] The computerized device 2510 may be any general-purpose computer and may include a processor 2512, a memory 2514, and other components typically present in a general-purpose computerized device. However, the computerized device 2510 may include specialized hardware components for performing specific computing processes. The processor 2512 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 2512 may be a dedicated component, such as an application specific integrated circuit ("ASIC") or other hardware-based processor.

[0114] The memory 2514 may store information accessible by the processor 2512, including instructions 2516 executable by the processor 2512. The memory 2514 may also include data 2518 that may be retrieved, manipulated, or stored by the processor 2512. The memory 2514 may be of any non-transitory type capable of storing information accessible by the processor 2512, such as a hard drive, memory card, ROM, RAM, DVD, CD-ROM, writeable memory, and read-only memory.

[0115] The instructions 2516 may be any set of instructions executed by the processor 2512, either directly, such as machine code, or indirectly, such as a script. In this regard, the terms "instructions," "application," "steps," and "program" may be used interchangeably herein. The instructions 2516 may be stored in object code format for direct processing by the processor 2512, or in any other computing device language, including a script or collection of separate source code modules that are interpreted on demand or precompiled.

[0116] In one embodiment of the analytical apparatus 2000, the computer control device 2510 can include several sets of instructions. For example, each assay to be performed can have several sets of instructions associated with it, which can include instructions to operate the inventory robot 2300 to perform an inventory check and retrieve the appropriate reagents and other consumables for that assay. In another example, the set of instructions can determine the sequence of operations to be performed by a particular multichannel pipettor 2440 to aid in processing a sample for analysis.

[0117] The data 2518 may be entered and viewed via a graphical user interface ("GUI") that may be displayed on the display interface 2520 specifically associated with the analyzer 2000, or on the display interface 1332 of Figures 1 and 26 of the '875 application generally associated with the high throughput system 00. The data 2518 may also be entered from a scanner, such as the scanner 2366 on the end effector 2360 of the inventory robot 2300 or a scanner in the pre-analytical system 10. Data may also be acquired by sensors, such as optical sensors, temperature sensors, etc., to obtain information regarding certain conditions and activities occurring within the analyzer, such as, for example, the location of particular consumables and air quality.

[0118] This data 2518 may be digitally tagged to a specific identification code (e.g., a barcode serial number) in a field implementation or a relational database, which may also be stored in memory 2514. This helps the analytical device 2000 to keep track of various consumables within the analytical device 3000 and provide certain information to the processor 2512 during execution of the processor instructions 2516 without the need for user input. For example, the liquid reagent plate 2060 may have an identification code that may be associated with a barcode located on its outer surface, which may be tagged in a database with certain stored data, such as the type of reagents stored and which reagents have already been utilized. This allows the analytical device to check its inventory to determine when reagents and other consumables are running low or insufficient to perform additional assays. In another example, the shuttle 2030 may have an identification code that may be tagged in a database with certain stored data, such as the patient name, the assay being performed, processing parameters, etc., data associated with each of the sample containers 03 carried by the shuttle 2030. In a further example, once the analysis is complete, the results of the assay can be associated with a particular sample in a database, so that a user can easily retrieve the results via access to the workflow computing device 2540, and such results can be communicated thereto by the device 2510.

[0119] 15 functionally depicts the processor 2512, memory 2514, and other elements of the computerized device 2510 as being within the same block, the computerized device 2510, the processor 2512, and / or the memory 2514 may each be comprised of multiple processors, computerized devices, and memories, which may or may not be housed within the same physical housing. For example, the memory 2514 may be a hard drive or other storage medium located in a different housing than that of the computerized device 2510. Thus, references to the processor 2512, the computerized device 2510, and the memory 2514 should be understood to include references to collections of processors, computerized devices, and memories that may or may not operate in parallel.

[0120] Display Interface The display interface 2520 may be specifically associated with the analytical device 2000, may display only information related to the analytical device 2000, or may be integrated into the structure of the analytical device 2000. However, the display interface 2520 is optional (indicated by a dashed line in FIG. 15) and is not included in the embodiment shown in FIG. 1, since the overall system display interface 1332 is utilized instead. However, if a display interface 2520 is included, the interface 2520 may be a monitor, LCD panel, etc. coupled to the front panel of the housing 2010 or located remotely from the analytical device 2000. The display interface may display a GUI, user prompts, user instructions, and other information that may be relevant to the user.

[0121] Input Interface User control / input interface 2530 allows a user to navigate the GUI, and again may optionally be provided as a separate component from the overall system input interface provided by display interface 1332 of Figure 1. However, if user control / input interface 2530 is provided, such interface may be, for example, a touch panel, keyboard, or mouse. Additionally, input interface 2530 may be integrated into display interface 2520 such that the same device that displays prompts, etc. is the same device that allows the user to respond to such prompts.

[0122] As shown in Fig. 15, the computerized control device 2510 may be connected to a workflow computing device 2540 that is utilized to integrate all of the components of the high throughput system 00, such as the second analytical device 4000 and the pre-analytical system 10, and in particular to integrate with the laboratory's Laboratory Information System ("LIS"). Thus, information related to the analytical device 2000 that originates within the pre-analytical system 10 can be communicated to the analytical device 2000 via the workflow computing device 2540. Similarly, information related to the pre-analytical system 10 that originates from the analytical device 2000 can be communicated via the computerized control device 2510 to the workflow computing device 2540, which communicates the information to the pre-analytical system 10. Such information may also be supplemented with information obtained from the LIS by the workflow computing device 2540, such as patient information.

[0123] The computerized device is also connected to multiple components within the analytical apparatus 3000 to share information, such as instructions and data, with each other. Some of the components connected to the computerized device via an internal bus include the processing modules 2200a-c, the inventory robot 2300, the detectors 2270a-c, and the liquid handling robot 2400, respectively. Such connections with the computerized device 2510 allow the computerized device 2510 to provide instructions to and receive information from such components. For example, the inventory robot 2300 can receive instructions from the computerized device 2510 to pick certain consumables and place them in a particular location, and can communicate inventory information to the computerized device 2510. Thus, the operations performed by the internal components of the analytical apparatus 2000 are generally the result of instructions provided by the processor 2512, such that the analytical apparatus 2000 is fully automated.

[0124] method Step 1: Receive instructions In a method of operation of the analytical device 2000 (FIG. 16), the analytical device 2000 can receive (2602) assay instructions from the workflow computing device 2540. Such instructions may initially be communicated to the workflow computing device 2540 from the pre-analytical system 10 when a batch of samples has been pre-processed thereby and is ready for analysis. In this regard, the pre-analytical system 10 can load an entire batch onto a shuttle 2030, which in this embodiment includes two shuttles 2030 with 12 sample containers 03 per shuttle 2030. Such shuttles 2030 are placed into the docking station 260 of FIG. 12A of the '875 application.

[0125] Step 2: Take stock When the instruction is received by the analyzer 2000, the inventory robot 2300 inventory 2604 the consumables to determine whether there is a sufficient amount of consumables to perform the ordered assay. Such an inventory may be performed by the inventory robot 2300. In this regard, when the instruction is received, the inventory robot 2300 moves the end effector 2360 toward the inventory deck 2014 below the processing deck 2016. The end effector 2360 is rotated approximately 180 degrees so that the identifier reader 2366 faces toward the inventory deck 2014. The inventory robot 2300 then scans the consumables placed therein to determine which consumables are loaded into the analyzer 2000. The analyzer 2000 then determines whether there is sufficient consumables to perform the ordered assay. Other automated devices for monitoring the inventory of consumables are also envisioned. Such other automated methods for tracking consumable inventory are well known to those skilled in the art and will not be described in detail herein.

[0126] The inventory robot 2300 does not have to scan consumables every time an instruction is received. Instead, the analytical device 2000 tracks consumables that are entered into the analytical device 2000 via a user. For example, when a user loads consumables, the inventory robot 2300 scans the consumables and records them in a database in memory 2514. The analytical device 2000 tracks when consumables are used. Thus, the analytical device 2000, via the processor 2512, can inventory consumables in response to an instruction by scanning the database in its memory 2514 to determine which consumables have been used and which have not been used to get a complete tally.

[0127] In one example, an assay instruction to identify the presence of a particular assay target, such as Chlamydia, is received, for example, by the analytical device 2000. The analytical device 2000 knows which reagents must be present in the analytical device 2000 to perform the assay. In addition, the analytical device 2000 knows which other consumables, such as pipette tips 2020, processing plates 2040, and amplification cartridges 2070, must be used. Such information may be pre-programmed into its memory 2514. The analytical device 2000 scans a database in its memory 2514 or utilizes an inventory robot 2300 to verify that the necessary consumables are available.

[0128] If the available consumables are insufficient to perform the ordered assay, the user is notified (2620), which may be in the form of an alert displayed on the display 1332 or 2520, a push notification to a mobile device, or an email. If other samples requiring a different assay are ready for processing by the analytical device 2000 and there are sufficient consumables to perform the assay, the analytical device 2000 can receive those containers 03 instead, avoiding downtime until the user loads the analytical device 2000 with the necessary consumables.

[0129] A user loads consumables through the front of the analytical device 2000 once such consumables are received 2622 by the analytical device 2000, such as at the start of a work shift or in response to an alert that consumables are insufficient. Thus, the user can load pipette tips 2020 into the pipette drawer 2142, reagent plates 2050 and 2060, amplification cartridges 2070 and / or processing plates 2040 into the consumable reservoir 2110. Sufficient consumables can be loaded to allow the analytical device 2000 to run continuously for 24 hours.

[0130] When such consumables are loaded by a user, the analyzer 2000 recognizes that the inventory deck 2014 has been accessed, such as via a door sensor. The inventory robot 2300 can then automatically perform an inventory scan to identify any new consumables that have been loaded into the analyzer 2000. Identifiers located on consumables, such as reagents in the case of reagent plates 2050, 2060, processing plates 2040, tip racks 2022, and amplification cartridges 2070, are used to determine what the consumables are and what they contain, such as reagents in the case of reagent plates 2050 and 2060.

[0131] Step 3: Remove the sample container When the analytical device 2000 determines that there are enough consumables to perform the assay and one of the processing modules 2200 is available, the analytical device 2000 communicates its readiness to the workflow computing device 2540. The workflow computing device 2540 then notifies the pre-analytical system 10, which in response loads the shuttle 2030 containing the sample container 03 onto the shuttle transport assembly 300 and sends it towards the analytical device 2000. The shuttle 2030 may stop just before reaching the entrance of the analytical device 2000. However, in some embodiments, the shuttle 2030 may be transported directly into the analytical device 2000.

[0132] The inventory robot 2300 then moves towards and reaches into the pre-analytical system 10 (2606). The end effector 2360 grasps the shuttle 2030 such that the first engagement feature 2361 is received in the second lateral opening 2036. The shuttle 2030 is then transported into the analytical device 2000 and to the shuttle holding assembly 2210 adjacent to the designated processing module 2200, which places the shuttle 2030 on the stationary platform 2216. The clamp assembly 2212 then closes such that the engagement member 2214 extends through the second lateral opening 2034 and penetrates into the skirt 07 of the respective container 03, thereby holding the container 03 in position for aspiration by the multi-channel pipettor 2440.

[0133] Step 4: Install consumables and aliquots Once the sample containers 03 are sufficiently held, the processing module 2200 is loaded with the appropriate consumables. In this regard, the inventory robot 2300 retrieves two processing plates 2040 and places one plate on each extractor 2240a, 2240b such that the extraction tubes 2044 of each plate 2040 are received by the heating elements 2248 of the respective extractors 2240a, 2240b. The inventory robot 2300 also retrieves a first dry reagent plate 2050a and a liquid reagent plate 2060 and places them in the dry reagent station 2220 and the liquid reagent station 2230, respectively. Typically, the liquid reagent plate 2050 and the dry reagent plate 2060 provide a greater number of reagents than the number of samples carried by the shuttle 2030. Thus, the analyzer 2000 does not have to load a reagent plate each time the shuttle 2030 is placed in the analyzer. Additionally, the inventory robot 2300 retrieves the amplification cartridge 2070 from the inventory deck 2014 by engaging the notch 2072 via the second engagement feature 2364. The amplification cartridge 2070 is positioned in the amplification cartridge station 2250 such that the entrance opening 2073 is positioned adjacent to the extractor 2240a.

[0134] The multichannel pipettor 2440 then retrieves a first pipette tip 2020a, one tip for each of the three pipette assemblies 2470a-c. An aliquot is removed 2607 from each of the sample containers 03 by piercing the pierceable seal 09 of the sample container with the pipette tip 2020 and aspirating the sample therein. The aliquot is aspirated into each extraction tube 2044 of the processing plate 2040. After each mixing tube 2044 has an aliquot, the multichannel pipettor 2440 inserts the pipette tip 2020a into the adjacent tip holding station 2047 for later use. This is done until an aliquot has been extracted from each container 03. If there is a malfunction such that an aliquot cannot be removed, such as because the seal is not penetrated, the analytical device 2000 retains that information in its memory 2514 and can therefore communicate that information to the pre-analytical system 10, which will properly sort the defective sample as discussed in the '875 application.

[0135] Step 5: Return the sample container shuttle and retrieve another sample container Once an aliquot has been removed from each sample container 03 in the shuttle 2030, the analytical device 2000 communicates to the workflow computing device 2540 that it is returning the shuttle 2030 to the pre-analytical system 10 (2608). The workflow computing device 2540 relays this communication to the pre-analytical system 10, which moves another shuttle 2030 containing the other half of the batch to the shuttle transport assembly 300. Within the analytical device 2000, the clamping assembly 2212 releases the shuttle 2030, and the inventory robot 2300 returns the shuttle 2030 containing the used container 03 to the pre-analytical system 10 by placing the shuttle 2030 in the return lane of the shuttle transport assembly 300. The inventory robot 2300 then engages and moves (2610) the second shuttle 2030 of the batch, transporting it to the shuttle holding assembly 2210, where it is held and the remaining aliquot of the batch is aspirated. Once the aliquots have been transferred to the remaining extraction tubes 2044 of the processing plate 2040 , the shuttle 2030 is again returned to the pre-analytical system 10 via the inventory robot 2300 .

[0136] In some embodiments, a dual lane assay may be performed by the analyzer 2000, where an aliquot from each sample container 03 is aspirated into two extraction tubes 2044 instead of one. In such an embodiment, a single shuttle 2030 of 12 sample containers 03 fills two processing plates 2040, each with 12 extraction tubes 2044. Thus, in this embodiment, the inventory robot 2300 only picks up one shuttle 2030 for the assay and does not pick up any additional shuttles 2030.

[0137] Step 6: Process the sample Once an aliquot of sample is deposited on the processing plate 2040, the analytical device 2000 processes the sample (2612). The procedure is generally the same regardless of the assay. There is not much difference in terms of method, just the reagents utilized. Thus, the processing module 2200 is capable of performing a wide range of assays. Processing generally involves extraction, isolation, and amplification of analytes, such as DNA targets.

[0138] The extraction includes reconstituting the dried lysing agent, which may contain magnetic beads configured to bind to DNA. In this regard, the multi-channel pipettor 2440 picks up a previously used pipette tip 2020a from a pipette tip holding station 2047 in the processing plate 2040. Although the multi-channel pipettor 2440 generally comprises multiple pipette assemblies 2470a-c, a single pipette assembly 2470 can be driven along a corresponding z-rail 2464 independently of the other pipette assemblies 2470 to retrieve a previously used pipette tip 2020a from the processing plate 2040. Once the tip 2020a is removed, the pipette assembly 2470 punctures the seal of the reconstitution buffer in the liquid reagent plate 2060, removes an aliquot of buffer and transfers it to the dry reagent plate 2050a, where it punctures the seal over one of the compartments 2054 and injects the buffer into the compartment 2054 to rehydrate the lysis agent. The reconstituted lysis agent is then aspirated and transferred to the extraction tube 2044. This is repeated until all of the extraction tubes 2044 have been infused with lysis agent and magnetic beads.

[0139] The extractors 2240a-2240c then heat the extraction tube 2044 and the contents therein via the heating element 2248 in contact with the extraction tube 2044. While the mixture is incubating, the inventory robot 2300 removes the first dry reagent plate 2050 from the processing module 2200 and retrieves the second dry reagent plate 2050b from the inventory deck 2014 and places it in the dry reagent plate station 2220.

[0140] Once incubation is complete, the motors 2244 of the extractors 2240a, 2240b move the permanent magnets 2241 out of their respective housings 2242 and position them adjacent to the extraction tubes 2044 where the magnetic beads with the extracted DNA attached are attracted to the side of the tubes 2044. The multichannel pipettor 2440 then removes an aliquot of wash buffer from the reagent plate 2060 to rinse the mixture out of the tubes. The magnets 2241 are moved back into their housings 2242 and the supernatant is removed from the mixing tubes and discarded via a liquid waste inlet that communicates with a liquid waste bottle in the inventory deck 2014. The neutralization buffer is transferred from the liquid reagent plate 2060 to a mixing well 2046 in the processing plate 2040 adjacent to the extraction tubes 2044. The pipettor 2440 then removes the elution buffer from the liquid reagent plate 2060 and dispenses the elution buffer into the extraction tube 2044, separating the magnetic beads from the isolated DNA. The magnet 2241 is returned to its position and the elution liquid is aspirated and transferred to the mixing well 2046 where it is mixed with the neutralization buffer. The neutralized sample is then used to reconstitute the master mix in the second dry reagent plate 2050b. The mixture is then loaded into the amplification cartridge 2070 via the multichannel pipettor 2440 and the second pipette tip 2020b, which injects the mixture into the cartridge 2070 by aspirating it into the inlet opening 2073 of the cartridge 2070. The amplification cartridge 2070 can accept the entire batch.

[0141] Step 7: Amplify / analyze / detect The end effector 2360 of the inventory robot 2300 then engages the cartridge 2070 and transports it to the detector 2270 associated with the processing module 2200. The inventory robot 2300 places the cartridge 2070 on the platform 2276 of the thermocycler 2275 without significantly tilting the cartridge 2070. This is possible at least because the cartridge 2070 is suspended or supported such that it is positioned lower than the fingers 2363a, 2363b of the end effector 2360. If the fingers 2363a, 2363b were positioned lower than the cartridge 2070, the cartridge 2070 may have to be dropped from the end effector 2360. The motor 2278 then raises the thermocycler 2275 to press the cartridge 2070 against the reader 2271. The cartridge 2070 is then subjected to thermocycling to amplify the assay target. The reader 2271 detects (2614) the presence of the assay target in the chamber 2075 of the cartridge 2070.

[0142] Step 8: Scrap and repeat Once detection is complete, the results are communicated to the workflow computing device 2540. The used amplification cartridge 2070 is moved 2616 via the inventory robot 2300 to an amplification cartridge waste which may be in the waste reservoir 2130 or elsewhere in the analytical device 2000. The inventory robot 2300 also discards the used processing plate 2040 by stacking the plate 2040 on a shelf 2138 in the waste reservoir 2130. The dry reagent plate 2050 and the liquid reagent plate 2060 are returned to their respective compartments in the consumables reservoir 2110 for use in another assay. The dry reagent plate 2050 and the liquid reagent plate 2060 can generally be used in four assay runs. The computing device 2510 keeps track of how many times the plate 2050 or 2060 has been used, and the analytical device 2000 automatically discards these plates after their last run by placing the plate 2050, 2060 in the waste reservoir 2130. Once the consumables have been discarded, the processing module 2200 can perform another assay (2618).

[0143] Multiple Assays at Once Each of the processing modules 2200 can perform any assay on the assay menu at any given time if the appropriate consumables are stocked in its housing 2010. This allows the analytical device 2000 to respond adaptively to optimize throughput. For example, a first processing module 2200a may be performing a first assay for several runs. However, if there is a backlog of samples in the pre-analytical system 10 that require a second assay different from the first assay, the first processing module 2200a can be used to help process and analyze such samples by performing the second assay. This may be done automatically by the analytical device 2000 without assistance from the user, since the analytical device 2000 is in constant communication with the pre-analytical system 10.

[0144] Numerous variations, additions, and combinations of the features described above can be utilized without departing from the present disclosure. For example, Figures 17A-17C show an analytical apparatus 3000 according to another embodiment of the present disclosure. The analytical apparatus 3000 is similar to the analytical apparatus 2000 in that it includes a processing deck 3016 having multiple processing modules 3200a-3200c, an inventory robot 3300 having a gripping end effector 3360, a liquid handling robot having multiple multi-channel pipettors 3440a-3440c, a consumable storage area 3014, and detectors 3270a-3270c for detecting analytes. Additionally, the analytical apparatus 3000 utilizes the same consumables as the analytical apparatus 2000, such as the pipette tips 2020, shuttle 2030, processing plate 2040, liquid reagent plate 2060, dry reagent plate 2050, and amplification cartridge 2070 described above. However, the analytical device 3000 differs with respect to the placement of the consumables storage unit 3014 and detectors 3270a-3270c, as well as with respect to certain particular consumable receptacles.

[0145] In particular, the analytical instrument 2000 includes a detection / analysis deck 2012 that is located below an inventory deck 2014. However, the analytical instrument 3000 separates these decks horizontally rather than vertically. Thus, the analytical instrument 3000 includes an inventory section 3014 and a detection / analysis section 3012. In the particular embodiment shown, the inventory section 3014 is located on the left side of the analytical instrument 3000 and the detection / analysis section is located on the right side of the analytical instrument 3000.

[0146] The inventory section 3014 includes a first consumables reservoir 3110, a second consumables reservoir 3120, and a waste reservoir 3130. The first reservoir 3110 is similar to reservoir 2110 in that it receives and stores consumables such as reagent plates 2050 and 2060 and cartridges 2070. The second reservoir 3110 is located between the first reservoir 3110 and the waste reservoir 3130.

[0147] The second storage section 3120, best shown in Figure 18C, has vertical compartments defined by walls 3122 and vertical rods / columns disposed opposite the walls 3122. The compartments are sized to receive stacks of processing plates 2040. The rods 3124 help prevent the stacks of processing plates 2040 from tipping over, while also allowing the processing plates 2040 to be sufficiently exposed so that the robot 2300 can remove plates 2040 from their respective stacks.

[0148] The waste reservoir 3130 is generally similar to the waste reservoir 2130. The waste reservoir 3130 defines a lateral boundary of the inventory section 3140 of the analysis device 300 and serves to separate unused consumables from the detection / analysis section 3012, which may help to isolate any potential contamination originating from either area.

[0149] The detection / analysis section 3012 comprises a waste reservoir 3130 (in one embodiment, the waste is an amplification cartridge), a liquid waste reservoir 3170, and a number of detectors 3270. The waste reservoir 3160 has an opening for receiving and storing waste, such as a used amplification cartridge 2070, until a user empties the reservoir 3160. The amplification waste reservoir 3160 may be slidably mounted on one or more rails for controlled movement in and out of the analysis apparatus 3000. The liquid waste reservoir 3170 is connected to the processing deck 3016 via a hose or some other channel device (not shown) so that liquid waste may be discarded from the processing deck 3016. The detectors 3270a-c are the same as the detectors 2270a-c and each comprises a thermocycler 3275 and a reader head 3271. The detectors 3270a-3270c are positioned in a vertical arrangement such that the second detector 3270b is positioned directly above the third detector 3270c, and the first detector is positioned directly above the second detector 3270b. The detectors 3270a-3270c open in the same direction for access by the gripper 3360 of the inventory robot 3300. In some embodiments, at least one detector 3270 may be positioned in the same horizontal plane as another detector and positioned perpendicular thereto.

[0150] 18A-18C show an analysis device 3000' according to another embodiment of the present disclosure. The analysis device 3000' is similar to the analysis device 3000, with the difference that one or more of the consumable storage units are movable for ease of access. For example, as shown in FIG. 18B, the second consumable storage unit 3120 may be movable like a drawer so that a user can access each of the vertical compartments for refilling the processing plate 2040. In another example shown in FIG. 18C, the first waste storage unit 3110 and the second waste storage unit 3120 may be positioned on a movable base 3144 to form a movable consumable inventory 3142. In this regard, the base 3144 may be slidable on rails (not shown) so that both the first consumable storage unit 3110 and the second consumable storage unit 3120 may be moved to a position outside the system 3000' for refilling of consumables. In a further example, a carousel-type consumable inventory (not shown) can include multiple compartments that are rotatable about a vertical axis. Such a carousel-type inventory may be rotated to expose its compartments to a user for replenishment while also allowing consumables stored therein to be positioned for access by the robot 3300.

[0151] The analytical device 3000' also comprises a housing 3010 with an opening 3012 on its front to allow for the movement or removal of various reservoirs, such as first and second reservoirs 3110, 3120, solid waste reservoir 3130, liquid waste reservoir 3170, and amplification waste reservoir 3160, as shown in Figure 18A. A door 3014, which may be hinged to the housing 3010, opens to allow a user to access such reservoirs.

[0152] One example of an analytical device described herein includes a robotic arm having i) a housing; and ii) an end effector, the end effector comprising: a) a body rotatably connected to an articulated arm; and b) first and second fingers coupled to the body and movable relative to each other in a first direction, each of the fingers having an engagement mechanism protruding inwardly from each of the first and second fingers and toward the other of the first and second fingers, the engagement mechanism configured to engage a recess in an article, the recess configured to receive the engagement mechanism such that the robotic arm can carry an article suspended from the first and second fingers when the engagement mechanism is so engaged with the article. The analytical device also has iii) at least one shuttle platform for receiving a shuttle carrying a sample vessel carrying a sample to be evaluated by the analytical device, the shuttle platform having a jaw assembly that moves automatically from an open position to a closed position, the jaw assembly including an engagement member that does not contact a bottom of a sample vessel carried by the shuttle when the jaw assembly is in the open position and that engages a bottom of the sample vessel when the jaw assembly is in the closed position. The analytical device may also have an automated pipetter that aspirates a sample from a sample vessel, the jaw assembly of the shuttle platform being closed when the automated pipetter aspirates a sample from a sample vessel. The robotic arm positions the shuttle on the shuttle platform when the jaw assembly of the shuttle platform is in the open position. The automated analytical device may also have a magnetic extractor. The magnetic extractor may include i) a housing defining a cavity, ii) an array of adjacent permanent magnets movably disposed within the cavity of the housing, iii) a drive mechanism connected to the array of permanent magnets and configured to move the array of permanent magnets into and out of the cavity, and iv) a plurality of heating elements extending from the housing in arrays disposed on opposite sides of the cavity. Moving the magnets from a first position to a second position positions the array of magnets directly between the array of heating elements such that each permanent magnet is aligned with a respective heating element.The magnetic extractor may also include a drip plate defining troughs each disposed adjacent a respective row of heating elements.

[0153] The magnetic extractor may be adapted to receive a processing plate thereon, and the heating elements each define a recess configured to receive and hold an extraction tube of a processing plate disposed above the magnetic extractor, and the heating elements are connected to a power source that heats the heating elements such that when the processing plate is disposed on the heating elements, pipette tips held by the processing plate extend into the trough of the drip plate. In operation of the analyzer, the processing plate is placed on the magnetic extractor by a robotic arm. In some examples, the robotic arm transports the processing plate onto the magnetic extractor by engaging an engagement mechanism of the robotic fingers with an engagement member extending upwardly from the processing plate, the upwardly extending engagement member having an opening that receives the engagement mechanism when the robotic fingers are in a first engagement position, the robotic fingers being closer together in the first engagement position than in a second position where the distance between the robotic fingers is too far for the engagement mechanism to engage the engagement member. In some embodiments, the robotic fingers have a second engagement mechanism extending downwardly from the robotic fingers. In one example, the mechanism extending downward from the robotic arm comprises a post with an inverted frusto-conical protrusion extending therefrom. In operation, the inverted conical mechanism engages a corresponding notch in a consumable to be transported from a first location to a second location in the automated analyzer. The automated analyzer may further comprise a consumables storage unit that receives consumables for use in the automated analyzer. Examples of consumables include processing plates, dry reagent plates, liquid reagent plates, and amplification cartridges. In some embodiments, the robotic arm has a scanner, and the robotic arm retrieves the consumables stored in the consumables storage unit by reading a code on the consumables using the scanner. In one example, the consumables storage unit receives the consumables from a first side, and the robotic arm retrieves the consumables from a second side of the consumables storage unit. In one example, the analyzer has one or more processing modules, the processing modules having a shuttle platform and a magnetic extractor. In examples where the analyzer has multiple processing modules, two adjacent processing modules use one shuttle platform.In one example, the processing module has a dry reagent station and a liquid reagent station adjacent to a magnetic extractor adapted to receive a processing plate thereon, the processing plate being positioned lower within the processing module relative to the dry reagent plate and the liquid reagent plate disposed in the respective dry reagent station and liquid reagent station.

[0154] In another aspect, a processing plate for use in an automated diagnostics system comprises: i) a plate body defining a plurality of extraction tubes, mixing wells, and pipette tip holding stations, each defining an opening extending through a top surface of the plate body, and ii) an engagement member extending vertically upward from the top surface of the plate body having an opening in a vertical portion of the engagement member, the opening facing a periphery of the plate body, such opening being configured to receive an engagement feature of an automated transport device. In one example, the processing plate has an upper surface, a lower surface, and an edge, the edge extending between the upper and lower surfaces and defining a periphery of the plate body. In another example, a processing plate for use in an automated diagnostic system includes: i) a plate body having an upper surface, a lower surface, and an edge, the edge extending between the upper surface and the lower surface and defining a periphery of the plate body; and ii) a plurality of sets of openings at the upper surface of the plate body, extending through the plate body, and terminating in a closed end. For example, each set includes: i) an extraction tube having a tube body extending from the bottom surface and defining a tube opening extending through the upper surface; a well; and a pipette station configured to receive and hold a pipette tip. In one example, each set of extraction tubes, wells, and pipette stations are aligned in a row, with the pipette station closest to the edge on at least one side of the plate body, and the extraction tubes and wells positioned further away from the periphery of the processing plate.

[0155] In yet another aspect, a processing plate support assembly adapted for use in an automated analyzer is provided.

[0156] In one example, the engagement member extends vertically upward from the top surface of the plate body and has an opening in the vertical portion of the engagement member, the opening facing the periphery of the plate body, such opening configured to receive an engagement feature of an automated transport device.

[0157] Also described herein is an inventory robot having a robot arm with an end effector for carrying an item, the end effector having i) a body rotatably connected to an articulated arm, and ii) at least two fingers coupled to and extending from the body, one of the at least two fingers being movable relative to the other of the at least two fingers. Each of the at least two fingers has a first protrusion extending in a first direction toward the other of the at least two fingers for engaging a respective recess of the item. The respective recess is configured to receive one of the respective protrusions of the at least two fingers having a second protrusion extending downwardly relative to the first direction. The second protrusion is for engaging a recess in an upper portion of the item, the recess being configured to receive the second protrusion.

[0158] Also described herein is an automated analyzer having a robotic arm with an end effector for carrying an article, the end effector comprising: i) a body rotatably connected to an articulated arm; and ii) a first finger and a second finger coupled to the body and extending therefrom in a first direction and movable relative to each other in a second direction transverse to the first direction, each of the fingers having a first engagement mechanism extending therefrom in the second direction and a second engagement mechanism extending downwardly from the first finger and the second finger, the second engagement mechanism configured to engage a recess disposed on an upper portion of the article, the recess configured to receive the second engagement mechanism to suspend the article from the first finger and the second finger when the robotic arm transports the article from a first location to a second location.

[0159] Also described herein is an automated analyzer having: i) an inventory robot comprising a robot arm having an end effector thereon, the end effector comprising a body rotatably connected to an articulated arm; ii) a plurality of gripping fingers extending from the body from a first side of the body, the body being rotatable on a vertical axis; and iii) a scanner positioned on the end effector to be brought into proximity with an item by the inventory robot, the scanner scanning identification information disposed on the item, the scanner being located on the end effector at a position other than where the gripping fingers extend. The analytical apparatus also has a magnetic extractor having i) a housing defining a cavity, ii) adjacent rows of permanent magnets movably disposed within the cavity of the housing, iii) a drive mechanism connected to the rows of permanent magnets and configured to move the rows of permanent magnets into and out of the cavity, and iv) a plurality of heating elements extending from the housing in rows disposed on opposite sides of the cavity, each heating element defining a recess configured to receive and hold an extraction tube of a processing plate disposed above the magnetic extractor and connected to a power source that heats the heating elements. In operation, moving the magnets from a first position to a second position disposes the row of magnets directly between the row of heating elements such that each permanent magnet is aligned with a respective heating element. The magnetic extractor also has a plurality of heating elements extending from the housing, a drip plate defining a trough each disposed adjacent a respective row of the heating elements, and a consumable storage adapted to receive a consumable processing plate, the processing plate having a machine-readable label thereon, the processing plate being placed in the consumable storage from a first side, and the machine-readable label on the consumable being read from a second side of the consumable storage by an inventory robot scanner. In one example, the inventory robot is moved to the consumable storage to obtain the processing plate, scans the labels on the items in the consumable storage, and upon identifying the consumable to be removed, removes the consumable from the consumable storage and places it on the magnetic extractor such that the pipette tips held by the processing plate extend into the troughs of the drip plate.

[0160] Also described herein is a method of operating an automated biological sample analyzer, the method including: i) positioning a shuttle rack carrying sample containers for analysis adjacent to an analyzer housing; ii) moving a robotic arm having an end effector such that the end effector translates to a position adjacent to the analyzer while remaining within the analyzer; iii) advancing a first finger and a second finger toward the rack shuttle such that engagement features of the first finger and the second finger enter corresponding slots in the rack shuttle, the distance between the slots in the rack corresponding to the distance between the fingers extending from the body when the fingers are inserted into the slots; iv) translating the fingers of the robotic arm closer to each other to grasp a shuttle rack located within a pre-analytical system as the engagement features advance into the slots; and v) using the robotic arm to move the shuttle rack from a position adjacent to the analyzer into the analyzer. In one example, the end effector has a body with first and second fingers extending therefrom, each finger having an engagement mechanism thereon, and the first and second fingers are disposed in a channel in the body and can be translated closer together or further apart by the robot. In one example, there is physical access between the analytical device and an adjacent pre-analytical system where samples are prepared for analysis, the analysis occurs within the analytical device, and the robotic arm retrieves a shuttle rack from the adjacent pre-analytical system and carries it into the analytical device.The method also includes i) using the robotic arm to place a shuttle rack carried within the analytical instrument onto a shuttle holding platform, the shuttle holding platform having a jaw assembly with an open position and a closed position, the jaw assembly being in the open position when the shuttle rack is placed on the shuttle holding platform; ii) releasing tension between the gripping fingers and the shuttle rack and withdrawing the gripping fingers extending from the end effector from slots in the shuttle rack; iii) after the gripping fingers are withdrawn, moving the jaw assembly to a closed position, thereby securing an engagement member of the jaw assembly against a lower portion of a sample container in the shuttle when the jaw assembly is in the closed position; iv) inserting a pipette tip into the sample container using the robotic pipetter; v) aspirating at least a portion of the sample in the sample container using the robotic pipetter; and vi) withdrawing the pipette tip from the sample container while the jaw assembly is in the closed position. After withdrawing the pipette tip from the sample container, the jaws are moved to an open position and the method continues with: vii) advancing the first and second fingers of the end effector toward the shuttle rack so that engagement mechanisms of the first and second fingers enter corresponding slots in the shuttle rack, the distance between the slots in the shuttle rack corresponding to the distance between the fingers extending from the body when the fingers are inserted into the slots; viii) translating the fingers closer together after the engagement mechanisms are advanced into the slots to grip the shuttle rack located in the pre-analytical system; ix) transporting the shuttle rack from the shuttle holding platform back to a location adjacent the analytical device; x) releasing the shuttle rack from the end effector; and xi) retracting the end effector into the analytical device.

[0161] In another example, a method of operating an automated biological sample analyzer includes the steps of: i) moving an end effector of a robotic arm of an inventory robot to a location above an article positioned at a first location, the end effector having a body having first and second fingers positioned within a channel and linearly movable within the channel, the fingers having engagement mechanisms thereon; and ii) moving the first and second fingers such that a distance therebetween is greater than a distance between engagement members, which are protrusions extending upwardly from the body of the article. The method includes steps of: translating the article away from the first finger, the engagement member being positioned inboard of the periphery of the article and having an opening facing the periphery of the article; iii) moving the end effector so that engagement features extending from each of the fingers align with corresponding openings in the engagement member; iv) moving the first finger and the second finger toward each other to engage the engagement member openings; v) lifting the article so that a body of the article is disposed under the fingers; and vi) moving the article to a second location.

[0162] In a further example, the engagement feature is one of a first engagement feature projecting inwardly from each of the first and second fingers and toward the other of the first and second fingers, or a second engagement feature extending downwardly from each of the fingers, the feature extending downwardly from the finger comprising a post with an inverted frusto-conical projection extending therefrom. In a further example, the first location is a consumables reservoir. The consumables reservoir can house a first article having an engagement member on its upper surface. The exemplary method may further include vii) moving the end effector over a top surface of the first article, and viii) lowering the end effector over a top surface of the article such that the second engagement feature engages a corresponding engagement member on the top surface of the first article. The consumable storage section can also accommodate a second article having multiple sets of openings within and extending through a top surface of the article's body, the openings terminating in closed ends, each set comprising: a) extraction tubes having a tube body extending from the bottom surface and defining a tube opening extending through the top surface; b) wells; and c) a pipette station configured to receive and hold pipette tips, wherein each set of extraction tubes, wells, and pipette stations are aligned in a row, the pipette stations being closest to an edge on at least one side of the plate body and the extraction tubes and wells being positioned further away from a periphery of the processing plate; and d) an engagement member within and extending from the top surface, the engagement member having an opening facing the periphery of the top surface, the method further comprising moving the end effector across the top surface of the first article. The method may include the steps of ix) aligning an engagement feature of the end effector with the engagement member; x) inserting the engagement feature into the engagement member; xi) translating the first finger and the second finger toward each other to grasp the engagement member; and xii) transporting a second article to a second location.

[0163] In one example, the end effector is advanced horizontally to move the fingers into corresponding recesses. In an embodiment in which the end effector comprises a scanner, the method further includes i) commanding the inventory robot to retrieve an item from the consumable storage unit, ii) scanning a machine-readable label on the item in the consumable storage unit, iii) determining whether the label information matches the item the inventory robot was commanded to retrieve, and iv) if so, engaging an arm of the end effector with an engagement member on the item and transporting the item from the consumable storage unit to a second location using the inventory robot.

[0164] calibration In some implementations, the inventory robot 2300 or 3300 can be calibrated before a batch of samples is pre-processed. In such implementations, a pair of pins can be temporarily or permanently added to the inventory robot 2300 or 3300. For example, the pins can be screwed into each of the movable fingers 2363a-2363b of the inventory robot 2300 (e.g., near the first engagement feature 2361 and / or the second engagement feature 2364) during a calibration procedure. In some implementations, the pins remain attached to the inventory robot 2300 or 3300 during sample pre-processing. In some implementations, the pins can include an engagement feature (e.g., a tab or protrusion) sized to fit within an engagement notch of one or more of the consumables described above, for example. In some implementations, the pins can replace other engagement features of the inventory robot 2300 or 3300, such as the second engagement feature 2364.

[0165] 32A-32E show an embodiment of an end effector or hand 5360 having a pair of pins for calibration. As shown, the end effector 5360 comprises a body 5362 and a pair of movable fingers 5363a, 5363b coupled to the body 5362. The movable fingers 5363a, 5363b are operable to move toward or away from each other to grasp or release an item. In this regard, the movable fingers 5363a, 5363b generally remain parallel during movement. The end effector 5360 also generally comprises an identifier reader 5366, such as a barcode scanner, in a surface of the body 5362 that faces away from the fingers 5363a, 5363b. Similar to the body 2362 of the end effector 2360, the body 5362 is rotatable approximately 360 degrees. The body 5362 can also include an identifier reader (not shown) on its bottom surface such that such a reader can read an upwardly facing identifier, for example, an identifier that may be located on the amplification cartridge 2070.

[0166] Similar to the fingers 2363a, 2363b of the end effector 2360, the fingers 5363a, 5363b can be configured to engage a variety of different consumables. In this regard, the fingers 5363a, 5363b include an engagement feature 5361. As shown, the engagement feature 5361 is a tab or protrusion that extends inwardly from one finger 5363 toward the other finger 5363. The engagement feature 5361 can be sized to fit within the engagement notches 2042, 2052, 2064 of the plates 2040, 2050, 2060, respectively, and the first lateral opening 2034 of the shuttle 2030, for example. In operation, when the fingers 5363a, 5363b are closed onto the consumable, the engagement features 5361 extend into a corresponding notch or opening in the consumable to prevent the consumable from falling out, while the fingers 5363a, 5363b themselves clamp against the sides of the consumable to further control and retain such article. As shown, each finger 5363a, 5363b preferably includes two engagement features 5361 that help prevent the consumable from inadvertently rotating within the finger's grip.

[0167] Unlike the end effector 2360, the end effector 5360 generally comprises a post 5367 located on the opposite side of the fingers 5363a, 5363b between each respective pair of engagement features 5361. As shown, the post 5367 extends downwardly from the fingers 2363a, 2363b and has a generally circular cross-section. However, in other implementations, the post can be shaped differently. For example, the post can have a generally rectangular, triangular, or elliptical cross-section. As shown, the post 5367 has a generally flat bottom surface. However, in other implementations, the post 5367 can comprise a dovetail very similar to that described above for the second engagement feature 2364 of the end effector 2360. In some such implementations, the post 5367 can be sized to engage a corresponding notch 2072 in the amplification cartridge 2070, for example.

[0168] In some implementations, each finger 5363a, 5363b can be flexible so that it can bend downward or upward about a horizontal axis, but can be sufficiently elastic so that it does not easily yield upon contact. Such flexibility can be imparted to each finger 5363a, 5363b along its length near its terminus, including the post 5367. This can allow the fingers 5363a, 5363b to automatically adjust to engage a consumable that may be tilted about a horizontal axis such that it is not parallel to the fingers 5363a, 5363b. Similarly, in some implementations, the engagement feature 5361 and / or the post 5367 can also be flexible.

[0169] The end effector 5360 may be incorporated into any one of the analyzers described above (e.g., analyzers 2000, 3000, or 5000). However, to use the post 5367 for calibration, the analyzer may include one or more cutouts and / or notches. For example, as shown in FIG. 28A, the analyzer may include a cutout 5701 having a generally triangular shape. As another example, as shown in FIG. 32E, the analyzer may include a cutout 5702 having a heart shape. As yet another example, as shown in FIG. 33A, the analyzer may include a cutout 5703 having a teardrop shape. As yet another example, as shown in FIG. 34, the analyzer may include a notch 5704 having a generally triangular shape. As yet another example, as shown in FIGS. 35A-35D, the analyzer may include a notch 5705 having a generally triangular shape. Alternatively, a teaching tool can be used in conjunction with post 5367 for calibration, as described in more detail below in connection with Figures 36A-36D.

[0170] In some implementations, the calibration process may include initially lowering the post 5367 into a central section of any one of the aforementioned cutouts and notches. For example, as shown in FIG. 33B, the post 5367 may be lowered to a “start” position. While in this “start” position, the post 5367 may extend through some of the aforementioned cutouts and notches (see, e.g., notch 5701, notch 5702, or notch 5704). Alternatively, while in this “start” position, the bottom surface of the post 5367 may contact the bottom surface of some of the aforementioned cutouts and notches (see, e.g., notch 5703 or notch 5705). In some implementations, the post 5367 may be manually lowered to the “start” position by a user by manually moving the end effector 5360 while one or more motors of the inventory robot are in a compliant mode of operation. In some implementations, the post 5367 can be automatically lowered to a "start" position by one or more processors controlling the inventory robot. The fingers 5363a, 5363b can then be moved farther apart until the posts reach an "end" position, as shown in FIG. 33B. During this process, one or more motors of the inventory robot can be placed in a compliant operating mode in which one or more of the inventory robot's components (e.g., end effector 5360) can be moved by external forces of the respective motors controlling that component. The "end" position can be located at a corner of any one of the cutouts and notches described above. While in the "end" position, the post 5367 can contact one or more edges of the cutouts and notches described above. Additionally, while moving toward the "end" position, the post 5367 can slide along one or more edges of the cutouts and notches described above. In some implementations, the movement of the fingers 5363a, 5363b can be controlled by one or more processors.

[0171] When the post 5367 is in the "end" position, for example, the corresponding positions of the end effector 5360 and fingers 5363a, 5363b can be stored in memory and used as a reference point for future movements, such as transporting any one of the aforementioned consumables. For example, in some implementations, any one of the above-mentioned analytical devices (e.g., analytical devices 2000, 3000, or 5000) can include a first motor that rotates the end effector 5360 and a second motor that moves the fingers 5363a, 5363b. The first motor and the second motor can be, for example, position rotation servo motors with feedback lines. In such implementations, signals from the feedback lines can be used by one or more processors to determine the positions of the end effector 5360 and fingers 5363a, 5363b while the post 5367 is in the "end" position. In some implementations, a signal from a feedback line of the second motor may also be used by one or more processors to determine when the post 5367 is at an "end" position. For example, a signal from this feedback line may indicate that the fingers 5363a, 5363b cannot move any further apart. Those skilled in the art will readily appreciate that other types of motors, such as AC motors, DC motors, or stepper motors, may be used in combination with feedback circuits to achieve similar functionality to the first and second servo motors described above. For example, a DC motor may be used in combination with a sensor (e.g., a potentiometer or optical encoder) configured to generate a feedback signal regarding the position of the motor's shaft.

[0172] 35A-35D show some of the steps of the implementation of the calibration process. As shown in FIG. 35A, the analyzer can include a cartridge storage compartment 5116 at the top of the consumable inventory. The cartridge storage compartment 5116 includes a pair of notches 5705. First, as shown in FIG. 35B, the inventory robot 5300 can position the end effector 5360 generally above the pair of notches 5705. As shown in FIG. 35C, the fingers 5363a, 5363b can then move the post 5367 to a position generally above the central section of the pair of notches 5705. In this particular example, this step includes moving the fingers 5363a, 5363b further apart. However, this step can also include moving the fingers 5363a, 5363b closer together. As shown in FIG. 35D, the inventory robot 5300 can then lower the end effector 5360 to a position where the bottom surface of the post 5367 contacts the bottom surface of the notch 5705. In some implementations, this can be detected when one or more motors of the inventory robot 5300 are stopped. While stopped, the motors can indicate that a predetermined amount of torque has been achieved. In some implementations, the corresponding vertical position of the inventory robot 5300 can be saved for future reference. After the vertical position is saved, the end effector 5360 can be raised to a position just above the bottom surface of the notch 5705 (e.g., within 1 cm to 3 cm) such that the bottom surface of the post 5367 no longer contacts the bottom surface of the notch 5705. From this position, the fingers 5363a, 5363b can be moved farther apart until the post 5367 contacts each corner of the pair of notches 5705. In some implementations, the post 5367 can slide along one or more edges of the notch 5705 during this process. Additionally, in some such implementations, the end effector 5360 can rotate as a result of the post 5367 sliding along one or more edges of the notch 5705.While the post 5367 is in contact with each corner of the pair of notches 5705, the corresponding positions of one or more components of the inventory robot 5300 (e.g., the end effector 5360 and / or fingers 5363a, 5363b) are stored in memory and can be used as reference points for future movements.

[0173] Various modifications can be made to the cutouts, notches, and / or calibration process described above. For example, FIGS. 32E-35D show only a few different examples of the types of cutouts and notches that can be used during the calibration process. In other implementations, the cutouts and notches can be differently shaped. For example, cutouts or notches having a variety of different regular or irregular shapes can be used with the post 5367 to calibrate the inventory robot 5300. Regardless of the particular shape, however, the cutout and / or notch preferably includes at least one corner and has a cross-sectional area that is larger than the cross-sectional area of ​​the post 5367. Preferably, the at least one corner is shaped to press the post 5367 into place as the fingers 5363a, 5363b move farther apart. For example, the at least one corner can include a sharp corner between two generally straight edges, as shown in most of the cutouts and notches described above. At least one corner may also include a rounded corner between two edges. In such implementations, the radius of the rounded corner is preferably smaller than the radius of the post 5367 to ensure that the post 5367 consistently reaches a predetermined position as the fingers 5363a, 5363b move further apart. In some implementations, the edges on either side of the corner may be curved rather than generally straight. In some implementations, the angle between the two edges on either side of the corner may be between 45 degrees and 135 degrees. In some implementations, the angle between the two edges on either side of the corner may be between 85 degrees and 95 degrees. In some implementations, the cross-sectional area of ​​the cutout or notch may be anywhere between 2 times and 30 times as large as the cross-sectional area of ​​the post 5367. In some implementations, the cross-sectional area of ​​the cutout or notch may be anywhere between 10 times and 20 times as large as the cross-sectional area of ​​the post 5367. Larger cutouts or notches can advantageously provide greater tolerance for the initial positioning of the posts 5367 within the cutouts or notches, however, larger cutouts and notches also require more space.Thus, these two competing considerations may need to be balanced.

[0174] As another example, in Figures 32E-35D, the cutouts and notches are oriented such that as the fingers 5363a, 5363b move farther apart, the post 5367 reaches a predetermined position. However, the cutouts and notches can be oriented such that as the fingers 5363a, 5363b move closer together, the post 5367 reaches a predetermined position. For example, in such an implementation, the cutouts 5701, 5702, and 5703 can simply be rotated 180 degrees. As another example, in such an implementation, the notches 5704 and 5705 can be rotated 180 degrees and positioned along opposing edges.

[0175] As yet another example, in FIGS. 32E-35D, the aforementioned cutouts and notches are provided in pairs. This is done to complement the number of posts 5367 on the end effector 5360. However, in other implementations, the number of posts, cutouts, and / or notches can be varied. For example, the end effector 5360 can include three, four, or five posts, and a corresponding set of cutouts and / or notches can be provided in the analyzer for calibration. In such implementations, the fingers 5363a, 5363b may or may not be symmetrical. For example, finger 5363a can include more posts than finger 5363b. Alternatively, the end effector 5360 can be modified to include additional fingers, each of which can include at least one post.

[0176] 36A-36D show that the teaching tool can replace the post 5367 and / or any of the cutouts and notches described above. For example, the teaching tool 6710 can replace the post 5367. As another example, the teaching tool 6720 can replace any of the cutouts and notches shown in FIGS. 32E-35D. As shown, the teaching tool 6710 includes L-shaped members 6712a, 6712b and a spring 6714. Each of the members 6712a, 6712b includes a post 6711 and a track 6715. The members 6712a, 6712b can be coupled to each other via the spring 6714 and the track 6715. The teaching tool 6710 can be sized and configured to be held by an end effector 6360 having a body 6362 and movable fingers 6363a, 6363b. In some implementations, the end effector 6360 can be structured in much the same manner as the end effector 2360. As shown, the teaching tool 6720 includes a cutout 6721 having a triangular shape. The teaching tool 6720 can be sized and configured to interface with existing components within the analytical device. For example, the teaching tool 6720 can be sized and configured to fit within any of the consumable storage compartments described above (e.g., storage compartments defined by the walls 4114, the base 4115, and / or the support structure 4116). As another example, the teaching tool 6720 can be sized and configured to interface with one or more decks of the analytical device (e.g., the detection / analysis deck 2012, the inventory deck 2014, and the processing deck 2016).

[0177] A calibration process using the teaching tools 6710 and 6720 can include first gripping the teaching tool 6710 with the fingers 6363a, 6363b of the end effector 6360 and positioning the teaching tool 6720 at an appropriate location within the analyzer. In some implementations, the teaching tool 6710 can include an engagement notch (e.g., engagement notch 2042, 2052, 2064, or 2072) sized to receive an engagement feature (e.g., engagement feature 2361, 2364, or 5361) on the fingers 6363a, 6363b. As shown in FIG. 36A, the inventory robot can position the end effector 6360 such that the post 6711 of the teaching tool 6710 is approximately above a central portion of the notch 6721 of the teaching tool 6720. As shown in FIG. 36B, the inventory robot can then lower the end effector 6360 to a position where the post 6711 extends fully or partially through the cutout 6721. From this position, the fingers 6363a, 6363b can be moved closer together. As this occurs, the post 6711 moves further apart. The post 6711 can also slide along one or more edges of the cutout 6721 as the fingers 6363a, 6363b move closer together. As shown in FIG. 36C and FIG. 36D, this can cause the end effector 6360 to rotate. In this particular example, the end effector 6360 rotates clockwise as the fingers 6363a, 6363b move closer together. However, depending on the initial position of the post 6711, the end effector 6360 can instead rotate counterclockwise. As shown in FIG. 36D, while the post 6711 contacts each corner of the cutout 6721, the corresponding positions of one or more components of the inventory robot (e.g., the end effector 6360 and / or fingers 6363a, 6363b) are stored in memory by one or more processors and can be used as reference points for future movements.

[0178] The teaching tool described above can be modified in many ways. For example, the post 6711 of the teaching tool 6710 can be shaped differently in much the same way that the post 5367 can be shaped differently. Similarly, the cutout 6721 of the teaching tool 6720 can be shaped differently in much the same way that the cutouts and notches shown in Figures 32E-35D can be shaped and / or oriented differently. In an implementation in which the cutout 6721 is rotated 180 degrees, the teaching tool 6710 can be reconfigured such that, for example, when the fingers 6363a, 6363b are moved closer to each other, the posts 6711 also move closer to each other.

[0179] Existing calibration methods often rely on what the operator can see. For example, these methods may involve electronically controlling the robot's motion or physically moving the robot while it is in a compliant mode. While this may be an intuitive way to calibrate a robot, it may also lack some accuracy and precision since it is limited to the operator's capabilities. On the other hand, existing vision systems and other dedicated sensors are much more capable of tracking the robot and the target site accurately and precisely. However, these vision systems and other dedicated sensors often involve increased complexity, cost, and development.

[0180] The calibration process disclosed above can advantageously provide greater accuracy and precision than existing calibration methods that rely on what an operator can see, and is less costly than existing vision systems and other dedicated sensors. The cost of simply adding posts and adding cutouts and / or notches can be relatively low compared to adding vision systems and other dedicated sensors. Furthermore, the calibration process disclosed above does not rely on what an operator can see. Instead, signals from feedback lines of one or more servo motors can be used, for example, to determine the position of the robot.

[0181] From the above and with reference to the various drawings, those skilled in the art will appreciate that certain modifications can be made to the present disclosure without departing from the scope of the present disclosure. While several embodiments of the present disclosure are shown in the drawings, it is not intended that the disclosure be limited to those embodiments, as the disclosure will be as broad as the art will permit, and the specification is intended to be read accordingly. Thus, the above description should not be construed as limiting, but merely as exemplifications of certain embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.

Claims

1. An automated analyzer, Housing and a robotic arm disposed within the housing, the robotic arm having an end effector for carrying an object, the end effector including: a body rotatably connected to the articulated arm, the body comprising a pair of connecting members; a first finger and a second finger coupled to the connecting member of the body, each of the first finger and the second finger extending between a first end and a second end, each of the first finger and the second finger having a deflection offset formed at and located at the second end; a wedge comprising a deflecting side and a protruding projection formed from the deflecting side, the deflecting side and the protruding projection configured to engage the offset of the finger to connect the finger to the body, the deflecting wedge surface being complementary to a surface of the deflecting offset to which it is joined; a robotic arm comprising: An automatic analyzer comprising:

2. The automated analyzer of claim 1 , wherein the wedge and the offset are fixed relative to one another.

3. 3. The automated analyzer of claim 2, wherein the wedge and the offset have complementary openings that align when the wedge and the offset are secured to one another, and wherein a screw is received in each of the complementary openings to secure the wedge to the offset.

4. The automated analyzer of claim 3 , wherein the wedge further comprises a protrusion, the protrusion being received by a protrusion opening in the offset when the wedge and the offset are engaged.

5. An automatic analyzer, Housing and an inventory robot disposed within the housing and having a scanner; a processing deck disposed within the housing and including at least one processing module, the at least one processing module comprising: a first location for receiving a dry reagent consumable; a second location for receiving a liquid reagent consumable; a third location for receiving at least one processing plate consumable; a fourth location for receiving an amplification cartridge consumable; a plurality of machine-readable labels disposed at at least one of the first location, the second location, the third location, and the fourth location for the scanner of the inventory robot to scan and read to detect the presence of the consumables on the process module to control inventory of the process deck; a processing deck comprising: An automatic analyzer comprising:

6. The automated analyzer of claim 5, wherein the processing deck has an opening below which a magnetic extractor is disposed, and the automated analyzer further comprises a processing plate support assembly disposed within the opening above the magnetic extractor.

7. An automated analyzer as described in claim 5 or 6, wherein the machine-readable label is positioned at each of the first location, the second location, the third location, or the fourth location, and the machine-readable label is positioned at a fifth location, the fifth location being between the fourth location and the opening below which the magnetic extractor is positioned.

8. The automated analyzer of claim 6, wherein the machine-readable label positioned at the fifth location is covered by the processing plate support assembly when the processing plate support assembly is positioned over the opening, and the processing plate support assembly has a cutout portion configured to receive a structure extending from the bottom of the processing plate consumable, and the structure includes a plurality of extraction tubes, a mixing well, and a pipette tip holding station.

9. The automated analyzer described in Claim 8, wherein the processing plate support assembly has at least two tapered notches on its surface, and the at least two tapered notches are configured to receive an engagement mechanism from an end effector.

10. The automated analyzer of claim 6, wherein the processing plate support assembly has at least one machine-readable label disposed on its upper surface, and when the processing plate consumable is present on the processing plate support assembly, the processing plate consumable is disposed on top of the machine-readable label.

11. An automatic analyzer, Housing and a consumable reservoir disposed within the housing, A base and a plurality of columns extending upwardly from the base; a plurality of support structures connected to the plurality of columns, each of the plurality of support structures disposed within a compartment for receiving one of a plurality of consumables therein, the consumables being of at least a first type and a second type, each support structure including a first arm and a second arm, each of the first arm and the second arm extending between a first end and a second end; a consumable storage portion comprising: a first arm and a second arm each comprising a tab at the second end of each of the first arm and the second arm for retaining the consumable within the compartment; An automatic analyzer comprising:

12. The automated analyzer of claim 11, wherein the consumable storage section is positioned below the processing deck.

13. The automated analyzer of claim 12, wherein one of the first arm and the second arm has a flange that is received in a complementary groove on the consumable when the consumable is properly positioned in the compartment.

14. An automated analyzer described in any one of claims 11-13, wherein the flange has a first size and is positioned within the compartment that receives the first type of consumables, and the flange has a second size and is positioned within the compartment that receives the second type of consumables, and each compartment is configured to receive only one type of consumables.

15. An automated analyzer as described in claim 14, wherein the compartment that receives the first type of consumable has a flat surface on which the consumable is supported, and the compartment that receives the second type of consumable has a flange that supports the skirt of the second type of consumable.

16. The automatic analyzer described in claim 15, wherein the first type and the second type consumables are reagent plates, the first type consumables are dry reagent plates, and the second type consumables are liquid reagent plates.

17. The automated analyzer of claim 15, wherein the compartment that receives the first type of consumable has an offset that receives a portion of the frame of the first type of consumable.

18. The processing deck further comprises at least one processing module, the at least one processing module comprising: a first location for receiving a dry reagent consumable; a second location for receiving a liquid reagent consumable; a third location for receiving at least one processing plate consumable; a fourth location for receiving an amplification cartridge consumable; a plurality of machine-readable labels disposed at at least one of the first location, the second location, the third location, and the fourth location, for the scanner of the inventory robot to scan and read to detect the presence of the consumable on the processing module to control inventory of the processing deck; The automated analyzer of claim 12 , comprising:

19. A system comprising: a robot having an end effector with two or more downwardly extending posts; a cutout or notch for each post, the cross-sectional area of ​​each cutout or notch being greater than the cross-sectional area of ​​each corresponding post, each cutout or notch comprising at least one corner; One or more processors, at least in part: controlling the robot to position each post of the end effector over the corresponding cutout or notch; controlling the robot to lower the end effector until each post extends at least partially through the corresponding cutout or notch; controlling the robot to move each post toward or away from each other until each post contacts the at least one corner of each corresponding cutout or notch; storing a position of the end effector in a memory while each post is contacting the at least one corner of each corresponding cutout or notch; one or more processors configured to calibrate the robot by: A system comprising:

20. The system described in claim 19, wherein each cutout or notch is positioned at a location where the robot is configured to retrieve or place one or more consumables, and each cutout or notch is provided within a teaching tool.

21. A system as described in claim 19 or 20, wherein the end effector further comprises two or more fingers, each finger comprising at least one of the two or more posts.

22. The system described in claim 21, wherein the one or more processors are further configured to calibrate the robot, at least in part, by storing in memory the position of each finger while each post is in contact with the at least one corner of each corresponding cutout or notch.

23. The system described in claim 21, wherein each post is removably coupled to a corresponding finger of the end effector.

24. A system as described in claim 19 or 20, wherein each post is coupled to a teaching tool held by the end effector of the robot.

25. A system as described in claim 19 or 20, wherein at least one of the cutout portions or notches is triangular, heart-shaped, or teardrop-shaped.

26. A system as described in claim 19 or 20, wherein the edges on both sides of at least one corner of at least one of the cutouts are straight, or the edges on both sides of at least one corner of at least one of the cutouts are curved.

27. ​​A system as described in claim 19 or 20, wherein at least one of the posts has an engagement mechanism sized to engage with a corresponding notch in the consumable.

28. A method of calibrating a robot having an end effector with two or more downwardly extending posts, comprising: controlling the robot to position each post over a corresponding cutout or notch, wherein a cross-sectional area of ​​each cutout or notch is greater than a cross-sectional area of ​​each corresponding post, and each cutout or notch comprises at least one corner; controlling the robot to lower the end effector until each post extends at least partially through the corresponding cutout or notch; controlling the robot to move each post toward or away from each other until each post contacts the at least one corner of each corresponding cutout or notch; storing a position of the end effector in a memory while each post is contacting the at least one corner of each corresponding cutout or notch; A method comprising:

29. A system comprising: a housing having a sidewall and a door, the door being hinged to the sidewall of the housing; a consumable reservoir comprising a side plate and one or more storage compartments extending from the side plate; one or more drawer slides coupling the side plates of the consumable reservoir to the side walls of the housing so that the consumable reservoir can be pulled out of or pushed into the housing while the door is open; a track coupled to the side plate of the consumable reservoir and including an angled portion; a stopper hinged to the side wall of the housing, the stopper further coupled to a bearing configured to slide along the track when the consumable reservoir is pulled out of or pushed into the housing, the stopper moving as the bearing slides along the track between a first position that prevents the door from closing and a second position that allows the door to close; A system comprising:

30. The system described in claim 29, wherein the stopper moves to the first position when the consumable storage unit is pulled out of the housing, and the stopper moves to the second position when the consumable storage unit is pushed into the housing.

31. A system as described in claim 29 or 30, wherein the bearing contacts the inclined portion of the track while the stopper is in the second position.

32. A system as described in claim 29 or 30, wherein the track further comprises a horizontal portion, the bearing contacts the horizontal portion while the stopper is in the first position, and the stopper is a hinge member connected to the side wall of the housing.

33. A system as described in claim 29 or 30, further comprising a hinge coupled to the side wall of the housing, the stopper being coupled to a member of the hinge by the bearing.

34. A system as described in claim 29 or 30, further comprising a torsion spring disposed within the hinge, the torsion spring applying a downward force to the bearing as it slides along the track.

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