Direct material transfer between modular robotic systems

Abstract

Disclosed herein are embodiments of systems, devices, methods, and / or computer program products for modular laboratory assembly, and / or combinations and subcombinations thereof. The modular laboratory assembly may include a central controller and multiple biological processing modules. Each biological processing module may include a robotic manipulator, multiple transfer decks within the volume of the biological processing module, multiple coupling mechanisms on each side of the biological processing module, and a module controller in communication with the central controller, the robotic manipulator, and the multiple coupling mechanisms.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 63 / 269,056, filed March 9, 2022, the entire disclosure of which is incorporated herein by reference.

[0002] Broadly, embodiments of the present disclosure are directed to transferring modules containing materials between modular robotic systems. [Background technology]

[0003] Biological laboratory processing requires many separate processes to be performed on various samples. These processes include transporting liquids from one location to another, placing samples in centrifuges to separate components, precisely changing temperatures to catalyze specific reactions, and many others. Because biology requires a vast number of processes, and each laboratory often requires its own subset of these processes, fully automating biological processing has proven difficult. Multiple automated systems are often not connected, making transfers time-consuming and difficult.

[0004] Most laboratory automation attempts consist of two basic parts. The first can be a set of stations equipped with tools configured to perform a specific aspect of a biological process, such as a pipettor or centrifuge. The second is a customized external transport system capable of transferring materials from one station to the next, typically programmed to replicate the actions a human would take to transition a test element from one station to the next. The external transport system can be a conveyor belt, a magnetic track, or a robotic system designed to perform a specific application task. Conveyor belts and magnetic tracks passing between stationary stations are typically limited to assembly line style processes, where biological samples are moved from one station to another via belts or tracks. However, such systems are often limited to one-way systems that transfer "down the line" from station to station, and attempts at bidirectional movement are inefficient because only one object can be moved at a time to avoid collisions between objects moving in two different directions. On the other hand, custom articulators, such as robots that transport objects between various stations on behalf of humans, are expensive, time-consuming to reprogram, and lock laboratory units into specific configurations.

[0005] The accompanying drawings are incorporated in and constitute a part of this specification. [Brief description of the drawings]

[0006] [Figure 1A] 1 illustrates a modular laboratory assembly according to some embodiments. [Figure 1B] 1 illustrates a modular laboratory assembly according to some embodiments. [Figure 1C] 1 illustrates a modular laboratory assembly according to some embodiments. [Figure 1D]1 illustrates a coupling mechanism for modules in a modular laboratory assembly, according to some embodiments. [Figure 2A] 1 illustrates a modular laboratory assembly according to some embodiments. [Figure 2B] 1 illustrates a modular laboratory assembly according to some embodiments. [Figure 3A] 1 illustrates a stacked modular laboratory assembly according to some embodiments. [Figure 3B] 1 illustrates a stacked modular laboratory assembly according to some embodiments. [Figure 4A] 1 illustrates movement of objects throughout a modular laboratory assembly according to some embodiments. [Figure 4B] 1 illustrates movement of objects throughout a modular laboratory assembly according to some embodiments. [Figure 4C] 1 illustrates movement of objects throughout a modular laboratory assembly according to some embodiments. [Figure 4D] 1 illustrates movement of objects throughout a modular laboratory assembly according to some embodiments. [Figure 4E] 1 illustrates movement of objects throughout a modular laboratory assembly according to some embodiments. [Figure 4F] 1 illustrates movement of objects throughout a modular laboratory assembly according to some embodiments. [Figure 4G] 1 illustrates movement of objects throughout a modular laboratory assembly according to some embodiments. [Diagram 5] 1 illustrates an exemplary computer system useful for implementing various embodiments.

[0007] In the drawings, like reference numbers generally indicate the same or similar elements. Further, the leftmost digit(s) of a reference number generally identifies the drawing in which that reference number first appears. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Provided herein are embodiments of systems, apparatus, devices, methods, and / or computer program products, and / or combinations and subcombinations thereof, for creating plug-and-play laboratory assemblies and automated material transfer between modular robotic systems.

[0009] A biological processing environment may include various stations that contain tools and equipment for use in a given process, such as freezers or pipetters. Typically, where humans are not responsible for transporting materials between these stations, a biology laboratory may use an assembly line or rail system that is external to the station. However, these external systems add additional cost, hardware, and space constraints to the laboratory environment. Furthermore, such external systems are inefficient because a linear assembly line or rail system can typically only handle movement in one direction at a time.

[0010] The embodiments described herein provide for modular laboratory assemblies with self-contained transport systems. This allows for frequent and multiple shuttle of components, unlike linear assembly lines or rail systems that typically can only handle one-way movement at a time. Such embodiments include mix-and-match modules that directly transfer materials to each other without the need for external modulators, rails, or conveyor belts. Instead, instructions to perform specific operations are issued on-the-fly from a central unit to on-board manipulators. That is, simply placing two modules next to each other allows them to transfer materials between each other. Each module can have its own articulation mechanism on it that is responsible for moving objects from one location to another, which is controlled by a central controller to which it is registered. This system allows any module to transfer materials to and from adjacent modules, and to any location throughout the connected system. As described herein, complete modularity can be achieved. As described below, each module registers with and communicates with a central controller that directs each module to perform specific processing steps to perform a given biological process.

[0011] For example, sequencing a DNA sample traditionally requires a user to retrieve the sample from a freezer, add the sample to a pipetting instrument, and prepare the sample in the lab. Using the system described herein, the user can program the system and an array of robotic manipulators throughout the system modules will retrieve the sample from the freezer and transport it to where it is needed for processing. Using a robotic arm instead of a user reduces errors and makes the process more efficient.

[0012] The system allows for full automation of a biology laboratory without requiring special skills for setup, and the user can configure the system by simply placing modules next to each other. The system does not require the configuration and setup of trucks, conveyors, or other transport systems, which can greatly speed up the integration process. Existing technologies require custom solutions to achieve full automation. Using the embodiments described herein, particularly the modular capabilities, a fully automated laboratory is achieved without unnecessary customization.

[0013] 1A-1C show side views of an exemplary modular laboratory assembly and use, according to some embodiments.

[0014] FIG. 1A shows two biological processing modules 101A and 101B. Each biological processing module can perform a specific function, such as pipetting, cooling (e.g., refrigerator or freezer), centrifugation, optical inspection, etc. Each biological processing module can include the tools and devices necessary to accomplish its function. Biological processing module 101A includes a robotic manipulator 102A and multiple transfer decks (or slots) 104A. Similarly, biological processing module 101B includes a robotic manipulator 102B and multiple transfer decks 104B. Each of the robotic manipulators 102A and 102B can be a robotic arm with an engagement mechanism that allows the robotic arm to interact with objects within or near the volume of the respective processing module 101. Each robotic manipulator 102 can be an articulatable manipulator capable of movement in all directions and can be located anywhere on the module 101. The engagement mechanism may be a gripper, magnetic mechanism, suction mechanism, lifter, etc., for interacting with an object such as a plate, tube, bowl, array, etc. Each biological processing module may have a cuboid shape (e.g., a cube, rectangular prism, trapezoid prism, etc.) having a certain volume, such as an equipment platform with overhead and / or lateral support structure. Alternatively, the biological processing module may include an equipment platform without an overhead structure.

[0015] During assembly of the modular system, the biological processing modules 101A and 101B are coupled as shown in FIG. 1B. A standard input / output (I / O) system can be used to enable communication and cooperation between each module of the modular laboratory assembly. Using a standard I / O system ensures that all devices in the system support modularity. In particular, different modules in the system, such as a freezer module and an automated pipetting module, must be able to communicate with each other. Biological processing modules can include, for example, but are not limited to, freezers, refrigerators, pipettors, incubators, optical analysis devices, heaters, centrifuges, PCR machines, sequencers, room temperature storage modules, shakers, grippers, tube and tube cap manipulators, spectrophotometers, and / or various measurement devices. Those skilled in the art will recognize that biological processing modules can also include custom hardware components programmed to use the standard I / O system.

[0016] FIG. 1D shows a side view of the base of a biological processing module, such as module 101A. In some embodiments, each side of each processing module can include a coupling mechanism 108. Although FIG. 1D shows the coupling mechanism on the base of the module, one skilled in the art will recognize that the coupling mechanism may alternatively be located on any common surface that can contact adjacent modules (such as a side support column or overhead support structure). The coupling mechanism 108 may be a standard electrical connector that allows bidirectional communication between both devices. In the example of FIG. 1D, the coupling mechanism 108 is shown as a combination of a pogo pin and a mating pad. The coupling mechanism 108 may have both a data connection and a ground connection. When coupled to another processing module, such as module 101B, which has its own coupling mechanism 108, the pogo pin of module 101A is received into the mating pad of module 101B, while the pogo pin of module 101B is received into the mating pad of module 101A. 1D shows an arrangement of pogo pins and pads, one of ordinary skill in the art would recognize that other pogo pin arrangements, or other coupling mechanisms other than pogo pins, may be used to electrically connect the two modules. In order to mix and match module layouts, the physical layout of each coupling mechanism may be the same, allowing any module to be coupled to another model.

[0017] Each processing module may also include one or more alignment guides 114 that are used to align the processing modules with respect to one another. This may be important as it allows the robotic manipulators present on each module 101 to accurately transfer materials to adjacent modules. Each biological processing module may have such a coupling mechanism on each side of the module where another biological processing module may be placed. In order to mix and match module layouts, the physical layout of each alignment mechanism may be the same, allowing any module to be coupled to another model.

[0018] 1B, once biological treatment module 101A is coupled to biological treatment module 101B, robotic manipulator 102A can operate to move an object, such as object 106, to a position on or within biological treatment module 101B. Robotic manipulator 102A may retrieve object 106 from a position on its own module (i.e., module 101A) or robotic manipulator 102A may retrieve object 106 from a position on an adjacent module (not shown).

[0019] 1C, the robotic manipulator 102A can place, insert, or otherwise deliver the object 106 to a transfer deck (or slot) 104B on the module 101B. The robotic manipulator 102B can then contact the object 106 and move it to another location on the module 101B for processing, or can further transfer the object 106 to an adjacent module.

[0020] 1B and 1C show the robotic manipulator 102A transferring the object 106 to the processing module 101B, such movement capability may be bidirectional, such that the robotic manipulator 102A may also retrieve the object 106 from the processing module 101B and deliver it to a location on module 101A for processing, or may further transfer the object 106 from module 101B to an adjacent module.

[0021] 2A-2B show side views of another exemplary modular laboratory assembly and use, according to some embodiments.

[0022] 2A shows two biological processing modules 201A and 202B. Biological processing module 201A includes a robotic manipulator 202A and multiple transfer decks (or slots) 204A. Similarly, biological processing module 201B includes a robotic manipulator 202B and multiple transfer decks 204B. Biological processing module 201A can be coupled to biological processing module 201B via a coupling mechanism similar to that described with respect to FIG. 1D.

[0023] Each of the robotic manipulators 202A and 202B may be a robotic arm with an engagement mechanism that allows the robotic arm to interact with objects on the respective processing module 201. Unlike the fully articulated robotic manipulator 102 described with respect to FIGS. 1A-1C, the robotic manipulator 202 may have more restricted movement such that it can only contact locations on or within the same biological processing module. For example, the robotic manipulator 202A may be coupled to an on-board chassis 210A, such as an overhead support structure, where the on-board chassis 210A is integral with the biological processing module 201A (e.g., an on-board gantry). This allows the robotic manipulator 202A to move parallel to the base of the module 201A. The robotic manipulator 202A can then move vertically (i.e., toward and away from the chassis 210A) via an internal telescopic system of the robotic manipulator 202A. In this manner, the robotic manipulator 202A can reach any location on or within the volume of the biological processing module 201A, but cannot reach outside of the biological processing module 201A. Similar to the robotic manipulator 102A, the robotic manipulator 202A can include engagement mechanisms that allow the robotic arm to interact with objects within the volume of the processing module 201A. The robotic manipulator 202B operates similarly with respect to the processing module 202B.

[0024] 2B, for example, because the robotic manipulator 202A cannot itself reach beyond the end of the biological processing module 201A, the biological processing module 201A may also include one or more independent transport mechanisms 208A disposed on each transfer deck 204A. Similarly, the biological processing module 201B may include one or more independent transport mechanisms 208B disposed on each transfer deck 204B. The independent transport mechanisms may be, for example, rollers, sliders, pushers, lifters, pulleys, etc.

[0025] When moving object 206 from process module 201A to process module 201B, robot arm 202A may first move object 206 to transfer platform 204A. Platform 204A includes an independent transfer mechanism 208A that operates to lift or otherwise transfer object 206 to transfer platform 204B on process module 201B. Once object 206 has been transferred to platform 204B, independent transfer mechanism 208A may return to its ready position on platform 204A. Then, once object 206 is positioned on platform 204B, robot manipulator 202B may contact object 206 and / or object 206 may be moved elsewhere by independent transfer mechanism 208B.

[0026] Each of the independent transport mechanisms 208A and 208B can move the object 206 along a single axis (e.g., horizontally) or multiple axes (e.g., in three dimensions). Each of the independent transport mechanisms 208A and 208B can include a platform mounted on rollers or other manipulators for moving the object therefrom.

[0027] 1A-1C show each module as having a robotic manipulator 102 that can extend beyond the boundaries of the respective module, and FIGS. 2A-2B show each module as having a robotic manipulator 202 that cannot extend beyond the boundaries of the respective module, those skilled in the art will recognize that a biological process module having a robotic manipulator 102 can be coupled to another biological process module having a robotic manipulator 202. Additionally or alternatively, a biological process module having a robotic manipulator 102 can be coupled to another biological process module that does not have a robotic manipulator at all, such that the robotic manipulator 102 is responsible for retrieving objects from or transferring objects to an adjacent process module.

[0028] 3A shows a side view of a modular laboratory assembly 300 consisting of three biological treatment modules coupled together. One skilled in the art will recognize that additional biological treatment modules may be added to the assembly 300 in any order, such that each biological treatment module is coupled to any adjacent module using its respective coupling mechanism, as shown in FIG. 1D.

[0029] FIG. 3B shows a side view of an example of a modular laboratory assembly structure with one biological processing module positioned above the other. Objects can be transferred from one layer to the next in an elevator-like fashion. The elevator can assist in the transfer from a lower layer to an upper layer or from an upper layer to a lower layer. For example, biological processing module 301A can be physically located above biological processing module 301B (i.e., in free space). A third biological processing module 301C can include a robotic manipulator 302C coupled to a vertical elevator rail 312. The robotic manipulator 302C can include an engagement mechanism that allows the robotic manipulator 302C to move an object 306 from a transfer deck 304C on module 301C to a transfer deck 304A on module 301A.

[0030] According to embodiments herein, biological processing modules can also detect that other modules are located adjacent to them, for example, via a handshaking protocol. This may be done via electromagnetic data transfer, electrical contacts, or other means enabled by a coupling mechanism, such as coupling mechanism 108 (FIG. 1D). By detecting adjacent modules, modules can coordinate transfers to and from the detected modules such that the modules can function as a single system.

[0031] The method of use and operation of the modular system will now be described. FIGS. 4A-4G are top-down views of a modular laboratory assembly with an object moving across it. Looking to FIG. 4A, an automated modular laboratory assembly 400 is shown in a top-down view. The assembly 400 includes biological processing modules 401A-401E in communication with a central controller 402. The central controller 402 may be a laptop computer, a desktop computer, a mobile phone, a tablet, or other computing device. The central controller 402 may communicate with each of the modules 401A-401E via a wired or wireless connection, such as Bluetooth. In some embodiments, the central controller 402 may communicate with each of the modules 401A-401E via a network. The network may be an ad-hoc network, an intranet, an extranet, a virtual private network (VPN), a local area network (LAN), a wireless LAN (WLAN), a wide area network (WAN), a wireless wide area network (WWAN), a metropolitan area network (MAN), a portion of the Internet, a portion of the public switched telephone network (PSTN), a cellular network, a wireless network, a WiFi network, a WiMax network, any other type of network, or a combination of two or more such networks. Although the central controller 402 is shown as separate from each of the biological processing modules 401A-401E, the central controller 402 may alternatively be integrated into a single biological processing module 401, in which case this module may be identified as a master module. The central controller 401 is responsible for the execution of a particular biological process by providing operational instructions to one or more of the biological processing modules 401A-401E.

[0032] Each biological processing module 401 also includes its own module controller 404. Each module controller 404 may include a communication interface for transmitting and receiving data to and from the central controller 402. The module controller 404 includes information about the biological processing module and provides operational instructions to the electromechanical components on the biological processing module. For example, the module controller 404A includes information about the biological processing module 401A and provides operational instructions to the electromechanical components on the biological processing module 401A, such as its robotic manipulator. Each module controller 404 may also be coupled to a coupling mechanism of the respective module for coupling with an adjacent module and exchanging handshaking information.

[0033] The operations of the central controller 402 and / or the module controllers 404 may be performed by processing logic, which may include hardware (e.g., circuits, dedicated logic, programmable logic, microcode, etc.), software (e.g., instructions executed on a processing device), or a combination thereof. It should be understood that not all steps or operations are required to practice the disclosure provided herein. Moreover, some of the steps or operations may be performed simultaneously or in a different order than described herein, as would be understood by one of ordinary skill in the art.

[0034] During assembly of the modular laboratory assembly 400, each biological processing module is registered with the central controller 402 as it is added to the system. For example, once the biological processing module 401A is connected to a power source, the module controller 404A can send information about the module 401A to the central controller 402. The module controller 404A can also send calibration details about the functional components placed on the module 401A. Such calibration details can include data to, for example, correct mechanical imperfections by adjusting the robotic manipulator using software. For example, the robot joints have a "home" position that may be slightly off due to assembly errors, which can be discovered using software calibration routines. The calibration details can additionally or alternatively include data used to make the robotic manipulator, devices, tools, etc., present within the volume of the biological processing module more accurate. The central controller 402 uses this information to register the module 401A and identify its functional capabilities. The central controller 402 also begins creating a virtual map (e.g., a graph) of the modular assembly by adding the module 401A as a node in that virtual map.

[0035] When the biological processing module 401B is coupled to the module 401A via the modules' respective coupling mechanisms, the module controller 404B can send information about the module 401B and its relative position with respect to the module 401A to the central controller 402. The module controller 404B can also send calibration details about the functional components located on the module 401B. Furthermore, the module controller 404A can send additional information about the relative position of the module 401A with respect to the newly added module 401B to the central controller 402. The central controller 402 uses this information to register the module 401B, identify its functional capabilities, and add a node corresponding to the module 401B to its virtual map. Since the information about the relative positioning between the modules 401A and 401B has also been received, the central controller 402 can include an edge between the node of the module 401A and the node of the module 401B in its virtual graph, which edge identifies the spatial relationship between the two modules.

[0036] Module 401B may be powered via its own power connection or may receive power via a coupling mechanism shared with module 401A.

[0037] Modules 401C-401E can be added to the assembly and registered with the central controller 402 in a similar manner. Once all modules have been added, the central controller 402 completes a virtual map (e.g., a graph) of the spatial relationships between all components along with their individual functions. For example, a laboratory assembly can have a coordinate system determined by the orientation of the assembled modules. In the example of assembly 400, module controller 404A informs central controller 402 that module 401A is a freezer module. Module controller 404A further informs central controller 402 that module 401A is coupled to its east side, module 401B, which is an incubator module. Similarly, module controller 404B informs central controller 402 that module 401B is an incubator module. Module controller 404B further informs central controller 402 that module 401B is coupled to its west side, module 401A, which is a freezer module. From this information, the central computer 402 determines the spatial orientation of and the relationship between modules 401A and 401B. The central computer 402 can then create edges connecting the two in its virtual map, which can be laid out in the central computer as a logical structure.

[0038] When a biological process is to be operated using one or more of the modules 401A-401E, a user provides an initial protocol to the central controller 402. In some embodiments, protocols for various actions are stored in the central controller 402, and the user can select the requested protocol from a list provided by the central controller 402. For example, a PCR process may be desired to be performed, and a protocol for performing the PCR task may be provided to or retrieved by the central controller 402. Other protocols may include, for example, but are not limited to, serial dilution, DNA assembly, DNA sequencing, DNA extraction, and protein purification.

[0039] To perform a desired task, the central controller 402 can determine that various steps may need to occur. For example, a 96-well plate may need to be removed from a freezer module and transferred to a pipettor module.

[0040] The central controller 402 may first determine, based on its stored virtual map, that module 401A is a freezer module and module 401E is a pipettor module. The central controller 402 may then refer to its map to determine an optimal path for moving objects from module 401A to module 401E. For example, the central controller 402 may use one or more machine learning algorithms, such as the A* algorithm or the Dijkstra algorithm, to calculate the shortest path between modules 401A and 401E. These algorithms attempt to find the shortest path between nodes, for example, in a weighted graph. An exemplary shortest path 404 between modules 401A and 401E is shown in FIG. 4B, which travels from module 401A to module 401E as follows: 401A-401B-401D-401E. In some cases, there may be multiple "shortest paths" between two nodes (i.e., two paths are the same but require the same distance or number of steps). FIG. 4C shows another exemplary shortest path 405 between modules 401A and 401E, which travels from module 401A to module 401E as follows: 401A-401B-401C-401E. If multiple "shortest paths" exist, additional weighting or logical analysis may be performed to select the most suitable path among the shortest paths. For example, the robot manipulator on module 401C may be busy with another task when it is desired to transfer an object from module 401A to module 401E. In such a case, the central controller 402 may use the activity data of module 401C to determine that it should choose to use the shortest path 404.

[0041] After calculating the shortest path, the central computer can determine the individual steps that each element of each module along the path should take to perform the task. Referring to FIG. 4D, in an embodiment where module 401A is a freezer module, the central computer 402 can send instructions to the module controller 404A to move the robotic manipulator 410A located on the module 401A such that the robotic manipulator 410A opens a freezer component located on the module 401A and removes an object 406, such as a 96-well plate, from the freezer. The central computer 402 can send further instructions to the module controller 404A to move the robotic manipulator 410A such that the removed 96-well plate is placed on the transfer deck 408A. The central computer 402 can then send a command to the module controller 404B to move the robot manipulator 410B located on module 401B so that the robot manipulator 410B retrieves the object 406 from the adjacent transfer deck 408A and places the object 406 on its own transfer deck 408B (see FIG. 4E). The central computer 402 can then send a command to the module controller 404D to move the robot manipulator 410D located on module 401D so that the robot manipulator 410D retrieves the object 406 from the adjacent transfer deck 401B and places the object 406 on its own transfer deck 408D (see FIG. 4F). The central computer 402 can then send a command to the module controller 404E to move the robotic manipulator 410E located on the module 401E so that the robotic manipulator 410E retrieves the object 406 from the adjacent transfer deck 408D and delivers it to a pipetting station 416 located on the module 401E (FIG. 4G).

[0042] 4D-4F show the movement of object 406 using a robotic manipulator 410 that can extend outside the volume of each biological processing module so that the object can be removed from an adjacent transfer platform 408. Those skilled in the art will recognize that if the robotic manipulator cannot extend outside the volume of each biological processing module, additional steps can be taken to transfer between adjacent platforms using additional transfer platforms and independent transfer mechanisms.

[0043] In an embodiment, the central controller 402 can communicate with multiple biological processing modules 401 simultaneously. For example, following the example above, while the robotic manipulator 410A is performing the task of transferring the object 406 from the freezer to the transfer deck 408A, the central controller can simultaneously send another command to the module controller 404C of the biological processing module 401C. For example, this may be that the pipettor of module 401C is already holding a 96-well plate that needs to be transferred to the incubator so that the pipettor of module 401C can then receive the object 406. In such a case, the central controller 402 can command the robotic manipulator 410C of module 401C to move the existing plate on the pipettor to the transfer deck of the adjacent biological processing module 401E. The robotic manipulator 410C can perform this task at the same time that the robotic manipulator 410A is performing its own task, thereby increasing the efficiency of the overall system, thus increasing throughput and reducing downtime.

[0044] In this manner, materials are moved around the modular laboratory assembly 400 for processing.

[0045] Various embodiments may be implemented using one or more well-known computer systems, such as, for example, computer system 500 shown in Figure 5. For example, media device 106 may be implemented using combinations or sub-combinations of computer systems 500. Also, or alternatively, one or more computer systems 500 may be used to implement, for example, any of the embodiments discussed herein, as well as combinations and sub-combinations thereof.

[0046] Computer system 500 may include one or more processors (also referred to as central processing units or CPUs), such as processor 504. Processor 504 may be connected to a communications infrastructure or bus 506.

[0047] The computer system 500 may also include user input / output device(s) 503 , such as a monitor, keyboard, pointing device, etc., that may communicate with a communications infrastructure 506 via user input / output interface(s) 502 .

[0048] One or more of the processors 504 may be a graphics processing unit (GPU). In one embodiment, a GPU may be a processor that is a special-purpose electronic circuit designed to handle mathematically intensive applications. A GPU may have a parallel structure that is efficient for parallel processing of large blocks of data, such as the mathematically intensive data commonly found in computer graphics applications, images, videos, and the like.

[0049] The computer system 500 may also include a main memory 508, such as a random access memory (RAM). The main memory 508 may include one or more levels of cache. The main memory 508 may store therein control logic (i.e., computer software) and / or data.

[0050] Computer system 500 may also include one or more secondary storage devices or memories 510. The secondary memory 510 may include, for example, a hard disk drive 512 and / or a removable storage device or drive 514. The removable storage drive 514 may be a floppy disk drive, a magnetic tape drive, a compact disk drive, an optical storage device, a tape backup device, and / or any other storage device / drive.

[0051] The removable storage drive 514 may interface with a removable storage unit 518. The removable storage unit 518 may include a computer usable or readable storage device that stores computer software (control logic) and / or data. The removable storage unit 518 may be a floppy disk, magnetic tape, compact disk, DVD, optical storage disk, and / or any other computer data storage device. The removable storage drive 514 is capable of reading from and writing to the removable storage unit 518.

[0052] Secondary memory 510 may include other methods, devices, components, means, or other approaches for allowing computer programs and / or other instructions and / or data to be accessed by computer system 500. Such methods, devices, components, means, or other approaches may include, for example, removable storage unit 522 and interface 520. Examples of removable storage unit 522 and interface 520 may include a program cartridge and cartridge interface (such as those found in video game devices), removable memory chips (such as EPROM or PROM) and associated sockets, memory sticks and USB or other ports, memory cards and associated memory card slots, and / or any other removable storage unit and associated interface.

[0053] Computer system 500 may further include a communications or network interface 524. Communications interface 524 may enable computer system 500 to communicate and interact with any combination of external devices, external networks, external entities, etc. (individually and collectively referred to by reference numeral 528). For example, communications interface 524 may enable computer system 500 to communicate with external or remote devices 528 via communications paths 526, which may be wired and / or wireless (or a combination thereof) and may include any combination of a LAN, a WAN, the Internet, etc. Control logic and / or data may be transmitted to and from computer system 500 via communications paths 526.

[0054] Computer system 500 may also be any one or any combination of a personal digital assistant (PDA), a desktop workstation, a laptop or notebook computer, a netbook, a tablet, a smartphone, a smartwatch or other wearable, a device, a part of the Internet-of-Things, and / or an embedded system, to name a few non-limiting examples.

[0055] Computer system 500 may be a client or server accessing or hosting any application and / or data through any delivery paradigm, including, but not limited to, remote or distributed cloud computing solutions, local or on-premise software (e.g., an "on-premise" cloud-based solution), an "as a service" model (e.g., Content as a Service (CaaS), Digital Content as a Service (DCaaS), Software as a Service (SaaS), Managed Software as a Service (MSaaS), Platform as a Service (PaaS), Desktop as a Service (DaaS), Framework as a Service (FaaS), Backend as a Service (BaaS), Mobile Backend as a Service (MBaaS), Infrastructure as a Service (IaaS), etc.), and / or a hybrid model including any combination of the above examples or other service or delivery paradigms.

[0056] Any applicable data structures, file formats, and schemas in computer system 500 may be derived from standards, including, but not limited to, JavaScript Object Notation (JSON), Extensible Markup Language (XML), Yet Another Markup Language (YAML), Extensible Hypertext Markup Language (XHTML), Wireless Markup Language (WML), MessagePack, XML User Interface Language (XUL), or any other functionally similar representations, alone or in combination. Alternatively, proprietary data structures, formats, or schemas may be used exclusively or in combination with known or open standards.

[0057] In some embodiments, tangible, non-transitory apparatuses or articles of manufacture that include a tangible, non-transitory computer usable or readable medium having control logic (software) stored thereon may also be referred to herein as computer program products or program storage devices, including, but not limited to, computer system 500, main memory 508, secondary memory 510, and removable storage units 518 and 522, as well as tangible articles of manufacture that embody any combination of the foregoing. Such control logic, when executed by one or more data processing devices (such as computer system 500 or processor(s) 504), may cause such data processing devices to operate as described herein.

[0058] Based on the teachings contained herein, it will be apparent to one of ordinary skill in the relevant art(s) how to make and use embodiments of the present disclosure using data processing devices, computer systems, and / or computer architectures other than those shown in Figure 5. In particular, embodiments may operate with software, hardware, and / or operating system implementations other than those described herein.

[0059] It is understood that the Detailed Description section, and not the other sections, are intended to be used to interpret the claims. The other sections may describe one or more exemplary embodiments as contemplated by the inventor(s), but these are not exhaustive and therefore are not intended to limit the scope of the disclosure or the appended claims in any way.

[0060] While the present disclosure describes exemplary embodiments for exemplary fields and applications, it should be understood that the present disclosure is not limited thereto. Other embodiments and modifications thereof are possible and are within the scope and spirit of the present disclosure. For example, without limiting the generality of this paragraph, the embodiments are not limited to the software, hardware, firmware, and / or entities shown in the drawings and / or described herein. Moreover, the embodiments (whether or not explicitly described herein) have significant utility for fields and applications beyond the examples described herein.

[0061] The embodiments are described herein with functional building blocks illustrating implementation of certain functions and relationships thereof. The boundaries of these functional building blocks have been arbitrarily defined herein for convenience of description. Alternative boundaries may be defined so long as the specified functions and relationships (or equivalents) are appropriately performed. Also, alternative embodiments may implement functional blocks, steps, operations, methods, etc. using an order different from that described herein.

[0062] Reference herein to "one embodiment," "embodiment," "exemplary embodiment," or similar phrases indicates that the described embodiment may include a particular attribute, structure, or feature, but not all embodiments may necessarily include that particular attribute, structure, or feature. Moreover, such phrases do not necessarily refer to the same embodiment. Moreover, if a particular attribute, structure, or feature is described in connection with an embodiment, it would be within the knowledge of one of ordinary skill in the relevant art(s) to incorporate such attribute, structure, or feature into other embodiments, whether or not explicitly mentioned or described herein. Additionally, some embodiments may be described using the terms "coupled" and "connected," along with their derivatives. These terms are not necessarily intended as synonyms for each other. For example, some embodiments may be described using the terms "connected" and / or "coupled" to indicate that two or more elements are in direct physical or electrical contact with each other. However, the term "coupled" may also mean that two or more elements are not in direct contact with each other, but still cooperate or interact with each other.

[0063] The breadth and scope of the present disclosure should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.

Claims

1. A central control unit; A plurality of biological treatment modules, each of which comprises: A robot manipulator; a plurality of transfer decks within the volume of the biological treatment module; a plurality of coupling mechanisms on each side of the biological treatment module; a plurality of biological process modules, each including a module controller in communication with the central controller, the robotic manipulator, and the plurality of coupling mechanisms; Modular laboratory assembly.

2. Each coupling mechanism is a pogo pin positioned to contact a pogo pin pad on an adjacent biological treatment module; 10. The modular laboratory assembly of claim 1, further comprising: a pogo pin pad positioned to contact a pogo pin of an adjacent biological treatment module.

3. 10. The modular laboratory assembly of claim 1, wherein the physical layout of each coupling mechanism is identical on each biological treatment module.

4. 10. The modular laboratory assembly of claim 1, wherein the plurality of biological processing modules comprises one or more of a freezer, a refrigerator, a pipettor, an incubator, an optical analysis device, a heater, a centrifuge, a PCR machine, a sequencer, a room temperature storage module, a shaker, a gripper, a tube and tube cap manipulator, a spectrophotometer, or a measurement device.

5. 10. The modular laboratory assembly of claim 1, wherein the robotic manipulator comprises an articulatable robotic arm capable of contacting one or more locations outside the volume of each biological treatment module.

6. the robotic manipulator on a given biological treatment module includes a robotic arm whose reach is limited to the volume of the given biological treatment module; 2. The modular laboratory assembly of claim 1, wherein the given biological treatment module further comprises an independent transport mechanism configured to move objects from within the volume of the given biological treatment module to a location outside the volume of the given biological treatment module.

7. The modular laboratory assembly of claim 6 , wherein the independent transfer mechanism is juxtaposed with one of the plurality of transfer decks on the given biological processing module.

8. receiving first identification information from a first biological processing module, the first identification information identifying a function of the first biological processing module, the first biological processing module having a first robotic manipulator; adding a first node representing the first biological process module to a logical structure representing a virtual map; receiving second identification information from a second biological processing module, the second identification information identifying a function of the second biological processing module, the second biological processing module having a second robotic manipulator; adding a second node representing the second biological treatment module to the logical structure representing the virtual map; receiving first position information from the first biological treatment module regarding a spatial relationship between the first biological treatment module and the second biological treatment module; receiving second position information from the second biological treatment module regarding a spatial relationship between the first biological treatment module and the second biological treatment module; adding an edge between the first node and the second node to the logical structure representing the virtual map, the edge representing a spatial relationship between the first biological processing module and the second biological processing module; and sending executable instructions to the first biological treatment module to cause the first robotic manipulator to move an object on the first biological treatment module to a first transfer position on the first biological treatment module.

9. Sending executable instructions to the first biological process module to move the first robotic manipulator includes: identifying a task requiring movement of the object from the first biological treatment module to the second biological treatment module; and calculating a path from the first biological treatment module to the second biological treatment module.

10. 10. The method of claim 9, wherein calculating a path from the first biological treatment module to the second biological treatment module comprises implementing a shortest path algorithm.

11. The method of claim 10 , wherein the shortest path algorithm includes at least one of an A* algorithm or a Dijkstra algorithm.

12. receiving third identification information from a third biological processing module, the third identification information identifying a function of the third biological processing module, the third biological processing module having a third robotic manipulator; adding a third node representing the third biological treatment module to a logical structure representing a virtual map; receiving third position information from the third biological treatment module regarding a spatial relationship between the third biological treatment module and at least one of the first biological treatment module or the second biological treatment module; If the third location information includes a spatial relationship between the third biological processing module and the first biological processing module, adding an edge between the third node and the first node to the logical structure representing the virtual map; 9. The method of claim 8, further comprising: if the third location information includes a spatial relationship between the third biological processing module and the second biological processing module, adding an edge between the third node and the second node to the logical structure representing the virtual map.

13. A computer-readable storage medium having instructions stored thereon, the instructions, when executed by a computer, causing the computer to: receiving first identification information from a first biological processing module, the first identification information identifying a function of the first biological processing module, the first biological processing module having a first robotic manipulator; adding a first node representing the first biological process module to a logical structure representing a virtual map; receiving second identification information from a second biological processing module, the second identification information identifying a function of the second biological processing module, the second biological processing module having a second robotic manipulator; adding a second node representing the second biological treatment module to the logical structure representing the virtual map; receiving first position information from the first biological treatment module regarding a spatial relationship between the first biological treatment module and the second biological treatment module; receiving second position information from the second biological treatment module regarding a spatial relationship between the first biological treatment module and the second biological treatment module; adding an edge between the first node and the second node to the logical structure representing the virtual map, the edge representing a spatial relationship between the first biological processing module and the second biological processing module; A computer-readable storage medium that transmits executable instructions to the first biological treatment module to perform operations including moving the first robotic manipulator to move an object on the first biological treatment module to a first transfer position on the first biological treatment module.

14. Sending executable instructions to the first biological process module to move the first robotic manipulator includes: identifying a task requiring movement of the object from the first biological treatment module to the second biological treatment module; and calculating a path from the first biological treatment module to the second biological treatment module.

15. 15. The computer-readable storage medium of claim 14, wherein calculating a path from the first biological treatment module to the second biological treatment module comprises executing a shortest path algorithm.

16. 16. The computer-readable storage medium of claim 15, wherein the shortest path algorithm includes at least one of an A* algorithm or a Dijkstra algorithm.

17. The operation, receiving third identification information from a third biological processing module, the third identification information identifying a function of the third biological processing module, the third biological processing module having a third robotic manipulator; adding a third node representing the third biological treatment module to a logical structure representing a virtual map; receiving third position information from the third biological treatment module regarding a spatial relationship between the third biological treatment module and at least one of the first biological treatment module or the second biological treatment module; If the third location information includes a spatial relationship between the third biological processing module and the first biological processing module, adding an edge between the third node and the first node to the logical structure representing the virtual map; 14. The computer-readable storage medium of claim 13, further comprising: if the third location information includes a spatial relationship between the third biological processing module and the second biological processing module, adding an edge between the third node and the second node to the logical structure representing the virtual map.

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