High-density random sample storage and retrieval

Abstract

In various embodiments, a system for high-density microplate storage and random retrieval is provided. The system includes one or more storage rows coupled to a horizontal rail track assembly. Each of the one or more storage rows is mechanically driven along one or more horizontal rails on the horizontal rail track assembly, and each of the one or more storage rows is configured to store at least one sample plate adapter. Each of the at least one sample plate adapter is attached to a sample plate. The system also includes a robotic arm assembly including a sample plate carrier with a selectively magnetized structure. The selectively magnetized structure is engageable with any of the at least one sample plate adapter. The robotic arm assembly is configured to move the sample plate carrier from a first position within the system to a second position within the system.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 63 / 434,623, entitled "HIGH DENSITY RANDOM SAMPLE STORAGE AND Retrieval," filed December 22, 2022, the contents of which are incorporated by reference in their entirety.

[0002] FIELD OF THE DISCLOSURE The present disclosure relates generally to biological sample storage and retrieval, and more particularly to systems and methods relating to laboratory automation of high sample storage density and random sample retrieval. [Background technology]

[0003] Biological sample container storage and retrieval is a key step in laboratory automation implementation. Sample storage devices, such as microplate racks, help handle, safely store, and transport microplates. These racks are often arranged in horizontal or vertical configurations, can be stacked or tilted for viewing, and can be fabricated to handle refrigerated and freezer temperatures. These racks are often constructed from a variety of materials and are designed for efficiency and suitability for low or high temperatures. Laboratory users often require two performance specifications in biological sample storage and retrieval: (1) the ability to store samples at a high volumetric density; and (2) the ability to randomly store and retrieve samples.

[0004] Some microplate sample storage devices, such as plate stackers, stack containers together in a vertical fashion. Plate stackers are typically very efficient in terms of space utilization (with high sample storage density): that is, due to their configuration and limitations of being accessible at either end of the stack. However, plate stackers lack the ability to perform random sample access, thus increasing the non-automated process of recognition workload.

[0005] Another common sample storage method has rows of splayed sample shelves. Between the rows of sample shelves, significant space must be reserved for a robotic arm to maneuver between the shelves. To retrieve samples from storage, a common technique is to attach a gripper or spatula to the end of the robotic arm. The gripper or spatula must reach between the sample containers to manipulate the sample containers and to retrieve and / or deposit the samples. This method requires significant height or side clearance between the containers to accommodate sample retrieval motion, which reduces the amount of sample density. There is a long-felt need to provide high-density microplate sample storage with random sample retrieval. Summary of the Invention [Means for solving the problem]

[0006] The following paragraphs provide an overview of various embodiments of the present disclosure and merely an example of a potential embodiment. Accordingly, the overview is not intended to limit the subject matter or variations of the various embodiments discussed herein. In various embodiments, a robotic arm assembly for retrieving and placing a sample plate is provided. The robotic arm assembly includes a sample plate carrier movable between one or more locations within a system. The sample plate carrier includes a carrier platform configured to receive a sample plate. The carrier platform defines a first end and a second end. The robotic arm assembly also includes a retrieval engagement mechanism that can be selectively magnetized. The retrieval engagement mechanism is configured to move along a retrieval channel defined at least partially along the carrier platform. The retrieval engagement mechanism is movable between a first position adjacent the first end of the carrier platform and a second position adjacent the second end of the carrier platform. The retrieval engagement mechanism is configured to be magnetized when in the second position.

[0007] In some aspects, the technology described herein relates to a robotic arm assembly, wherein upon engagement between a recovery engagement mechanism and a sample plate adapter, the recovery engagement mechanism is configured to move to a first position, and the sample plate adapter is fully positioned on the carrier platform when the recovery engagement mechanism moves to the first position.

[0008] In some aspects, the technology described herein relates to a robotic arm assembly, wherein the retrieval engagement mechanism and the sample plate adapter are engaged when attached to the electromagnetic retrieval engagement mechanism.

[0009] In some aspects, the technology described herein further includes a robotic arm assembly controller configured to move the sample plate carrier from a first location to a second location within the system, related to the robotic arm assembly.

[0010] In some aspects, the technology described herein relates to a robotic arm assembly, wherein the robotic arm assembly controller is further configured to move the recovery engagement mechanism from a first position to a second position when the sample plate carrier is moved to a second location within the system.

[0011] In some aspects, the techniques described herein relate to a robotic arm assembly, wherein the electromagnetism of the recovery engagement mechanism is terminated when the recovery engagement mechanism is moved to a second position when the sample plate carrier is moved to a second location within the system.

[0012] In some aspects, the technology described herein relates to a robotic arm assembly, wherein the retrieval engagement mechanism includes an electromagnet to which an electric current is selectively provided.

[0013] In some aspects, the technology described herein relates to a robotic arm assembly, wherein the retrieval engagement mechanism is configured to be magnetized when a sample plate carrier is moved within the system.

[0014] In some aspects, the technology described herein relates to a robotic arm assembly, where a retrieval engagement mechanism is moved along an engagement track via one or more robotic arm motors.

[0015] In some aspects, the technology described herein relates to a robot arm assembly further including a vertical support, wherein the sample plate carrier is movably mounted to the vertical support, and the sample plate carrier moves along the vertical support along a first directional axis.

[0016] In some aspects, the technology described herein relates to a robot arm assembly further including a robot arm plate, wherein a vertical support is movably attached to the robot arm plate, and wherein the vertical support is moved along the robot arm plate along at least one of the second directional axis or the third directional axis.

[0017] In some aspects, the technology described herein relates to a robotic arm assembly, wherein sample plate carriers are configured to be moved between one or more storage rows, each of the one or more storage rows configured to accommodate one or more sample plates.

[0018] In some aspects, the technology described herein relates to a robotic arm assembly that further includes a controller configured to move sample plate carriers between one or more storage rows.

[0019] In another exemplary embodiment, a method of engaging a sample plate adapter is provided, the method including: positioning a sample plate carrier at a first location in a system adjacent to a sample plate positioned in the sample plate adapter; moving a retrieval engagement mechanism of the sample plate carrier to a second position, the retrieval engagement mechanism being configured to move between a first position adjacent a first end of a carrier platform and a second position at a second end of the carrier platform; providing an electric current to the retrieval engagement mechanism, causing the retrieval engagement mechanism to be magnetized; and moving the retrieval engagement mechanism to the first position upon engagement between the retrieval engagement mechanism and the sample plate adapter.

[0020] In some aspects, the techniques described herein relate to a method further comprising: moving the sample plate carrier to a second location; and, when the sample plate carrier is moved to the second location, moving a recovery engagement mechanism to a second position, wherein an electric current is provided to the recovery engagement mechanism during movement of the recovery engagement mechanism from the first position to the second position.

[0021] In some aspects, the techniques described herein relate to a method further including: terminating the current provided to the recovery engagement mechanism when the sample plate carrier is moved to a second location and the recovery engagement mechanism is moved to the second position.

[0022] In some aspects, the techniques described herein relate to methods that further include monitoring engagement between a collection engagement mechanism and a sample plate adapter.

[0023] In some aspects, the techniques described herein relate to methods that further include moving one or more storage rows within the system to allow the sample plate carrier to be positioned at a first location within the system.

[0024] In some aspects, the techniques described herein relate to methods that further include moving one or more storage rows within the system to allow the sample plate carrier to be positioned at a second location within the system.

[0025] In some aspects, the technology described herein relates to a method in which the first location is a storage layer of one storage row of at least one storage row and the second location is an imaging station.

[0026] In some aspects, the techniques described herein relate to a method further including processing the sample plate in the sample plate adapter through an imaging station.

[0027] In some aspects, the technology described herein relates to a method in which the first location is a port within a load port and the second location is a storage layer of one of the at least one storage row.

[0028] In some aspects, the technology described herein relates to methods in which the sample plate adapter is fully positioned on the carrier platform when the collection engagement mechanism is moved to a first position while the collection engagement mechanism is engaged with the sample plate adapter.

[0029] In some aspects, the techniques described herein relate to methods further including calibrating the sample plate carrier based on one or more fiducial markers found on one or more storage rows and directed to moving the storage rows and robotic arm assembly.

[0030] In yet another exemplary embodiment, a system for high-density microplate storage and random retrieval is provided, the system including: one or more storage rows coupled to a horizontal rail track assembly, each of the one or more storage rows mechanically driven along one or more horizontal rails on the horizontal rail track assembly, each of the one or more storage rows configured to store at least one sample plate adapter, each of the at least one sample plate adapter being attached to a sample plate; and a robotic arm assembly including a sample plate carrier with selectively magnetized structures engageable with any of the at least one sample plate adapter, the robotic arm assembly configured to move the sample plate carrier from a first position within the system to a second position within the system.

[0031] In some aspects, the technology described herein relates to a system in which a robotic arm assembly is mechanically driven horizontally and vertically.

[0032] In some aspects, the technology described herein relates to a system in which the sample plate carrier is equipped with a collision detection sensor.

[0033] In some aspects, the technology described herein relates to a system in which the sample plate carrier is equipped with kinematic articulation and dislodgement detection sensors.

[0034] In some aspects, the technology described herein relates to a system further including a plurality of storage layers on one or more storage rows, each of the plurality of storage layers configured to accommodate at least one of the at least one sample plate adapter.

[0035] In some aspects, the technology described herein relates to a system in which the first position is adjacent to a first sample plate adapter of at least one sample plate adapter, and the sample plate carrier is configured to engage with the first sample plate adapter when the sample plate carrier is placed in the first position.

[0036] In some aspects, the technology described herein pertains to a system in which one or more storage rows are supported vertically by a horizontal rail track assembly.

[0037] In some aspects, the technology described herein relates to a system further including at least one reference marker on one or more storage columns, the reference marker assisting in computationally identifying a particular storage column of the one or more storage columns.

[0038] In some aspects, the techniques described herein relate to a system in which a first of the at least one reference marker is defined along the top of a first storage row of one or more storage rows, and a second of the at least one reference marker is defined along the top of the first storage row.

[0039] In some aspects, the technology described herein relates to a system in which multiple storage layers are held in place by flexures on one or more storage rows.

[0040] In another exemplary embodiment, a method for high-density microplate storage and random retrieval is provided, the method including: providing a horizontal rail track assembly having one or more storage rows vertically supported by the horizontal rail track assembly, each of the one or more storage rows including a plurality of storage layers each having a sample plate and a sample plate adapter; providing a robotic arm assembly with a sample plate carrier and an electromagnet; activating a storage row from the one or more storage rows to retrieve a sample on the sample plate with the sample plate adapter; activating the robotic arm assembly with the sample plate carrier and electromagnet to one of the plurality of storage layers on the storage row of the one or more storage rows; applying an electric current to the electromagnet on the sample plate carrier; engaging the sample plate adapter with the electromagnet on the sample plate carrier of the robotic arm assembly; and retrieving the sample on the sample plate adapter via the sample plate carrier on the robotic arm assembly.

[0041] In some aspects, the technology described herein relates to methods in which activating includes moving at least one of the one or more storage rows along a horizontal rail track assembly.

[0042] In some aspects, the techniques described herein relate to methods that further include randomizing the selection of one or more storage layers of a plurality of storage layers on a storage line.

[0043] In some aspects, the techniques described herein relate to methods that further include randomizing the selection of a storage sequence from one or more storage sequences.

[0044] In some aspects, the techniques described herein relate to methods that further include depositing the sample plate on the sample plate adapter onto one of a plurality of storage layers on a storage array via a sample plate carrier on a robotic arm assembly.

[0045] In some aspects, the techniques described herein relate to a method in which depositing the sample plate on the sample plate adapter onto one of the plurality of storage layers further comprises removing the current applied to the electromagnet.

[0046] In some aspects, the technology described herein relates to a method in which depositing the sample plate on the sample plate adapter onto one of a plurality of storage layers further comprises mechanically latching the sample plate adapter onto a flexure of a storage array.

[0047] In some aspects, the technology described herein relates to methods in which the sample plate carrier is mechanically driven back and forth when retrieving the sample plate adapter.

[0048] In some aspects, the technology described herein relates to methods in which one or more storage columns have fiducial markers.

[0049] In some aspects, the techniques described herein relate to methods further including horizontally actuating the robotic arm assembly until aligned with a reference marker of at least one storage row of one or more storage rows.

[0050] Implementation of the methods and / or systems of the disclosed embodiments may involve performing or completing selected tasks manually, automatically, or a combination thereof. Furthermore, depending on the actual instrumentation and equipment of the method and / or system embodiments of the present invention, some selected tasks may be performed by hardware, software, firmware, or a combination thereof using an operating system.

[0051] For example, hardware for performing selected tasks according to embodiments of the present invention may be implemented as a chip or circuit. As software, selected tasks according to embodiments of the present invention may be implemented as a plurality of software instructions executed by a computer using any suitable operating system. In exemplary embodiments of the present invention, one or more tasks according to exemplary embodiments of the methods and / or systems as described herein are performed by a data processor, such as a computing platform, for executing a plurality of instructions. Optionally, the data processor includes volatile memory and / or non-volatile storage (e.g., a magnetic hard disk and / or removable media for storing instructions and / or data) for storing instructions and / or data. Optionally, a network connection is also provided. A display and / or a user input device, such as a keyboard or mouse, is also optionally provided.

[0052] Many aspects of the present disclosure can be better understood with reference to the following drawings. The components in the drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the present disclosure. Moreover, in the drawings, like reference characters designate corresponding parts throughout the several views. In the drawings: [Brief explanation of the drawings]

[0053] [Figure 1A-1B] 1 illustrates an exemplary system for high-density random sample storage and retrieval according to various embodiments of the present disclosure. [Figure 2A-2B] 1 illustrates a side view of a storage row being moved along a horizontal rail according to various embodiments of the present disclosure. [Figure 3A-3B] 10A-10C illustrate another view of a storage row being moved along a horizontal rail according to various embodiments of the present disclosure. [Figure 4] 1 illustrates a horizontal rail track assembly for use in various embodiments of the present disclosure. [Figures 5A-5C] 1 illustrates various aspects of a storage queue according to various embodiments of the present disclosure. [Figure 6] 1 illustrates a robotic arm assembly for use in accordance with various embodiments of the present disclosure. [Figure 7A-7C] 1 illustrates a sample plate carrier for collecting a sample plate according to various embodiments of the present disclosure. [Figure 8] 1 illustrates a sample plate being collected by a sample plate carrier that is moved within a system according to various embodiments of the present disclosure. [Figure 9] 10A-10C illustrate sample plate carriers engaging with sample plate adapters in a storage array according to various embodiments of the present disclosure. [Figure 10] 10 illustrates a retrieval engagement mechanism used to electromagnetically engage a sample plate adapter according to various embodiments of the present disclosure. [Figure 11] 1 illustrates a system disposed within an enclosure according to various embodiments of the present disclosure. [Figure 12] 10 is a flowchart of a method for engaging a sample plate adapter according to various embodiments of the present disclosure. [Figure 13] 1 is a flowchart of a method for providing a system for high-density random sample storage and retrieval according to various embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0054] In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. In the accompanying drawings, like symbols generally identify like parts unless context dictates otherwise. The exemplary embodiments described in the detailed description, the accompanying drawings, and the claims are not intended to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the scope of the subject matter presented herein. It will be readily understood that the aspects of the present disclosure, as generally described herein and illustrated in the accompanying drawings, can be arranged, substituted, combined, separated, and designed in a wide variety of configurations, all of which are expressly contemplated herein.

[0055] Disjunctive language such as the phrase "at least one of X, Y, or Z" is generally understood by the context in which it is used to indicate that "an item, term, etc. may be either X, Y, or Z, or any combination thereof (e.g., X, Y, and / or Z)," unless specifically stated otherwise. Thus, such disjunctive language is generally not, and should not be, intended to imply that "some embodiments require that at least one of X, at least one of Y, or at least one of Z, respectively, be present."

[0056] Microplates or "sample plates" herein include those under ANSI and Society Bio-molecular Screening (SBS) standard microplates. Additionally, they may be targeted for workflow use and have well plates exceeding 1,536. Similarly, they may be configured with as few as 10, 30, and 50 wells, depending on the workflow. According to some standards, an SBS microplate may have an exterior base footprint of 127.76 mm in length and 85.48 mm in width. Other dimensions are contemplated. The present disclosure is not limited by any particular microplate. For example, sample plates may be sized based on the use case (e.g., the number of samples to be stored on a given sample plate).

[0057] Various embodiments of the present disclosure provide high-density microplate sample storage with random sample retrieval. That is, the robotic arm assembly provides a smoother transfer method than traditional spatula designs and provides additional stability for samples within the sample plate. For example, various embodiments use electromagnets to engage with sample plate adapters, providing more stable movement of the sample plate. Additionally, the storage column movement discussed herein allows for a more efficient system, as the motors used to move the storage columns may use less energy than the motors used to move the robotic arm assembly. The ability to move storage columns to allow accessibility also allows for more storage columns to be used within the system. For example, the ability to move more storage columns allows for more storage columns to be installed without the typical issues caused by storage columns blocking other storage columns.

[0058] 1A and 1B, embodiments described herein relate to a system 100 for high-density microplate storage and random retrieval thereof that includes a horizontal rail track assembly 101 that may include one or more rails along which one or more storage columns 102A, 102B, 102C may be vertically supported by the track. In this aspect, the storage columns are suspended from the top of the system, allowing for customization of the size and number of storage layers.

[0059] System 100 also includes a robotic arm assembly 103 that moves between storage rows to retrieve sample plates stored therein. As discussed herein, robotic arm assembly 103 can move both horizontally and vertically via a robotic arm motor. The robotic arm can include a vertical support 104 that can move horizontally along a robotic arm plate 105. A sample plate carrier 106 moves vertically along vertical support 104. Sample plate carrier 106 includes an electromagnetic material that engages a sample plate to retrieve the sample plate from the storage row.

[0060] In various embodiments, system 100 may also include an imaging station 110 and / or other processing stations where the sample plates are analyzed, photographed, and / or the like. The imaging station 110 may include one or more imaging components that allow the samples in the sample plates to be analyzed (e.g., the sample plates may be photographed without having to remove the samples from the sample plates and / or any manual activity).

[0061] 2A-3B, storage rows (e.g., storage rows 102A, 102B, 102C) are shown in a variety of configurations in accordance with various embodiments of the present disclosure. As discussed herein, the present disclosure provides dense storage by reducing the storage layer height within the storage rows. The various storage rows are mounted on horizontal rail track assemblies 101 and are movable along horizontal rails 200. One or more storage rows may be mechanically driven along horizontal rails 200.

[0062] In various embodiments, each of the storage rows may be movable via horizontal rails 200. Alternatively, the position of one or more of the storage rows may be fixed (e.g., the storage rows may be rigidly attached to the horizontal rail track assembly 101), while one or more other storage rows may be movable via the horizontal rails 200. For example, as shown in Figures 3A and 3B, storage row 102A may be fixably attached to the horizontal rail track assembly 101 such that it is accessible by moving other storage rows 102B and / or 102C.

[0063] Although the system is shown as having three storage rows, various embodiments may have more or fewer storage rows while maintaining the features discussed herein (e.g., one or more storage rows are movable via horizontal rail track assembly 101). Additionally, storage rows of a wide variety of sizes may be used in various embodiments. For example, the storage rows may be the same size and / or different sizes from one another.

[0064] Storage rows 102A, 102B, 102C may be driven by one or more electronic row motors (such as stepper motors) and / or by gearing that allow the storage rows to traverse along horizontal rail 200. The row motors (e.g., row motors 402A, 402B) may be disposed on horizontal rail track assembly 101.

[0065] In various embodiments, the plate load port 111 can be provided to receive sample plates 500 to be loaded into and / or removed from the system. For example, the door 1102 of the housing 1100 shown in FIG. 11 can be opened, and a user can place a sample plate into the plate load port 111 and / or remove a sample plate that has already been processed and / or is otherwise to be removed. In various embodiments, the plate load port 111 can include one or more slots for accommodating sample plates. The plate load port 111 can be movable along a horizontal rail track assembly 101 or the like (e.g., movable in the same manner as the storage columns discussed herein). Alternatively, the plate load port 111 can be fixed within the system. In various embodiments, the robotic arm assembly 103 discussed herein can interact with the plate load port 111 such that the sample plate 500 can be removed from and / or placed into the plate load port 111 via the sample plate carrier 106.

[0066] In various embodiments, the system may be capable of operating in multiple modes. In a storage mode, storage rows containing multiple storage layers may be stored next to each other in a "clapped" configuration (such as the configuration shown in FIG. 2A) to allow for increased storage row density. In a retrieval mode, one or more storage rows may be activated away from a closed state (such as the configuration shown in FIG. 2B) to allow a robotic component, such as the robotic arm assembly 103, to retrieve and place sample plates as discussed herein. Thus, the system allows for rapid cycling, further increasing the speed and applicability of randomization in sample selection.

[0067] FIG. 4 illustrates an exemplary horizontal rail track assembly 101 according to various embodiments. As shown, the horizontal rail track assembly 101 may include one or more horizontal rails 200 configured to move storage columns between various locations within the system. In various embodiments, the storage columns may be movably attached to the horizontal rails 200 via mounting components. For example, as shown in FIGS. 3A and 3B, storage column 102C may be attached to mounting components 400A and 400B, and storage column 102B may be attached to mounting component 401. The mounting components may be movable along one or more of the horizontal rails 200. The size of the storage columns may determine the placement of the mounting components used for the storage columns. For example, storage column 102C may be wider than storage columns 102A and 102B and therefore may be attached to mounting components distributed throughout multiple horizontal tracks. Additionally, the width between two horizontal rails 200 may be determined based on the width of the storage columns. For example, the horizontal rails 200 to which mounting element 401 is movably mounted are closer to each other than the horizontal rails 200 to which mounting elements 400A, 400B are mounted because storage row 102C (mounted to mounting elements 400A, 400B) is wider than storage row 102B (mounted to mounting element 401).

[0068] Although storage row 102B and storage row 102C are each shown attached to mounting components that move along two horizontal rails 200, various embodiments may use a different amount of horizontal tracks. For example, a storage row may be movable along only a single horizontal track and / or a storage row may be movable along three or more horizontal tracks.

[0069] The storage rows (and attachments) may be moved via one or more row motors (e.g., row motors 402A, 402B). In various embodiments, each of the storage rows may be moved via a different row motor (e.g., each row motor may be dedicated to moving a specific storage row). In various embodiments, two or more of the storage rows may be moved via the same row motor. In various embodiments, the storage rows may be belt driven and / or of any other type of transmission method. In various embodiments, the row motor may be more efficient than the robot arm motor, such that using a row motor to move the storage rows may be more efficient than moving the robot arm assembly.

[0070] In various embodiments, a storage queue controller 405 may be provided to control the movement of one or more storage queues within the system. The storage queue controller 405 may have one or more processing devices and one or more memory devices so that it may determine which storage queues within the system to move. In various embodiments, the storage queue controller 405 may include communications capabilities to receive commands to move storage queues. For example, an external processing device may determine storage queue movements and provide such commands to the controller for execution.

[0071] In various embodiments, the storage queue controller 405 may also control other operations within the system (such as movement of the robotic arm assembly 103, temperature control, and / or the like). Additional controllers may also be provided to perform such operations. In various embodiments, all of the controller components may be contained within the system (e.g., within the housing 1100 shown in FIG. 11). Alternatively, the processing device and / or memory device may be external to the system and / or housing 1100. For example, a computing device may provide instructions for one or more systems (e.g., a computing device may provide instructions for multiple systems in separate housings).

[0072] 5A-5C, an exemplary storage array (e.g., one of storage arrays 102A, 102B, 102C) is shown according to various embodiments. Each storage array can have multiple storage layers (e.g., storage layers 501A, 501B, 501C, etc.). Each storage layer within the storage array can be sized to hold one or more sample plates. In various embodiments, the storage layers can be sized to hold one or more sample plates. For example, each storage layer can be sized to allow sample plates to be placed next to each other (e.g., without interfering with each other). In various embodiments, the storage layers can have dividers between each slot configured to receive a sample plate (e.g., sample plate 500 is placed between such dividers in storage layer 501C). For simplicity, a single sample plate 500 is shown within the storage array; furthermore, in various embodiments, multiple sample plates can be placed within the storage array.

[0073] In various embodiments, each storage layer may be customizable and may be adapted with flexures that allow for engagement of a sample plate and / or a sample plate adapter. The sample plate 500 is a plate on which one or more samples may be placed. The sample plate adapter 505 is configured to receive the sample plate and to interact with the sample plate carrier 106 of the robot arm assembly 103. The sample plate 500 together with the sample plate adapter 505 may be stored in a storage array as discussed herein. The sample plate adapter 505 may be reusable and may be designed to securely hold the sample plate 500 and be easily removed.

[0074] As shown in Figures 7A-7C and 8, the sample plate adapter 505 provides attachment to the sample plate carrier 106 on the front side, thereby significantly increasing density by eliminating the need to access the top and / or bottom (or both sides) of the sample plate. Accordingly, the sample plate adapter is configured such that interaction with an electromagnet supports the sample weight on the sample plate. For example, the sample plate adapter 505 may have a tag (e.g., a steel tag) that is attracted to the electromagnetic field generated by the sample plate carrier 106, such that the sample plate adapter 505 and the sample plate 500 within the sample plate adapter are moved onto the carrier platform 702, as shown in Figure 8.

[0075] In various embodiments, each storage layer may include a slot for receiving a sample plate for sample placement and a sample plate adapter to accommodate the sample plate. In some aspects, there may be limitations on sample plate weight or size based on the sample plate adapter configuration and the amount of electromagnetic force. In other aspects, the use of stronger magnetic components increases carrying capacity. Additionally, the sample plate carrier, in one aspect, may include an electromagnet along its front or rear surface (front or rear defined as one of its four sides). The electromagnet further magnetically configures the sample plate adapter to retrieve and / or deposit the sample plate. This may be via an electrical current configuration housed within a robotic arm assembly mounted on the sample plate carrier, or via a battery or other power source coupled to a computing device (e.g., a controller configured with circuitry for controlling electrical switches).

[0076] The sample plate carrier 106 may determine its location by using one or more fiducial markers 510 positioned on the storage row. As shown, various fiducial markers 510 may be positioned or otherwise defined on the storage row and used by the sample plate carrier 106 to monitor its location (defined on the sample plate carrier 106) by using an imaging device (such as a camera or other imaging sensor). The fiducial markers 510 that the sample plate carrier 106 may capture via the imaging device may be made of any material. For example, the type of material of the fiducial markers 510 may be based on the type of imaging device used in the system. In various embodiments, the material and / or color of the fiducial markers 510 may differ from other parts of a given storage row to create a visual contrast (e.g., to allow the sample plate carrier 106 to identify the fiducial markers 510).

[0077] In various embodiments, the fiducial markers 510 may be uniformly placed along a given storage row so that the sample plate carrier 106 can identify its current location based on the fiducial markers 510. As shown in FIG. 5A , one or more of the fiducial markers 510 may be positioned on a storage layer configured to receive sample plates. For example, as shown, the fiducial markers 510 are positioned on storage layer 501A. The fiducial markers 510 may be positioned in a row (e.g., in a horizontal line along the storage row) so that the sample plate carrier 106 can move to a given vertical coordinate (e.g., defined along the vertical support 104) and move horizontally along the storage row to image one or more fiducial markers 510.

[0078] Additionally or alternatively, one or more fiducial markers 510 may be provided below the storage layer (e.g., along the bottom edge of the storage row), as shown in Figure 5B. In various embodiments, the fiducial markers 510 shown in Figure 5B may be generally parallel to the fiducial markers 510 shown in Figure 5A, such that the sample plate carrier 106 may use fiducial markers 510 above the storage layer and / or fiducial markers 510 below the storage layer.

[0079] In various embodiments, the robot arm assembly 103, and particularly the sample plate carrier 106, may auto-calibrate by using one or more of the fiducial markers 510. To do so, the sample plate carrier 106 may scan one or more of the fiducial markers 510 on the top of a given storage row and one or more of the fiducial markers 510 on the bottom of a given storage row. Based on the coordinates of the fiducial markers 510, a system (e.g., a computing device that is part of or otherwise in communication with the robot arm assembly 103) may determine the coordinates of each storage layer and the coordinates of any slot within a given storage layer. The fiducial markers 510 are thus used as fixed points on the storage row for determining the coordinates of the storage layer of the robot arm assembly 103 to retrieve and / or place a sample plate 500 within the storage row. In various embodiments, auto-calibration may be performed for each storage row of the storage row as one or more of the storage rows are moved.

[0080] As shown in FIG. 5C , one or more of the storage layers (e.g., storage layers 501A, 501B, 501C) can be removably positioned within the storage array. For example, each storage layer can have a tab 515 that is received by an aperture defined in the storage array. Accordingly, the storage layer size and / or number of storage layers can be varied. For example, the storage layers can be varied based on the size of the sample plates being held (e.g., the storage layers can be adjusted to allow thicker sample plates to fit into two storage layers). In various embodiments, the design of the sample plate carrier 106 (e.g., including the retrieval engagement mechanism 700) of various embodiments allows the storage layers to be brought closer together as the electromagnetic engagement slides the sample plate 500 and sample plate adapter 505 laterally out of a given slot in the storage layer without any illumination (e.g., as needed by the spatula design).

[0081] 6, a robot arm assembly 103 is shown according to various embodiments. As discussed above, the robot arm assembly 103 may include a vertical support 104, a robot arm plate 105, and a sample plate carrier 106. The sample plate carrier 106 may be movably mounted to the vertical support 104 such that it may move vertically along the vertical support 104. The vertical support 104 is movably mounted to the robot arm plate 105 such that it may move horizontally along the robot arm plate 105.

[0082] In various embodiments, one or more robot arm motors may be provided for moving the sample plate carrier 106 and / or the vertical support 104. In various embodiments, the same robot arm motor may be used to move the sample plate carrier 106 and the vertical support 104. Alternatively, the sample plate carrier 106 and the vertical support 104 may each have a dedicated robot arm motor. One or more of the robot arm motors may be attached to the robot arm plate 105. Additionally or alternatively, one or more robot arm motors may be attached to the sample plate carrier 106 and / or the vertical support 104 (e.g., a robot arm motor dedicated to the sample plate carrier may be attached to the sample plate carrier and used to move parts of the sample plate carrier 106).

[0083] The sample plate carrier 106 may move along the vertical support 104 via a carrier actuator 600 (e.g., the sample plate carrier 106 may be moved up and down along a vertical axis). In various embodiments, the sample plate carrier 106 may be movable along a first axis (such as the Y-axis shown in FIG. 6 ). The sample plate carrier 106 may be moved along a carrier track 603 provided along the vertical support 104. For example, as shown, the carrier actuator 600 may be a belt-driven actuator connected to one or more of the robot arm motors to move the sample plate carrier 106 along the carrier track 603. Although the carrier actuator 600 is shown as a belt-driven device, various other translation techniques may be used to move the sample plate carrier 106 via the robot arm motors (e.g., a chain as used for the support actuator 601).

[0084] The vertical support 104 may be movably mounted to the robot arm plate 105. In various embodiments, the vertical support 104 may be movable along a plate track 602 disposed along a second direction (e.g., along the X-axis shown in FIG. 6 ). The second direction may be generally perpendicular to the first direction. The vertical support 104 may be moved via a support actuator 601 (such as a chain or belt drive attached to one or more of the robot arm motors).

[0085] In various embodiments, the vertical support 104 may also be movable in a third direction (e.g., along the z-axis shown in FIG. 6 ). In some embodiments, the plate track 602 may be shaped to allow movement along the third directional axis (e.g., a second support actuator may be implemented to move the vertical support 104 along the third directional axis). Alternatively, the robot arm plate 105 (together with the vertical support) may be movable along the third directional axis (via plate tracks 604A, 604B). For example, the robot arm plate 105 may be movably mounted to a fixed support such that it may be moved along the plate tracks 604A, 604B.

[0086] 7A-9, the sample plate carrier 106 is shown engaging and retrieving a sample plate 500. Figures 7A-7C illustrate the process of retrieving a sample plate via the sample plate carrier 106 according to various embodiments. Figure 8 shows the sample plate 500 fully retrieved by the sample plate carrier 106 so that it can be moved within the system 100.

[0087] As shown, the sample plate carrier 106 includes a retrieval engagement mechanism 700 that is movable within a retrieval channel 701. The retrieval channel 701 is defined within a carrier platform 702 such that the retrieval engagement mechanism 700 can move along the retrieval channel 701. The carrier platform defines a first end 704 and a second end 705. The retrieval engagement mechanism 700 is movable between a first position (e.g., adjacent the first end 704 of the carrier platform 702 as shown in FIG. 7C) and a second position (e.g., at the second end 705 of the carrier platform 702 as shown in FIG. 7A).

[0088] In various embodiments, the retrieval engagement mechanism 700 may be movable along an engagement track 703 positioned below the carrier platform 702. As shown in Figure 9, the retrieval engagement mechanism 700 may be activated via an engagement actuator 900 (e.g., a belt drive) attached to one or more of the robot arm motors.

[0089] 7A-7C illustrate a process for retrieving a sample plate 500 by using a sample plate carrier 106. Accordingly, the sample plate carrier 106 may be positioned adjacent to a selected sample plate 500. The retrieval engagement mechanism 700 may be moved to a second position (shown in FIG. 7A) and / or may already be positioned within the second position (e.g., the retrieval engagement mechanism 700 may already be positioned within the second position from a previous placement of the sample plate).

[0090] In the second position, the retrieval engagement mechanism 700 is configured to electromagnetically engage with the sample plate adapter 505. The retrieval engagement mechanism 700 can be magnetized by applying an electric current to the retrieval engagement mechanism 700. In various embodiments, the retrieval engagement mechanism 700 can be selectively electrically expanded (e.g., the retrieval engagement mechanism 700 may not be magnetized until retrieval is initiated). Alternatively, the retrieval engagement mechanism 700 can be permanently electrically expanded. At least a portion of the sample plate adapter is magnetic such that the retrieval engagement mechanism 700 can be electromagnetically attached to the sample plate adapter 505. As shown in FIG. 9 , the sample plate adapter 505 can be positioned in a storage row, and the sample plate carrier 106 can be moved into an adjacent position to engage the sample plate adapter 505 of a given sample plate 500.

[0091] In various embodiments, once the retrieval engagement mechanism 700 is engaged with the sample plate adapter 505, the retrieval engagement mechanism 700 may be moved toward the first end 704 of the carrier platform 702 (e.g., as shown in FIG. 7B ). During such movement, the retrieval engagement mechanism 700 may remain magnetized such that engagement between the retrieval engagement mechanism 700 and the sample plate adapter 505 is maintained. In various embodiments, the retrieval engagement mechanism 700 may be moved to a first position such that the entire sample plate 500 (and sample plate adapter 505) is positioned on the carrier platform 702 (e.g., between the first end 704 and the second end 705).

[0092] Once the sample plate 500 is positioned on the carrier platform 702, the retrieval engagement mechanism 700 may remain magnetized so that the sample plate 500 remains stationary while the sample plate carrier 106 is moved to another position. As shown in Figure 8, the carrier platform may be sized to receive the sample plate 500 and a sample plate adapter (e.g., carrier walls 800 and 801 may be wide enough to receive a sample plate adapter 505 therebetween).

[0093] In various embodiments, the sample plate carrier 106 may position the sample plate 500 by moving the retrieval engagement mechanism 700 from a first position to a second position once positioned adjacent to the intended destination of the sample plate 500 (e.g., another storage row, the imaging station 110, etc.). Thus, the operations shown in FIGS. 7A-7C are reversed such that the retrieval engagement mechanism 700 is moved from the first position (shown in FIG. 7C) to the second position (shown in FIG. 7A). Once moved to the second position, the retrieval engagement mechanism 700 may be demagnetized such that engagement between the retrieval engagement mechanism 700 and the sample plate adapter 505 is terminated. Thus, the sample plate carrier 106 may be moved while a given sample plate 500 remains in its positioned location.

[0094] In various embodiments, the robot arm assembly 103 (e.g., the sample plate carrier 106) may include an imaging device to scan an identification image (e.g., a barcode, a QR code, an identification number, etc.) provided on the sample plate adapter 505 or the sample plate 500. In various embodiments, the identification image may be provided on the sample plate adapter 505 or the sample plate 500 (e.g., the sample plate adapter may have an identification image and the sample plate adapter 505 may be capable of not blocking the identification image (e.g., the sample plate may be designed not to block the identification image, or the sample plate adapter may be transparent where the identification image is provided)). The identification image may be used to retrieve information related to a given sample plate 500 (experimental design information, sample identifiers, imaging scheduling, and / or the like).

[0095] In various embodiments, the imaging device may be the same as that used to locate fiducial markers 510, as discussed herein. Alternatively, a dedicated imaging device for scanning the identification image may be provided. For example, sample plate carrier 106 may include a barcode scanning device for scanning a barcode provided on sample plate adapter 505.

[0096] In various embodiments, the sample plate carrier 106 may include kinematic articulation and / or dislodging detection sensors, which may be Hall effect sensors, ambient light sensors, R / G / B sensors, motion sensors, and / or other sensors that may be responsible for dislodging or removing current from the electromagnet (resulting in the release of the sample plate adapter 505 and sample plate 500 from the sample plate carrier 106).

[0097] In various embodiments, the sample plate 500 may include an integrated sample plate adapter 505 to include the components detailed herein of the sample plate adapter 505. In such cases, a sample plate case (e.g., that holds the sample within the sample plate) may be designed with the features of the sample plate adapter (e.g., magnetic portion, identifying image, etc.).

[0098] Referring now to FIG. 10 , various embodiments of a retrieval engagement mechanism 700 are shown. As shown, the retrieval engagement mechanism 700 may include an electromagnet 1000 and / or an electromagnetic structure that allows the retrieval engagement mechanism 700 to operate as an electromagnet. In various embodiments, the electromagnet 1000 may be mounted on a flexure structure 1010 that may flex or otherwise bend when the alignment of the electromagnet 1000 with the sample plate adapter 505 is misaligned. In instances where the flexure structure has a displacement that exceeds a predetermined threshold, a system error may be registered. In such instances, an error message may be generated and provided to one or more users of the system (e.g., the indicator light 1104 shown in FIG. 11 may change to red to indicate that a system error has occurred). Further details related to the system error may be visible on the coupled computing device.

[0099] As detailed herein, the sample plate carrier 106 may be equipped with various sensing devices (such as collision detection sensors, Hall effect sensors, ambient light sensors, and / or those used to assist one of the controllers discussed herein in retrieving and / or depositing sample plates via the sample plate carrier).

[0100] 11 , system 100 may be housed within an enclosure 1100 (e.g., a single enclosure as shown). Enclosure 1100 may include a door 1102 or other access point to allow sample plates to be retrieved and / or deposited within system 100. Enclosure 1100 may also provide additional system functionality, such as temperature control (e.g., to maintain samples at an intended temperature) and / or power requirements (e.g., a power supply may be provided within enclosure 1100).

[0101] In various embodiments, the housing 1100 may include one or more observation windows 1101 configured to allow visual access to the system 100 without interfering with the system. For example, the system 100 may need to be maintained at a particular temperature, and an administrator may affect the temperature of the system by opening a door (e.g., door 1102) so that the administrator can instead visually inspect the system 100 through the observation window 1101.

[0102] In various embodiments, the housing 1100 may include one or more housing stabilizers 1103 to maintain its level. Because samples are often very delicate, it is desirable to keep the sample plate as level as possible. Therefore, the housing stabilizers 1103 may be used to avoid any uneven surfaces affecting the system. In various embodiments, the housing stabilizers 1103 may be manually adjusted and / or automatically adjusted.

[0103] In various embodiments, the housing 1100 may also include one or more status indicators (e.g., indicator lights 1104) that may change color to indicate the status of the system 100. For example, different colors and / or flashing sequences may indicate the status of the system (e.g., green may indicate a complete state, a multi-color pattern may indicate that the system is healthy, yellow may indicate a system warning, red may indicate a system error, etc.). As shown in FIG. 11, the indicator lights 1104 may include multiple indicators such that the progress of the system 100 may be indicated by the indicator lights (e.g., the number of indicator lights 1104 that are green may indicate the amount of sample processed).

[0104] In various embodiments, a user interface may be provided to allow a user to monitor system 100. Additionally or alternatively, system 100 may be connected (either wirelessly or via a wireless connection) to one or more computing devices that allow a user to monitor the status of the system and / or make changes to system operation.

[0105] 12 is a flowchart of an exemplary method for engaging a sample plate adapter. Unless otherwise specified, each of the features of the flowchart shown in FIG. 12 can also be completed with the features of FIG. 13. Any of the various embodiments discussed herein can be used to perform the methods of FIGS. 12 and / or 13. In various embodiments, systems of various embodiments may be capable of performing these operations discussed with reference to FIGS. 12 and / or 13. Such systems can include one or more computing devices (e.g., a computing device including at least one processing device and at least one non-transitory memory device).

[0106] 12, block 1210, the method includes positioning a sample plate carrier at a first location within the system adjacent to a sample plate positioned in a sample plate adapter. In various embodiments, the system may move one or more storage rows within the system to allow the sample plate carrier to be positioned at the first location within the system. In addition, the system may move one or more storage rows within the system (as discussed below with reference to optional block 1250) to allow the sample plate carrier to be positioned at the first location within the system.

[0107] In various embodiments, the first location can be any location within the system that can receive a sample plate adapter (such as a storage row (e.g., a storage layer within a storage row), a load port, an imaging station, and / or the like).

[0108] 12, block 1220, the method includes moving a retrieval engagement mechanism of the sample plate carrier to a second position. In various embodiments, the retrieval engagement mechanism 700 is configured to move between a first position adjacent a first end of the carrier platform and a second position at a second end of the carrier platform. In various embodiments, the sample plate carrier 106 includes a carrier platform 702 having a retrieval channel 701 defined therein to enable the retrieval engagement mechanism 700 to move from the first position (e.g., adjacent the first end of the carrier platform 702) to the second position (e.g., adjacent the second end of the carrier platform 702).

[0109] 12, block 1230, the method includes providing an electric current to the retrieval engagement mechanism. This electric current magnetizes the retrieval engagement mechanism. This electric current can be selectively applied to the electromagnet so that the sample plate carrier 106 can engage and / or disengage with the sample plate adapter 505. This electric current can be applied in any manner that can cause the electromagnet to become charged and generate a magnetic field that engages adjacent material.

[0110] 12, block 1240, the method includes moving the retrieval engagement mechanism to a first position upon engagement between the retrieval engagement mechanism and the sample plate adapter. After the retrieval engagement mechanism 700 engages with the sample plate adapter (e.g., via an electromagnet), the retrieval engagement mechanism 700 is moved to the first position. In various embodiments, the sample plate adapter is fully positioned on the carrier platform when the retrieval engagement mechanism is moved to the first position while the retrieval engagement mechanism is engaged by the sample plate adapter.

[0111] In various embodiments, the system monitors engagement between the recovery engagement mechanism and the sample plate adapter. For example, a change in current or other metric may be monitored instead to indicate that engagement has occurred.

[0112] 12, optional block 1250, the method includes moving the sample plate carrier 106 to a second location. The sample plate carrier 106 may be moved in any manner discussed herein (e.g., via movement of the vertical support 104, the robot arm plate 105, and / or the sample plate carrier 106). Thus, movement of the robot arm assembly 103 may move the sample plate carrier 106 to the second location (e.g., adjacent to where the sample plate is to be deposited).

[0113] In various embodiments, the second location can be any location in the system that can receive the sample plate adapter (such as a storage row (e.g., a storage layer within the storage row), a load port, an imaging station, and / or the like).

[0114] 12, the method includes moving the retrieval engagement mechanism to a second position when the sample plate carrier is moved to a second location. In various embodiments, an electric current is provided to the retrieval engagement mechanism during movement of the retrieval engagement mechanism from the first position to the second position.

[0115] In various embodiments, the current provided to the retrieval engagement mechanism can be terminated when the retrieval engagement mechanism is moved to the second position when the sample plate carrier is moved to the second location.

[0116] 12, optional block 1270, the method includes calibrating the sample plate carrier based on one or more reference markers found on one or more storage rows. The calibration may be the same as "self-calibration" discussed herein.

[0117] 13 is a flow chart of an exemplary method for high-density microplate storage and random retrieval. Any of the various embodiments discussed herein can be used to implement the method of FIG.

[0118] 13, block 1310, the method includes providing a horizontal rail track assembly having one or more storage rows supported vertically by the horizontal rail track assembly. In various embodiments, each of the one or more storage rows includes multiple storage layers, each having sample plates and sample plate adapters. As discussed herein, any of the storage rows may be capable of being moved along the horizontal rail track assembly (e.g., along one or more horizontal rails).

[0119] Referring now to block 1320 of Figure 13, the method includes providing a robotic arm assembly with a sample plate carrier and an electromagnet. The robotic arm assembly 103 discussed herein can be used for the method of Figure 13.

[0120] 13, block 1330, the method includes activating one storage row from one or more storage rows to retrieve samples on a sample plate with a sample plate adapter. As discussed herein, the one or more storage rows may be movable within the system to allow access by the robotic arm assembly 103.

[0121] The selection of which sample plate adapter (and subsequently which sample plate) to retrieve may be at least partially randomized. For example, the sample plates may be randomized based on the storage layer of one or more storage rows (e.g., a sample plate in a first storage layer of a storage row may be selected and processed later than a sample plate in a second storage row), and / or the selection may be randomized based on the storage row in which the sample plate is found (e.g., a sample plate in a first storage row may be selected and processed before a sample plate in a second storage row).

[0122] 13, block 1340, the method includes activating a robot arm assembly with a sample plate carrier and an electromagnet to one of a plurality of storage layers on one of one or more storage rows. Activation of the robot arm assembly 103 can include any movement of the sample plate carrier 106, vertical support 104, and / or robot arm plate 105 discussed herein. Thus, activation of the robot arm assembly 103 can be any movement of the assemblies.

[0123] 13, block 1350, the method includes applying an electric current to an electromagnet on the sample plate carrier. This electric current can be selectively applied to the electromagnet so that the sample plate carrier 106 can engage and / or disengage with the sample plate adapter 505. This electric current can be applied in any manner that can cause the electromagnet to become charged and generate a magnetic field that engages nearby material.

[0124] 13, block 1360, the method includes engaging the sample plate adapter with an electromagnet on a sample plate carrier of the robotic arm assembly. This engagement may be produced via a current being applied to the electromagnet, as discussed with reference to block 1230 of FIG.

[0125] 13, block 1370, the method includes retrieving the samples on the sample plate adapter via the sample plate carrier on the robotic arm assembly. Retrieving the sample plate adapter may be performed as discussed herein (e.g., magnetizing the retrieval engagement mechanism 700 when the retrieval engagement mechanism 700 is in the second position retrieves the sample plate adapter 505 from the first location and moves it onto the sample plate carrier 106 for transport).

[0126] In various embodiments, as discussed herein, the system may deposit the retrieved sample plate at a second location (e.g., another storage row, an imaging station, a load port, etc.). Thus, the operations discussed with reference to Figure 12 may be used to deposit the sample plate at the second location. For example, the current applied to the retrieved engagement mechanism 700 to engage the sample plate adapter 505 may be terminated once the sample plate adapter 505 is placed in the second location.

[0127] Subsequently, in some embodiments, one or more storage rows have a fiducial marker 510. Interacting with the fiducial marker 510 requires the robotic arm assembly 103 to activate horizontally until it aligns with the fiducial marker of at least one storage row of the one or more storage rows, where a camera or other sensor can detect the fiducial marker and, via processing circuitry, perform random retrieval of the sample plate.

[0128] Embodiments of the present disclosure have been described above with reference to flowcharts and / or block diagrams. It will be understood that the steps of the processes described herein may occur in an order different from that shown in the flowcharts. In other words, processes represented by blocks in the flowcharts may, in some embodiments, occur in an order other than that shown, may be combined or divided, or may occur simultaneously.

[0129] As will be appreciated by one skilled in the art, the present disclosure may be embodied as a method, an apparatus (including, for example, a system, a machine, a device, a computer program product, and / or the like), or a combination of the foregoing. Accordingly, some embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware and resident software, microcode, etc.), or an embodiment combining software and hardware aspects. Furthermore, some embodiments of the present disclosure may take the form of a computer program product on a computer-readable medium having computer-executable program code embodied in the medium.

[0130] It should be emphasized that the above-described embodiments of the present disclosure are merely possible examples of implementations, set forth for a clear understanding of the principles of the present disclosure. Many variations and modifications can be made to the above-described embodiments without substantially departing from the scope and principles of the present disclosure. All such modifications and variations are intended to be included herein within the scope of the present disclosure and are protected by the following claims. In addition, the methods discussed herein can be performed by various embodiments of the systems discussed herein.

[0131] Clause 1. A robotic arm assembly for retrieving and placing sample plates, the robotic arm assembly including a sample plate carrier movable between one or more locations in a system, the sample plate carrier including: a carrier platform configured to receive a sample plate and defining a first end and a second end; and a selectively magnetizable retrieval engagement mechanism configured to move along a retrieval channel defined at least partially along the carrier platform, the retrieval engagement mechanism being movable between a first position adjacent the first end of the carrier platform and a second position adjacent the second end of the carrier platform, the retrieval engagement mechanism being configured to be magnetized when in the second position.

[0132] Clause 2. The robotic arm assembly of clause 1, wherein upon engagement between the recovery engagement mechanism and the sample plate adapter, the recovery engagement mechanism is configured to move to a first position, and the sample plate adapter is fully positioned on the carrier platform when the recovery engagement mechanism moves to the first position.

[0133] Clause 3. The robotic arm assembly of clause 2, wherein the collection engagement mechanism and the sample plate adapter are engaged when the sample plate adapter is attached to the electromagnetic collection engagement mechanism.

[0134] Clause 4. The robotic arm assembly of clause 1, further comprising a robotic arm assembly controller configured to move the sample plate carrier from a first location to a second location within the system.

[0135] Clause 5. The robotic arm assembly of clause 4, wherein the robotic arm assembly controller is further configured to move the recovery engagement mechanism from the first position to the second position when the sample plate carrier is moved to a second location within the system.

[0136] Clause 6. The robotic arm assembly of clause 5, wherein the electromagnetism of the recovery engagement mechanism is terminated when the recovery engagement mechanism is moved to a second position when the sample plate carrier is moved to a second location within the system.

[0137] Clause 7. The robotic arm assembly of clause 1, wherein the retraction engagement mechanism includes an electromagnet to which an electric current can be selectively applied.

[0138] Clause 8. The robotic arm assembly of clause 1, wherein the retrieval engagement mechanism is configured to be magnetized when the sample plate carrier is moved within the system.

[0139] Clause 9. The robotic arm assembly of clause 1, wherein the retrieval engagement mechanism is moved along the engagement track via one or more robotic arm motors.

[0140] Clause 10. The robot arm assembly of clause 1, further comprising a vertical support, wherein the sample plate carrier is movably mounted to the vertical support, and wherein the sample plate carrier moves along the vertical support along a first directional axis.

[0141] Clause 11. The robot arm assembly of clause 10, further comprising a robot arm plate, wherein the vertical support is movably attached to the robot arm plate, the vertical support moving along the robot arm plate along at least one of the second directional axis or the third directional axis.

[0142] Clause 12. The robotic arm assembly of clause 1, wherein the sample plate carrier is configured to be moved between one or more storage rows, each of the one or more storage rows configured to accommodate one or more sample plates.

[0143] Clause 13. The robotic arm assembly of clause 12, further comprising a controller configured to move sample plate carriers to and from one or more storage rows.

[0144] Clause 14. A method of engaging a sample plate adapter, the method including: positioning a sample plate carrier at a first location in a system adjacent to a sample plate positioned in the sample plate adapter; moving a retrieval engagement mechanism of the sample plate carrier to a second position, the retrieval engagement mechanism being configured to move between a first position adjacent a first end of a carrier platform and a second position at a second end of the carrier platform; providing an electric current to the retrieval engagement mechanism, causing the retrieval engagement mechanism to be magnetized; and moving the retrieval engagement mechanism to the first position upon engagement between the retrieval engagement mechanism and the sample plate adapter.

[0145] Clause 15. The method of clause 14, further comprising: moving the sample plate carrier to a second location; and moving the retrieval engagement mechanism to a second position when the sample plate carrier is moved to the second location, wherein the current is provided to the retrieval engagement mechanism during movement of the retrieval engagement mechanism from the first position to the second position.

[0146] Clause 16. The method of clause 15, further comprising terminating the current provided to the recovery engagement mechanism when the recovery engagement mechanism is moved to the second position when the sample plate carrier is moved to the second location.

[0147] Clause 17. The method of clause 14, further comprising monitoring engagement between the recovery engagement mechanism and the sample plate adapter.

[0148] Clause 18. The method of clause 14, further comprising moving one or more storage rows within the system to allow the sample plate carrier to be positioned at a first location within the system.

[0149] Clause 19. The method of clause 15, further comprising moving one or more storage rows within the system to allow the sample plate carrier to be positioned at a second location within the system.

[0150] Clause 20. The method of clause 15, wherein the first location is a storage layer of one of the at least one storage rows and the second location is an imaging station.

[0151] Clause 21. The method of clause 20, further comprising processing the sample plate in the sample plate adapter through an imaging station.

[0152] Clause 22. The method of clause 15, wherein the first location is a port within a load port and the second location is a storage layer of one of the at least one storage row.

[0153] Clause 23. The method of clause 14, wherein the sample plate adapter is fully positioned on the carrier platform when the recovery engagement mechanism is moved to the first position while the recovery engagement mechanism is engaged with the sample plate adapter.

[0154] Clause 24. The method of clause 14, further comprising calibrating the sample plate carrier based on one or more fiducial markers found on the one or more storage rows. The method of clause 2 ...

[0155] Clause 25. A system for high density microplate storage and random retrieval, comprising: one or more storage rows coupled to a horizontal rail track assembly, each of the one or more storage rows mechanically driven along one or more horizontal rails on the horizontal rail track assembly, each of the one or more storage rows configured to store in at least one sample plate adapter, each of the at least one sample plate adapter being attached to a sample plate; and a robotic arm assembly including a sample plate carrier with selectively magnetized structures, the selectively magnetized structures engageable with any of the at least one sample plate adapter, the robotic arm assembly configured to move the sample plate carrier from a first position in the system to a second position in the system.

[0156] Clause 26. The system of clause 25, wherein the robotic arm assembly is mechanically driven horizontally and vertically.

[0157] Clause 27. The system of clause 26, wherein the sample plate carrier comprises a collision detection sensor.

[0158] Clause 28. The system of clause 26, wherein the sample plate carrier comprises a kinematic articulation and disengagement detection sensor.

[0159] Clause 29. The system of clause 25, further comprising a plurality of storage layers on one or more storage rows, each of the plurality of storage layers configured to accommodate at least one of the at least one sample plate adapter.

[0160] Clause 30. The system of clause 25, wherein the first position is adjacent to a first sample plate adapter of the at least one sample plate adapter, and the sample plate carrier is configured to engage the first sample plate adapter when the sample plate carrier is positioned in the first position.

[0161] Clause 31. The system of clause 25, wherein one or more storage rows are supported vertically by horizontal rail track assemblies.

[0162] Clause 32. The system of clause 25, further comprising at least one fiducial marker on the one or more storage rows, the at least one fiducial marker assisting in computationally identifying a particular storage row of the one or more storage rows.

[0163] Clause 33. The system of Clause 32, wherein a first of the at least one fiducial marker is defined along a top of a first storage column of the one or more storage columns and a second of the at least one fiducial marker is defined along a top of the first storage column.

[0164] Clause 34. The system of clause 29, wherein the plurality of storage layers are held in place by deflections on one or more storage rows.

[0165] Clause 35. A method for high density microplate storage and random retrieval, the method including: providing a horizontal rail track assembly having one or more storage rows vertically supported by the horizontal rail track assembly, each of the one or more storage rows including a plurality of storage layers each having a sample plate and a sample plate adapter; providing a robotic arm assembly with a sample plate carrier and an electromagnet; activating a storage row from the one or more storage rows to retrieve a sample on a sample plate with the sample plate adapter; activating the robotic arm assembly with the sample plate carrier and electromagnet to one of the plurality of storage layers on the one storage row of the one or more storage rows; applying a current to the electromagnet on the sample plate carrier; engaging the sample plate adapter with the electromagnet on the sample plate carrier of the robotic arm assembly; and retrieving the sample on the sample plate adapter via the sample plate carrier on the robotic arm assembly.

[0166] Clause 36. The method of clause 35, wherein activating includes moving at least one of the one or more storage rows along a horizontal rail track assembly.

[0167] Clause 37. The method of clause 35, further comprising randomizing selection of one or more storage layers of a plurality of storage layers on the storage train.

[0168] Clause 38. The method of clause 35, further comprising randomizing the selection of a storage column from the one or more storage columns.

[0169] Clause 39. The method of clause 35, further comprising depositing the sample plate on the sample plate adapter onto one storage layer of a plurality of storage layers on a storage array via a sample plate carrier on a robotic arm assembly.

[0170] Clause 40. The method of Clause 39, wherein depositing the sample plate on the sample plate adapter onto one of the plurality of storage layers further comprises removing the current applied to the electromagnet.

[0171] Clause 41. The method of clause 40, wherein depositing the sample plate on the sample plate adapter onto one of the plurality of storage layers further comprises mechanically latching the sample plate adapter onto a flexure of a storage array.

[0172] Clause 42. The method of clause 35, wherein the sample plate carrier is mechanically driven back and forth when retrieving the sample plate adapter.

[0173] Clause 43. The method of clause 35, wherein one or more storage columns have a reference marker.

[0174] Clause 44. The method of clause 43, further comprising horizontally actuating the robotic arm assembly until aligned with a reference marker of at least one storage row of the one or more storage rows.

Claims

1. 1. A robotic arm assembly for retrieving and placing sample plates, the robotic arm assembly including a sample plate carrier movable between one or more locations in a system, the sample plate carrier comprising: a carrier platform configured to receive the sample plate, the carrier platform defining a first end and a second end; and Selectively magnetizable retrieval engagement mechanism the retrieval engagement mechanism is configured to travel along a retrieval channel defined at least partially along the carrier platform; the retrieval engagement mechanism is movable between a first position adjacent the first end of the carrier platform and a second position adjacent the second end of the carrier platform; The robotic arm assembly, wherein the retrieval engagement mechanism is configured to be magnetized when the retrieval engagement mechanism is in the second position.

2. 2. The robot arm assembly of claim 1, wherein the recovery engagement mechanism is configured to move to the first position when engagement occurs between the recovery engagement mechanism and the sample plate adapter, and the sample plate adapter is fully positioned on the carrier platform when the recovery engagement mechanism moves to the first position.

3. The robot arm assembly of claim 2 , wherein the retrieval engagement mechanism and the sample plate adapter are engaged when the sample plate adapter is attached to the electromagnetic retrieval engagement mechanism.

4. The robot arm assembly of claim 1 , further comprising a robot arm assembly controller configured to move the sample plate carrier from a first location to a second location within the system.

5. 5. The robot arm assembly of claim 4, wherein the robot arm assembly controller is further configured to move the recovery engagement mechanism from the first position to the second position when the sample plate carrier is moved to the second location within the system.

6. 6. The robot arm assembly of claim 5, wherein the electromagnetism of the retrieval engagement mechanism is terminated when the retrieval engagement mechanism is moved to the second position when the sample plate carrier is moved to the second location within the system.

7. The robotic arm assembly of claim 1 , wherein the retrieval engagement mechanism includes an electromagnet to which an electric current is selectively applied.

8. The robotic arm assembly of claim 1 , wherein the retrieval engagement mechanism is configured to be magnetized when the sample plate carrier is moved within the system.

9. The robotic arm assembly of claim 1 , wherein the retrieval engagement mechanism is moved along an engagement track via one or more robotic arm motors.

10. 2. The robot arm assembly of claim 1, further comprising a vertical support, wherein the sample plate carrier is movably mounted to the vertical support, and the sample plate carrier moves along the vertical support along a first directional axis.

11. 11. The robot arm assembly of claim 10, further comprising a robot arm plate, wherein the vertical support is movably mounted to the robot arm plate, the vertical support moving along the robot arm plate along at least one of a second directional axis or a third directional axis.

12. 2. The robotic arm assembly of claim 1, wherein the sample plate carrier is configured to be moved between one or more storage rows, each of the one or more storage rows configured to accommodate one or more sample plates.

13. 1. A method of engaging a sample plate adapter, comprising: positioning a sample plate carrier at a first location within the system adjacent to a sample plate positioned within a sample plate adapter; moving a retrieval engagement mechanism of the sample plate carrier to a second position, the retrieval engagement mechanism being configured to move between a first position adjacent a first end of a carrier platform and a second position at a second end of the carrier platform; providing an electrical current to the retrieval engagement mechanism, causing the retrieval engagement mechanism to become magnetized; and Upon engagement between the recovery engagement mechanism and the sample plate adapter, the recovery engagement mechanism is moved to the first position. A method comprising:

14. moving the sample plate carrier to a second location; and moving the retrieval engagement mechanism to the second position when the sample plate carrier is moved to the second location.

14. The method of claim 13, further comprising: The method, wherein the current is provided to the retrieval engagement mechanism during movement of the retrieval engagement mechanism from the first position to the second position.

15. 15. The method of claim 14, further comprising terminating the current provided to the retrieval engagement mechanism when the sample plate carrier is moved to the second location and the retrieval engagement mechanism is moved to the second position.

16. The method of claim 13 , further comprising monitoring engagement between the retrieval engagement mechanism and the sample plate adapter.

17. 14. The method of claim 13, further comprising moving one or more storage rows within the system to allow the sample plate carrier to be positioned at the first location within the system.

18. 15. The method of claim 14, further comprising moving one or more storage rows within the system to allow the sample plate carrier to be positioned at the second location within the system.

19. 14. The method of claim 13, wherein the sample plate adapter is fully positioned on the carrier platform when the recovery engagement mechanism is moved to the first position while the recovery engagement mechanism is engaged with the sample plate adapter.

20. 14. The method of claim 13, further comprising calibrating the sample plate carrier based on one or more reference markers found on one or more storage rows.

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