Method and system for centering circular object

Abstract

To appropriately center a circular object such as a petri dish on a platform.SOLUTION: Methods for centering a circular object, such as a petri dish, between a plurality of pins comprise: placing a circular object on a rotatable platform surrounded by three moveable pins; making a first movement of all of the pins toward the circular object until at least two of the three pins touch the circular object; moving all of the pins away from the circular object so that the circular object can rotate without substantial inference; rotating the platform approximately 60 degrees together with the circular object; and making a second movement of all of the pins toward the circular object.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] This disclosure describes a system and method for centering a circular object, such as a Petri dish, between a plurality of pins.

Background Art

[0002] Advances in computers, networking, and robotics have made automation a useful tool in streamlining a wide range of workflow processes. For example, automation has been used in laboratory settings to streamline various processes for preparing biological samples (e.g., patient samples, environmental samples, etc.) for laboratory analysis. By automating such tasks, (a) labor costs can be reduced, (b) operator errors (e.g., human errors) that can occur when an operator is tired, distracted, or otherwise not focused can be reduced, and (c) the time taken to analyze a sample and report the results can be shortened.

[0003] For example, U.S. Patent Application Publication No. 2015 / 0276566, filed on March 31, 2015, U.S. Patent Application No. 14 / 674,827 (the “’827 application”), the disclosure of which is incorporated herein by reference, describes an automated platform for inoculating biological samples into various containers for testing and analysis. In some embodiments, the automated platform includes an inoculation module and a streaking module. The inoculation module inoculates biological samples into containers (e.g., Petri dishes, plates, broth tubes, glass slides, etc.). The inoculation can be achieved with a pipette unit, an inoculating loop, a swab, etc. While inoculating a Petri dish, magnetic beads can also be dispensed into the Petri dish by the inoculation module. After the Petri dishes are inoculated, they can be conveyed through a conveyor system to the streaking module. In some embodiments, the streaking module includes a magnet that enables streaking the samples in a defined pattern in the inoculated medium (e.g., blood agar, chocolate agar, MacConkey agar, etc.) based on the magnetic beads deposited on the Petri dish. After the Petri dishes are streaked, they can be conveyed to an incubation system. Additional details regarding this automated platform can be found in the ’827 application.

[0004] As another example, U.S. Patent Application Publication No. 2015 / 0299639, filed on April 15, 2015, U.S. Patent Application No. 14 / 687,400 (the “’400 application”), the disclosure of which is incorporated herein by reference, describes an integrated incubator and image capture module that regulates the atmosphere of an incubator and acquires high-resolution digital images of a sample specimen. In some embodiments, the incubator has a cabinet-type housing that enables providing a controlled environment for the contents of the incubator. In some embodiments, the incubator houses a Petri dish containing a nutrient medium inoculated with a biological sample. The nutrient medium and the controlled atmosphere supplied to the incubator support the growth of at least certain microorganisms in the sample inoculated into the medium, if present. In some embodiments, the image capture module is a sealed unit that is directly adjacent to the incubator. This enables directly transporting the Petri dish from the incubator to the image capture module. Once inside the image capture module, the lid of the Petri dish can be removed so that an image capture unit can electronically image (e.g., take a digital photograph) the Petri dish. The lid can then be put back on and the Petri dish can be transported back to the incubator. In some embodiments, the images can be automatically analyzed using a software program that can confirm whether microbial growth has occurred. Additional details regarding this incubator and image capture module can be found in the ’400 application.

[0005] As yet another example, International Application PCT / US2016 / 034554, filed May 27, 2016, and published as International Publication No. 2016 / 191646 (the “’554 application”), the disclosure of which is incorporated herein by reference, describes an automated system for preparing biological samples for both identification (e.g., matrix-assisted laser desorption ionization time-of-flight mass spectrometry (“MALDI-TOF-MS”)) and antimicrobial susceptibility testing (“AST”). In some embodiments, the automated system locates and selects colonies of microorganisms on a culture dish, obtains a sample of the selected colonies of microorganisms, prepares a suspension for the obtained sample, dispenses a portion of the obtained sample onto a target plate, places the target plate on an apparatus for performing MALDI to identify a sample of the selected colonies of microorganisms, and can use or transfer another portion of the suspension for another test such as AST. AST can be the Kirby-Bauer method / disk diffusion method, disk dilution method, broth agar dilution method, or other methods. Additional details regarding this automated system can be found in the ’554 application.

[0006] In all of the above-described automated systems, it may be necessary to accurately center a Petri dish or another similar object. For example, with respect to the ’827 application, it may be necessary to accurately center the Petri dish before inoculating it with a biological sample. As another example, with respect to the ’400 application, it may be necessary to accurately center the Petri dish within an image capture module so that digital images can be accurately compared to detect the growth of microorganisms. As yet another example, with respect to the ’554 application, it may be necessary to accurately center the Petri dish before accurately transferring a sample from the Petri dish into a common suspension.

[0007] Conventional systems for centering circular objects such as Petri dishes sometimes include three or more pins. During operation, these pins are moved towards the center of the Petri dish until the Petri dish is clamped between all the pins. However, in such systems, there is a possibility that the pins may stop moving when only some (not all) of the pins are in contact with the Petri dish. This can be caused by friction between the bottom or side surfaces of the Petri dish or the pins. In such cases, the Petri dish may not be properly centered. As a result, there is a need for a system and method for reliably and accurately centering circular objects such as Petri dishes.

Summary of the Invention

[0008] The present disclosure describes a system and method for reliably and accurately centering a circular object such as a Petri dish between a plurality of pins. For example, in one embodiment, the method includes placing a circular object on a rotatable platform surrounded by three movable pins. To roughly center the circular object, the method further includes moving all the pins towards the circular object for the first time until at least two of the three pins contact the circular object. To more accurately center the circular object, the method further includes moving all the pins away from the circular object so that the circular object can rotate without substantial interference, rotating the platform by approximately 60 degrees, where the rotation of the platform also causes an approximately 60-degree rotation of the circular object, and moving all the pins towards the circular object for the second time.

[0009] One aspect of the present disclosure is (a) placing a circular object on a platform between three or more pins, where the pins are arranged at approximately equal distances from each other and the pins are in a first open position; (b) moving all the pins towards the circular object for the first time to a closed position, where when the pins are in the closed position, at least two of the pins are in contact with the circular object; (c) Moving all pins away from the circular object to the first open position or the second open position, and wherein the circular object can be rotated on the platform without interference from the pins when the pins are in the first open position or the second open position; (d) Rotating the circular object by approximately θ degrees or an angle equal to one complete rotation of 360 degrees or more than one complete rotation by θ degrees, and where θ is equal to the angle obtained by dividing 360 degrees by twice the number of pins; (e) Moving all pins a second time towards the circular object to the closed position, and wherein the circular object is approximately centered among all the pins after all the pins are moved to the closed position a second time; relates to a method comprising.

[0010] In some embodiments, the platform is rotatable and the circular object is rotated by rotating the platform. In some embodiments, the circular object is a Petri dish. In some embodiments, the method further comprises inoculating the Petri dish with a biological sample after the Petri dish is approximately centered among all the pins. In some embodiments, the method further comprises capturing an image of the Petri dish with an image capture module after the Petri dish is approximately centered among all the pins. In some embodiments, the method further comprises collecting one or more colonies of bacteria in the Petri dish after the Petri dish is approximately centered among all the pins.

[0011] Another aspect of the present disclosure is (a) Placing a circular object on a rotatable platform disposed between three pins, and wherein the pins are disposed at approximately equal distances from each other and the pins are in the first open position; (b) Moving all pins a first time towards the circular object to the closed position, and wherein at least two of the pins are in contact with the circular object when the pins are in the closed position; (c) moving all pins away from the circular object to a first open position or a second open position for the first time, where the circular object can be rotated on the platform without interference from the pins when the pins are in the first open position or the second open position; (d) rotating the platform by approximately 60 degrees or by an angle that adds more than one full 360-degree rotation to approximately 60 degrees, where when the platform is rotated, the circular object is also rotated; (e) moving all pins towards the circular object to a closed position for the second time, where the circular object is approximately centered among all the pins after all the pins are moved to the closed position for the second time; relates to a method including the above.

[0012] In some embodiments, the circular object is a Petri dish. In some embodiments, the above method further includes removing a lid covering the Petri dish from the Petri dish. In some embodiments, the above method further includes inoculating the Petri dish with a biological sample after the Petri dish is approximately centered among all the pins. In some embodiments, the above method further includes (a) moving all pins away from the circular object to a first open position or a second open position for the second time after the Petri dish is approximately centered among all the pins, and (b) orienting the Petri dish by rotating the Petri dish to align a label on the Petri dish with a reader disposed near the platform. In some embodiments, the above method further includes capturing an image of the Petri dish with an image capture module after the Petri dish is approximately centered among all the pins and oriented. In some embodiments, the above method further includes collecting one or more colonies of bacteria in the Petri dish after the Petri dish is approximately centered among all the pins and oriented.

[0013] Another aspect of the present disclosure is (a) a rotatable platform having a top surface and a bottom surface, ​​​(b) A first idler pulley having an upper surface and a bottom surface, wherein the upper surface of the first idler pulley is fixed to the bottom surface of the platform; (c) A second idler pulley having an upper surface and a bottom surface, wherein the second idler pulley is disposed below the bottom surface of the first idler pulley, and three struts are fixed to the bottom surface of the second idler pulley; (d) Three pins disposed around a rotatable platform, wherein the pins are disposed at substantially equal distances from each other, and each of the pins is fixed to a flap having an arm extending below the second idler pulley, and each of the flaps is connected to a fixed shaft and is rotatable about this fixed shaft, and each of the arms of the flap has a hole surrounding a different one of the struts fixed to the bottom surface of the second idler pulley; A system comprising, wherein the platform can be rotated by rotating the first idler pulley, and the pins can be moved towards the platform by rotating the second idler pulley.

[0014] In some embodiments, the system further comprises: (a) a first motor comprising a first drive pulley fixed to the shaft of the first motor; (b) a second motor comprising a second drive pulley fixed to the shaft of the second motor; (c) a first belt connected to the first idler pulley and the first drive pulley; and (d) a second belt connected to the second idler pulley and the second drive pulley, wherein the rotational force of the first drive pulley is transmitted to the first idler pulley through the first belt, and the rotational force of the second drive pulley is transmitted to the second idler pulley through the second belt.

[0015] In some embodiments, the system further comprises one or more processors configured to control the rotation of the first idler pulley and the second idler pulley by controlling the first motor and the second motor. In some embodiments, the one or more processors are (a) configured to move all the pins to a closed position towards a Petri dish placed on the platform for the first time, wherein when the pins are in the closed position, at least two of the pins are in contact with the Petri dish; (b) configured to move all the pins away from the Petri dish to a first open position or a second open position for the first time, wherein the Petri dish can be rotated on the platform without interference from the pins when the pins are in the first open position or the second open position; (c) configured to rotate the platform by approximately 60 degrees or an angle obtained by adding one or more complete 360-degree rotations of 360 degrees to approximately 60 degrees, and (d) configured to move all the pins to a closed position towards the Petri dish for the second time, wherein the circular object is approximately centered among all the pins after all the pins are moved to the closed position for the second time.

[0016] In some embodiments, the system further comprises a reader, and the one or more processors are further configured to: (a) move all pins away from the Petri dish to the first open position or the second open position for the second time after the Petri dish is substantially centered among all pins, and (b) orient the Petri dish by rotating the platform to align the label on the Petri dish with the reader. In some embodiments, the system further comprises an image capture module, and the one or more processors are further configured to capture an image of the Petri dish with the image capture module after the Petri dish is substantially centered and oriented among all pins. In some embodiments, the system further comprises an automated pipettor, and the one or more processors are further configured to collect one or more colonies of bacteria in the Petri dish after the Petri dish is substantially centered and oriented among all pins.

Brief Description of the Drawings

[0017]

Figure 1(a)

Figure 1(b)

Figure 1(c)

Figure 1(d)

Figure 1(e)

Figure 2(a)

Figure 2(b)

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0018] Embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, like reference numerals indicate like or identical elements. It should be understood that the embodiments of the disclosure are merely examples of the present disclosure that can be embodied in various forms. Known functions or configurations are not described in detail so as not to obscure the present disclosure with unnecessary details. Therefore, the specific structures and function details disclosed herein should not be construed as limitations, but rather as a basis for the claims and as a representative basis for teaching those skilled in the art to use the present disclosure in substantially any appropriately detailed structure in various ways.

[0019] FIGS. 1(a) to 1(e) show an embodiment of a system for centering a circular object according to the present technology. As shown, system 100 includes platform 110, pins 122, 132, 142, sensor 150, motor 160, and motor 170. As shown in FIGS. 1(c) and 1(d), Petri dish 190 can be placed on platform 110. In some embodiments, a robotic arm can automatically place Petri dish 190 on platform 110. Once on platform 110, pins 122, 132, and 142 can be used to center Petri dish 190 on platform 110.

[0020] During the centering process, pins 122, 132, and 142 can be moved by motor 160. Motor 160 includes a shaft (not shown) fixed to drive pulley 164. As used herein, a pulley can be a rotatable structure used to transmit power by a band, belt, cord, rope, chain, etc. passing over its rim. For example, a pulley can be a pulley-like structure configured to transmit power by a rubber band or belt. As another example, a pulley can be a gear-like structure configured to transmit power by a chain. During operation, drive pulley 164 is rotated in a clockwise or counterclockwise direction by the shaft of motor 160. As shown, platform 110 can be disposed on idler pulley 112, partition 114, and idler pulley 116. Partition 114 separates idler pulley 112 and idler pulley 116. Idler pulley 112 and idler pulley 116 can be connected via a common shaft (not shown), but idler pulley 112 and idler pulley 116 rotate independently of each other. During operation, when drive pulley 164 is rotated by motor 160, the rotational force of drive pulley 164 is transmitted to idler pulley 116 by belt 184. Belt 184 can be any band, belt, cord, rope, chain, etc. capable of transmitting the rotational force of drive pulley 164 to idler pulley 116. In other embodiments, idler pulley 116 can be, for example, a separate structure disposed under idler pulley 112. In such embodiments, partition 114 can be eliminated.

[0021] As shown, when the idler pulley 116 rotates in the clockwise or counterclockwise direction, the pins 122, 132, and 142 move in the inward or outward direction with respect to the platform 110. As best shown in FIGS. 1(a) - 1(d), the pins 122, 132, and 142 are respectively fixed to the flaps 124, 134, and 144. The flaps 124, 134, and 144 are respectively connected to the shafts 126, 136, and 146 and can rotate about them. The shafts 126, 136, and 146 can hold fixed positions. For example, the shafts 126, 136, and 146 can be fixed to one or more objects (not shown). As best shown in FIG. 1(e), the flaps 124, 134, and 144 can respectively include the arms 128, 138, and 148. Further, the arms 128, 138, and 148 can respectively have the holes 129, 139, and 149. The holes 129, 139, and 149 are respectively sized and positioned such that the struts 102, 103, and 104 are disposed inside them. As shown, the struts 102, 103, and 104 are fixed to the idler pulley 116. As a result, when the idler pulley 116 is rotated clockwise or counterclockwise, the struts 102, 103, and 104 also move. In other embodiments, the idler pulley 116 and the struts 102, 103, and 104 can be formed as a single integrated object. As shown, when the pulley 116 is rotated by the motor 160, the rotational force of the idler pulley 116 is transmitted to the flaps 124, 134, and 144 via the respective struts 102, 103, and 104 and the respective arms 128, 138, and 148. Further, when the flaps 124, 134, and 144 move, the pins 122, 132, and 142 can respectively move in the inward or outward direction with respect to the platform 110.

[0022] During the centering process, the platform 110 can be rotated clockwise or counterclockwise by the motor 170. The motor 170 includes a shaft 172 fixed to the drive pulley 174. During operation, the drive pulley 174 is rotated clockwise or counterclockwise by the shaft 172. As shown, the lower surface side of the platform 110 is fixed to the upper surface side of the idler pulley 112. In other embodiments, the platform 110 and the idler pulley 112 may be formed as a single integrated object. Further, as shown, the idler pulley 112 is connected to the drive pulley 174 by a belt 182. During operation, when the drive pulley 174 is rotated by the motor 170, the rotational force of the drive pulley 174 is transmitted to the idler pulley 112 by the belt 182. Further, when the idler pulley 112 is rotated clockwise or counterclockwise, the platform 110 also rotates in the same direction because it is fixed to the idler pulley 112. Similar to the belt 184, the belt 182 can also be any band, belt, cord, rope, chain, etc. that can transmit the rotational force of the drive pulley 174 to the idler pulley 112.

[0023] In some embodiments, after centering the Petri dish 190, the Petri dish 190 can be inoculated with a biological sample. In some embodiments, one or more of the systems and / or methods disclosed in the '827 application can be used to inoculate the Petri dish 190. For example, an automated pipettor can be used to inoculate the Petri dish 190. In some embodiments, a sensor 150 (e.g., an infrared (ID) sensor or an imaging device) can be used to orient the Petri dish 190. For example, in some embodiments, the sensor 150 can be used to determine where a label (e.g., a barcode) on the Petri dish 190 begins and ends. In some embodiments, after the Petri dish 190 is centered and oriented, a reader (not shown) (e.g., a barcode reader or an imaging device) can be used to read (e.g., scan) a label (e.g., a barcode) on the Petri dish 190. In some embodiments, a reader (not shown) can also be used to further orient the Petri dish 190. In some embodiments, after the Petri dish 190 is centered and oriented, one or more images of the Petri dish 190 can be captured by an image capture device (not shown) and / or one or more colonies of bacteria can be picked by a robot (not shown). In some embodiments, one or more of the systems and / or methods disclosed in the '400 application can be used to capture an image of the Petri dish 190. In some embodiments, one or more of the systems and / or methods disclosed in the '554 application can be used to pick one or more colonies of bacteria within the Petri dish 190. For example, an automated pipettor can be used to pick one or more colonies of bacteria within the Petri dish 190.

[0024] Figures 2(a) and 2(b) are photographs of an embodiment of a system for centering circular objects according to the present technology. As shown, system 200 includes platform 210, pins 220, 230, 240, cover 250, sensor 262, reader 264, robot 280, and automated pipettor 290. Cover 250 has slits 252, 254, and 256. Under cover 250, system 200 may include motors, pulleys, belts, and / or other components similar to system 100 of FIGS. 1(a)-1(e).

[0025] As shown in FIGS. 2(a) and 2(b), slits 252, 254, and 256 are curved and sized such that the diameters of slits 252, 254, and 256 correspond to the diameters of pins 210, 220, and 230. As a result, pins 220, 230, and 240 can move along substantially the entire length of slits 252, 254, and 256. Further, in this embodiment, slits 252, 254, and 256 extend up to 15 millimeters away from platform 210. However, in other embodiments, the lengths of slits 252, 254, and 256 can be extended or reduced. For example, the lengths of slits 252, 254, and 256 can be selected such that a Petri dish can be placed on platform 210 and rotated without substantial interference from pins 220, 230, and 240. As another example, the lengths of slits 252, 254, and 256 can be significantly (e.g., more than double) greater than the length necessary to allow a Petri dish to be placed on platform 210 and rotated without substantial interference from pins 220, 230, and 240.

[0026] During the centering operation, slits 252, 254, and 256 guide pins 210, 220, and 230 to advance toward platform 210. As shown, slits 252, 254, and 256 are curved and have a consistent diameter corresponding to the diameters of pins 210, 220, and 230. In other embodiments, slits 252, 254, and 256 may have different shapes. For example, slits 252, 254, and 256 may be substantially straight and have a consistent diameter corresponding to the diameters of pins 210, 220, and 230. As another example, slits 252, 254, and 256 may have a conical shape with various diameters. In such embodiments, slits 252, 254, and 256 may have a narrow portion near platform 210 having a diameter corresponding to the diameters of pins 210, 220, and 230.

[0027] As shown in FIG. 2(b), Petri dish 270 can be placed on platform 210 by robot 280. Once on platform 210, pins 220, 230, and 240 can be used to center Petri dish 270 on platform 210. After Petri dish 270 is centered, sensor 262 can be used to orient Petri dish 270. After Petri dish 270 is centered and oriented, reader 264 can be used to read the label on Petri dish 270. Reader 264 can also be used to further orient Petri dish 270. After Petri dish 270 is centered and / or oriented, automated pipettor 290 can be used to inoculate Petri dish 270 with a biological sample and / or to collect one or more colonies of bacteria within Petri dish 270.

[0028] Figure 3 is a block diagram of a method for centering a circular object according to the present technology. Method 300 can be implemented using a system such as system 100 of FIGS. 1(a) - 1(e) or system 200 of FIGS. 2(a) and 2(b). In such an embodiment, system 100 may include one or more processors configured to control sensor 150, motor 160, and motor 170. Similarly, in such an embodiment, system 200 may include one or more processors configured to control sensor 262, reader 264, and / or platform 210 and one or more motors under cover 250 configured to move pins 220, pins 230, and pins 240. The arrows in FIG. 3 are intended to illustrate one possible order in which the various processes of method 300 may be implemented. However, in some embodiments, the blocks shown in FIG. 3 may be rearranged. Further, in some embodiments, one or more blocks may be added and / or removed.

[0029] In block 310, a system comprising a rotatable platform surrounded by three movable pins is initialized by moving the pins away from the platform to an open position. For example, in an embodiment implemented using system 200, pins 220, pins 230, and pins 240 can be moved to the open positions shown in FIGS. 2(a) and 2(b). As shown, pins 220, pins 230, and pins 240 are moved 15 millimeters away from platform 210. As another example, in an embodiment implemented using system 200, pins 220, pins 230, and pins 240 can be moved to an open position only 8 millimeters away from platform 210. In some embodiments, one or more processors can control the movement of the pins by controlling one or more motors connected to the pins.

[0030] At block 320, the Petri dish is placed on the platform. For example, in an embodiment implemented using system 200, robot 280 can place Petri dish 270 on platform 210. As another example, in some embodiments, the Petri dish can be conveyed onto the platform by using a conveyor system. In some embodiments, one or more processors can control a transfer mechanism (e.g., a robot or a conveyor system) used to place the Petri dish on the platform. Since the transfer mechanism may not be configured to accurately center the Petri dish on the platform, the Petri dish may initially be off-center.

[0031] At block 330, the Petri dish is roughly centered by moving all the pins towards the Petri dish to a closed position. As described above, some prior art systems use a similar technique to center circular objects such as Petri dishes. However, in contrast to those prior art systems, method 300 includes an additional process for more accurately centering circular objects such as Petri dishes in the system described herein.

[0032] At block 340, the lid covering the Petri dish is removed. In other embodiments, this block can be performed at a different location in the order shown, as before block 310. In other embodiments, this block is unnecessary and can be completely removed from method 300. For example, in some embodiments, the system can handle one or more Petri dishes without lids, or the system can have the possibility of acquiring images through a transparent lid, in which case removing the lid is not required.

[0033] In block 350, all pins are moved away from the Petri dish to the open position. For example, in an embodiment implemented using system 200, pins 220, 230, and 240 can be moved to the positions shown in FIGS. 2(a) and 2(b). As shown, the pins are moved to the initial open position, but this is not required. As another example, in some embodiments, the pins can only be moved far enough away so that the Petri dish can be rotated without substantial interference. For example, in an embodiment implemented using system 200, pins 220, 230, and 240 can be moved to an open position that is only 8 millimeters away from platform 210, rather than 15 millimeters away from platform 210 as shown in FIGS. 2(a) and 2(b).

[0034] In block 360, the Petri dish is rotated 60 degrees in the clockwise or counterclockwise direction. For example, in an embodiment implemented using system 200, by rotating platform 210 60 degrees in the clockwise or counterclockwise direction, Petri dish 270 can be rotated 60 degrees in the same direction. In some embodiments, one or more processors can control the movement of the platform by controlling one or more motors connected to the pins. Although the time efficiency is worse, those skilled in the art will easily understand that similar results can be achieved by adding one or more complete 360-degree rotations. For example, by rotating the Petri dish 420 degrees in the clockwise or counterclockwise direction, the Petri dish can be effectively rotated 60 degrees in the clockwise or counterclockwise direction.

[0035] In block 370, the Petri dish is accurately centered by moving all the pins towards the Petri dish. As will be described in more detail below with respect to FIGS. 4(a) to 4(l), at least two of the three pins should contact the Petri dish within block 330. Thus, the edge of the Petri dish that is farthest from the center of the platform is located between the two contacting pins. As a result, by rotating the Petri dish, one of the pins that contacted the Petri dish within block 330 can be used within block 370 to more accurately propel the Petri dish towards the center of the platform.

[0036] In block 380, all the pins are retracted from the Petri dish. This block is optional. In some embodiments, it may be advantageous to retract the pins from the Petri dish before one or more additional processes are performed on the Petri dish. For example, if it is necessary to rotate the Petri dish again for proper orientation, it may be advantageous to retract the pins from the Petri dish before rotating the Petri dish. In other embodiments, it may be more advantageous to keep the pins in a position close to the Petri dish and the platform to prevent the Petri dish from moving and deviating from the center.

[0037] In block 390, one or more processes are performed on a Petri dish that is precisely centered. For example, in block 390, a Petri dish can be inoculated with a biological sample. In some embodiments, one or more of the systems and / or methods disclosed in the '827 application can be used to inoculate the Petri dish. As another example, in block 390, one or more images of the Petri dish can be captured by an image capture device. In some embodiments, one or more of the systems and / or methods disclosed in the '400 application can be used to capture an image of the Petri dish. As yet another example, in block 390, one or more colonies of bacteria within the Petri dish can be sampled by a robot. In some embodiments, one or more of the systems and / or methods disclosed in the '554 application can be used to sample one or more colonies of bacteria within Petri dish 190.

[0038] Figures 4(a) through 4(l) illustrate a method of centering a circular object according to the present technology. More specifically, referring to method 300 of FIG. 3, the processes shown in FIGS. 4(a) through 4(d) correspond to block 330, the process shown in FIG. 4(e) corresponds to block 350, the processes shown in FIGS. 4(f) and 4(g) correspond to block 360, the processes shown in FIGS. 4(h) through 4(j) correspond to block 370, and the processes shown in FIGS. 4(k) and 4(l) correspond to block 380. As shown, FIGS. 4(a) through 4(l) depict a Petri dish 410 disposed between movable pins 420, movable pins 430, and movable pins 440. As shown in FIG. 4(a), pins 420, 430, and 440 are in the open position.

[0039] In FIGS. 4(b) - 4(d), pins 420, 430, and 440 are moved towards the closed position towards Petri dish 410. As shown in FIG. 4(c), during this process, pin 440 contacts Petri dish 410 ahead of the other pins. Further, as shown in FIG. 4(d), pin 420 finally contacts Petri dish 410, but pin 430 does not contact Petri dish 410. This is because pin 430 reaches the limit of its movement path through respective slits (not shown) before contacting Petri dish 410. As a result, Petri dish 410 is not accurately centered in FIG. 4(d). More specifically, the edge of the Petri dish farthest from the centers of pins 420, 430, and 440 is located between pin 440 and pin 420. Further, the edge of the Petri dish closest to the centers of pins 420, 430, and 440 is located beside pin 430.

[0040] To more accurately center Petri dish 410, in FIG. 4(e), pins 420, 430, and 440 are moved away from Petri dish 410 to the open position. Subsequently, in FIGS. 4(f) and 4(g), Petri dish 410 is rotated 60 degrees in the clockwise direction. As a result, the edge of the Petri dish farthest from the centers of pins 420, 430, and 440 is now located beside pin 420 here. In FIGS. 4(h) - 4(j), pins 420, 430, and 440 are again moved towards the closed position towards Petri dish 410. As shown in FIG. 4(i), during this process, pin 420 contacts Petri dish 410 ahead of the other pins. As a result, pin 420 can push Petri dish 410 to a more accurately centered position among all the pins. Finally, in FIGS. 4(k) and 4(l), pins 420, 430, and 440 are again moved away from Petri dish 410 to the open position.

[0041] FIG. 5 is a photograph of a simple experiment carried out using the systems of FIGS. 2(a) and 2(b) to demonstrate some of the advantages of the present technique. As shown, a piece of double-sided tape 510 was wrapped around the Petri dish 270. Further, at the time the image was taken, the Petri dish 270 was merely placed on the platform 210 (see, e.g., block 320 of FIG. 3), and the pins 220, 230, and 240 were only moved once towards the Petri dish (see, e.g., block 330 of FIG. 3). As shown, at this point, there is a significant gap between the pin 220 and the Petri dish 270, indicating that the Petri dish 270 is not accurately centered.

[0042] As described above, some prior art systems for centering a Petri dish include three or more pins. During operation, the pins are moved towards the Petri dish until the Petri dish is clamped between all the pins. However, without having more, these types of prior art systems may not be able to accurately center the Petri dish due to friction on the bottom or side of the Petri dish or the pins. Petri dishes often have smooth, low-friction surfaces, but various situations can occur that change this. For example, some of the agar in the Petri dish may spill and make the side of the Petri dish sticky. As another example, the label printed on the Petri dish may start to peel off, and some of the adhesive on the back side of the label may be exposed. As yet another example, the label may be printed unevenly on the Petri dish. As a result, as shown in FIG. 5, the pins may stop moving when only some (not all) of the pins are touching the Petri dish. Embodiments of the present technique mitigate these risks.

[0043] Furthermore, some advantages of the present technology over the prior art can be achieved even with a certain degree of inaccuracy. For example, in block 360 of FIG. 3, the Petri dish is rotated 60 degrees in the clockwise or counterclockwise direction. However, with respect to the position of the Petri dish after performing block 330, the Petri dish can be centered more accurately by rotating it, for example, only 55 degrees in the clockwise or counterclockwise direction. Similarly, with respect to the position of the Petri dish after performing block 330, the Petri dish can be centered more accurately by rotating it, for example, 65 degrees in the clockwise or counterclockwise direction. Thus, as used herein, "approximately 60 degrees" is equivalent to stating "60 degrees ± 5 degrees". Thus, "approximately 60 degrees" is equivalent to, for example, 55 degrees, 56.7 degrees, 57.1 degrees, 59.021 degrees, 61.78 degrees, 62.35 degrees, and 64.99 degrees.

[0044] From the above and by referring to the various drawings, it will be understood by those skilled in the art that certain changes can be made to the present disclosure without departing from the scope of the present disclosure. For example, various mechanisms can be used to rotate a circular object. For example, in some embodiments, a circular object such as a Petri dish can be placed on a fixed platform between a plurality of pins. In such an embodiment, a robot placed on the circular object can grasp the Petri dish and rotate it.

[0045] As another example, the present technology can be easily adapted to a system having four or more pins. For example, the system can comprise a rotatable platform surrounded by four movable pins. Even if in block 360 the Petri dish is rotated approximately 45 degrees in the clockwise or counterclockwise direction, such a system can be used in the method 300 of FIG. 3. In fact, the amount of rotation performed in block 360 is more generally θ = 360° / 2P’ It can be shown as (where θ is the amount of rotation of the Petri dish and P is the number of pins surrounding the Petri dish). Furthermore, those skilled in the art will easily understand that a complete rotation of 360 degrees for more than one turn can be added to θ. Similar to the above embodiment, "approximately 45 degrees" is equivalent to stating "45 degrees ± 5 degrees".

[0046] Furthermore, although some embodiments of the present disclosure are shown in the drawings, since the present disclosure is as broad as the technology allows and is intended to be read as such, the present disclosure is not intended to be limited to those embodiments. Therefore, the above description should not be construed as limiting, but rather should be construed merely as an exemplification of specific embodiments. Those skilled in the art will envision other variations within the scope and spirit of the claims appended hereto.

Claims

1. placing a circular object on a platform between three or four pins; wherein the pins are spaced equidistant from one another and the pins are in a first open position; moving all of the pins toward the circular object to a closed position at one time; wherein when the pins are in the closed position, at least two of the pins are in contact with the circular object; moving all of the pins away from the circular object to a first open position or a second open position; wherein the circular object can be rotated on the platform without interference from the pin when the pin is in the first open position or the second open position; Rotating the circular object by an angle of θ degrees or an angle of θ degrees plus an integer multiple of 360 degrees; where θ is equal to 360 degrees divided by twice the number of pins, moving all of the pins a second time toward the circular object to the closed position; wherein the circular object is centered between all of the pins after all of the pins are moved to the closed position a second time; The method includes:

2. The method of claim 1 , wherein the platform is rotatable and the circular object is rotated by rotating the platform.

3. The method of claim 1 , wherein the circular object is a Petri dish.

4. 4. The method of claim 3, further comprising inoculating the Petri dish with a biological sample after the Petri dish is centered between all of the pins.

5. The method of claim 3 , further comprising capturing an image of the Petri dish with an image capture module after the Petri dish is centered between all of the pins.

6. 4. The method of claim 3, further comprising harvesting one or more colonies of bacteria within the Petri dish after the Petri dish is centered between all of the pins.

7. placing a circular object on a rotatable platform disposed between three pins; wherein the pins are spaced equidistant from one another and the pins are in a first open position; moving all of the pins toward the circular object to a closed position at one time; wherein when the pins are in the closed position, at least two of the pins are in contact with the circular object; moving all of the pins away from the circular object a first time to a first open position or a second open position; wherein the circular object can be rotated on the platform without interference from the pin when the pin is in the first open position or the second open position; rotating the platform through an angle of 60 degrees or an integral multiple of 360 degrees; wherein when the platform is rotated, the circular object is also rotated; moving all of the pins a second time toward the circular object to the closed position; wherein the circular object is centered between all of the pins after all of the pins are moved to the closed position a second time; The method includes:

8. The method of claim 7 , wherein the circular object is a Petri dish.

9. The method of claim 8 , further comprising removing a lid covering the Petri dish from the Petri dish.

10. 10. The method of claim 9, further comprising inoculating the Petri dish with a biological sample after the Petri dish is centered between all of the pins.

11. moving all of the pins away from the circular object a second time to either the first open position or the second open position after the Petri dish is centered between all of the pins; orienting the Petri dish by rotating the Petri dish to align a label on the Petri dish with a reader located near the platform; The method of claim 9 further comprising:

12. The method of claim 11 , further comprising capturing an image of the Petri dish with an image capture module after the Petri dish is centered and oriented between all of the pins.

13. 12. The method of claim 11, further comprising harvesting one or more colonies of bacteria within the Petri dish after the Petri dish is centered and oriented between all of the pins.

14. a rotatable platform having a top surface and a bottom surface; a first idler pulley having a top surface and a bottom surface; wherein the top surface of the first idler pulley is fixed to the bottom surface of the platform; a second idler pulley having a top surface and a bottom surface; Here, the second idler pulley is disposed below the bottom surface of the first idler pulley, and three pillars are fixed to the bottom surface of the second idler pulley, Three pins disposed around the rotatable platform; wherein the pins are spaced equidistant from one another and each of the pins is fixed to a flap having an arm extending below the second idler pulley, each of the flaps is connected to a fixed shaft and is rotatable about the fixed shaft, and each of the arms of the flap has a hole surrounding a different one of the posts fixed to the bottom surface of the second idler pulley. Equipped with the platform can be rotated by rotating the first idler pulley, and the pin can be moved toward the platform by rotating the second idler pulley; moving all of the pins once to a closed position toward a Petri dish disposed on the platform, with at least two of the pins in contact with the Petri dish; a first move all of the pins away from the Petri dish to a first open position or a second open position; Rotating the platform; and moving all of the pins to the closed position a second time.

15. a first motor including a first drive pulley fixed to a shaft of the first motor; a second motor including a second drive pulley fixed to a shaft of the second motor; a first belt connected to the first idler pulley and the first drive pulley; a second belt connected to the second idler pulley and the second drive pulley; Further comprising:

15. The system of claim 14, wherein the rotational force of the first drive pulley is transmitted to a first idler pulley through the first belt and the rotational force of the second drive pulley is transmitted to a second idler pulley through the second belt.

16. 16. The system of claim 15, further comprising one or more processors configured to control the first motor and the second motor to thereby control rotation of the first idler pulley and the second idler pulley.

17. The one or more processors: configured to move all of the pins to a closed position toward a Petri dish placed on the platform a first time; wherein at least two of the pins are in contact with the Petri dish when the pins are in the closed position; configured to move all of the pins away from the Petri dish to either the first open position or the second open position at a first time; wherein the Petri dish can be rotated on the platform without interference from the pins when the pins are in the first open position or the second open position; configured to rotate the platform through an angle of 60 degrees or an integral multiple of 360 degrees; and configured to move all of the pins a second time toward the Petri dish to the closed position; 17. The system of claim 16, wherein the Petri dish is centered between all of the pins after all of the pins are moved to the closed position a second time.

18. a reader; and The one or more processors further include: configured to move all of the pins away from the Petri dish a second time to either the first open position or the second open position after the Petri dish has been centered between all of the pins; and 20. The system of claim 17, configured to orient the Petri dish by rotating the platform to align a label on the Petri dish with the reader.

19. an image capture module; and The one or more processors further include:

20. The system of claim 18, further configured to capture an image of the Petri dish with the image capture module after the Petri dish is centered and oriented between all of the pins.

20. Further comprising an automated pipettor; The one or more processors further include:

20. The system of claim 18, configured to harvest one or more colonies of bacteria within the Petri dish after the Petri dish is centered and oriented between all of the pins.

Images