Systems and Methods for Sample Handling

Abstract

A system and method are disclosed for receiving a batch of sample containers (e.g., blood culture bottles), classifying the sample containers, and discarding negative sample containers in a safe, reliable, and consistent manner. Further, a system and method are disclosed for accurately and precisely determining the amount of sample inoculated into a container. For example, the device determines the amount of blood inoculated into a blood culture bottle by weighing the blood culture bottle inoculated with the blood sample and / or by acquiring an image of the blood culture bottle. Such an approach facilitates automation because the user does not need to visually inspect each bottle.

Description

Technical Field

[0001] [Cross - Reference to Related Applications] This application claims priority from U.S. Provisional Application No. 63 / 390,535, filed on July 19, 2022; U.S. Provisional Application No. 63 / 432,533, filed on December 14, 2022; and U.S. Design Application No. 29 / 890,968, filed on April 28, 2023, all of which are incorporated herein by reference. This application is also related to International Application No. PCT / US2022 / 019424, filed on March 9, 2022, which claims priority from U.S. Provisional Application No. 63 / 159,269, filed on March 10, 2021, and both of these applications are incorporated herein by reference.

[0002] The present disclosure relates to systems and methods for sample handling. For example, in some aspects, the system can be configured to automatically process multiple blood culture bottles.

Background Art

[0003] The presence of biologically active agents, such as bacteria, in a patient's body fluid, particularly blood, is generally determined using culture bottles such as BD BACTEC™ culture bottles manufactured and sold by Becton, Dickinson and Company. The culture bottles can contain blood culture media such as BD BACTEC™ Peds Plus™ medium, BD BACTEC™ Plus Aerobic medium, BD BACTEC™ Plus Anaerobic medium, BD BACTEC™ Lytic Anaerobic medium, BD BACTEC™ Standard Aerobic medium, BD BACTEC™ Standard Anaerobic medium, BD BACTEC™ Myco medium, BD BACTEC™ Mycosis medium, BD BACTEC™ Aerobic Platelet medium, or BD BACTEC™ Anaerobic Platelet medium, all of which are manufactured and sold by Becton, Dickinson and Company. To test for the presence of biologically active agents, a small amount of blood or other body fluid is injected through a sealed rubber septum into a sterile culture bottle containing the culture medium, and the bottle is then incubated at about 35 - 37 °C (e.g., 36.5 °C) and monitored for microbial growth. Microbial growth can be detected by changes in the blood culture over time. Parameters such as the concentration of carbon dioxide or oxygen in the headspace of the culture bottle, or changes in pH, can be monitored for changes over time indicative of microbial growth.

[0004] Since it is of utmost importance to know whether a patient is infected with bacteria, hospitals and research institutions have automated devices that can process many blood culture bottles simultaneously. An example of such a device is the BD BACTEC™ FX Blood Culture System, manufactured and sold by Becton, Dickinson and Company. U.S. Patent No. 5,817,508, entitled "Blood Culture Apparatus having an Auto-Unloading and Sorting Device," describes prior art blood culture devices and is incorporated herein by reference. Additional descriptions of blood culture devices are provided in U.S. Patent No. 5,516,692, entitled "Compact Blood Culture Apparatus," and U.S. Patent No. 5,498,543, entitled "Sub-Compact Blood Culture Apparatus," both of which are incorporated herein by reference.

[0005] It is important to ensure that the presence or absence of bloodstream infection (BSI) is correctly determined. Patients and their caregivers are at risk if BSI is not detected. It is well known that overfilling blood culture bottles with blood samples can result in false positives. It is also well known that underfilling blood culture bottles with blood samples can result in false negatives. This is due to the fact that the sample withdrawn from the patient has a specific but unknown concentration of bacteria (if bacteria are present). Thus, in the case of underfilling, at time zero, there is a lower bacterial count in the culture bottle than if the blood culture bottle had been filled with the target sample volume. On the other hand, in the case of overfilling, at time zero, there will be a higher bacterial count in the culture bottle than if the blood culture bottle had been filled with the target sample (e.g., blood) volume. If the bottle is overfilled or underfilled, an algorithm can be applied to the measured change in the concentration of carbon dioxide or oxygen or pH to adjust for underfilling or overfilling. If the underfilling or overfilling exceeds certain specifications, the blood culture bottle is discarded. This is described in U.S. Patent No. 9,365,814 entitled "System and Method for Determining Fill Volume in a Container", which is incorporated herein by reference.

Summary of the Invention

Problems to be Solved by the Invention

[0006] Therefore, when processing blood culture bottles in a laboratory environment where a large number of blood culture bottles are processed, there is a need to be able to accurately monitor the filling status of each bottle. Other information related to blood culture, such as label information, will also need to be collected. Thus, there continues to be a need for methods and devices that can accurately obtain filling information and label information from blood culture bottles.

[0007] Furthermore, even when using existing automated devices, it may still be laborious and time-consuming for an operator to process blood culture bottles. For example, the operator would need to individually load and remove blood culture bottles from the automated blood culture device. The operator would also need to manually separate the blood culture bottles showing a positive reaction from those showing a negative reaction, discard the negative blood culture bottles into a waste receptacle, and prepare the positive blood culture bottles for further microbiological testing. Such a laboratory environment cannot achieve maximum efficiency due to delays in the manual handling and processing of samples. These delays can cause unnecessary delays in diagnosing and treating patients. Moreover, if the operator becomes fatigued, distracted, or otherwise not focused and makes a processing error, operator errors (e.g., human errors) can occur, resulting in inappropriate diagnoses, diagnostic delays, and also sample loss or destruction. Such errors can potentially have an adverse impact on patients and waste resources.

[0008] Therefore, there is also a need in the art for a laboratory automation system that can receive batches of blood culture bottles, separate positive and negative blood culture bottles, and discard negative blood culture bottles in a safe, reliable, and consistent manner with minimal intervention by a few laboratory operators at any time.

Means for Solving the Problem

[0009] Disclosed herein are systems and methods for receiving batches of sample containers (e.g., blood culture bottles), sorting the sample containers, and discarding negative sample containers in a safe, reliable, and consistent manner. Further, systems and methods for accurately and precisely determining the amount of sample inoculated into a container are described herein. For example, an apparatus for determining the amount of blood inoculated into a blood culture bottle by weighing the blood culture bottle inoculated with a blood sample and / or acquiring an image of the blood culture bottle is described herein. Such techniques facilitate automation because the user does not need to visually inspect each bottle.

[0010] One aspect of the present disclosure relates to a sample handling module that includes a user interface subsystem, an imaging subsystem, a waste management subsystem, and a robot subsystem. The user interface subsystem can be configured to receive a plurality of untested sample containers and to discharge a plurality of sample containers that show a positive reaction to microbial growth. The imaging subsystem can be configured to scan the sample containers for label information. The waste management subsystem can be configured to receive a plurality of sample containers that show a negative reaction to microbial growth. The robot subsystem is configured to (a) transfer each of the plurality of untested sample containers from the user interface subsystem to the imaging subsystem for scanning, (b) transfer each of the plurality of untested sample containers from the imaging subsystem to an incubation module configured to incubate each of the plurality of untested sample containers and measure microbial growth, (c) transfer each of the plurality of positive sample containers from the incubation module to the imaging subsystem for scanning, (d) transfer each of the plurality of positive sample containers from the imaging subsystem to the user interface subsystem for discharge, (e) transfer each of the plurality of negative sample containers from the incubation module to the imaging subsystem for scanning, and (f) transfer each of the plurality of negative sample containers from the imaging subsystem to the waste management subsystem for disposal.

[0011] In some embodiments, the user interface subsystem includes one or more compartments, each of the one or more compartments being configured to receive an individual untested sample container or a rack of untested sample containers. In some embodiments, the user interface subsystem includes one or more compartments, each of the one or more compartments being configured to discharge an individual positive sample container or a rack of positive sample containers. In some embodiments, the user interface subsystem includes one or more compartments, each of the one or more compartments being configured to (a) receive an individual untested sample container or a rack of untested sample containers and (b) discharge an individual positive sample container or a rack of positive sample containers.

[0012] In some embodiments, the user interface subsystem includes one or more compartments, each of the one or more compartments having a liner having one or more sections, each of the one or more sections including (a) a plurality of receptacles configured to directly receive sample containers and (b) a pair of recesses configured to receive racks of sample containers. In some embodiments, the user interface subsystem further includes a sliding door configured to prevent a user from loading one or more untested sample containers into at least one of the compartments while at least one of the compartments is being loaded with one or more positive sample containers by a robot subsystem. In some embodiments, the user interface subsystem further includes one or more output chutes, each of the one or more output chutes being configured to discharge individual sample containers. In some embodiments, the user interface subsystem further includes a display having a graphical user interface (GUI), whereby one or more compartments and one or more output chutes can be selected for the discharge of positive sample containers by the graphical user interface (GUI).

[0013] In some embodiments where the user interface subsystem includes one or more compartments, the user interface subsystem can further include one or more illumination lights, each of the one or more illumination lights being configured to change color based on the type of sample container disposed within at least one of the compartments. In some embodiments, each illumination light of the illumination lights is configured to change to a first color when (a) at least one of the compartments contains one or more untested sample containers and to change to a second color when (b) at least one of the compartments contains one or more positive sample containers. In some embodiments, the one or more illumination lights are disposed above the liner of at least one of the compartments.

[0014] In some embodiments where the user interface subsystem includes one or more compartments, at least one of the compartments can include a scale, and the sample handling module can further include one or more processors configured to determine whether an untested sample container is overfilled or underfilled based on a weight measurement received from the scale. For example, in some embodiments, the one or more processors are configured to (a) receive from the scale a first measured weight of a plurality of untested sample containers within at least one of the compartments, (b) control the robotic subsystem to transfer one of the untested sample containers from at least one of the compartments to the imaging subsystem, (c) receive from the scale a second measured weight of the untested sample containers within at least one of the compartments where there is no longer one untested sample container, (d) determine the difference between the first measured weight and the second measured weight, and (e) store the difference in memory as the weight of one untested sample container.

[0015] In some embodiments, the user interface subsystem further includes (a) a reader configured to scan an identifier of a sample container and (b) a display configured to present information about the sample container scanned by the reader. In some embodiments, the user interface subsystem further includes a reader configured to scan an identifier of a user identification card to initiate an automatic login or to automatically adjust one or more system settings.

[0016] In some embodiments, each of a plurality of untested sample containers is received in an upright position in the user interface subsystem, and each of the plurality of untested sample containers is transferred from the imaging subsystem to the incubation module in a horizontal position. In some embodiments, each of a plurality of positive sample containers is transferred from the incubation module to the imaging subsystem in a horizontal position, and each of the plurality of positive sample containers is transferred from the imaging subsystem to the user interface subsystem in an upright position. In some embodiments, the imaging subsystem includes (a) a camera for scanning a sample container or capturing one or more images of a sample container, (b) one or more light sources for illuminating the sample container, (c) a chute configured to change the orientation of the sample container from an upright position to a horizontal position, and (d) a flip station configured to change the orientation of the sample container from a horizontal position to an upright position.

[0017] In some embodiments, the imaging subsystem is further configured to capture one or more images of the sample container, and the sample handling module further includes one or more processors configured to determine, based on the captured images, whether the sample container is overfilled or underfilled. For example, in some embodiments, the one or more processors are configured to (a) identify the position of the fill line of the sample container in the one or more images, (b) identify the position of the reference plane of the sample container in the one or more images, (c) determine the distance between the fill line and the reference plane, (d) determine a correction factor based on a comparison between the determined distance and a predetermined distance, (e) adjust a predetermined tare weight by the correction factor, and (f) determine whether the sample container is overfilled or underfilled based on a comparison between the adjusted predetermined tare weight and the measured weight of the sample container obtained by the scale. In some embodiments, the scale is coupled to the chute of the imaging subsystem, and the measured weight is obtained while the sample container is disposed within the chute.

[0018] In some embodiments, the waste management subsystem includes a waste receptacle and one or more chutes through which the robot subsystem can transfer a plurality of negative sample containers into the waste receptacle. In some embodiments, the waste management subsystem includes a load cell configured to (a) detect whether the waste receptacle is full, (b) detect whether the waste receptacle is disposed on the base, or (c) detect an addition of a sample container to the waste receptacle.

[0019] Another aspect of the present disclosure relates to an automated system (automated system) comprising a sample handling module and an incubation module. The sample handling module can include a user interface subsystem, an imaging subsystem, a waste management subsystem, and a robot subsystem. The user interface subsystem can be configured to receive a plurality of untested sample containers and discharge a plurality of sample containers that show a positive reaction to microbial growth. The imaging subsystem can be configured to scan the sample containers for label information. The waste management subsystem can be configured to receive a plurality of sample containers that show a negative reaction to microbial growth. The robot subsystem is configured to (a) transfer each of the plurality of untested sample containers from the user interface subsystem to the imaging subsystem for scanning, (b) transfer each of the plurality of untested sample containers from the imaging subsystem to an incubation module configured to incubate each of the plurality of untested sample containers and measure microbial growth, (c) transfer each of the plurality of positive sample containers from the incubation module to the imaging subsystem for scanning, (d) transfer each of the plurality of positive sample containers from the imaging subsystem to the user interface subsystem for discharge, (e) transfer each of the plurality of negative sample containers from the incubation module to the imaging subsystem for scanning, and (f) transfer each of the plurality of negative sample containers from the imaging subsystem to the waste management subsystem for disposal. The incubation module can be configured to incubate each of the plurality of untested sample containers and measure microbial growth.

[0020] In some embodiments, the incubation module includes a motor and a drum having a plurality of receptacles, each receptacle configured to receive a sample container in a horizontal orientation, and the motor is configured to rotate the drum. In some embodiments, the robotic subsystem is further configured to distribute and redistribute sample containers around the drum to balance the load of the drum. In some embodiments, the robotic subsystem is further configured to redistribute sample containers to a specific area of the drum that can be fully viewed when the door to the incubation module is open.

[0021] Yet another aspect of the present disclosure relates to a robotic system including (a) a gripper assembly configured to grip and release a sample container, (b) an r-axis robot configured to move the gripper assembly forward and backward, (c) a theta-axis (θ-axis) robot configured to simultaneously rotate the r-axis robot and the gripper assembly, and (d) a z-axis robot configured to simultaneously move the theta-axis robot, the r-axis robot, and the gripper assembly upward and downward.

[0022] In some embodiments, the gripper assembly includes a motor and two grippers, the motor configured to move the two grippers closer to each other to grip a sample container and to move the two grippers apart to release the sample container, and each gripper includes (a) a curved body configured to grip the bottom end of a sample container in a horizontal orientation and (b) a curved recess in the curved body configured to grip the neck of a sample container in an upright orientation. In some embodiments, the curved body is configured to grip the bottom end of a blood culture bottle in a horizontal orientation and the curved recess is configured to grip the neck of a blood culture bottle in an upright orientation.

[0023] In some embodiments, the gripper assembly includes a motor and two grippers, the motor configured to move the two grippers toward each other to grip a sample container and move the two grippers apart to release the sample container, each gripper including (a) a plurality of fingers configured to grip a bottom end of a sample container in a horizontal position and (b) a curved recess in a body of the gripper configured to grip a neck of a sample container in an upright position. In some embodiments, the fingers are configured to grip a bottom end of a blood culture bottle in a horizontal position and the curved recess is configured to grip a neck of a blood culture bottle in an upright position.

[0024] In some embodiments, the r-axis robot includes: (a) a first arm coupled to the theta-axis robot; (b) a second arm coupled to the gripper assembly, the second arm slidably engaging the first arm and configured to move forward and backward; (c) a plurality of idler pulleys; (d) a motor coupled to the first arm and positioned between at least two of the idler pulleys; (e) a drive pulley coupled to a shaft of the motor; (f) a belt in contact with each of the idler pulley and the drive pulley; and (g) a clamp coupled to the belt and the second arm. In some embodiments, the r-axis robot further includes a belt tensioner configured to apply tension to the belt. In some embodiments, the belt tensioner includes (a) an idler pulley in contact with the belt, (b) an arm pivotally coupled to the idler pulley and the coupling, and (c) a screw configured to apply a force to the arm when tightened, the force from the screw (i) causing the arm to pivot about an axis extending through the coupling and (ii) causing the idler pulley to apply additional tension to the belt.

[0025] In some embodiments, the theta-axis robot includes: (a) a platform coupled to the z-axis robot; (b) (one) idler pulley coupled to the r-axis robot; (c) a motor coupled to the platform; (d) a drive pulley coupled to the shaft of the motor; and (e) a belt contacting the idler pulley and the drive pulley, wherein rotation of the drive pulley by the motor simultaneously rotates the idler pulley, the r-axis robot, and the gripper assembly.

[0026] In some embodiments, the z-axis robot includes a rail slidably engaged with the theta-axis robot. In some embodiments, the z-axis robot is a counterweight system that further includes: (a) a counterweight; (b) one or more pulleys; and (c) at least one cable contacting the one or more pulleys and coupled to both the counterweight and the theta-axis robot.

[0027] Yet another aspect of the present disclosure relates to a robotic system that includes: (a) a gripper assembly configured to grip and release a sample container; (b) an r-axis robot configured to move the gripper assembly forward and backward; (c) a z-axis robot configured to simultaneously move the r-axis robot and the gripper assembly upward and downward; and (d) a theta-axis robot configured to simultaneously rotate the z-axis robot, the r-axis robot, and the gripper assembly.

[0028] Yet another aspect of the present disclosure relates to a gripper assembly that includes a motor, a first gripper, and a second gripper. The motor is configured to move the first gripper and the second gripper closer to each other to grip a sample container and to move the first gripper and the second gripper apart to release the sample container. Each gripper includes a first engagement feature configured to grip the bottom end of a sample container in a horizontal orientation and a second engagement feature configured to grip the neck of a sample container in an upright orientation.

[0029] In some embodiments, the first engagement feature is the curved portion of the body of each gripper. In some embodiments, the second engagement feature is the curved recess in the curved portion of the body of each gripper. In some embodiments, the first engagement feature is a plurality of fingers. In some embodiments, the second engagement feature is the curved recess in the body of each gripper.

[0030] In some embodiments, the gripper assembly further includes a non-contact sensor configured to verify the movement of the robotic subsystem. In some embodiments, the non-contact sensor is disposed between the two grippers. In some embodiments, the non-contact sensor does not extend above or below the two grippers.

[0031] In some embodiments, the gripper assembly includes: (a) a first block including a first gear rack, the first block being connected to the first gripper and slidably connected to a first rail, such that as the first block slides along the first rail in a first direction, the first gripper moves away from the second gripper, and as the first block slides along the first rail in a second direction opposite to the first direction, the first gripper moves closer to the second gripper; (b) a second block including a second gear rack, the second block being connected to the second gripper and slidably connected to a second rail, such that as the second block slides along the second rail in the second direction, the second gripper moves away from the first gripper, and as the second block slides along the second rail in the first direction, the second gripper moves closer to the first gripper; and (c) a pinion gear connected to the shaft of a motor, the pinion gear engaging the first gear rack and the second gear rack, the motor being further configured to rotate the shaft, the rotation of the shaft rotating the pinion gear, and the rotation of the pinion gear sliding the first block and the second block in opposite directions along the first rail and the second rail, respectively.

[0032] In some embodiments, the gripper assembly includes (a) a housing, (b) a base, wherein the motor is further configured to move the base forward and backward along a first axis perpendicular to a second axis along which the motor moves the first gripper and the second gripper, a forward movement of the base separating the first gripper and the second gripper and a backward movement of the base bringing the first gripper and the second gripper closer to each other, (c) a plurality of first members rotatably coupled to the first gripper and the housing, (d) a plurality of second members rotatably coupled to the second gripper and the housing, (e) a third member rotatably coupled to one of the plurality of first members and the base, and (f) a fourth member rotatably coupled to one of the plurality of second members and the base. In some embodiments, one of the plurality of first members, one of the plurality of second members, the third member, and the fourth member are bent.

[0033] In some embodiments, the gripper assembly further includes (a) a flanged screw nut engaged with the threads of the motor shaft and extending through an opening in the base, (b) a spring plate slidably engaged with the motor shaft and coupled to the base, and (c) a spring, wherein a first end of the spring contacts the spring plate and a second end of the spring, opposite the first end, contacts the flanged screw nut. In some embodiments, the motor is further configured to rotate the shaft, rotation of the shaft moving the flanged screw nut forward or backward along the first axis, the flanged screw nut pushing the base forward as the flanged screw nut moves forward and the flanged screw nut abutting against the spring as the flanged screw nut moves backward.

[0034] Yet another aspect of the present disclosure relates to a method comprising: (a) obtaining, by one or more processors, an actual measured weight of a sample container, the actual measured weight being measured by a scale; (b) selecting, by one or more processors, a predetermined unfilled tare weight, the predetermined unfilled tare weight being selected based on the contents of the sample container or the lot or batch in which the sample container was manufactured; (c) comparing, by one or more processors, the actual measured weight with the predetermined unfilled tare weight to calculate the weight of the sample in the sample container; and (d) converting, by one or more processors, the weight of the sample to a volume measurement value based on a predetermined density value.

[0035] Yet another aspect of the present disclosure relates to a method comprising: (a) obtaining, by one or more processors, an actual measured weight of a sample container, the actual measured weight being measured by a scale; (b) acquiring, by one or more processors, one or more images of the sample container, the one or more images being captured by a camera; (c) identifying, by one or more processors, the position of a fill line of the sample container in the one or more images; (d) identifying, by one or more processors, the position of a reference plane of the sample container in the one or more images; (e) determining, by one or more processors, the distance between the fill line and the reference plane; (f) obtaining, by one or more processors, a correction factor based on a comparison of the determined distance with a predetermined distance; (g) adjusting, by one or more processors, a predetermined tare weight by the correction factor; and (h) determining, by one or more processors, whether the sample container is overfilled or underfilled based on a comparison of the adjusted predetermined tare weight and the actual measured weight.

[0036] Yet another aspect of the present disclosure relates to a method comprising: (a) placing a plurality of sample containers on a scale; (b) measuring, by the scale, the weights of the plurality of sample containers; (c) removing one of the plurality of sample containers from the scale; (d) measuring, by the scale, the weights of the plurality of sample containers without one sample container; (e) scanning, by a reader, an identifier of one sample container while the weights of the plurality of sample containers without one sample container are being measured; (f) determining, by one or more processors, a weight difference between (i) the weights of the plurality of sample containers and (ii) the weights of the plurality of sample containers without one sample container; and (g) storing, by one or more processors, the weight difference in a memory as the weight of one sample container. BRIEF DESCRIPTION OF THE DRAWINGS

[0037]

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DETAILED DESCRIPTION OF THE INVENTION

[0038] Aspects of the present disclosure will be described in detail with reference to the drawings, in which like reference numerals identify like or identical elements. It should be understood that the disclosed embodiments are merely examples of the present disclosure that can be embodied in various forms. Well-known functions or configurations are not described in detail so as not to obscure the present disclosure with unnecessary details. Accordingly, the specific structural and functional details disclosed herein are not to be construed as limiting, but rather as representative bases for teaching those skilled in the art how to use the present disclosure in substantially any appropriately detailed structure and as a basis for the claims.

[0039] [System Overview] Figure 1A shows an automated system 100 for processing a plurality of sample containers (e.g., blood culture bottles) including modules 101 and 102. Module 101 is configured to receive sample containers, scan the sample containers, transfer sample containers to and from module 102, dispose of sample containers showing a negative reaction, and provide sample containers showing a positive reaction upon discharge, and is a sample handling module. As shown, module 101 includes a display 310, a discharge chute 320, compartments 330 and 340, and a door 110 that can provide access to a waste receptacle. Module 102 is an incubation and measurement module configured to determine whether a sample container is contaminated or infected by microorganisms. As shown, module 102 includes doors 121 and 122 that can provide access to a drum that holds sample containers during the incubation process and the measurement process.

[0040] In some embodiments, module 102 can include a high-density drum. As used herein, high-density refers to a drum configuration that allows sample containers (e.g., blood culture bottles) to be placed closer to each other, enabling a greater number of sample containers to be fitted into the drum compared to conventional ones. In some embodiments, module 102 can be configured to align sample containers with a limited number of reading stations (reader stations). That is, the number of reading stations is less than the number of sample container receptacles in the drum. In some embodiments, the drum can be operated by a direct drive motor that can cause the drum to accelerate and decelerate (e.g., oscillating motion, intermittent rotation, etc.). In some embodiments, a heater and a blower can be provided within the drum housing. The heater and the blower circulate warm air around the drum. In some embodiments, the heater and the blower can be configured to keep the temperature of the contents of all sample containers within the drum within a predetermined narrow range of a specific target temperature. The predetermined narrow range can be, for example, ±1.5 °C of the target temperature. The specific target temperature can be within the range of 30 °C to 40 °C. Optionally, the target temperature can be 36.5 °C ± 0.5 °C. Since there is less risk of the sample "overheating", the higher the temperature uniformity, the higher the set value can be made. Therefore, the higher the temperature uniformity at a high temperature, the faster the detection time of positive samples can be. The motor can enable a user or an automated device to position the drum so that access can be made to any sample container carried by the drum. When a sample container is determined to be positive for microbial growth, a workflow can be initiated to retrieve the sample container from module 102.Examples of incubation and measurement modules, such as module 102, are described in International Publication No. WO 2021 / 026272 entitled "High Density Bottle Drum for Storage, Agitation and Reading of Blood Culture Bottles and Methods of Storing", which is incorporated herein by reference.

[0041] FIG. 1B shows module 101 after being separated from module 102. As shown, module 101 includes a housing 130, which includes a front panel 131, an upper panel 132, and side panels 133. The side panels 133 include sliding doors 141 and 142, conical pin guides 151 and 152, and a bracket 161. Doors 141 and 142 can be used to access the drums within module 102. For example, door 141 can be used to access the first drum and door 142 can be used to access the second drum. Doors 141 and 142 can also be used to isolate (separate) the environmental conditions (e.g., temperature conditions) within module 101 from the environmental conditions within module 102. Guides 151 and 152 can be configured to assist in aligning the modules while they are being assembled together. Bracket 161 can be configured to connect to a cover (not shown). In some embodiments, module 101 can also include heating and / or cooling components (e.g., see fan 220 in FIGS. 2A-2D) to regulate the environmental conditions within module 101.

[0042] Figures 1C and 1D present enlarged views of the upper and lower portions of module 101, respectively. As shown in Figure 1C, the upper panel 132 can include a vent 134. As shown in Figures 1C and 1D, the guides 151 and 152 have a conical shape. A pair of recesses, each having a corresponding conical shape, can be included in the side panels of module 102. During assembly, the guides 151 and 152 can assist the technician in aligning the couplings 171 - 174 extending from the side panel 133 with a corresponding set of couplings extending from the side panel of module 102. For example, during assembly, the technician can place (position) some points of the guides 151 and 152 within corresponding recesses (not shown) in the side panel of module 102. Next, the technician can slide module 101 towards module 102, sliding the guides along the recesses in the side panel of module 102 and aligning the couplings 171 - 174 with a corresponding set of couplings extending from the side panel of module 102. In other embodiments, the guides 151 and 152 can still be pointed at the tip, but can have different shapes, such as a triangular pyramid shape, a square pyramid shape, or a pentagonal pyramid shape.

[0043] As shown in FIG. 1E, module 101 can include a cover 135. As shown in FIG. 1F, the cover 135 can be removed to expose a side panel 136, and the side panel 136 includes doors 143 and 144, guides 153 and 154, and a bracket 162. The side panel 136 and its corresponding components can be structured and / or function very similarly to the side panel 133 and its corresponding components. Advantageously, the structure of module 101 allows module 101 to be configured in several different ways. For example, as shown in FIG. 1A, module 102 can be connected to the left side of module 101. However, in other embodiments, module 102 may be connected to the right side of module 101. As shown in FIG. 1F, the side panel 136 includes doors 143 and 144, and these doors can be used to access the drums within module 102. In some embodiments, the incubation and measurement module (e.g., module 102) can be connected to both sides of module 101. In some embodiments, module 101 can be used as a stand-alone unit, and a cover (e.g., cover 135) can be provided on both sides of module 101.

[0044] Figures 2A - 2D present perspective views of module 101 without housing 130. As shown, module 101 includes frame 210, fan 220, electronic device bay 230, light source 240, display 310, discharge chute 320, compartments 330 and 340, imaging subsystem 500, waste management subsystem 600, and robot subsystem 700. A sample container (e.g., a blood culture bottle) can be received within compartments 330 and 340 by module 101. Robot subsystem 700 can be configured to transfer a sample container to and / or from module 102, discharge chute 320, compartments 330 and 340, imaging subsystem 500, and / or waste management subsystem 600. For example, robot subsystem 700 can be configured to transfer a sample container to one or more of the drums within module 102 (e.g., via one or more of doors 141 - 144). As another example, robot subsystem 700 can be configured to transfer a sample container to and / or from compartments 330 and 340. As yet another example, robot subsystem 700 can be configured to transfer a sample container to discharge chute 320 for retrieval by a user. As yet another example, robot subsystem 700 can be configured to transfer a sample container to imaging subsystem 500 for scanning. As yet another example, robot subsystem 700 can be configured to dispose of a sample container within waste management subsystem 600.

[0045] The robot subsystem 700 can also be configured to automatically distribute and / or redistribute sample containers around one or more drums within the module 102, for example, to distribute sample containers as desired. For example, the robot subsystem 700 can be configured to move the sample containers within the module 102 to a specific area of the drum (e.g., an area that is fully visible when the doors 121, 122, or 141 - 144 are open). This can enable the user to quickly retrieve their sample containers without the need to repeatedly open and close the doors 121 and / or 122 or wait for one or more drums within the module 102 to rotate. Similarly, this can enable the robot subsystem 700 to quickly retrieve those sample containers without the need to repeatedly open and close the doors 141 - 144 or wait for one or more drums within the module 102 to rotate. As another example, the robot subsystem 700 can be configured to distribute and / or redistribute sample containers around one or more drums within the module 102 to balance the load (e.g., weight load and / or heat load) on the drums. In an embodiment where the incubation and measurement modules (e.g., module 102) are connected on both sides of the module 101, the robot subsystem 700 can also be configured to automatically distribute and / or redistribute sample containers between the incubation and measurement modules.

[0046] FIG. 2E is an enlarged view of the electronics bay 230. As shown, within the electronics bay 230, there are arranged a computer 231, a power supply 232, a distribution board 233, a backup power supply 234, and a network switch 235. Some components of the robot subsystem 700, such as rails 711, a counterweight housing 712, a motor 714, and a controller 754, may also be arranged completely or partially within the electronics bay 230. The distribution board 233, the backup power supply 234, the network switch 235, and / or the controller 754 can include one or more processors, one or more application-specific integrated circuits (ASICs), and / or other similar components. These components can also include memory media such as hard drives, memory cards, ROM, RAM, DVDs, CD-ROMs, writable memory, and / or read-only memory that are capable of storing information. The computer 231 can be communicatively coupled to one or more of the subsystems of the module 101. For example, the computer 231 can be communicatively coupled to the user interface subsystem 300, the imaging subsystem 500, the waste management subsystem 600, and / or the robot subsystem 700. In some embodiments, the computer 231 can send commands to each of these subsystems and receive measurement data from these subsystems. For example, the computer 231 can be configured to control the movement of the robot subsystem 700 and receive measurement data from the controllers 751, 752, and 754 and / or the camera 770 (see FIGS. 7A-7I). The computer 231 can also be configured to send a graphical user interface (GUI), user prompts, user commands, warnings, system settings, and / or other information to a display.

[0047] Power supply 232 can be coupled to an external power supply (e.g., an alternating current (AC) wall outlet). The power distribution board 233 can be coupled to the power supply 232 and configured to distribute the power from the power supply 232 to one or more of the subsystems of the module 101. The network switch 235 can be communicatively coupled to the computer 231 and one or more external devices (e.g., module 102). In some embodiments, the computer 231 can transmit and receive data using a standard communication protocol such as an integrated circuit (I 2 C), Serial Peripheral Interface (SPI), Controller Area Network (CAN), Universal Asynchronous Receiver / Transmitter (UART), Ethernet (registered trademark), or Universal Serial Bus (USB), or a custom communication protocol. In some embodiments, the computer 231 can wirelessly transmit and receive data using a standard communication protocol such as Bluetooth (registered trademark), Wifi (registered trademark), ZigBee (registered trademark), Z-wave (registered trademark), NEC Infrared (IR), Code Division Multiple Access (CDMA), Global System for Mobile Communications (GSM), or Long Term Evolution (LTE), or a custom communication protocol. For example, the computer 231 can communicate with one or more internal devices (e.g., controllers 751, 752, 754) using the CAN protocol. As another example, the computer can communicate with one or more external devices using the Ethernet (registered trademark) protocol. In such embodiments, the network switch 235 can be an Ethernet (registered trademark) switch.

[0048] [User Interface Subsystem] FIG. 3A presents a perspective view of the front side of the user interface subsystem 300. As shown, the user interface subsystem 300 includes a display 310, a discharge chute 320, an indicator light 322, compartments 330 and 340, doors 351 and 352, a reader 360, a computer 370, and liners 401 and 402. FIGS. 3B and 3C present perspective views of the rear side of the user interface subsystem 300. However, in FIG. 3C, the door 352 has been removed to expose the compartment 330 and the liner 401. Some parts of the imaging subsystem 500 are also shown in FIGS. 3A-3C. The user interface subsystem 300 and the imaging subsystem 500 can be hinge-connected and / or slidably connected to the frame 210, so that they can be serviced by a technician without moving the module 101.

[0049] The display 310 can be a touch screen, a monitor, an LCD panel, etc. configured to display a graphical user interface (GUI), user prompts, user instructions, warnings, system settings, and / or other information relevant to the user. For example, after a batch of sample containers is received by module 101 and successfully scanned (e.g., by imaging subsystem 500), the display 310 can inform the user that the sample containers are being received and processed. As another example, if the label of a sample container cannot be read, the display 310 can display a warning on the display 310 to inform the user of the problem. As yet another example, after a sample container is placed in the discharge chute 320 by the robotic subsystem 700, the display 310 can be configured to display an arrow above the corresponding chute. Other types of icons such as lines or bottle shapes can be used instead of the arrow. In some embodiments, the icon may be colored and / or blinking to draw the user's attention. In some embodiments, pressing the icon can show information about the corresponding sample container, such as the accession number, sequence number, container type, fill volume, and / or image of the sample container.

[0050] In an embodiment where the display 310 is a touch screen, the display 310 can also be configured to receive input from a user. In some embodiments, the input from the user can be received from another device that is part of module 101 (e.g., a microphone and / or a keypad), or from another device that communicates with module 101 (e.g., a mouse and / or a keyboard). Regardless of how the user input is received, the loading routine and the unloading routine can be implemented using the display 310. During the loading routine, the display 310 can request the user to identify the contents of the sample container (e.g., a control, an empty sample container, or a sample). After the sample container is loaded into module 101, the sample container can be digitally tagged with information provided by the user. During the unloading routine, the display 310 can request the user to input which sample container the user wants to unload and / or the location where the sample container should be placed (e.g., discharge chute 320, compartment 330, or compartment 340).

[0051] The individual sample containers can be delivered to the user for collection using the discharge chute 320. For example, after a sample is determined to be positive within module 102, the user may need to collect the sample container for further microbiological assays. The sample container can be retrieved from module 102 and discharged from module 101. As shown, there are five discharge chutes 320. However, in other embodiments, module 101 may include more or fewer discharge chutes. In some embodiments, the discharge chute 320 can be structured to reduce the noise generated when the bottle drops down the chute. In some embodiments, the discharge chute 320 can be constructed of a sound-absorbing material to reduce the noise generated when the bottle drops into the chute.

[0052] As shown in FIG. 3D, indicator lights 322 are provided above each of the discharge chutes 320. Each one of the indicator lights 322 can be configured to illuminate when a sample container is placed in a particular chute (e.g., the chute under the corresponding light), or when the sample container is placed in any one of the discharge chutes 320. In some embodiments, the module 101 may include additional indicator lights near the discharge chutes 320. In some embodiments, one or more of the indicator lights 322 may be repositioned or moved entirely. For example, one or more of the indicator lights 322 may be repositioned under the discharge chutes 320. In some embodiments, the indicator lights 322 can be of various colors, can change color, and / or can blink. Further, in some embodiments, the indicator lights 322 can be configured to behave differently depending on the type of sample container placed within the discharge chute 320. For example, the indicator light 322 can illuminate as one color (e.g., red) when the sample container is positive, and the indicator light 322 can illuminate as another color (e.g., green) when the sample container is negative. In one aspect, information regarding the sample status is transmitted from a sample status (i.e., positive or negative) indicator within the module 102. The status of the sample container can be associated with the barcode of the sample container, and when the sample container is retrieved from the module 102, the barcode information is read to identify the discharge chute, tray, or receptacle that receives the retrieved sample container.

[0053] In some embodiments, the discharge chute 320 can include one or more sensors configured to detect when a sample container is disposed in the discharge chute 320. This detection can be used to cause illumination of the indicator light 322. This detection can also be used to provide feedback to the robotic subsystem 700. Such feedback can advantageously prevent the robotic subsystem 700 from placing another sample container under the same chute and from causing collisions and / or contamination. In some embodiments, one or more sensors can be disposed at each lower portion of the discharge chute 320. In some embodiments, the one or more sensors can be touch sensors, optical sensors, and / or ultrasonic sensors.

[0054] Compartments 330 and 340 can be used for both input and output purposes. For example, while the user is loading an unexamined sample container into compartment 330, the robot subsystem 700 can place the sample container into compartment 340 for retrieval by the user. Similarly, while the user is loading an unexamined sample container into compartment 340, the robot subsystem 700 can place the sample container into compartment 330 for retrieval by the user. Alternatively, compartments 330 and 340 may be used simultaneously as an input area or an output area. For example, the user can load an unexamined sample container into both compartments 330 and 340. As another example, the robot subsystem 700 can place the sample container into both compartments 330 and 340 for retrieval by the user. As a result, in certain embodiments of FIGS. 3A - 3C, the user can load or unload up to 60 sample containers simultaneously. In other embodiments, module 101 may include more or fewer compartments. For example, a structured third compartment such as compartments 330 and 340 may be added to module 101 to increase the number of sample containers that can be loaded and removed at once to 90.

[0055] In some embodiments, compartments 330 and 340 can be used as primary discharge areas, and discharge chute 320 can be used as a secondary discharge area. For example, in such embodiments, batches of sample containers that have shown a positive reaction can be placed by robot subsystem 700 into compartments 330 and / or 340. Having a designated area (separate from negative reactions) where batches of positive reactions are presented saves time and reduces the risk of user error (e.g., due to inaccurate classification). Further, in such embodiments, discharge chute 320 can be used to discharge individual sample containers, sample containers that require further information, and / or sample containers that require system error resolution. For example, if imaging subsystem 500 is unable to read the barcode label of a sample container, robot subsystem 700 can place that sample container into one of discharge chutes 320. This enables the user to resolve the issue, for example, by removing an obstruction from the label or applying a new barcode label. In other embodiments, compartments 330 and / or 340 can be used as secondary discharge areas, and discharge chute 320 can be used as a primary discharge area.

[0056] In some embodiments, the user can specify whether discharge chute 320, compartment 330, and compartment 340 are used as primary discharge areas and / or secondary discharge areas. For example, display 310 is used to access system settings that enable the user to specify where unexamined sample containers are received by module 101 and where sample containers are placed by robot subsystem 700 for user retrieval. With these system settings, the user can also specify whether the sample containers are being discharged into a removable rack. In such embodiments, if the rack is not detected, display 310 can alert the user.

[0057] The input and discharge areas described above (e.g., discharge chute 320 and compartments 330 and 340) are particularly advantageous due to their flexibility. For example, compartments 330 and 340 can be used as input or discharge areas, so that a large number of sample containers can be loaded or removed at one time. Further, some laboratories may prefer to use compartments 330 and 340 as primary discharge areas, while other laboratories may prefer to use discharge chute 320 as the primary discharge area. For example, sample containers may make noise when going down discharge chute 320, and the noise may give an impression of poor quality. Placing the sample containers in compartments 330 and / or 340 for collection avoids such noise. Further, a large number of sample containers can be quickly removed by the user from compartments 330 and / or 340 when they are arranged in a rack.

[0058] As shown in FIG. 3A, compartment 330 includes liner 401 and compartment 340 includes liner 402. In some embodiments, one or both of liners 401 and 402 can be a molded plastic piece having a cylindrical (tubular) receptacle designed to directly receive a sample container (e.g., a blood culture bottle). In some embodiments, one or more receptacles can be structured to prevent the sample container from tipping over after it is placed in the receptacle. One and both of liners 401 and liner 402 can also include recesses designed to receive a rack of sample containers. In some embodiments, liners 401 and / or 402 can include acrylonitrile butadiene styrene (ABS), polypropylene (PP), polystyrene (PS), another type of plastic, and / or combinations thereof.

[0059] Liners 401 and 402 can advantageously enable a user to load variable sample containers into module 101. Liners 401 and 402 can also advantageously enable a user to load individual sample containers or racks of sample containers into module 101. Having such a flexible input area allows a user to maintain the same workflow for loading small batches of sample containers (e.g., 1 - 2 sample containers), medium batches, and large batches (e.g., 20+ sample containers). There are separate advantages to loading sample containers individually and loading sample containers in a rack. For example, the rack provides visual cues for the user to transfer sample containers to and / or from module 101. This can enable a laboratory to implement standard operating procedures (SOPs) centered around batch loading. Additionally, loading multiple sample containers into module 101 by simply placing a rack inside module 101 is quicker compared to individually placing each sample container inside module 101. Furthermore, scrutiny has shown that the rack adds a safety layer when transporting sample containers within a laboratory. However, scrutiny has also shown that users often forget to reload the rack into laboratory equipment. In addition, not all laboratories prefer to use racks. Many do not prefer to use racks due to reasons including the time spent managing the racks, labeling the racks, dealing with rack loss, damage, and reordering, and cleaning the racks. Therefore, it is particularly advantageous to have a system that accepts individual sample containers or racks of sample containers.

[0060] In some embodiments, the liner 401 can be removably coupled to a first drawer (not shown), and / or the liner 402 can be removably coupled to a second drawer (not shown). One or more drawers can include a flat shelf that slides partially or fully out of the module 101 using a ball bearing slide rail of the drawer or another similar mechanism. This is advantageous because it allows the user to view the cylindrical recess and allows the sample container to be placed from above, thereby improving the usability and ergonomics of loading and removing the sample container. In some embodiments, one or both of the liners 401 and 402 can be removed from the drawer by the user using a thumb screw, a latch, or other similar fastener. The liner can be easily cleaned after being removed (e.g., in a bleach bath). Further, while the liner is being cleaned, another liner can be placed within the module 101 to limit equipment downtime. In some embodiments, one or more receptacles in the liner 401 and / or 402 can include holes in the lower part of the receptacle. When the liners 401 and / or 402 are removed from the module 101, these holes can allow the cleaning fluid to drain out. Further, when the liners 401 and / or 402 are placed within the module 101, these holes can allow one or more sensors to detect the presence or absence of the sample container. In some embodiments, the one or more sensors can be a touch sensor, an optical sensor, and / or an ultrasonic sensor.

[0061] In some embodiments, compartment 330 and / or 340 can include an indicator light (not shown). The indicator light can be disposed above liner 401 and / or 402. These indicator lights can be used to signal to the user how compartments 330 and / or 340 are being used. For example, when compartment 330 is being used as an input area, one or more indicator lights can illuminate compartment 330 in a first color (e.g., blue or green), and when compartment 330 is being used as an output area, one or more indicator lights can illuminate compartment 330 in a second color (e.g., red). Similarly, when compartment 340 is being used as an input area, one or more indicator lights can illuminate compartment 340 in a first color (e.g., blue or green), and when compartment 340 is being used as an output area, one or more indicator lights can illuminate compartment 340 in a second color (e.g., red). One or more indicator lights in compartments 330 and / or 340 can also be used to indicate whether a batch of sample containers is ready for collection. For example, while the robot subsystem 700 is placing a sample container in one of compartments 330 and 340, the compartment can be illuminated in a first color (e.g., red), and when the batch of sample containers is ready for collection, the compartment can be illuminated in a second color (e.g., blue or green). In some embodiments, the indicator light can blink instead of changing color.

[0062] As shown in FIGS. 3A to 3C, the door 351 can be arranged on the front side of the user interface subsystem 300, and the door 352 can be arranged on the rear side of the user interface subsystem 300. The doors 351 and 352 are vertical sliding doors configured to move up and down to expose either one of the compartments 330 and 340. For example, when the doors 351 and 352 are in the raised position, the compartment 330 is sealed and the compartment 340 is exposed. Similarly, when the doors 351 and 352 are in the lowered position, the compartment 340 is sealed and the compartment 330 is exposed. In some embodiments, the doors 351 and 352 can be configured to maintain opposite positions with respect to each other. For example, when the door 351 is in the raised position, the door 352 is in the lowered position. Similarly, when the door 351 is in the lowered position, the door 352 is in the raised position. This can prevent a user from mixing an untested sample container with a sample container that has shown a positive reaction. For example, while the robot subsystem 700 is placing a positive sample container into the compartment 330, the door 351 can be in the raised position to prevent the user from placing an untested sample container into the compartment 330. Further, the door 352 can help prevent a sample container from falling into the module 101 (e.g., onto the support structure 641 of the waste management subsystem 600) while the user is loading an untested sample container into one of the compartments 330 and 340.

[0063] In some embodiments, one and / or both of doors 351 and 352 may be composed of a transparent material such as plastic or glass. The transparent material advantageously enables a user to observe the processing of the sample container, thereby increasing the user's trust in the system. For example, the transparent door allows the user to see when the sample container is being loaded and removed, thereby enhancing the user's overall understanding of how the system operates, the user's visibility to jamming / error possibilities, and in some cases, the user's overall confidence in the equipment. As shown, door 351 is composed of a transparent material and door 352 is composed of an opaque material. However, in other embodiments, both doors 351 and 352 may be composed of a transparent material. Further, in other embodiments, both doors 351 and 352 may be composed of an opaque material.

[0064] In other embodiments, one or more swing doors (switching doors) may be used instead of doors 351 and 352. For example, a pair of swing doors may be used instead of door 351, one of which is configured to seal compartment 330 and one of which is configured to seal compartment 340. In such embodiments, one or both of the swing doors may be locked to prevent the user from accessing the corresponding compartment. For example, while the robotic subsystem 700 is placing a positive sample container into compartment 330, the swing door disposed in front of compartment 330 may be locked. Similarly, while the robotic subsystem 700 is placing a positive sample container into compartment 340, the swing door disposed in front of compartment 340 may be locked.

[0065] As shown in FIG. 3A, the reader 360 can be configured to read bar code labels, RFID tags, and / or other types of identifiers on the sample container and / or user identification card. For example, the user can use the reader 360 to scan the sample container to retrieve information about the sample container (e.g., sequence number or accession number). In some embodiments, the information can be presented on the display 310. In some embodiments, after scanning the sample container with the reader 360, the user can manually load the sample container into an incubation and measurement module such as module 102. In some embodiments, the user can start an automatic login by holding their employee badge or other unique identification card near the reader 360. To protect patient information and comply with cyber security regulations, the user may need to log in to perform certain actions such as viewing test results and retrieving positive sample containers. In some embodiments, the user can automatically adjust one or more system settings by holding their employee badge or other unique identification card near the reader 360. For example, module 101 can store user selections regarding where the sample containers are placed for collection and automatically adjust the system settings to those user selections after the user scans their unique identification card.

[0066] In some embodiments, separate readers can be provided for reading the identifier of the sample container and for reading the user identification card. In some embodiments, one or more readers can use various scanning technologies. For example, an optical bar code reader can be used to scan the label of the sample container, and a radio frequency identification (RFID) reader can be used to scan the user identification card. In some embodiments, the user can also log in by other means such as a username and password, passphrase, PIN, and / or picture password. In some embodiments, the user can also log in by means of alternative biometric authentication such as voice authentication, face authentication, retina authentication, and / or fingerprint authentication.

[0067] As shown in FIG. 3A, computer 370 can include one or more processors, one or more application specific integrated circuits (ASICs), and / or other similar components. Computer 370 can also include a memory medium such as a hard-drive, memory card, ROM, RAM, DVD, CD-ROM, writable memory, and / or read-only memory that is capable of storing information. Computer 370 can be communicatively coupled to one or more of the subsystems of module 101. For example, computer 370 can be communicatively coupled to one or more components of electronics bay 230 (e.g., computer 231), user interface subsystem 300, imaging subsystem 500, waste management subsystem 600, and / or robot subsystem 700. In some embodiments, computer 370 can receive commands from one or more of these subsystems. In some embodiments, computer 370 can send commands to one or more of these subsystems and receive measurement data from one or more of these subsystems. For example, computer 370 can be configured to control the movement of robot subsystem 700 and receive measurement data from controllers 751 and 752, and / or camera 770 (see FIGS. 7A-7I). Computer 370 can also be configured to send a graphical user interface (GUI), user prompt, user command, warning, system setting, and / or other information to display 310 for display.

[0068] Figures 4A and 4B present perspective views of the liner 401. As shown, the liner 401 includes sections 411 - 413. Sensors 441 - 443 extend through each of sections 411 - 413 and can be configured to detect the presence of a rack. In some embodiments, sensors 441 - 443 can be touch sensors, optical sensors, and / or ultrasonic sensors. Section 411 includes a receptacle 421 designed to directly receive a sample container (e.g., a blood culture bottle) and a recess (not shown) designed to receive a rack of sample containers such as rack 450. Figures 4C - 4I show various views of the rack 450. More specifically, Figure 4C is a perspective view of the rack 450, Figure 4D is a front elevation view thereof, Figure 4E is a rear elevation view thereof, Figure 4F is a right side elevation view thereof, Figure 4G is a left side elevation view thereof, Figure 4H is a top view thereof, and Figure 4I is a bottom view thereof.

[0069] As shown in FIGS. 4A and 4B, one sample container 461 is disposed in one of the receptacles 451 of the rack 450. Section 412 includes a receptacle 422 designed to directly receive the sample container and a recess 432 designed to receive the rack of the sample container. Section 413 includes a receptacle 423 designed to directly receive a sample container such as sample container 462 and a recess 433 designed to receive the rack of the sample container. As shown, receptacles 421-423 and / or 451 can include a cylindrical chamfer feature to facilitate insertion of the sample container into the corresponding receptacle. One or more of receptacles 421-423 and / or 451 can also include a hole (e.g., hole 452 in FIGS. 4C, 4H, and 4I) in the bottom of the receptacle. During washing, these holes can allow the washing fluid to flow out. As shown, receptacles 421-423 and / or 451 can have a bottom with a rounded edge to accommodate a rocker bottle. The rocker bottle has a convex bottom due to pressure increase or heat during manufacturing. To prevent this, the inspection and control unit is in the appropriate position, but some bottles can reach a convex shape of up to 1.5 mm, for example.

[0070] As shown in FIGS. 4A and 4B, each of sections 411-413 can hold up to 10 sample containers in the corresponding receptacle. Rack 450 can also hold up to 10 sample containers in receptacle 451. However, in other embodiments, sections 411-413 and / or rack 450 can be configured to hold more or fewer sample containers. Similarly, in other embodiments, liner 401 can include more or fewer sections of the receptacle. For example, liner 401 can include only two sections, each of which can hold up to 15 sample containers. In such an embodiment, rack 450 can also be reconfigured to hold up to 15 sample containers.

[0071] As shown in FIGS. 4A and 4B, receptacles 421-423 and 451 are configured to receive bottles having a specific diameter. For example, receptacles 421-423 and 451 can be configured to receive a specific type of culture bottle, such as a BD BACTEC™ culture bottle manufactured and sold by Becton, Dickinson and Company. However, in other embodiments, receptacles 421-423 and 451 may be differently shaped and may be configured to hold various types of sample containers. Further, in some embodiments, receptacles 421-423 and 451 can be configured to receive various sample containers having different diameters and / or heights. For example, one or more of receptacles 421-423 and 451 can have a lower portion and an upper portion having various (different) diameters. The lower portion can have, for example, a narrow diameter to receive a sample container having a similarly narrow diameter. Further, the upper portion can have, for example, a wide diameter to receive a sample container having a similarly wide diameter.

[0072] In some embodiments, the liner 401 can include one or more features for calibrating the robotic subsystem 700. For example, the liner 401 can include notches 471 and 472. In some embodiments, pins (not shown) may be temporarily or permanently applied to the robotic subsystem 700. For example, during a calibration procedure, a pin may be screwed into a component of the gripper assembly 740. In some embodiments, the pin may remain attached to the robotic subsystem 700 during processing of the sample container. The pin can be sized to fit within notches 471 and 472. After engaging one of notches 471 and 472 with the pin, the position of one or more components of the robotic subsystem 700 can be stored in memory and used as a reference point for subsequent movement of the robotic subsystem 700.

[0073] As can be best seen in FIGS. 4C - 4I, the rack 450 is advantageously such that it can be picked up with one hand by the user. For example, the user can place his or her thumb in one of the recesses 453 while simultaneously placing the tips of his or her other fingers along one of the slopes 454. The user can then slide his or her fingers along the slope 454 until his or her fingers contact the bottom surface 455 of the rack 450. In this situation, the user can firmly lift the rack 450. Advantageously, the symmetric shape of the recesses 453 and the inclined surfaces 454 enables the user to lift the rack 450 with his or her right or left hand.

[0074] FIGS. 8A - 8E show another embodiment of a rack that can be compared with the rack 450. As shown in FIG. 8A, the rack 851 includes a receptacle 852 and a lip (edge) 853. The receptacle 852 can include a cylindrical chamfer feature to facilitate insertion of the sample container into the corresponding receptacle. One or more of the receptacles 852 can include holes in the bottom of the receptacle. During washing, these holes can allow the washing fluid to flow out. When these holes are disposed (positioned) within the liner in the module 101, one or more sensors can be enabled to detect the presence or absence of the sample container. In some embodiments, the one or more sensors can be touch sensors, optical sensors, and / or ultrasonic sensors. The lip 853 acts as a handle for the user to grip. As shown in FIG. 8B, the receptacle 852 is designed to receive the sample container 854.

[0075] As shown in FIG. 8C, the rack 851 can be stacked on another rack 855 using complementary positioning features (e.g., dish holes and central column structures). For example, in order to enable the rack 851 to be firmly stacked on the rack 855, the bottom of the rack 851 can include a set of positioning features, and the top of the rack 855 can include a complementary set of positioning features. As shown in FIGS. 8D and 8E, the rack 851 can also be stacked on the rack 855 while the sample container 856 is disposed within the rack 855. In such an embodiment, the bottom of the rack 851 can include a counterbore feature that mates with the complementary features of the sample container 856. For example, if the sample container 856 is a blood culture bottle, the rack 851 can include counterbore features that mate with the crimp ring and septum of the blood culture bottle.

[0076] As shown in FIGS. 8A-8E, the racks 851 and 855 can hold up to 10 sample containers. However, in other embodiments, the racks 851 and 855 can be configured to hold more or fewer sample containers. Further, as shown in FIGS. 8A-8E, the receptacle 852 is configured to receive bottles having a particular diameter. For example, the receptacle 852 can be configured to receive a particular type of culture bottle, such as a BD BACTEC™ culture bottle manufactured and sold by Becton, Dickinson and Company. However, in other embodiments, the receptacle 852 can be differently shaped and configured to hold various types of sample containers. Further, in some embodiments, the receptacle 852 can be configured to receive various sample containers having different diameters. For example, one or more of the receptacles 852 can have a lower portion and an upper portion having various (different) diameters. The lower portion can have, for example, a narrow diameter to receive a sample container having a similarly narrow diameter. Further, the upper portion can have, for example, a wide diameter to receive a sample container having a similarly wide diameter.

[0077] Figures 9A - 9C show another embodiment of the liner that can be compared with liners 401 and 402. As shown, liner 900 includes sections 911 - 913. Section 911 includes a receptacle 921 designed to directly receive a sample container (e.g., a blood culture bottle) and a recess 931 designed to receive a rack of sample containers. Section 912 includes a receptacle 922 designed to directly receive a sample container such as sample container 961 and a recess 932 designed to receive a rack of sample containers. Section 913 includes a receptacle 923 designed to directly receive a sample container and a recess 933 designed to receive a rack of sample containers such as rack 950 having sample container 962. As shown, receptacles 921 - 923 can include cylindrical chamfer features to facilitate insertion of the sample container into the corresponding receptacle. One or more of receptacles 921 - 923 can include holes in the bottom of the receptacle. During cleaning, these holes can allow the cleaning fluid to flow out. When these holes are positioned (located) in module 101, one or more sensors can be enabled to detect the presence or absence of a sample container. In some embodiments, the one or more sensors can be touch sensors, optical sensors, and / or ultrasonic sensors.

[0078] Indicator lights 971 - 973 are respectively arranged in front of each of sections 911 - 913. In some embodiments, indicator light 322 can be of various colors, can change colors, and / or can blink. In some embodiments, one or more of indicator lights 971 - 973 can be configured to illuminate based on the state of the corresponding section. For example, when section 911 is empty and in a ready state to receive a batch of sample containers, indicator light 971 can change to a first predetermined color. As another example, when section 911 is full of untested sample containers, indicator light 971 can change to a second predetermined color. As yet another example, when section 911 contains a positive sample container, indicator light 971 can change to a third predetermined color. Indicator lights 972 and 973 can also behave similarly based on the states of sections 912 and 913 respectively. In some embodiments, liner 900 may include additional indicator lights. In some embodiments, one or more of indicator lights 971 - 973 may be repositioned or moved entirely. For example, one or more of indicator lights 971 - 973 may be repositioned to the bottom of receptacles 921 - 923.

[0079] As shown in FIGS. 9A - 9C, each of sections 911 - 913 can hold up to 10 sample containers within the corresponding receptacle. However, in other embodiments, sections 911 - 913 can be configured to hold more or fewer sample containers. Similarly, in other embodiments, liner 900 may include more or fewer sections of receptacles. For example, liner 900 may only include two sections, and each of those sections can hold up to 15 sample containers. In such an embodiment, rack 950 can also be reconfigured to hold up to 15 sample containers.

[0080] As shown in FIGS. 9A - 9C, receptacles 921 - 923 are configured to receive bottles having a specific diameter. For example, receptacles 921 - 923 may be configured to receive a specific type of culture bottle, such as a BD BACTEC (trademark) culture bottle manufactured and sold by Becton, Dickinson and Company. However, in other embodiments, receptacles 921 - 923 may be differently shaped and may be configured to hold various types of sample containers. Further, in some embodiments, receptacles 921 - 923 may be configured to receive various sample containers having different diameters. For example, one or more of receptacles 921 - 923 may have a lower portion and an upper portion having various (different) diameters. The lower portion may have, for example, a narrow diameter to receive a sample container having a similarly narrow diameter. Further, the upper portion may have, for example, a wide diameter to receive a sample container having a similarly wide diameter.

[0081] [Imaging subsystem] Figures 5A - 5C present perspective views of the imaging subsystem 500. The imaging subsystem 500 is configured to scan a sample container for label information and / or may be configured to acquire image information capable of obtaining other information regarding the presence or absence of foam, fill level, and / or the contents of the sample container. As shown, the discharge chute 320 may be disposed beside the imaging subsystem 500, and the imaging subsystem 500 includes a camera 510, light sources 521 and 522, a support structure 523, a plate 524, a guide 531, a platform 532, a drive pulley 533, a belt 534, an arm 535, a spring 536, a motor 537, an opening 538, a flip station 540, a holding station 550, a platform 560, and a chute 570. The robotic subsystem 700 can place a sample container 580 (e.g., a blood culture bottle) on the platform 532 between the guides 531. The guides 531 can assist the robotic subsystem 700 in centering the sample container 580 on the platform 532.

[0082] Camera 510 is directed towards sample container 580. Camera 510 as well as light sources 521 and 522 are attached to platform 560 by support structure 523. Light sources 521 and 522 are configured to direct light towards sample container 580 when camera 510 acquires an image of sample container 580. In some embodiments, light source 240 may also be configured to direct light towards sample container 580 when camera 510 acquires an image of sample container 580. In other embodiments, these external light sources may be removed and imaging subsystem 500 may rely on one or more internal light sources of camera 510 to acquire an image of sample container 580. Platform 532 is configured to rotate when camera 510 acquires an image of sample container 580. In some embodiments, platform 532 may be configured such that a user can remove and replace platform 532 without using tools. Sample container 580 can be rotated by a predetermined number of degrees (e.g., 20 degrees, 30 degrees, etc.) and the images at each rotational increment are stitched together to acquire an entire image of a label (not shown) of sample container 580. Further, camera 510 can acquire image information from which it can obtain information regarding the presence or absence of foam, fill level, and other information regarding the contents of the sample container. Camera 510 can transmit one or more of the acquired images to computer 231 and / or 370. In some embodiments, one or more of the images acquired by camera 510 can be presented on display 310. These images can, for example, assist a user in error resolution.

[0083] Plate 524 is placed behind sample container 580. In some embodiments, plate 524 can provide a stationary background for an image. In some embodiments, plate 524 can include a label or barcode that can be used by camera 510 to determine whether the sample container is placed on platform 532. For example, if the label or barcode is visible to camera 510, a determination can be made that the sample container is not placed on platform 542. Similarly, if the label or barcode is not visible to camera 510, a determination can be made that the sample container is placed on platform 532.

[0084] As best shown in FIG. 5C where platform 532 is shown transparently, the rotation of platform 532 is driven by motor 537. Drive pulley 533 is directly connected to the shaft of motor 537. Platform 532 and drive pulley 533 are connected by belt 534. Further, platform 532 and drive pulley 533 are rotatably connected to arm 535. When motor 537 rotates drive pulley 533 in the clockwise direction (from the perspective of FIG. 5C), platform 532 also rotates in the clockwise direction. However, when motor 537 rotates drive pulley 533 in the counterclockwise direction (from the perspective of FIG. 5C), arm 535 rotates counterclockwise to move platform 532 from under sample container 580 to a position under or within platform 560. As arm 535 rotates counterclockwise, spring 536 (e.g., a torsion spring) directly connected to arm 535 applies a force that counteracts the force generated by motor 537. Further, as platform 532 is redirected and moves away, sample container 580 slides into chute 570 through opening 538.

[0085] The flip station 540 is configured to receive a sample container that is either in an upright position (e.g., refer to the orientation of the sample container 580) or a horizontal position (e.g., refer to the orientation of the sample container 760 in FIG. 7B). When the sample container is received in the upright position, the sample container can be placed on the bottom surface 541 of the flip station 540. However, when the sample container is received in the horizontal position, the flip station flips (converts, inverts) the sample container from the horizontal position to the upright position. For example, if the robot subsystem 700 places the sample container on the flip station while holding the sample container as shown in FIG. 7B and then releases the sample container, the bottom and / or side of the sample container slides along the inclined structure 542 to rotate the sample container to the upright position. Since the sample container held within the module 102 may be horizontally oriented, the flip station 540 can be used by the robot subsystem 700 to change the orientation of the sample container to the upright position and then place the sample container on the platform 532 for imaging.

[0086] The holding station 550 is configured to receive a sample container in an upright position. When multiple sample containers need to be scanned by the imaging subsystem 500, the robot subsystem 700 can use the flip station 540 and / or the holding station 550 to line up the sample containers. Further, if the imaging subsystem 500 cannot read the label of the sample container, or if the image acquired by the camera 310 indicates that the sample container has foam and / or the sample container is overfilled or underfilled, the robot subsystem 700 can use the flip station 540 and / or the holding station 550 to temporarily store the sample container until the user responds to the corresponding prompt on the display 310. In some embodiments, the holding station 550 can be used to store a tool (e.g., a sample container) for calibrating the camera 510.

[0087] FIG. 5D presents a cross-sectional view of the imaging subsystem 500. As shown, the imaging subsystem 500 can include a rotating member 539 to prevent the sample container 580 from falling from the chute 570 after it has been dropped from the platform 532. For example, the member 539 can be rotated counterclockwise (from the perspective of FIG. 5D) before the sample container 580 is dropped from the platform 532. Further, the member 539 is rotated clockwise (from the perspective of FIG. 5D) to facilitate the robotic subsystem 700 in retrieving the sample container 580 from the chute 570.

[0088] FIGS. 5E and 5F present perspective views of the chute 570. The chute 570 is similar to the flip station 540, but changes the orientation of the sample container to a horizontal posture instead of an upright posture. As shown, the chute 570 includes side walls 571, horizontal rails 573 and 574, a gradient rail 575, a recess 576, and a stopper 577. After the sample container is dropped onto the chute 570, the bottom and / or side of the sample container slides along the gradient rail 575 and another similar gradient rail (not shown) along the side wall 572 to rotate the sample container to a horizontal posture. The stopper 577 prevents the sample container from sliding out of the chute 570. Since the sample container held within the module 102 can be horizontally oriented, the chute 570 can assist the robotic subsystem 700 in changing the orientation of an unexamined sample container received in one of the compartments 330 and 340 and then placing the sample container into the module 102 through one of the doors 141 - 144.

[0089] In some embodiments, the robot subsystem 700 can deliver the sample containers to the imaging subsystem 500 both before and after the sample containers are incubated and measured within the module 102. By scanning the sample containers again before they are placed in the compartments 330 and / or 340 for retrieval by the user and / or before they are placed in the waste receptacle 610 of the waste management subsystem 600 for disposal, the system 100 can result in an improvement in the trust of the chain of custody of the sample containers. During operation, the system 100 can be subject to conditions such as power outages and / or unexpected user interactions that can cause a loss of the chain of custody for one or more of the sample containers.

[0090] Advantages of one or more aspects of the imaging subsystem 500 and some of the alternatives to those aspects are described with respect to FIGS. 10-19. For example, FIG. 10 is a schematic diagram of an imaging device 1100. The device has a platform 1110 on which a cylindrical sample container 1130 is disposed. The device 1100 also has a scanner 1140. A gripper arm 1150 having a clamp 1155 is used to grip the neck 1156 of the cylindrical sample container 1130 and place the cylindrical sample container 1130 in the rotation gate 1165 of the platform 1110. The gripper arm 1150 is movable in x (1151), theta (1152), and z (1153), so that the sample container 1130 can be placed in the rotation gate 1165 in an upright position using the gripper arm 1150, and the sample container can be retrieved when the sample container 1130 lies horizontally within the chute 1160. The chute 1160 receives the cylindrical sample container in an upright position and lays the cylindrical sample container in a horizontal position. Accordingly, the chute 1160 functions as a flip station for flipping the cylindrical sample container from an upright position to a horizontal position. The gripper arm 1150 is rotatable so that the clamp 1155 can grip the cylindrical sample container when the cylindrical sample container lies horizontally. In the device described in FIG. 10, as the cylindrical sample container is rotated by the rotation gate 1165, an image of the label 1131 is obtained. The images are then stitched together to form a complete image of the label 1131. Stitching images together to form a larger image is well known to those skilled in the art and will not be described in detail here.

[0091] The rotary gate 1165 is rotated by a motor (not shown). A sensor, or an instructed step from a theta stepper motor (not shown), notifies the gripper arm 1150 to move onto the rotary plate 1165 and stop in place when the clamp 1155 can release the cylindrical sample bottle 1130 to the rotary gate 1165. For imaging, the rotary platform 1110 (the rotary gate 1165 is located below the surface of the main part of the platform 1110) rotates in one direction (either clockwise or counterclockwise). After the imaging device 1100 acquires an image of the entire label 1131 and also acquires image information that can obtain other information regarding the presence or absence of foam, the filling level, and the contents of the cylindrical sample container, the imaging device (e.g., a camera, scanner, light, etc.) is turned off. The rotary gate 1165 can also be disengaged from alignment with the chute 1160. When the rotary gate 1165 is aligned with the chute 1160, the cylindrical sample container does not pass through the chute when the bottle is placed on the rotary gate 1165 for imaging. For example, several images can be taken before and after rotating the bottle by about 45 degrees, and then the images can be joined together to form a complete image to provide an image of the complete bottle. After imaging, the rotary platform 1110 rotates in the opposite direction until the gate 1165 is disengaged from alignment with the opening for the chute 1160. This enables the cylindrical sample container 1130 to pass through the opening of the chute 1160 having the inclined path 1166 and the platform 1167. The cylindrical sample container 1130 easily descends the inclined path 1166 and is horizontally placed on the platform 1167, and is retrieved from the platform 1167 by the clamp 1155 of the gripper arm 1150. In this regard, the inclined path 1166 has spaced tracks 1168, 1169, so that as the cylindrical sample container 1130 easily descends the inclined path 1166, the neck of the cylindrical sample container 1130 fits between the tracks 1168, 1169, allowing the cylindrical sample container 1130 to lie flat. The tracks 1168 and 1169 can be more easily seen in Figure 12C.

[0092] Although not shown, a calibration plate is disposed at the end of the platform 1110 opposite the scanner 1140. The calibration plate can be used to calibrate the scanner 1140 to ensure that the cylindrical sample container 1130 is within the proper field of view of the scanner when the cylindrical sample container 1130 is placed in the rotary gate 1165. The rotary gate 1165 is configured to provide a stable surface for setting the cylindrical sample container 1130 for imaging. Since sterilizing the cylindrical sample container before use can cause deformation or unevenness on the bottom surface of the cylindrical sample container 1130, the rotary gate 1165 has a concave portion that allows the periphery of the bottom of the cylindrical sample container to seat firmly on the rotary gate 1165, and provides a gap between the inner side of the bottom surface of the cylindrical container and the surface of the cylindrical sample container 1130 so that any surface deformation does not cause the cylindrical sample container to seat unstably.

[0093] Alternative structures for the rotary gate include a rubber drive wheel associated with the cylindrical sample container, or a rotary gripper such as a rotary gripper used to automatically tighten or loosen a cap. When such a rotary mechanism is used, the system is provided with a trap door or other mechanism that allows the cylindrical sample container to advance into the chute after imaging is complete.

[0094] FIG. 11 is a bottom view of the imaging device 1100 of FIG. 10. In FIG. 11, the rotary gate 1165 is shown out of alignment with the chute 1160. After the cylindrical sample container 1130 has moved and descended into the chute 1160, the cylindrical sample container 1130 lies horizontally with its neck disposed between the tracks 1168 and 1169. The clamp 1155 of the gripper arm 1150 rotates to grip the bottom of the cylindrical sample container 1130 and remove the cylindrical sample container 1130 from the chute.

[0095] Figures 12A - 12D show system 1100 of an alternative embodiment of FIG. 10, where platform 1110 has a rotating platform 1111 attached thereunder. FIG. 12A is a perspective view of system 1100 looking down from above. FIG. 12B is a perspective view of system 1100 looking up. FIG. 12C is a side view of system 1100. FIG. 12D is a perspective view of system 1100 looking down. Rotating platform 1111 is driven by a shaft (hidden by coil spring 1170) rotated by motor 1171, from which the shaft inside coil spring 1170 extends. Belt 1172 connects the shaft to rotating platform 1111, causing rotation of rotating platform 1111. After camera 1140 obtains an image of cylindrical sample container 1130, when the rotation of the shaft inside coil spring 1170 is reversed and the rotating platform rotates in the opposite direction, rotating platform 1111 changes direction to move away by using a one - way rotation clutch, enabling cylindrical sample container 1130 to slide into chute 1160 through opening 1112 in platform 1100. Coil spring 1170 resists the movement of the rotating platform and moves the rotating platform back to its original position when the motor rotates the rotating platform back to its original direction. While cylindrical sample container 1130 is being rotated, cylindrical sample container 1130 can be illuminated by light source 1120.

[0096] The embodiments of FIGS. 12A-12D have a holding station 1180 for a cylindrical sample container 1130. The holding station 1180 has an inclined structure 1181, so that the cylindrical sample container 1130 will seat in an upright position as long as the bottom is first placed into the holding station 1180. A robotic arm 1150 is used to bring the cylindrical sample container 1130 to the holding station 1180. The robotic arm 1150 also moves the cylindrical sample container 1130 to the imaging location 1141, positions the cylindrical sample container 1130 within the imaging location 1141, and retrieves the cylindrical sample container 1130 from the chute 1160. A plate 1142 is set behind the imaging location 1141. In some embodiments, the plate 1142 provides a stationary background for the image. In some embodiments, the plate 1142 can include a label or barcode that can be used by the scanner 1140 to determine whether a sample container is placed at the imaging location 1141. For example, if the label or barcode is visible to the scanner 1140, a determination can be made that the sample container is not placed at the imaging location 1141. Similarly, if the label or barcode is not visible to the scanner 1140, a determination can be made that the sample container is placed at the imaging location 1141. The cylindrical sample container 1130 is rotated by a predetermined number of degrees (e.g., 20 degrees, 30 degrees, etc.), and then the images at each rotation increment are stitched together to obtain the entire image of the label.

[0097] Figure 13 is an alternative embodiment of Figure 10, but an embodiment in which the cylindrical sample container is not rotated. In this embodiment, the system 2000 has a pyramid mirror or a conical mirror 2020 that can form a complete image by taking several images. The system has a horizontally sliding trapdoor 2025. When the trapdoor 2025 moves forward inward, it holds the cylindrical sample container 2130 in place for imaging by the scanner 2140. The image to be captured is of the entire label 2131. A gripper arm 2150 having a clamp 2155 is used to grip the neck 2156 of the cylindrical sample container 2130 and place the cylindrical sample container 2130 into the pyramid mirror 2020 for imaging. The gripper arm 2150 is movable in x, theta, and z, so that the gripper arm 2150 can be used to place the cylindrical sample container 2130 in an upright position in the pyramid mirror 2020 and retrieve the cylindrical sample container when it lies horizontally in the chute 2160. When the trapdoor 2025 moves forward outward, the cylindrical sample container 2130 drops through the chute 2160 and is removed by the gripper arm 2150. The alternative embodiment deploys other types of doors to allow the cylindrical sample container to descend into the chute 2160. Examples of suitable alternative doors include drop-away doors, sliding doors, or retractable pins.

[0098] FIG. 14 shows an alternative system 3000 in which a plurality of cameras 3140 are used to acquire an image of a label 3131 on a cylindrical sample container 3130. Since each image is only a segment of the curved object, acquiring images with multiple cameras is a well-known technique for assembling a "flat" image from a cylindrical object. Stitching such images together is also well known and will not be described in detail here. System 3000 has a platform 3110 with a trapdoor 3025. The trapdoor 3025 is closed and the cylindrical sample container is held on the platform 3110 for imaging. As shown, the cameras 3140 are attached to an annular printed circuit board 3145. As described above, the gripper arm 3150 is used to grip the neck 3156 of the cylindrical sample container 3130 and place the cylindrical sample container 3130 within the imaging device. After imaging, the trapdoor 3025 is activated and the cylindrical sample container 3130 drops through the chute 3160 and is removed by the gripper arm 3150.

[0099] FIG. 15 shows a system 4000 without a trapdoor. In this embodiment, a gripper arm 4150 is used to place the cylindrical sample container 4130 and remove it from a pyramid mirror 4020 that has no opening in the base 4021. A scanner 4140 is used to acquire a single image of the entire extent of the label 4131. After imaging, in this embodiment, if the user is to grip the base rather than the neck of the cylindrical sample container, the gripper arm 4150 removes the cylindrical sample container 4130 from the pyramid mirror 4020, places the cylindrical sample container 4130 within the chute 4160, and within the chute 4160, as described above, the cylindrical sample container 4130 slides into a horizontal position and then the gripper arm 4150 removes the cylindrical sample container from the chute 4160 by gripping the base of the cylindrical sample container 4130.

[0100] FIG. 16 shows a system 5000 as shown in FIG. 10, except that the gripper arm 5150 moves the cylindrical sample container 5130 to the imaging position and then moves it to a chute 5160 that flips the cylindrical sample container from an upright position to a horizontal position. A scanner 5130 is attached to the gripper arm 5150. When the gripper arm 5150 places the cylindrical sample container 5130 on the rotary platform 5110, the gripper arm then advances the scanner 5140 to align it with the cylindrical sample container 5130 in order to acquire an image of the label 5131 as the rotary platform 5110 rotates the cylindrical sample container 5130. After an image of the cylindrical sample container has been acquired, the gripper arm 5150 then moves the cylindrical sample container to the chute 5160. When the cylindrical sample container is placed in the chute 5160, it flips from the placed vertical (upright) position to a horizontal position and is retrieved by the gripper arm 5150 by gripping the bottom of the cylindrical sample container 5130.

[0101] FIG. 17 shows a system 6000 that does not use a chute to rotate a cylindrical sample container from an upright position to a horizontal position. System 6000 deploys a tilting gripper 6050 that grips the neck 6100 of a cylindrical sample container 6130. System 6000 uses a rotating platform 6110 disposed below a platform 6115 to ensure that an image of the entire label 6131 is captured by a scanner 6140. After an image of the cylindrical sample container 6130 is captured by the scanner 6140, the end effector 6155 of the gripper arm 6150 rotates to set the tilting gripper 6050 such that the flat surface 6051 of the tilting gripper abuts the platform 6115. Next, the gripper arm releases the neck 6100 of the cylindrical sample container 6130. The cylindrical sample container is then held in a horizontal position by the tilting gripper 6050 that abuts the platform 6115. The gripper arm 6150 then rotates the end effector 6155 and advances it to a predetermined position to grip the bottom of the cylindrical sample container 6130 held in the horizontal position. Next, the end effector 6155 grips the bottom of the cylindrical sample container 6130 and carries the cylindrical sample container 6130 away from the platform 6100. The tilting gripper is not carried away with the cylindrical sample container 6130.

[0102] FIG. 18 shows a system 7000 deploying a chute 7160 for rotating a cylindrical sample container 7130 when the cylindrical sample container 7130 lies horizontally within the chute 7160. As described above, the gripper arm 7150 holds the cylindrical sample container in a vertical (upright) orientation. The gripper arm 7150 places the cylindrical sample container 7130 into the chute, and the cylindrical sample container 7130 slides down an inclined path 7166 along tracks 7168 and 7169 within the chute. The neck 7100 of the cylindrical sample container 7130 mates between the track 7168 and the track 7169. The chute 7160 has rollers 7601 and 7602. The rollers can be used to rotate the cylindrical sample container 7130. An image of the label 7131 is acquired by a scanner 7140 disposed above the rotating cylindrical sample container. However, when the cylindrical sample container 7130 is in a horizontal position, the meniscus of the inoculum culture at the neck 7100 of the cylindrical sample container 7130 cannot be observed. Thus, in this system, the amount of sample (e.g., blood) added to the sample cannot be ascertained by observing the cylindrical sample container in a horizontal position. After the image of the label 7131 of the cylindrical sample container has been acquired, the gripper arm 7150 grips the bottom of the cylindrical sample container 7130 and removes the cylindrical sample container 7130 from the chute 7160.

[0103] Figure 19 is a flowchart for arranging a cylindrical sample container for imaging. In step 8001, the light source for the scanner is turned on and adjusted to an appropriate intensity and wavelength for the scanner. This step is controlled by software. In step 8002, the sensor confirms that the cylindrical sample container is in the correct position. In an embodiment where the cylindrical sample container is rotated, the rotation of the bottle is started in step 8003. Then, in step 8004, the scanner scans the barcode and any reference marks on the cylindrical sample container. In step 8005, when the reference is recognized, the position of the cylindrical sample container is captured by the system. In step 8006, the cylindrical sample container is rotated so that a view window (i.e., a part of the cylindrical sample container not covered by the label) is positioned in front of the scanner / camera to determine the liquid level in the cylindrical sample container. In step 8007, the light source is adjusted for blood volume measurement (BVM). In step 8008, the system captures the distance between the liquid meniscus in the cylindrical sample container and the etched line on the cylindrical sample container (for volume determination). An ablation line indicating the intended fill level of the patient's blood at the bedside is etched at a custom height on the bottle during manufacturing. Typical fills are 8 - 10 ml for adults and 3 ml for pediatrics using special pediatric sample containers. Each media type has a published expected fill volume used to calculate the amount of overfill or underfill by the user. The amount of patient blood in the sample container is determined using the height difference between the blood line and the ablation line. By knowing the volume characteristics of the cylindrical sample container, the amount of patient blood fill is calculated.

[0104] In step 8009, the blood volume is reported to the database. In step 8010, the light source is adjusted (e.g., from blue to red or white) to obtain an image of the label. In step 8011, the cylindrical sample container is rotated at a set speed. Images are captured after a preset number of degrees of rotation (e.g., 20 degrees) until a series of full images of the entire label are obtained. In some embodiments, the trigger for capturing these images is provided directly by a motor (e.g., a stepper motor controller) without the use of an encoder. In step 8012, the images are stitched together to form a full image of the label. The stitched image information is fed back to the rotation controller, and the rotation controller continues to rotate the cylindrical sample container until the buffer receiving the image information is full. In step 8013, when the cylindrical sample container has rotated a full 360 degrees, the rotation is stopped. In step 8014, all of the label images are stitched together. In those systems where a trapdoor is provided to release the cylindrical sample container into the chute, the trapdoor is opened in step 8015. In step 8016, the trapdoor closes. In those systems where the chute is flipped from vertical to horizontal, the cylindrical sample container is retrieved in a horizontal orientation.

[0105] [Waste management subsystem] FIG. 6A presents a perspective view of the waste management subsystem 600. As shown, the waste management subsystem 600 includes a waste receptacle 610, a chute 620, a waste receptacle holder 630, and support structures 641 and 642. A user can access the waste receptacle 610 by opening the door 110 (see FIGS. 1A - 1F) and pulling out the waste receptacle 610 by the lip of the waste receptacle holder 630. The chute 620 is disposed above the waste receptacle 610 and is supported by the support structures 641 and 642. In operation, the robotic subsystem 700 can drop a negative sample container through the chute 620 into the waste receptacle 610. This eases the workload associated with negative sample containers, which are typically about 90% of the sample containers being tested for the presence of biologically active agents. In some embodiments, the waste management subsystem 600 can include one or more additional chutes (not shown) through which the robotic subsystem 700 can drop a negative sample container into the waste receptacle 610.

[0106] In some embodiments, the waste management subsystem 600 can include one or more sensors, such as touch sensors, optical sensors, and / or ultrasonic sensors, for monitoring system conditions. For example, FIG. 6B presents an exploded view of an embodiment of the waste receptacle holder 630. As shown, the waste receptacle holder 630 includes a base 631, support structures 632 and 635, a load cell 633, and a controller 634. In some embodiments, the controller 634 can include one or more processors, one or more application-specific integrated circuits (ASICs), and / or other similar components. The controller 634 can also include a memory medium, such as a hard drive, memory card, ROM, RAM, DVD, CD-ROM, writable memory, and / or read-only memory, capable of storing information. The load cell 633 can be used, for example, to detect whether the waste receptacle 610 is full. As another example, the load cell 633 can be used to detect whether the waste receptacle 610 is placed on the base 631 of the waste receptacle holder 630. As yet another example, the load cell 633 can be used to detect the addition of a single sample container to the waste receptacle 610. Such information can be used, for example, to confirm that the sample container has been successfully released by the robotic subsystem 700. Measurements from any of the sensors in the waste management subsystem 600 can be transmitted to the computer 231 and / or 370, and then the computer 231 and / or 370 can cause a corresponding warning to appear on the display 310. For example, the controller 634 can transmit the measurement from the load cell 633 to the computer 370, and then the computer 370 can cause a corresponding warning to appear on the display 310. In some embodiments, one or more lighting lights can be placed on or near the door 110 to communicate similar information to the user. In some such embodiments, these indicator lights can be of various colors, can change color, and / or can blink.

[0107] [Robot Subsystem] Figures 7A - 7H present perspective views of one or more of the robot subsystem 700 and / or its components. The robot subsystem 700 can be configured to transfer a sample container to and / or from the module 102, the discharge chute 320, the compartments 330 and 340, the imaging subsystem 500, and / or the waste management subsystem 600. The robot subsystem 700 can also be configured to automatically distribute and / or redistribute sample containers around one or more drums within the module 102 to dispense sample containers as desired. As shown in Figure 7A, the robot subsystem 700 includes a z - axis robot 710, a theta - axis robot 720, an r - axis robot 730, a gripper assembly 740, and a controller 751. The z - axis robot 710 is configured to raise and lower the theta - axis robot 720, the r - axis robot 730, and the gripper assembly 740. The theta - axis robot 720 is configured to rotate the r - axis robot 730 and the gripper assembly 740. The r - axis robot 730 is configured to move the gripper assembly 740 forward and backward. The gripper assembly 740 is configured to grip and release a sample container (e.g., a blood culture bottle).

[0108] As shown, the z-axis robot 710 includes a rail 711, a counterweight housing 712, a pulley 713, a motor 714, and a counterweight 715. The z-axis robot 710 uses a counterweight system to increase the speed of the robot subsystem 700 and also to increase the overall throughput of the sample containers. The counterweight system includes the counterweight housing 712, the pulley 713, and the counterweight 715. One or more cables (not shown) can be connected to both the theta-axis robot 720 and the counterweight 715, and the one or more cables are disposed within the counterweight housing 712. The one or more cables can extend from the theta-axis robot 720, through the pulley 713, and into the counterweight housing 712. In some embodiments, if the primary cable fails, one or more extra cables can be used for safety reasons. The counterweight system can facilitate the use of components with reduced ratings, weights, costs, and / or sizes, such as a lower torque motor (e.g., motor 714) and / or a rail (e.g., rail 711) that have a lower moment rated load on the carriage. Thus, the counterweight system can help reduce the overall weight, cost, and / or size of the robot subsystem 700.

[0109] FIG. 7B presents a perspective view of the robot subsystem 700 without the z-axis robot 710. As shown, the robot subsystem 700 can include a controller 752, a cable carrier 753, and a camera 770. In some embodiments, the controller 751 can be communicatively coupled to the r-axis robot 730 and the gripper assembly 740, and the controller 752 can be communicatively coupled to the theta-axis robot 720. For example, the controllers 751 and 752 can send commands and / or receive measurement data from the theta-axis robot 720, the r-axis robot 730, and / or the gripper assembly 740. In some embodiments, the controllers 751 and 752 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more electrical conductors or wireless communication. In some embodiments, the controllers 751 and 752 can include one or more processors, one or more application specific integrated circuits (ASICs), and / or other similar components. The controllers 751 and 752 can also include memory media such as hard drives, memory cards, ROM, RAM, DVDs, CD-ROMs, writable memory, and / or read-only memory that are capable of storing information. In some embodiments, the cable carrier 753 can house one or more electrical conductors coupled to the r-axis robot 730 and / or the gripper assembly 740. Similar to the controllers 751 and 752, the controller 754 (see FIG. 2E) can be communicatively coupled to the z-axis robot 710. For example, the controller 754 can send commands and / or receive measurement data from the z-axis robot 710 via one or more electrical conductors or wireless communication.

[0110] In some embodiments, camera 770 may be used to confirm the movement of robot subsystem 700. For example, camera 770 may be used to confirm that robot subsystem 700 has successfully grasped or released a sample container. As another example, camera 770 may be used to confirm that gripper assembly 740 is correctly positioned relative to one or more components of module 101, such as discharge chute 320, compartments 330 and 340, imaging subsystem 500, or waste management subsystem 600. In some embodiments, camera 770 can enable a user to more easily view the movement of robot subsystem 700. For example, one or more images captured by camera 770 may be shown on display 310. In some embodiments, camera 770 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more electrical conductors or wireless communication. In some embodiments, camera 770 may be removed from robot subsystem 700. In some embodiments, module 101 can include one or more sensors, such as touch sensors, optical sensors, and / or ultrasonic sensors, to confirm the position of robot subsystem 700 and / or one or more of its components. In some embodiments, the current and / or power drawn by one or more motors of robot subsystem 700 (e.g., motors 714, 721, 732, and / or 741) can be used to confirm whether one or more movements of robot subsystem 700 have started or completed.

[0111] Figure 7C presents a perspective view of the r-axis robot 730 and the gripper assembly 740. The cover 731 (see Figure 7B) has been removed to show the pulley system in the r-axis robot 730. As shown, the r-axis robot 730 includes a motor 732, a belt 733, a drive pulley 734, an idler pulley 735, arms 736 and 737, and a clamp 738. The drive pulley 734 and the idler pulley 735 are connected by the belt 733. The drive pulley 734 is also directly connected to the shaft of the motor 732. When the motor 732 rotates the drive pulley 734, the idler pulley 735 also rotates. Further, the clamp 738 connected to the belt 733 moves forward or backward when the drive pulley 734 rotates. Since the clamp 738 is also connected to the arm 737 that slidably engages with the arm 736, the forward and backward movement of the clamp 738 also causes the arm 737 to move forward and backward. The forward and backward movement of the arm 737 also causes the gripper assembly 740 connected to the arm 737 to move forward and backward. As shown, some of the drive pulley 734 and the idler pulley 735 are toothed. The remaining idler pulley 735 is smooth. However, in other embodiments, one or more of these pulleys can be modified to be smooth or toothed.

[0112] As shown, the r-axis robot 730 also includes a belt tensioner 780 that includes an idler pulley 781, an arm 782, a coupling 783, and a screw 784. The idler pulley 781 contacts the belt 733 and can be used to apply tension to the belt 733 and also to prevent the belt 733 from slipping. As shown, the idler pulley 781 is smooth, but in other embodiments, the idler pulley 781 may be toothed. The idler pulley 781 is rotatably coupled to the arm 782. In some embodiments, the arm 782 is pivotally coupled to the cover 731 and / or another component of the r-axis robot 730 by the coupling 783. The arm 782 can pivot about an axis extending through the coupling 783. The screw 784 can be tightened to apply a force to the arm 782 that rotates the arm 782 clockwise (from the perspective of FIG. 7C) and forces the idler pulley 781 to apply additional tension to the belt 733. In some embodiments, the belt tensioner 780 can include one or more springs (not shown) to automatically set the desired tension.

[0113] As shown in FIG. 7C, the motor 732 is preferably disposed in the middle of the stroke of the r-axis robot 730. The arm 737 can be moved rearward beyond the motor 732, and the arm 737 can be moved forward beyond the motor 732. This is achieved by using a plurality of idler pulleys 735 as opposed to a single idler pulley. Many commercially available actuators place the motor at one end of the stroke. This advantageously allows the actuator to use only two pulleys, a drive pulley coupled to the motor shaft at one end of the stroke and an idler pulley at the opposite end of the stroke. This is a cost-effective solution, but the overall length of the actuator is longer due to the motor size. In other words, this type of design requires space at the end of the actuator for the motor. In module 101, there is minimal space behind the r-axis robot 730. Thus, as shown in FIG. 7C, it is advantageous that the overall length of the r-axis robot 730 can be reduced by using a plurality of idler pulleys 735.

[0114] Various modifications may be made to the r-axis robot 730. For example, in some embodiments, the motor 732 may be moved to another position between the ends of the stroke of the r-axis robot 730. As another example, in some embodiments, the r-axis robot 730 may include more or fewer idler pulleys 735. As yet another example, in some embodiments, the belt 733, drive pulley 734, and idler pulley 735 may be rotated 90 degrees so as to be parallel to the plane of the upper surfaces of the arms 736 and 737. As yet another example, in some embodiments, various belt types and sizes, pulley sizes, and / or belt routings may also be used.

[0115] Figures 7D and 7E present perspective views of the gripper assembly 740 and some parts of the r-axis robot 730. As shown, the r-axis robot 730 includes a track 748 that can be used to connect the arms 736 and 737. For example, the track 748 of the arm 737 can be connected to the rail 749 of the arm 736 (see Figure 7C). Further, the gripper assembly 740 includes a motor 741, grippers 742 and 743, and recesses 744 and 745. In operation, the motor 741 can be used to move the grippers 742 and 743 closer to or farther from each other. These movements enable the robot subsystem 700 to grip and release the sample container. Further, as shown, the robot subsystem 700 can grip the sample container 760 (e.g., a blood culture bottle) when the sample container is vertically (perpendicularly) oriented (see Figure 7D) and when the sample container is horizontally oriented (see Figure 7E). When the sample container 760 is in an upright position, the recesses 744 and 745 can be used to grip the neck of the sample container 760. When the sample container 760 is in a horizontal position, the curved shape of the grippers 742 and 743 can be used to grip the bottom end of the sample container 760.

[0116] In some embodiments, grippers 742 and 743 can be pressed against each other by one or more springs (not shown). In such embodiments, motor 741 generates an opposing force to separate grippers 742 and 743. In some embodiments, one or more springs can be disposed within a common housing with motor 741. In the event of a power outage, the one or more springs can prevent robot subsystem 700 from dropping the sample container. For example, the force generated by the one or more springs can be sufficient for robot subsystem 700 to continue gripping the sample container even in the absence of power. In some embodiments, robot subsystem 700 can include a backup power source (e.g., backup power source 234). In addition to helping prevent robot subsystem 700 from dropping the sample container, the backup power source can also help maintain the chain of custody of the sample container. Further, in some embodiments, the backup power source can enable robot subsystem 700 to complete delivering the sample container to the target location in the event of a power outage. For example, if robot subsystem 700 is in the middle of delivering a sample container to imaging subsystem 500, the backup power source can be used to complete that delivery.

[0117] As shown in FIGS. 7A - 7E, the gripper assembly 740 is preferably separated from the arm 736 of the r - axis robot 730 by the arm 737. In other embodiments, the gripper assembly 740 may also be slidably coupled to the arm 737. However, in such embodiments, it may not be possible to fully retract the gripper assembly 740 to a position below the arm 736 while the gripper assembly 740 holds the sample container in an upright position. As best seen in FIG. 7C, a portion of the crimp ring, septum, and neck of the sample container may extend vertically beyond the upper portions of the grippers 742 and 743. These portions of the sample container may collide with the arm 736 in embodiments where the gripper assembly 740 is directly coupled to the arm 737. In the embodiments shown in FIGS. 7A - 7E, this is avoided by creating a space between the upper portions of the grippers 742 and 743 and the arm 736 that can accommodate a portion of the crimp ring, septum, and / or neck of the sample container. Advantageously, this space is created without increasing the size (e.g., height) of the gripper assembly 740. Thus, this embodiment provides a cost - effective way for the gripper assembly 740 to be fully retractable while it holds the sample container in an upright position.

[0118] As shown in FIGS. 7A - 7E, the orientation of the belt 733 and the rail 749 can also advantageously contribute to the ability of the robot subsystem 700 to fully retract the gripper assembly 740 while the gripper assembly 740 holds the sample container in an upright position. More specifically, the space between the belt 733 and the rail 749, which is also under the arm 736, can accommodate the crimpling, septum, and / or part of the neck of the sample container while the sample container is held in an upright position by the gripper assembly 740. Advantageously, this space is created without increasing the size (e.g., height) of the gripper assembly 740. Thus, the orientation of the belt 733 and the rail 749 provides a cost - effective way for the gripper assembly 740 to be fully retracted while the gripper assembly 740 holds the sample container in an upright position.

[0119] FIGS. 7F - 7H present perspective views of the theta - axis robot 720. As shown, the theta - axis robot 720 includes a motor 721, a belt 722, an idler pulley 723, a drive pulley 724, a platform 725, and a coupling 726. The drive pulley 724 and the idler pulley 723 are connected by the belt 722. The drive pulley 724 is also directly connected to the shaft of the motor 721. When the motor 721 rotates the drive pulley 724, the idler pulley 723 also rotates. Since the idler pulley 723 is also connected to the r - axis robot 730, the rotation of the drive pulley 724 also rotates the r - axis robot 730. The theta - axis robot 720 can be slidably connected to the rail 711 of the z - axis robot 710 by the coupling 726.

[0120] As shown, the theta-axis robot 720 also includes a belt tensioner 790 that includes an idler pulley 791, a plate 792, a recess 793, a screw 794, and an opening 795. The idler pulley 791 contacts the belt 722 and can be used to apply tension to the belt 722 and to prevent the belt 722 from slipping. The idler pulley 791 is rotatably coupled to the plate 792. The plate 792 is disposed within the recess 793 of the platform 725. The plate 792 is coupled to a screw 794 that extends through the opening 795 of the platform 725. If the screw 794 is loose, the plate 792 can slide upward or downward (from the perspective of FIG. 7G). As the plate 792 slides downward, it causes the idler pulley 791 to apply additional tension to the belt 722. When the screw 794 is tightened, the plate 792 is prevented from sliding upward or downward. In some embodiments, the belt tensioner 790 can include one or more springs (not shown) to automatically set the desired tension.

[0121] Figures 20A-20G illustrate another embodiment of a robot subsystem that can be compared to the robot subsystem 700. As shown in FIG. 20A, a robot subsystem 1700 includes a z-axis robot 1710, a theta-axis robot 1720, an r-axis robot 1730, and a gripper assembly 1740. The z-axis robot 1710 is configured to raise and lower the theta-axis robot 1720, the r-axis robot 1730, and the gripper assembly 1740. The theta-axis robot 1720 is configured to rotate the r-axis robot 1730 and the gripper assembly 1740. The r-axis robot 1730 is configured to move the gripper assembly 1740 forward and backward. The gripper assembly 1740 is configured to grip and release a sample container (e.g., a blood culture bottle).

[0122] As shown, the z-axis robot 1710 includes a rail 1711, a counterweight housing 1712, a pulley 1713, and a counterweight 1715. The z-axis robot 1710 uses a counterweight system to increase the speed of the robot subsystem 1700 and also to increase the overall throughput of the sample containers. The counterweight system includes the counterweight housing 1712, the pulley 1713, and the counterweight 1715. One or more cables (not shown) can be connected to both the theta-axis robot 1720 and the counterweight 1715, and the one or more cables are disposed within the counterweight housing 1712. The one or more cables can extend from the theta-axis robot 1720, through the pulley 1713, into the counterweight housing 1712. In some embodiments, one or more extra cables can be used for safety reasons if the main cable fails. The counterweight system can facilitate the use of components with reduced ratings, weights, costs, and / or sizes, such as a lower torque motor and / or a rail (e.g., rail 1711) that has a lower moment rated load on the carriage. Thus, the counterweight system can help reduce the overall weight, cost, and / or size of the robot subsystem 1700.

[0123] Figures 20B and 20C present perspective views of the r-axis robot 1730 and the gripper assembly 1740. As shown, the r-axis robot 1730 includes a motor 1732, a belt 1733, a drive pulley 1734, an idler pulley 1735, arms 1736 and 1737, and a clamp 1738. The drive pulley 1734 and the idler pulley 1735 are connected by the belt 1733. The drive pulley 1734 is also directly connected to the shaft of the motor 1732. When the motor 1732 rotates the drive pulley 1734, the idler pulley 1735 also rotates. Further, when the drive pulley 1734 rotates, the clamp 1738 connected to the belt 1733 moves forward or backward. The clamp 1738 is also connected to an arm 1737 that slidably engages with the arm 1736, so the forward and backward movement of the clamp 1738 also moves the arm 1737 forward and backward. The forward and backward movement of the arm 1737 also moves the gripper assembly 1740 connected to the arm 1737 forward and backward. As shown, the drive pulley 1734 and the idler pulley 1735 are toothed, but in other embodiments, the drive pulley 1734 and the idler pulley 1735 may be toothed or not.

[0124] Various modifications can be made to the r-axis robot 1730. For example, in some embodiments, the r-axis robot 1730 can include more or fewer idler pulleys. As yet another example, in some embodiments, the belt 1733, the drive pulley 1734, and the idler pulley 1735 may be rotated 90 degrees so as to be parallel to the plane of the upper surfaces of the arms 1736 and 1737. As yet another example, in some embodiments, various belt types and sizes, pulley sizes, and / or belt routings may also be used. As yet another example, in some embodiments, the r-axis robot 1730 can be modified to have a carriage driven by a ball screw and nut rather than a linear actuator driven by an internal belt drive having pulleys at each end.

[0125] Figures 20D and 2E present perspective views of the gripper assembly 1740. As shown, the gripper assembly 1740 includes a motor 1741, grippers 1742 and 1743, and recesses 1744 and 1745. In operation, the motor 1741 can be used to move the grippers 1742 and 1743 closer to or farther from each other. These movements enable the robot subsystem 1700 to grip and release a sample container. Further, as shown, the robot subsystem 1700 can grip a sample container 1760 (e.g., a blood culture bottle) when the sample container is vertically (upright) oriented (see Figure 20E) and when the sample container is horizontally oriented (see Figure 20D). When the sample container 1760 is in an upright position, the recesses 1744 and 1745 can be used to grip the neck of the sample container 1760. When the sample container 1760 is in a horizontal position, the curved shape of the grippers 1742 and 1743 can be used to grip the bottom end of the sample container 1760.

[0126] In some embodiments, the grippers 1742 and 1743 can be pressed against each other by one or more springs (not shown). In such embodiments, the motor 1741 generates an opposing force to move the grippers 1742 and 1743 apart. In some embodiments, one or more springs can be disposed within a common housing with the motor 1741. In the event of a power outage, the one or more springs can prevent the robot subsystem 1700 from dropping the sample container. For example, the force generated by the one or more springs can be sufficient for the robot subsystem 1700 to continue gripping the sample container even in the absence of power. In some embodiments, the robot subsystem 1700 can include a backup power source (e.g., backup power source 234). In addition to helping prevent the robot subsystem 1700 from dropping the sample container, the backup power source can also help maintain the chain of custody of the sample container.

[0127] Figure 20F presents a perspective view of the theta-axis robot 1720, and Figure 20G presents a cross-sectional view of some parts of the theta-axis robot 1720 and some parts of the r-axis robot 1730. As shown, the theta-axis robot 1720 includes a motor 1721, a belt 1722, an idler pulley 1723, a drive pulley 1724, a platform 1725, and a coupling 1726. The idler pulley 1723 includes a large-diameter (about 3.5'') wafer bearing that includes a steel ball bearing sandwiched around a machined gearing. The drive pulley 1724 and the idler pulley 1723 are connected by a belt 1722. The drive pulley 1724 is also directly connected to the shaft of the motor 1721. When the motor 1721 rotates the drive pulley 1724, the idler pulley 1723 also rotates. Since the idler pulley 1723 is also connected to the r-axis robot 1730, the rotation of the drive pulley 1724 also rotates the r-axis robot 1730. The theta-axis robot 1720 can be slidably connected to the rail 1711 of the z-axis robot 1710 by a coupling 1726.

[0128] Figures 21A - 21F show another embodiment of a robot subsystem that can be compared with robot subsystems 700 and 1700. As shown in Figure 21A, a robot subsystem 2700 can be incorporated into an automated system 2100 for processing a plurality of sample containers (e.g., blood culture bottles) including modules 2101 and 2102. Module 2101 is configured to receive a sample container, scan the sample container, transfer the sample container to and from module 2102, dispose of sample containers showing a negative reaction, and provide sample containers showing a positive reaction upon discharge. As shown, module 2101 includes a discharge chute 2320, compartments 2330 and 2340, and a door 2110 that can provide access to a waste receptacle. Module 2102 is an incubation and measurement module configured to determine whether a sample container is contaminated or infected by microorganisms.

[0129] As shown in Figure 21B, robot subsystem 2700 includes a z - axis robot 2710, a theta - axis robot 2720, an r - axis robot 2730, and a gripper assembly 2740. The z - axis robot 2710 is configured to raise and lower the r - axis robot 2730 and the gripper assembly 2740. The theta - axis robot 2720 is configured to rotate the z - axis robot 2710, the r - axis robot 2730, and the gripper assembly 2740. The r - axis robot 2730 is configured to move the gripper assembly 2740 forward and backward. The gripper assembly 2740 is configured to grip and release a sample container (e.g., a blood culture bottle). As shown in Figures 21C and 21D, robot subsystem 2700 can retrieve a sample container 2760 from a rack 2450 within compartment 2330.

[0130] Figures 21E and 21F present perspective views of the gripper assembly 2740. As shown, the gripper assembly 2740 includes a motor 2741, grippers 2742 and 2743, recesses 2744 and 2745, and fingers 2746. In operation, the motor 2741 can be used to move the grippers 2742 and 2743 closer to or farther from each other. These movements enable the robot subsystem 2700 to grip and release a sample container. Further, as shown, the robot subsystem 2700 can grip a sample container 2760 (e.g., a blood culture bottle) when the sample container is vertically (upright) oriented (see Figure 21F) and when the sample container is horizontally oriented (see Figure 21E). When the sample container 2760 is in an upright position, the recesses 2744 and 2745 can be used to grip the neck of the sample container 2760. When the sample container 2760 is in a horizontal position, the fingers 2746 can be used to grip the bottom end of the sample container 2760. In some embodiments, the gripper assembly 2740 can include additional fingers.

[0131] In some embodiments, the grippers 2742 and 2743 can be pressed against each other by one or more springs (not shown). In such embodiments, the motor 2741 generates an opposing force to move the grippers 2742 and 2743 apart. In some embodiments, one or more springs can be disposed within a common housing with the motor 2741. In the event of a power outage, the one or more springs can prevent the robot subsystem 2700 from dropping the sample container. For example, the force generated by the one or more springs can be sufficient for the robot subsystem 2700 to continue gripping the sample container even when there is no power. In some embodiments, the robot subsystem 2700 can include a backup power source (e.g., backup power source 234). In addition to helping prevent the robot subsystem 2700 from dropping the sample container, the backup power source can also help maintain the chain of custody of the sample container.

[0132] Figures 22A - 22C show another embodiment of a theta - axis robot that can be compared with theta - axis robots 720 and 1720. As shown, theta - axis robot 3720 includes motor 3721, belts 3722 and 3727, idler pulleys 3723 and 3724, platform 3725, coupling 3726, and cover 3728. Idler pulleys 3723 and 3724 are connected by belt 3722. Idler pulley 3724 is also connected by belt 3727 to a drive pulley (not shown) disposed under motor 3721. The drive pulley is directly coupled to the shaft of motor 3721. When motor 3721 rotates the drive pulley, idler pulleys 3723 and 3724 also rotate. Theta - axis robot 3720 can be slidably coupled to a rail (e.g., rail 711) by coupling 3726.

[0133] As shown, theta - axis robot 3720 also includes two belt tensioners. One belt tensioner includes idler pulley 3791, plate 3792, recess 3793, screw 3794, and opening 3795. Idler pulley 3791 contacts belt 3722 and can be used to apply tension to belt 3722 and to prevent belt 3722 from slipping. Idler pulley 3791 is rotatably coupled to plate 3792. Plate 3792 is disposed within recess 3793 of platform 3725. Plate 3792 is coupled to screw 3794 that extends through opening 3795 of platform 3725. If screw 3794 is loose, plate 3792 can slide. When screw 3794 is tightened, plate 3792 is prevented from sliding. In some embodiments, the first belt tensioner can include one or more springs (not shown) to automatically set the desired tension.

[0134] The second belt tensioner includes an idler pulley 3796, a plate 3797, a screw 3799, and an opening 3798. The idler pulley 3796 contacts the belt 3727 and can be used to apply tension to the belt 3727 and to prevent the belt 3727 from slipping. The idler pulley 3796 is rotatably coupled to the plate 3797. The plate 3797 is disposed within a recess (not shown) of the platform 3725. The plate 3797 is coupled to a screw 3799 that extends through an opening 3798 of the platform 3725. When the screw 3799 is loose, the plate 3797 can slide. When the screw 3799 is tightened, the plate 3797 is prevented from sliding. In some embodiments, the second belt tensioner can include one or more springs (not shown) to automatically set a desired tension. In some embodiments, the motor 3721 can be attached to a subplate that can pivot. The pivoting movement can apply tension, for example, without the use of the plate 3797 and the idler pulley 3796.

[0135] As shown in FIG. 22C, the idler pulley 3724 includes an upper disk 3001, a lower disk 3002, a shaft 3003, a ball bearing 3004, a wave ring 3005, and a retaining ring 3006. The upper disk 3001 contacts the belt 3727 and can be viewed from the perspective of FIG. 22A. The lower disk 3002 contacts the belt 3722 and can be viewed from the perspective of FIG. 22B. The upper disk 3001 and the lower disk 3002 are fixedly connected to each other by a shaft 3003. The shaft 3003 is configured to rotate by a ball bearing 3004. Compared with the theta-axis robot 720, the theta-axis robot 3720 advantageously has an increased torque ratio. This is achieved by sizing the upper disk 3001 and the lower disk 3002 such that the diameter of the upper disk 3001 is larger than the diameter of the lower disk 3002. The increase in the gear ratio can, for example, increase the control resolution of the robot subsystem 700. Therefore, in some embodiments, the theta-axis robot 3720 may be used instead of the theta-axis robot 720. In some embodiments, the ball bearing 3004 may be repositioned, for example, (viewed from the perspective of FIG. 22C) such that one is disposed above the upper disk 3001 and the other is disposed below the upper disk 3001. Such an arrangement can advantageously provide additional rigidity to the shaft 3003.

[0136] FIG. 23A shows another embodiment of a gripper assembly that can be compared to gripper assemblies 740, 1740, and 2740. As shown, gripper assembly 4740 includes a housing 4741, grippers 4742 and 4743, recesses 4744 and 4745, and a sensor 4772. In operation, a motor within housing 4741 can be used to move grippers 4742 and 4743 closer to or farther from each other. These movements can enable a robot subsystem (e.g., robot subsystem 700) to grip and release a sample container. Further, the sample container can be oriented vertically (upright) or horizontally. When the sample container is in an upright position, recesses 4744 and 4745 can be used to grip the neck of the sample container. When the sample container is in a horizontal position, the curved portions of the bodies of grippers 4742 and 4743 can be used to grip the bottom end of the sample container.

[0137] In some embodiments, sensor 4772 can be a non-contact sensor such as an optical sensor or an ultrasonic sensor. In some embodiments, sensor 4772 can be used to confirm the movement of a robot subsystem (e.g., robot subsystem 700). For example, sensor 4772 can be used to confirm that gripper assembly 4740 has successfully grasped or released a sample container. As another example, sensor 4772 can be used to confirm that gripper assembly 4740 is properly positioned relative to one or more components of the module (e.g., discharge chute 320, compartments 330 and 340, imaging subsystem 500, or waste management subsystem 600). By tilting sensor 4772 (as opposed to orienting sensor 4772 vertically or horizontally), sensor 4772 can advantageously be used to measure the vertical and / or horizontal distance between gripper assembly 4740 and another object. Further, by positioning sensor 4772 such that it does not extend above or below housing 4741, sensor 4772 advantageously does not interfere with the movement of gripper assembly 4740. However, in some embodiments, the orientation and / or position of sensor 4772 may be changed. For example, in some embodiments, sensor 4772 may be oriented vertically or horizontally. As another example, in some embodiments, sensor 4772 may be coupled to one of grippers 4742 and 4743 instead of housing 4741. In some embodiments, sensor 4772 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more electrical conductors or wireless communication. In some embodiments, gripper assembly 4740 may include one or more additional sensors that can also be used to confirm the movement of the robot subsystem. In some embodiments, sensor 4772 may be removed from gripper assembly 4740.

[0138] Figures 23B - 23D are perspective views of the gripper assembly 4740 without some parts of the housing 4741. As shown, the gripper assembly 4740 includes a platform 4001, a motor 4002, a pinion gear 4003, a mount 4004, blocks 4005 and 4006, shafts 4007 and 4008, gear racks 4009 and 4010, springs 4011, 4012, and 4017, rails 4013 and 4014, a sensor 4015, and a member 4016. Block 4005 is connected to the gripper 4742 and the gear rack 4009. Similarly, block 4006 is connected to the gripper 4743 and the gear rack 4010. Block 4005 is slidably connected to the shaft 4007 and the rail 4013. Similarly, block 4006 is slidably connected to the shaft 4008 and the rail 4014. The motor 4002 is configured to rotate the pinion gear 4003. In some embodiments, the motor 4002 is a small brushless DC motor having a gear reducer and / or an encoder. The pinion gear 4003 engages the gear racks 4009 and 4010, so that as the pinion gear 4003 rotates in a first direction, the grippers 4742 and 4743 approach each other. Similarly, as the pinion gear 4003 rotates in the opposite direction, the grippers 4742 and 4743 separate. Springs 4011 and 4012 are disposed around the shafts 4007 and 4008 respectively and are configured to apply a force to the blocks 4005 and 4006 to move the grippers 4742 and 4743 towards each other. Thus, in the event of a power failure, the springs 4011 and 4012 can prevent the robot subsystem (e.g., robot subsystem 700) from dropping the sample container.

[0139] Sensor 4015, member 4016, and spring 4017 can be used to measure the positions of grippers 4742 and 4743. For example, spring 4017 can apply a force to member 4016 in a first direction. However, as grippers 4742 and 4743 approach each other, block 4006 can rotate member 4016 in the opposite direction. This rotation causes a portion of member 4016 to move out from under sensor 4015. This movement can then be detected by sensor 4015. In some embodiments, sensor 4015 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or a computer (e.g., computers 231 and / or 370) via one or more electrical conductors or wireless communication. In some embodiments, sensor 4015 can be a non-contact sensor such as an optical sensor. In other embodiments, sensor 4015 can be, for example, a touch sensor.

[0140] Compared to gripper assembly 740, gripper assembly 4740 can advantageously have an increased stroke length and / or a decreased width. This is achieved by using two independent linear guide assemblies. Most grippers use a single linear guide with two carriages attached to the same rail. This limits the stroke because the carriages share the same guide rail. By using two linear guides, the carriages can pass by each other, thus allowing for more stroke in a decreased width footprint. Accordingly, in some embodiments, gripper assembly 4740 may be used instead of gripper assembly 740.

[0141] In some embodiments, the motor 4002 can be a servo motor. In such embodiments, the motor 4002 can advantageously enable the gripper assembly 4740 to apply additional clamping force by the grippers 4742 and 4743 to compensate for misalignment during picking. Further, in such embodiments, the motor 4002 can advantageously provide both torque measurement values and position measurement values. In some embodiments, one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) can use these torque measurement values and position measurement values to detect whether the sample container is disposed within the grippers 4742 and 4743. Similarly, in some embodiments, one or more controllers and / or computers can use these torque measurement values and position measurement values to detect whether the sample container has been dropped. In some embodiments, the motor 4002 can be another type of motor, such as a stepper motor.

[0142] FIG. 24A shows another embodiment of a gripper assembly that can be compared with the gripper assemblies 740, 1740, 2740, and 4740. As shown, the gripper assembly 5740 includes a housing 5741, grippers 5742 and 5743, recesses 5744 and 5745, and a sensor 5772. During operation, a motor within the housing 5741 can be used to move the grippers 5742 and 5743 closer to or away from each other. These movements can enable a robotic subsystem (e.g., robotic subsystem 700) to grip and release a sample container. Further, the sample container can be oriented vertically (upright) or horizontally. When the sample container is in an upright position, the recesses 5744 and 5745 can be used to grip the neck of the sample container. When the sample container is in a horizontal position, the curved portions of the bodies of the grippers 5742 and 5743 can be used to grip the bottom end of the sample container.

[0143] In some embodiments, sensor 5772 can be a non-contact sensor such as an optical sensor or an ultrasonic sensor. In some embodiments, sensor 5772 can be used to confirm the movement of a robot subsystem (e.g., robot subsystem 700). For example, sensor 5772 can be used to confirm that gripper assembly 5740 has successfully grasped or released a sample container. As another example, sensor 5772 can be used to confirm that gripper assembly 5740 is correctly positioned relative to one or more components of the module (e.g., discharge chute 320, compartments 330 and 340, imaging subsystem 500, or waste management subsystem 600). By tilting sensor 5772 (as opposed to orienting sensor 5772 vertically (perpendicular) or horizontally), sensor 5772 can advantageously be used to measure the vertical (perpendicular) and / or horizontal distance between gripper assembly 5740 and another object. Further, by placing sensor 5772 between grippers 5742 and 5743, sensor 5772 can accurately confirm the movement of the robot subsystem. Further, by placing sensor 5772 so that it does not extend above or below grippers 5742 and 5743, sensor 5772 advantageously does not interfere with the movement of gripper assembly 5740. However, in some embodiments, the orientation and / or position of sensor 5772 may be changed. For example, in some embodiments, sensor 5772 may be oriented vertically (perpendicular) or horizontally. As another example, in some embodiments, sensor 5772 may be coupled to one of grippers 5742 and 5743 rather than housing 5741. In some embodiments, sensor 5772 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more electrical conductors or wireless communication. In some embodiments, gripper assembly 5740 may include one or more additional sensors that can also be used to confirm the movement of the robot subsystem.In some embodiments, sensor 5772 may be removed from gripper assembly 5740.

[0144] Figures 24B - 24D are perspective views of gripper assembly 5740 without some portions of housing 5741. As shown, gripper assembly 5740 includes platform 5001, motor 5002, pinion gear 5003, mount 5004, blocks 5005 and 5006, shafts 5007 and 5008, gear racks 5009 and 5010, springs 5011, 5012, and 5017, rails 5013 and 5014, sensor 5015, and member 5016. Block 5005 is connected to gripper 5742 and gear rack 5009. Similarly, block 5006 is connected to gripper 5743 and gear rack 5010. Block 5005 is slidably connected to shaft 5007 and rail 5013. Similarly, block 5006 is slidably connected to shaft 5008 and rail 5014. Motor 5002 is configured to rotate pinion gear 5003. In some embodiments, motor 5002 is a small brushless DC motor having a gear reducer and / or an encoder. Pinion gear 5003 engages gear racks 5009 and 5010 such that as pinion gear 5003 rotates in a first direction, grippers 5742 and 5743 move closer to each other. Similarly, as pinion gear 5003 rotates in the opposite direction, grippers 5742 and 5743 move apart. Springs 5011 and 5012 are disposed around shafts 5007 and 5008 respectively and are configured to apply a force to blocks 5005 and 5006 to move grippers 5742 and 5743 closer to each other. Thus, in the event of a power outage, springs 5011 and 5012 can prevent the robot subsystem (e.g., robot subsystem 700) from dropping the sample container.

[0145] Sensor 5015, member 5016, and spring 5017 can be used to measure the positions of grippers 5742 and 5743. For example, spring 5017 can apply a force to member 5016 in a first direction. However, as grippers 5742 and 5743 approach each other, block 5006 can rotate member 5016 in the opposite direction. This rotation causes a portion of member 5016 to move out from under sensor 5015. This movement can then be detected by sensor 5015. In some embodiments, sensor 5015 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more electrical conductors or wireless communication. In some embodiments, sensor 5015 can be a non-contact sensor such as an optical sensor. In other embodiments, sensor 5015 can be, for example, a touch sensor.

[0146] Compared to gripper assembly 740, gripper assembly 5740 advantageously has an increased stroke length and / or a decreased width. This is achieved by using two independent linear guide assemblies. Most grippers use a single linear guide where two carriages are attached to the same rail. This limits the stroke because the carriages share the same guide rail. By using two linear guides, the carriages can pass by each other and thus provide more stroke in a decreased width footprint. Accordingly, in some embodiments, gripper assembly 5740 may be used instead of gripper assembly 740.

[0147] In some embodiments, the motor 5002 can be a servo motor. In such embodiments, the motor 5002 can advantageously enable the gripper assembly 5740 to apply additional clamping force by the grippers 5742 and 5743 to compensate for misalignment during pickup. Further, in such embodiments, the motor 5002 can advantageously provide both torque measurement values and position measurement values. In some embodiments, one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) can use these torque measurement values and position measurement values to detect whether the sample container is disposed within the grippers 5742 and 5743. Similarly, in some embodiments, one or more controllers and / or computers can use these torque measurement values and position measurement values to detect whether the sample container has been dropped. In some embodiments, the motor 5002 can be another type of motor, such as a stepper motor.

[0148] Figures 25A and 25B show, respectively, a top perspective view and a bottom perspective view of another embodiment of a gripper assembly that can be compared to gripper assemblies 740, 1740, 2740, 4740, and 5740. As shown, gripper assembly 6740 includes housing 6741, grippers 6742 and 6743, recesses 6744 and 6745, engagement features 6746 and 6747, and sensor 6772. In operation, a motor within housing 6741 can be used to move grippers 6742 and 6743 towards or away from each other. These movements can enable a robot subsystem (e.g., robot subsystem 700) to grip and release a sample container. Further, the sample container can be oriented vertically (upright) or horizontally. When the sample container is in an upright position, recesses 6744 and 6745 can be used to grip the neck of the sample container. Further, when grippers 6742 and 6743 grip the neck of the sample container, engagement features 6746 and 6747 can interlock with each other to provide additional support. When the sample container is in a horizontal position, the curved portions of the bodies of grippers 6742 and 6743 can be used to grip the bottom end of the sample container.

[0149] In some embodiments, sensor 6772 can be a non-contact sensor such as an optical sensor or an ultrasonic sensor. In some embodiments, sensor 6772 can be used to confirm the movement of a robot subsystem (e.g., robot subsystem 700). For example, sensor 6772 can be used to confirm that gripper assembly 6740 has successfully grasped or released a sample container. As another example, sensor 6772 can be used to confirm that gripper assembly 6740 is correctly positioned relative to one or more components of the module (e.g., discharge chute 320, compartments 330 and 340, imaging subsystem 500, or waste management subsystem 600). By tilting sensor 6772 (as opposed to orienting sensor 6772 vertically or horizontally), sensor 6772 can advantageously be used to measure the vertical and / or horizontal distance between gripper assembly 6740 and another object. Further, by placing sensor 6772 between grippers 6742 and 6743, sensor 6772 can accurately confirm the movement of the robot subsystem. Further, by placing sensor 6772 such that it does not extend above or below grippers 6742 and 6743, sensor 6772 advantageously does not interfere with the movement of gripper assembly 6740. However, in some embodiments, the orientation and / or position of sensor 6772 may be changed. For example, in some embodiments, sensor 6772 may be oriented vertically or horizontally. As another example, in some embodiments, sensor 6772 may be coupled to one of grippers 6742 and 6743 instead of housing 6741. In some embodiments, sensor 6772 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more electrical conductors or wireless communication. In some embodiments, gripper assembly 6740 may include one or more additional sensors that can also be used to confirm the movement of the robot subsystem.In some embodiments, the sensor 6772 may be removed from the gripper assembly 6740.

[0150] FIG. 25C is a perspective view of the gripper assembly 6740 without the upper portion of the housing 6741. FIG. 25D is a perspective view of the gripper assembly 6740 without the housing 6741 and some other stationary components. As shown, the gripper assembly 6740 includes a motor 6002, a shaft 6003, a mount 6004, a spring plate 6005, a nut base 6006, a flanged screw nut 6007, pads 6008 and 6009, a pin 6010, a sensor 6015, a spring 6017, members 6021-6028, and a coupling 6029. The shaft 6003 has threads. The spring plate 6005 is slidably engaged with the shaft 6003. The pads 6008 and 6009 are connected to the housing 6741 and are configured to prevent the spring plate 6005 from rotating as the spring plate 6005 slides along the shaft 6003. The flanged screw nut 6007 is engaged with the threads of the shaft 6003. In some embodiments, the flanged screw nut 6007 is a flanged ball screw nut. The nut base 6006 is connected to the spring plate 6005 and is slidably engaged with the flanged screw nut 6007. The pin 6010 is connected to the nut base 6006 and is configured to prevent the flanged screw nut 6007 from rotating as the flanged screw nut 6007 moves along the shaft 6003. In this particular embodiment, two pins are disposed on the nut base 6006 and two pins (not shown) are disposed under the nut base 6006. In other embodiments, more or fewer pins may be included to prevent the flanged screw nut 6007 from rotating as the flanged screw nut 6007 moves along the shaft 6003. The spring 6017 is slidably engaged with the shaft 6003. A first end of the spring 6017 contacts the spring plate 6005. A second end of the spring 6017, opposite the first end, contacts the flanged screw nut 6007.

[0151] As the shaft 6003 rotates in the first direction, the flanged screw nut 6007 approaches the motor 6002. As the flanged screw nut 6007 approaches the motor 6002, it pushes the spring 6017 towards the motor 6002. If there is minimal or no resistance between the grippers 6742 and 6743, the pushing force generated by the flanged screw nut 6007 is transferred via the spring 6017 to the spring plate 6005 (and thus the nut base 6006). As a result, as the flanged screw nut 6007 approaches the motor 6002, the spring plate 6005, the nut base 6006, and the spring 6017 also approach the motor 6002. If there is resistance between the grippers 6742 and 6743 (for example, if the grippers 6742 and 6743 are in contact with each other or if a sample container is placed within the grippers 6742 and 6743), the pushing force generated by the flanged screw nut 6007 compresses the spring 6017. As a result, as the flanged screw nut 6007 approaches the motor 6002, the spring plate 6005 and the nut base 6006 may remain relatively stationary. As the shaft 6003 rotates in the second direction opposite to the first direction, the flanged screw nut 6007 moves away from the motor 6002. As the flanged screw nut 6007 moves away from the motor 6002, it pushes the nut base 6006 (and thus the spring plate 6005 and the spring 6017) away from the motor 6002.

[0152] Grippers 6742 and 6743 are connected to the nut base 6006 by members 6021 - 6028 and coupling 6029. As shown, gripper 6742 is pivotally connected to the first ends of members 6021 - 6023 by coupling 6029. Similarly, gripper 6743 is pivotally connected to the first ends of members 6025 - 6027 by coupling 6029. The second ends of members 6021, 6023, 6025, and 6027, opposite the first ends, are pivotally connected to the housing 6741 by coupling 6029. The second ends of members 6022 and 6026, opposite the first ends, are pivotally connected to the first ends of members 6024 and 6028 respectively by coupling 6029. The second ends of members 6024 and 6028, opposite the first ends, are pivotally connected to the nut base 6006 by coupling 6029. As shown, members 6021, 6023, 6025, and 6027 are straight, and members 6022, 6024, 6026, and 6028 are bent. Further, the corners of members 6022 and 6026 are pivotally connected to the housing 6741 by coupling 6029.

[0153] Figures 25E - 25G are top views of gripper assembly 6740 without housing 6741 and several other stationary components (see also Figure 25D) showing how grippers 6742 and 6743 are moved. As best seen in Figures 25E and 25F, as nut base 6006 approaches motor 6002, it pulls members 6024 and 6028 towards motor 6002. The pulling force on members 6024 and 6028 also rotates those members about an axis extending through coupling 6029 at the second ends of members 6024 and 6028. The rotation of members 6024 and 6028 also rotates each of members 6022 and 6026 (a) about an axis extending through coupling 6029 at the corners of members 6022 and 6026, and rotates members 6021, 6023, 6025, and 6027 (b) about an axis extending through coupling 6029 at the second ends of members 6021, 6023, 6025, and 6027. In summary, the rotation of members 6021 - 6023 and 6025 - 6027 causes grippers 6742 and 6743 to approach each other. As nut base 6006 moves away from motor 6002, it pushes members 6024 and 6028 away from motor 6002. The pushing force on members 6024 and 6028 rotates members 6021 - 6028 in much the same way as the pulling force on members 6024 and 6028, but in the opposite direction. As a result, grippers 6742 and 6743 separate. As best seen in Figure 25G, if there is resistance between grippers 6742 and 6743, nut base 6006 can simply compress spring 6017 as it approaches motor 6002 rather than causing grippers 6742 and 6743 to approach each other. In Figure 25G, this resistance is caused by grippers 6742 and 6743 contacting each other. However, a similar resistance can be generated if an object such as a sample container is placed between grippers 6742 and 6743.

[0154] Figures 25H and 25I are perspective views of spring plate 6005 and sensor 6015. As shown, spring plate 6005 includes member 6016, openings 6031 and 6032, and recess 6033. Shaft 6003 extends through opening 6032. The first end of spring 6017 is disposed within recess 6033 of spring plate 6005. Spring plate 6005 and sensor 6015 can be used to measure the positions of grippers 5742 and 5743. For example, as spring plate 6005 approaches motor 6002 and moves away from motor 6002, corresponding movement of member 6016 can be detected by sensor 6015. For example, when spring plate 6005 is in the position shown in FIGS. 25E and 25G, member 6016 is not disposed under sensor 6015. Further, when spring plate 6005 is in the position shown in FIG. 25F, member 6016 is disposed under sensor 6015. Further, when spring plate 6005 is in the position shown in FIG. 25F, a portion of sensor 6015 can extend through opening 6031. In some embodiments, sensor 6015 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more electrical conductors or wireless communication. In some embodiments, sensor 6015 can be a non-contact sensor such as an optical sensor. In other embodiments, sensor 6015 can be, for example, a touch sensor. In some embodiments, the shape of spring plate 6005 may be changed. For example, opening 6031 may be closed. In some embodiments, the orientation and / or position of sensor 6015 may be changed. For example, in some embodiments, sensor 6015 may be oriented vertically rather than horizontally. As another example, in some embodiments, sensor 6015 may be repositioned to detect movement of another component of gripper assembly 6740, such as nut base 6006 or flanged screw nut 6007.

[0155] In some embodiments, the motor 6002 can be a stepper motor. For example, compared to a servo motor, a stepper motor can have a lower cost. However, a stepper motor will not provide the same torque and / or feedback. In the embodiments shown in FIGS. 25A-25I, the spring 6017 can advantageously compensate for the reduction of the torque of the stepper motor and / or the deviation during pickup. The spring 6017 can also advantageously simplify the programming of the gripper assembly 6740. For example, one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) can drive the motor 6002 to a predetermined position, and the spring 6017 can compensate for any error (e.g., deviation) in that position. In some embodiments, the motor 6002 can be another type of motor, such as a servo motor.

[0156] Various modifications can be made to the gripper assembly 6740. For example, in some embodiments, one or more components may be modified and / or removed. For example, in some embodiments, the spring plate 6005, the flanged screw nut 6007, and / or the spring 6017 may be removed. In some such embodiments, the nut base 6006 may be modified to engage the threads of the shaft 6003. As another example, one or more of the members 6021 - 6028 may be modified and / or removed. For example, in some embodiments, the members 6021 and 6023 may be combined into a single member. Similarly, in some embodiments, the members 6025 and 6027 may be combined into a single member. Such embodiments may advantageously include fewer moving parts. However, such embodiments may also include less space for the sensor 6772. In the embodiments shown in FIGS. 25A - 25I, the members 6021, 6023, 6025, and 6027 are advantageously disposed above or below the sensor 6772. Further, the members 6021, 6023, 6025, and 6027 include recesses to ensure that they do not contact the sensor 6772.

[0157] [Weight measurement subsystem] As described above, when processing blood culture bottles in a laboratory environment that processes a large number of blood culture bottles, there is a need to be able to accurately monitor the filling state of each bottle. For example, the amount of sample taken can directly affect the likelihood of detecting a bacterial and / or fungal infection. Thus, in some embodiments, in addition to using the imaging subsystem 500 to determine the presence or absence of foam and / or the fill level, the automation system 100 can include a scale to confirm any determination made by the imaging subsystem 500. Further, in some embodiments, the automation system 100 can use a scale rather than the imaging subsystem 500 to monitor the filling state of each sample container. In some embodiments, the scale can be incorporated, for example, into module 101 or 102. The scale can also be an external device that communicates with modules 101 and 102.

[0158] Figures 26A-26C illustrate an embodiment in which a load cell is incorporated into a chute that can be disposed within module 101. As shown, load cell 1590 is disposed beneath chute 1570 such that the weight of sample container 1580 (e.g., a blood culture bottle) can be measured. Chute 1570 can be compared to chute 570 of the imaging subsystem 500. In some embodiments, the assembly shown in Figures 26A-26C (e.g., load cell 1590 and chute 1570) can replace chute 570. In such embodiments, the sample container can be weighed immediately after being imaged by camera 510.

[0159] Alone, the measured weight of a particular sample container will not readily indicate whether the sample container is overfilled or underfilled. The tare weight of an unfilled sample container may not be available for each individual sample container. Further, using a single reference tare weight may result in insufficient accuracy due to the many manufacturing variations that affect weight. Next to the manufacturing variations of the sample container itself, the fill levels of the sensor material, culture medium, and medium beads before the sample is even added have a large impact on the tare weight of the sample container.

[0160] To address these manufacturing variations, a correction factor can be applied to the average tare weight of the unfilled container. For example, a camera (e.g., camera 510) can capture an image of the sample container 1580. The distance between the fill line (not shown) of the sample container 1580 and a reference plane of the sample container 1580 (e.g., the bottom of the sample container 1580) can be measured from the image captured by the camera (e.g., using computers 231 and / or 370). For example, the fill line can be detected more reliably and accurately by imaging than the upper surface of the liquid in the sample container 1580, which may be obscured by air bubbles and media beads that stick to the inside of the sample container 1580 or adhere to the neck of the sample container 1580. The distance between the fill line and the reference plane can be compared to a predetermined distance to calculate a correction factor. The predetermined distance can correspond, for example, to a reference distance between the fill line and the bottom of the sample container. The corrected tare weight of the unfilled container can then be compared to the weight measured by the scale 1590 to determine whether the sample container 1580 is overfilled or underfilled.

[0161] The correction factors described above can improve the overall accuracy of the system, but may not always be computable. For example, the sample container may not always have a fill line. Thus, in some embodiments, the measured weight can be directly compared to the unfilled average tare weight (as opposed to the corrected unfilled tare weight) to determine whether the sample container is overfilled or underfilled. In such embodiments, a larger error range can be reported to the user (e.g., via the display 310). In some embodiments, to further improve accuracy, the unfilled average tare weight can be selected based on the contents of the sample container (e.g., media type). In some embodiments, to further improve accuracy, the unfilled average tare weight can be selected based on the lot or batch in which the sample container was manufactured. For example, while it may be prohibitively time-consuming to weigh each sample container at the time of manufacture, it may be more cost-effective to weigh one or more representative samples from each lot or batch and calculate the unfilled average tare weight for that particular lot or batch. In some embodiments, the unfilled average tare weight may be obtained from the label of the sample container or received by module 101 from an external device (e.g., a server) via a network. In some embodiments, the automated system 100 can be configured to check each sample container (e.g., using camera 510) for any changes (e.g., removal of the cap and / or addition of more labels by the user) that can affect the accuracy of the techniques described above. In some embodiments, the automated system 100 can be configured to compensate for such changes.

[0162] In some embodiments, the techniques described above can be used to provide a sample volume measurement. The weight of the sample can be obtained by comparing the measured weight to the average tare weight of the unfilled or corrected tare weight of the unfilled. For example, the average tare weight of the unfilled can be subtracted from the measured weight to obtain the weight of the sample. The weight of the sample can then be converted to volume using a desired density value. For example, if the sample container is a blood culture bottle, a predetermined concentration value of blood can be used to convert the weight of the blood sample to a volume measurement. In some embodiments, the calculated sample volume measurement can be displayed (e.g., via display 310).

[0163] In some embodiments, the sample container can be individually weighed by a scale, scanned, and then placed within an instrument such as module 101. In some embodiments, the scale can include an indicator light or the like to inform the user whether the scale is fully stable. In some embodiments, if the measured weight exceeds the expected range, the user can be prompted to return the sample container to the scale and wait until the scale has a stable measurement. In some embodiments, if the user ignores this prompt and places the bottle into module 101, the weight of the sample container can be recorded as zero indicating that the weight of the sample container has not been obtained.

[0164] Individually weighing each sample container can significantly slow down the workflow of placing the sample containers into module 101 by adding steps such as placing each individual sample container on the scale, waiting for the scale to stabilize, and then removing each individual sample container from the scale, for example, by scanning the barcode of each individual sample container and determining the position of each individual sample container within module 101 to complete the loading process. To mitigate this problem, batches of sample containers can be measured simultaneously. For example, a batch of sample containers (e.g., a rack of sample containers) can be placed on the scale. After the scale has stabilized, each sample container can be removed one at a time, scanned, and placed within module 101. While scanning and placement are being performed for a particular sample container, the scale can stabilize and the weight change can be used to determine the weight of that particular sample container. In some embodiments, the scale can include an indicator light or the like to inform the user whether the scale has fully stabilized.

[0165] In some embodiments, the scale used to weigh the individual sample containers or batches of sample containers can be a separate device that communicates with modules 101 and 102. For example, the scale can be incorporated into the rack used to transport the sample containers. In some embodiments, the scale can be integrated with one or both of modules 101 and 102. For example, the scale can be integrated into a shelf, drawer, or housing (e.g., the upper panel 132) of module 101 or 102. As another example, the scale can be an add-on device configured to connect to the housing of module 101 or 102.

[0166] In some embodiments, the scale can communicate with computer 231 and / or 370 via one or more electrical conductors or wireless communication. In some embodiments, system 100 can compare the measured weight obtained by the scale with the reference net weight to determine whether the sample container is overfilled or underfilled. In some embodiments, the reference net weight can be selected based on the contents of the sample container (e.g., media type), which can be obtained from the label of the sample container, and / or the lot or batch in which the sample container was manufactured, in order to further improve accuracy. In some embodiments, system 100 can calculate the correction factor in the manner described above using imaging subsystem 500 in order to further improve accuracy.

[0167] In some embodiments, the techniques described above for measuring batches of sample containers may be used internally to facilitate the workflows within modules 101 and 102. For example, rather than placing a scale somewhere internally to individually weigh sample containers (see, e.g., scale 1590), the scale may be integrated into one or both of compartments 330 and 340 to weigh sample containers in batches. In such embodiments, robot subsystem 700 can transfer a particular sample container from one of compartments 330 and 340 to imaging subsystem 500. Once at the imaging subsystem, the sample container can be scanned and the corresponding weight change of the sample container in one of compartments 330 and 340 can be used to determine the weight of the particular sample container.

[0168] One of ordinary skill in the art will appreciate that many of the subsystems and components described above can be readily adapted to other types of automated systems. For example, there are many examples of automated systems that have a need to efficiently measure the weights of multiple objects. One of ordinary skill in the art will appreciate that the systems and methods described above for measuring batches of sample containers can be readily adapted to measure the weights of other types of objects.

[0169] As used herein, the terms "about," "approximately," "substantially," and similar terms are intended to have a broad meaning consistent with the commonly accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. It should be understood by those of ordinary skill in the art reviewing this disclosure that these terms are intended to allow the description of the specific features being described without restricting the scope of these features to the precise numerical ranges provided. Accordingly, these terms should be construed to indicate modifications or variations of the subject matter being described that are not substantial or insignificant, and are considered to be within the scope of this disclosure.

[0170] From the foregoing, and with reference to the various drawings, those of ordinary skill in the art will also understand that certain modifications can be made to this disclosure without departing from its scope. Although some embodiments of this disclosure are shown in the drawings, this disclosure is not intended to be limited thereto, as the scope of this disclosure is intended to be as broad as would be allowed in the art and as this specification is to be read in a similar manner. Accordingly, the foregoing description should not be construed as limiting, but rather as merely illustrative of specific embodiments. Those of ordinary skill in the art will envision other modifications within the scope and spirit of the claims appended hereto.

Claims

1. A user interface subsystem configured to receive a plurality of untested sample containers and to discharge a plurality of sample containers that have shown a positive reaction to microbial growth; An imaging subsystem configured to scan the sample containers for label information; A waste management subsystem configured to receive a plurality of sample containers that have shown a negative reaction to microbial growth; A robot subsystem, transferring each of the plurality of untested sample containers from the user interface subsystem to the imaging subsystem for scanning; transferring each of the plurality of untested sample containers from the imaging subsystem to an incubation module configured to incubate each of the plurality of untested sample containers and measure microbial growth; transferring each of the plurality of positive sample containers from the incubation module to the imaging subsystem for scanning; transferring each of the plurality of positive sample containers from the imaging subsystem to the user interface subsystem for discharge; transferring each of the plurality of negative sample containers from the incubation module to the imaging subsystem for scanning; transferring each of the plurality of negative sample containers from the imaging subsystem to the waste management subsystem for disposal and configured as such, a robot subsystem and a sample handling module comprising the same.

2. The sample handling module according to claim 1, wherein the user interface subsystem includes one or more compartments, each of the one or more compartments being configured to receive an individual untested sample container or a rack of untested sample containers.

3. The sample handling module according to claim 1, wherein the user interface subsystem includes one or more compartments, each of the one or more compartments being configured to discharge an individual positive sample container or a rack of positive sample containers.

4. The user interface subsystem includes one or more compartments, and each of the one or more compartments is configured to (a) receive individual untested sample containers or racks of untested sample containers, and (b) discharge individual positive sample containers or racks of positive sample containers. The sample handling module according to claim 1.

5. The user interface subsystem includes one or more compartments, and each of the one or more compartments has a liner having one or more sections, and each of the one or more sections a plurality of receptacles configured to directly receive sample containers, a pair of recesses configured to receive racks of sample containers The sample handling module according to claim 1.

6. The user interface subsystem further includes one or more illumination lights, and each of the one or more illumination lights is configured to change color based on the type of sample container disposed within at least one of the compartments. The sample handling module according to claim 5.

7. The user interface subsystem further includes one or more illumination lights, and each of the one or more illumination lights is configured to (a) change to a first color when at least one of the compartments contains one or more untested sample containers, and (b) change to a second color when the at least one compartment contains one or more positive sample containers. The sample handling module according to claim 5.

8. The one or more illumination lights are disposed above the liner of the at least one compartment. The sample handling module according to claim 7.

9. The user interface subsystem further includes one or more discharge chutes, and each of the one or more discharge chutes is configured to discharge individual sample containers. The sample handling module according to claim 5.

10. The user interface subsystem further includes a display having a graphical user interface (GUI), and the graphical user interface (GUI) enables selection of the one or more compartments and the one or more discharge chutes for discharge of a positive sample container. The sample handling module according to claim 9.

11. The user interface subsystem further includes a sliding door configured to prevent a user from loading one or more untested sample containers into at least one of the compartments while at least one of the compartments is being loaded with one or more positive sample containers by the robot subsystem. The sample handling module according to claim 5.

12. At least one of the compartments includes a scale, and the sample handling module further includes one or more processors configured to determine whether the untested sample container is overfilled or underfilled based on a weight measurement received from the scale. The sample handling module according to claim 5.

13. At least one of the compartments includes a scale, and the sample handling module includes one or more processors, receiving, from the scale, a first measured weight of a plurality of untested sample containers in the at least one compartment; controlling the robot subsystem to transfer one untested sample container of the untested sample containers from the at least one compartment to the imaging subsystem; receiving, from the scale, a second measured weight of the untested sample containers in the at least one compartment without the one untested sample container; determining a difference between the first measured weight and the second measured weight; storing the difference in a memory as the weight of the one untested sample container The sample handling module according to claim 5, further including one or more processors configured to perform the above operations.

14. The user interface subsystem includes a reader configured to scan an identifier of a sample container A display configured to present information about a sample container scanned by the reader The sample handling module according to claim 1, further comprising

15. The user interface subsystem further includes a reader configured to scan an identifier of a user identification card to initiate an automatic login or to automatically adjust one or more system settings, the sample handling module according to claim 1.

16. Each of the plurality of untested sample containers is received in an upright position in the user interface subsystem, and each of the plurality of untested sample containers is transferred from the imaging subsystem to the incubation module in a horizontal position, the sample handling module according to claim 1.

17. Each of the plurality of positive sample containers is transferred from the incubation module to the imaging subsystem in a horizontal position, and each of the plurality of positive sample containers is transferred from the imaging subsystem to the user interface subsystem in an upright position, the sample handling module according to claim 16.

18. The imaging subsystem is A camera for scanning the sample container or capturing one or more images of the sample container, One or more light sources for illuminating the sample container, A chute configured to change the orientation of the sample container from an upright position to a horizontal position, A flip station configured to change the orientation of the sample container from a horizontal position to an upright position The sample handling module according to claim 17, comprising

19. The imaging subsystem is further configured to capture one or more images of the sample container, and the sample handling module further includes one or more processors configured to determine whether the sample container is overfilled or underfilled based on the captured images, the sample handling module according to claim 1.

20. The imaging subsystem is further configured to capture one or more images of the sample container, and the sample handling module is one or more processors, Identifying the position of the fill line of the sample container in the one or more images identifying the position of the reference plane of the sample container in the one or more images; determining the distance between the filling line and the reference plane; determining a correction factor based on a comparison between the determined distance and a predetermined distance; adjusting a predetermined tare weight by the correction factor; determining whether the sample container is overfilled or underfilled based on a comparison between the adjusted predetermined tare weight and the measured weight of the sample container obtained by a scale; The sample handling module according to claim 1, further comprising one or more processors configured to perform the above.

21. The imaging subsystem includes a chute configured to change the orientation of the sample container from an upright position to a horizontal position, the scale is coupled to the chute of the imaging subsystem, and the measured weight is obtained while the sample container is disposed within the chute. The sample handling module according to claim 20.

22. The waste management subsystem includes a waste receptacle and one or more chutes through which the robot subsystem can transfer the plurality of negative sample containers into the waste receptacle. The sample handling module according to claim 1.

23. The waste management subsystem includes a load cell configured to (a) detect whether the waste receptacle is full, (b) detect whether the waste receptacle is disposed on a base, or (c) detect an addition of a sample container to the waste receptacle. The sample handling module according to claim 1.

24. The sample handling module according to claim 1; and an incubation module configured to incubate each of the plurality of untested sample containers and measure microbial growth. An automated system comprising the above.

25. The incubation module includes a motor and a drum having a plurality of receptacles, each receptacle being configured to receive a sample container in a horizontal position, and the motor being configured to rotate the drum. The automated system according to claim 24.

26. The automated system according to claim 25, wherein the robot subsystem is further configured to distribute and redistribute sample containers around the drum so as to balance the load on the drum.

27. The automated system according to claim 25, wherein the robot subsystem is further configured to redistribute sample containers to a specific area of the drum that can be fully viewed when the door to the incubation module is open.

28. A robot system comprising: a gripper assembly configured to grip and release a sample container; an r-axis robot configured to move the gripper assembly forward and backward; a theta-axis robot configured to rotate the r-axis robot and the gripper assembly simultaneously; and a z-axis robot configured to move the theta-axis robot, the r-axis robot, and the gripper assembly upward and downward simultaneously.

29. The gripper assembly includes: a motor; and two grippers, the motor being configured to move the two grippers closer to each other to grip a sample container and to move the two grippers apart to release the sample container, each gripper including: a curved body configured to grip the bottom end of a sample container in a horizontal orientation; and a curved recess in the curved body configured to grip the neck of a sample container in an upright orientation. The robot system according to claim 28.

30. The robot system according to claim 29, wherein the curved body is configured to grip the bottom end of a blood culture bottle in a horizontal orientation, and the curved recess is configured to grip the neck of a blood culture bottle in an upright orientation.

31. The gripper assembly includes: a motor; and two grippers, the motor being configured to move the two grippers closer to each other to grip a sample container and to move the two grippers apart to release the sample container, each gripper including: a plurality of fingers configured to grip the bottom end of a sample container in a horizontal orientation; and a curved recess in the body of the gripper configured to grip the neck of a sample container in an upright orientation. The robot system according to claim 28.

32. The finger is configured to grip the bottom end of a blood culture bottle in a horizontal posture, and the curved concave portion is configured to grip the neck portion of a blood culture bottle in an upright posture. The robot system according to claim 31.

33. The r-axis robot includes a first arm connected to the theta-axis robot, a second arm connected to the gripper assembly, wherein the second arm is slidably engaged with the first arm and is configured to move forward and backward, and the second arm, a plurality of idler pulleys, a motor connected to the first arm and disposed between at least two of the idler pulleys, a drive pulley connected to the shaft of the motor, a belt in contact with each of the idler pulley and the drive pulley, and a clamp connected to the belt and the second arm The robot system according to claim 28.

34. The r-axis robot further includes a belt tensioner configured to apply tension to the belt. The robot system according to claim 33.

35. The belt tensioner includes an idler pulley in contact with the belt, an arm rotatably connected to the idler pulley and a coupling, and a screw configured to apply a force to the arm when tightened, wherein the force from the screw rotates the arm about an axis extending through the coupling and causes the idler pulley to apply additional tension to the belt. The robot system according to claim 34.

36. The theta-axis robot includes a platform connected to the z-axis robot, an idler pulley connected to the r-axis robot, a motor connected to the platform, a drive pulley connected to the shaft of the motor, and a belt in contact with the idler pulley and the drive pulley wherein rotation of the drive pulley by the motor simultaneously rotates the idler pulley, the r-axis robot, and the gripper assembly. The robot system according to claim 28.

37. The z-axis robot includes a rail slidably engaged with the theta-axis robot. The robot system according to claim 28.

38. The z-axis robot is a counterweight system, including a counterweight, ​ One or more pulleys, At least one cable that contacts the one or more pulleys and is connected to both the counterweight and the theta-axis robot The robot system according to claim 37, further comprising a counterweight system including

39. A gripper assembly configured to grip and release a sample container, An r-axis robot configured to move the gripper assembly forward and backward, A z-axis robot configured to simultaneously move the r-axis robot and the gripper assembly upward and downward, A theta-axis robot configured to simultaneously rotate the z-axis robot, the r-axis robot, and the gripper assembly A robot system including

40. A motor, Including a first gripper and a second gripper, the motor is configured to move the first gripper and the second gripper closer to each other to grip a sample container, and to move the first gripper and the second gripper apart to release the sample container. Each gripper A first engagement feature configured to grip the bottom end of a sample container in a horizontal position, A second engagement feature configured to grip the neck of a sample container in an upright position, A gripper assembly including

41. The gripper assembly according to claim 40, wherein the first engagement feature is a curved portion of the body of each gripper.

42. The gripper assembly according to claim 41, wherein the second engagement feature is a curved recess in the curved portion of the body of each gripper.

43. The gripper assembly according to claim 40, wherein the first engagement feature is a plurality of fingers.

44. The gripper assembly according to claim 40, wherein the second engagement feature is a curved recess in the body of each gripper.

45. The gripper assembly according to claim 40, further comprising a non-contact sensor configured to confirm the movement of the robot subsystem, the non-contact sensor being disposed between the two grippers.

46. The gripper assembly according to claim 45, wherein the non-contact sensor does not extend above or below the two grippers.

47. A first block including a first gear rack, wherein the first block is connected to the first gripper, the first block is slidably connected to a first rail, and as the first block slides along the first rail in a first direction, the first gripper moves away from the second gripper, and as the first block slides along the first rail in a second direction opposite to the first direction, the first gripper approaches the second gripper, the first block; A second block including a second gear rack, wherein the second block is connected to the second gripper, the second block is slidably connected to a second rail, and as the second block slides along the second rail in the second direction, the second gripper moves away from the first gripper, and as the second block slides along the second rail in the first direction, the second gripper approaches the first gripper, the second block; A pinion gear connected to the shaft of the motor, wherein the pinion gear engages with the first gear rack and the second gear rack, the motor is further configured to rotate the shaft, rotation of the shaft rotates the pinion gear, and rotation of the pinion gear slides the first block and the second block in opposite directions along the first rail and the second rail respectively, the pinion gear; The gripper assembly according to claim 40, further comprising.

48. A housing; A base, wherein the motor is further configured to move the base forward and backward along a first axis perpendicular to a second axis along which the motor moves the first gripper and the second gripper, forward movement of the base separates the first gripper and the second gripper, and backward movement of the base brings the first gripper and the second gripper closer to each other, the base; A plurality of first members rotatably connected to the first gripper and the housing; A plurality of second members rotatably connected to the second gripper and the housing; A third member rotatably connected to one of the plurality of first members and the base; One of the plurality of second members and a fourth member rotatably connected to the base The gripper assembly according to claim 40, further comprising the same.

49. The one first member among the plurality of first members, the one second member among the plurality of second members, the third member, and the fourth member are bent. The gripper assembly according to claim 48.

50. A threaded nut with a flange engaged with the thread of the shaft of the motor, the threaded nut with a flange extending through the opening of the base, A spring plate slidably engaged with the shaft of the motor, the spring plate being connected to the base, A spring, wherein a first end of the spring contacts the spring plate, and a second end of the spring, opposite to the first end, contacts the threaded nut with a flange The gripper assembly according to claim 48, further comprising the same.

51. The motor is further configured to rotate the shaft, and the rotation of the shaft moves the threaded nut with a flange forward or backward along the first axis. The threaded nut pushes the base forward as the threaded nut with a flange moves forward, and the threaded nut presses against the spring as the threaded nut with a flange moves backward. The gripper assembly according to claim 50.

52. Obtaining, by one or more processors, an actual measured weight of a sample container, the actual measured weight measured by a scale; Selecting, by the one or more processors, a predetermined tare weight, a predetermined tare weight selected based on the contents of the sample container or the lot or batch in which the sample container was manufactured; Comparing, by the one or more processors, the actual measured weight with the predetermined tare weight to calculate the weight of the sample in the sample container; Converting, by the one or more processors, the weight of the sample into a volume measurement value based on a predetermined density value A method comprising the same.

53. Obtaining, by one or more processors, an actual measured weight of a sample container, the actual measured weight measured by a scale; Obtaining, by the one or more processors, one or more images of the sample container, the one or more images captured by a camera; Identifying, by the one or more processors, the position of the filling line of the sample container in the one or more images; Identifying, by the one or more processors, the position of the reference plane of the sample container in the one or more images; Determining, by the one or more processors, the distance between the filling line and the reference plane; Obtaining, by the one or more processors, a correction factor based on a comparison between the determined distance and a predetermined distance; Adjusting, by the one or more processors, a predetermined tare weight by the correction factor; Determining, by the one or more processors, whether the sample container is overfilled or underfilled based on a comparison between the adjusted predetermined tare weight and the measured weight A method comprising.

54. Placing a plurality of sample containers on a scale; Measuring, by the scale, the weights of the plurality of sample containers; Removing one sample container from the plurality of sample containers from the scale; Measuring, by the scale, the weights of the plurality of sample containers without the one sample container; Scanning, by a reader, the identifier of the one sample container while the weights of the plurality of sample containers without the one sample container are being measured; Determining, by one or more processors, the weight difference between (a) the weights of the plurality of sample containers and (b) the weights of the plurality of sample containers without the one sample container; Storing, by the one or more processors, the weight difference in a memory as the weight of the one sample container A method comprising.

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