Automated fluid sample handling systems and methods

Abstract

The system and corresponding method transfer a liquid sample from a first container having a cap to which a sample collection swab is attached to a second container having a cap to which such a sample collection swab is not attached. The other system and corresponding method remove the cap without the sample collection swab attached from the first container and remove the cap with the sample collection swab attached from the second container containing the liquid sample. The cap with the sample collection swab attached is then secured to the first container, and the cap without the sample collection swab attached is then secured to the second container.

Description

Technical Field

[0001] Field of Disclosure The present disclosure relates to systems and methods for transferring a fluid sample material from a sample collection vial to a vial suitable for processing in an automated analyzer or for replacing one type of cap on a sample collection vial with another type of cap.

Background Art

[0002] Background Various types of analytical tests or assays are performed in laboratories for patient diagnosis and treatment guidance. Such assays may be performed by analyzing a liquid or liquefied sample obtained from a patient and are typically performed using an automated analyzer loaded with receptacles such as tubes or vials that contain the patient sample. The sample can be provided to the analyzer by an operator first placing a sample-containing receptacle, typically placed on a rack holding a plurality of receptacles, into the analyzer. The analyzer extracts a certain amount of the sample from the receptacle, combines the extracted sample in purified or unpurified form with various reagents in special reaction vessels (e.g., tubes, wells, vials, cuvettes, etc.), exposes the resulting reaction mixture to reaction conditions, and, if any, detects a measurable output (e.g., light output) from which an assay result can be determined. Exemplary analyzers include those described in U.S. Pat. Nos. 8,731,712 and 9,732,374, and International Publication No. 2019 / 014239, and are embodied in the Panther® and Panther Fusion® systems available from Hologic, Inc. (Marlborough, Massachusetts).

[0003] Biological samples are often collected using a sampling swab placed in a container, i.e., a vial, which can hold a buffer or other liquid to elute the sample material from the swab. The container is then capped to seal the swab inside. In some sampling systems, when the cap is attached to the container, the swab is attached to the cap so that when the cap is subsequently removed from the container, the swab remains attached to the cap, and thus can be removed from the container by separating the cap from the container without requiring the swab itself to be touched.

[0004] Examples of input vials or sampling vials having a cap to which a sampling swab is attached are shown in Figures 13 and 14. In this context, the term “vial” is not intended to evoke a particular configuration of a fluid container. An input vial 150 includes a container 152 (such as a tube) having a threaded neck 153 to which a cap 156 can be attached. A sampling swab 158 comprises a stem 157 having a sampling head 159 (e.g., a spun fiber) at one end of the stem 157. After a sample has been taken using the sampling swab 158, the swab 158 is placed inside the container 152 with the head 159 at the bottom of the container 152. In some examples, the stem 157 is longer than the height of the container 152 to facilitate sampling, and the stem 157 is formed with a weakened break point located along the length of the stem corresponding to the height of the container 152. After the sample is collected, the swab is placed in the container, and the stem snaps at the break point. The portion of the swab remaining in the container 152 below the break point generally corresponds to the height of the container 152, and the portion of the stem above the break point can be discarded.

[0005] The container 152 contains a fluid 154 for eluting the sample material from the head 159. The cap 156 is fixed to the container, and the inside of the cap includes features to capture the end of the stem 157 opposite to the head 159, thereby fixing the swab 158 to the cap 156 so that the swab 158 can be removed from the container 152 when the cap 156 is removed from the container 152.

[0006] The ESwab® container, available from Copan Diagnostics, Inc., is an example of a sampling system comprising a tube, a swab placed inside the tube after a sample has been collected with the swab, and a cap that, when placed on the tube, becomes attached to the end of the swab. An example of a swab with a weakened break point is described in U.S. Patent No. 5,623,942. A container with a cap equipped with a connector for capturing the end of a sampling device such as a swab is described in U.S. Patent No. 8,728,414.

[0007] Often, sampling vials used in clinical or industrial settings to collect and transport liquid samples are not suitable for processing in automated analyzers. For example, sampling vials processed in automated analyzers may include a cap that can be pierced by a pointed object, such as a pipette tip, so that the fluid contents of the container can be accessed by the analyzer and drawn out of the container for testing without physically removing the cap from the associated container. Alternatively, sampling vials with threaded caps may be placed in automated analyzers, and the caps may be temporarily removed by a capper / decaper and replaced after a certain amount of sample material has been drawn out of the container. Sampling containers with sampling swaps attached to the cap present several challenges for processing in automated analyzers. Firstly, such caps are not pierceable by pipette tips. Secondly, the length of the swab attached to the cap requires that the cap removed from the container be separated by at least a distance corresponding to the length of the swab, which can be difficult in automated analyzers, which typically have narrow space constraints. Furthermore, the presence of a swab extending from the removed cap poses a potential contamination problem, as sample material may drip from the swab and / or the swab may come into contact with adjacent components within the analyzer. Therefore, it is necessary to transfer a certain volume of liquid sample from the sampling vial, i.e., the input vial, to a vial that can be processed by the analyzer, referred herein as the output vial. Automated devices for transferring a certain volume of sample material from the input vial to the output vial, which is then placed within the automated analyzer, are described in U.S. Patents 9,335,336 and 10,094,847 and are embodied in the Tomcat® instruments available from Hologic, Inc. (Marlborough, Massachusetts).

[0008] An exemplary output vial is shown in Figure 15. Here again, in this context, the term “vial” is not intended to evoke a particular configuration of a fluid container. The output vial 160 includes a container 162 (a container such as a tube) and a cap 164 having an upper portion 166 made of foil or (one or more) other material which can be screwed onto a threaded neck (not shown) of the container 162 and which can be pierced by a pipette tip to allow access to the contents of the container 162 in an automated analyzer without requiring the cap 164 to be removed. An exemplary output vial with a pierceable cap is described in U.S. Patent No. 8,685,347 and is embodied in the Aptima® Multi-Test Swab Sample Collection Kit, available from Hologic, Inc. (Marlborough, Massachusetts).

[0009] The systems and processes available for the automated transfer of sample material from an input vial to an output vial are not effective in handling input vials with a sample collection swab coupled to the vial's associated cap. [Prior art documents] [Patent Documents]

[0010] [Patent Document 1] U.S. Patent No. 8,731,712 [Patent Document 2] U.S. Patent No. 9,732,374 [Overview of the Initiative] [Means for solving the problem]

[0011] overview The following is a simplified overview to provide a basic understanding of some aspects described herein. This overview is not a comprehensive overview of the claimed subject matter. It is not intended to identify the main or significant elements of the claimed subject matter, nor to elaborate on its scope. The sole purpose of this overview is to present some concepts in a simplified form as a prelude to the more detailed descriptions that will be presented later.

[0012] Implementations of this disclosure can be described with reference to the following embodiments, the features of which can be combined in any reasonable manner.

[0013] Embodiment 1 is a method for processing a first input vial and a second input vial using a processing station, wherein each of the first input vial and the second input vial comprises a cap for containing a fluid sample and detachably fixed to the container, and a sample collection swab extending from the cap, and the processing station comprises an input vial holder, an output vial holder, a cap holder, a capper / decapper, and a pipette, wherein the input vial holder, the output vial holder, and the cap holder are relative to the capper / decapper The method is movable relative to a pipette, and involves transporting a first input vial from an input rack to an input vial holder, and transporting a first output vial to an output vial holder, wherein the first output vial includes a container and a cap fixed to the container, and moving the first input vial relative to the capper / decapper to position the first input vial in the capping / decapping position relative to the capper / decapper, and using the capper / decapper to remove the cap from the container of the first input vial. Using a capper / decapper, lift the cap relative to the container to completely remove the sample collection swab from the container of the first input vial; move the container of the first input vial relative to the pipette to position the container of the first input vial in an accessible position for the pipette; use the pipette to extract a certain amount of fluid sample from the container of the first input vial; move the container of the first input vial relative to the capper / decapper to remove the cap from the container of the first input vial. The process involves positioning the vial in the capping / decapping position, using a capper / decapping tool to secure the cap to the container of the first input vial, moving the first output vial relative to the capper / decapping tool to position the first output vial in the capping / decapping position relative to the capper / decapping tool, using a capper / decapping tool to remove the cap from the container of the first output vial, and moving the container of the first output vial relative to the pipette to position the container of the first output vial in an accessible position for the pipette.Dispensing a fixed amount of fluid sample into the container of the first output vial using a pipette; moving the container of the first output vial relative to the capper / decapper to position the container of the first output vial in the capping / decappening position relative to the capper / decapper; securing the cap to the container of the first output vial using the capper / decapper; transporting the first input vial from the input vial holder to the input rack; transporting the first output vial from the output vial holder to the output rack; and inputting the second input vial. Transporting from the power rack to the input vial holder, transporting a second output vial to the output vial holder, wherein the second output vial includes a container and a cap fixed to the container, moving the second output vial relative to the capper / decapper to position the first output vial in an operational position relative to the capper / decapper, removing the cap from the container of the second output vial using the capper / decapper, and moving the cap holder relative to the capper / decapper to remove the cap from the capper / decapper. The process involves placing the second input vial in a transfer position relative to the capper / decapper, using the capper / decapper to place the cap removed from the container of the second output vial onto the cap holder, moving the second input vial relative to the capper / decapper to place the second input vial in a capping / decapping position relative to the capper / decapper, using the capper / decapper to remove the cap from the container of the second input vial, using the capper / decapper to lift the cap relative to the container, and removing it from the container of the second input vial. Completely remove the sample collection swab, move the container of the second output vial relative to the capper / decapper to position the container of the second output vial in the capping / decapping position relative to the capper / decapper, use the capper / decapper to secure the cap removed from the container of the second input vial to the container of the second output vial, move the cap holder relative to the capper / decapper to position the cap holder in the transfer position relative to the capper / decapper, and use the capper / decapper,The method includes automatically performing the following steps: grasping the cap held by the cap holder; moving the container of the second input vial relative to the capper / decapper to position the container of the second input vial in the capping / decapping position relative to the capper / decapper; using the capper / decapper to fix the cap removed from the container of the second output vial onto the container of the second input vial; transporting the second input vial from the input vial holder to the output rack; and transporting the second output vial from the output vial holder to the input rack.

[0014] Embodiment 2 is a method for processing a first vial using a processing station, wherein the first vial comprises a container for containing a fluid sample, a cap detachably fixed to the container, and a sample collection swab coupled to the cap, the processing station comprises a first vial holder, a second vial holder, a cap holder, and a capper / decaper, the method comprising (a) transporting the first vial to the first vial holder, (b) transporting the second vial to the second vial holder, wherein the second vial comprises a container and a cap detachably fixed to the container, (c) removing the cap from the container of the second vial using the capper / decaper, and (d) using the capper / decaper to remove the cap from the container of the second vial in (c) The method includes automatically performing the following steps: (e) placing the cap removed from the container onto a cap holder; (f) using a capper / decapper to remove the cap and sample collection swab from the container of the first vial; (g) using a capper / decapper to fix the cap removed in (e) from the container of the first vial to the container of the second vial, with the sample collection swab still attached to the cap; (h) removing the second vial from the second vial holder; (i) using a capper / decapper to grasp the cap held by the cap holder; (j) using a capper / decapper to fix the grasped cap to the container of the first vial; and (j) removing the first vial from the first vial holder.

[0015] Embodiment 3 is the method of Embodiment 2, wherein (a) includes transporting a first vial from an input rack to a first vial holder, and the method further includes, after (j), transporting the first vial to an output rack.

[0016] Embodiment 4 is the method of Embodiment 3, wherein the first vial is transported to an incubator to be exposed to a high temperature for a predetermined period of time before being transported to the output rack.

[0017] Embodiment 5 is the method of Embodiment 3 or 4, wherein (b) includes transporting the second vial from the input rack to the second vial holder, and the method further includes transporting the second vial back to the input rack after (g).

[0018] Embodiment 6 is the method of Embodiment 5, wherein the processing station comprises at least one pick-and-place robot, the first vial is transported from the input rack to the first vial holder by at least one pick-and-place robot, the first vial is transported from the first vial holder to the output rack by at least one pick-and-place robot, the second vial is transported from the input rack to the second vial holder by at least one pick-and-place robot, and the second vial is transported from the second vial holder to the input rack by at least one pick-and-place robot.

[0019] Embodiment 7 is a system in which a first vial holder, a cap holder, and a second vial holder are movable relative to a capper / decapper, and (c) includes moving the second vial holder relative to the capper / decapper to position the second vial held in the second vial holder in the capper / decapper, (d) includes moving the cap holder relative to the capper / decapper to position the cap holder in the transfer position relative to the capper / decapper, and (e) includes moving the first vial holder relative to the capper / decapper to position the first vial held in the first vial holder in the capper / decapper One of the methods of Embodiments 2 to 6, which includes arranging, (f) moving the second vial holder relative to the capper / decapper to position the container for the second vial held in the second vial holder in the cap / decapper position relative to the capper / decapper, (h) moving the cap holder relative to the capper / decapper to position the cap held by the cap holder in the transfer position relative to the capper / decapper, and (i) moving the first vial holder relative to the capper / decapper to position the container for the first vial held in the first vial holder in the cap / decapper position relative to the capper / decapper.

[0020] Embodiment 8 is any one of Embodiments 2 to 7, wherein the processing station includes a movable drip shield, and the method further includes the step of moving the drip shield under the cap and sample collection swab while moving the second vial holder and the container for the second vial held by the second vial holder to the cap / decapper position after (e) and before (f).

[0021] Embodiment 9 is the method of Embodiment 8, further including the step of moving the drip shield under the cap while moving the cap holder to the transfer position with respect to the capper / decapper after (c) and before (d).

[0022] Embodiment 10 is the method of any one of Embodiments 7 to 9, in which the first vial holder is placed on a movable platform, the capper / decapper is in a fixed position, and the first vial holder is moved with respect to the capper / decapper to place the first vial held in the first vial holder at the cap / decap position with respect to the capper / decapper, including moving the movable platform until the first vial held in the first vial holder is placed under the capper / decapper.

[0023] Embodiment 11 is the method of Embodiment 10, in which the movable platform includes a carousel rotatable about a carousel rotation axis, the first vial holder is radially spaced from the carousel rotation axis, and the capper / decapper is spaced from the carousel rotation axis by the same distance as the first vial holder.

[0024] Embodiment 12 is the method of Embodiment 11, in which the first vial holder is rotatable about a first vial holder rotation axis, and the method further includes rotating the first vial holder about the first vial holder rotation axis when the carousel is rotated about the carousel rotation axis so that the first vial holder is always in a predetermined orientation when the first vial or the container containing the first vial held by the first vial holder is at the cap / decap position.

[0025] Embodiment 13 is the method of Embodiment 10, wherein the second vial holder is placed on the movable platform, the capper / decapper is in a fixed position, and the second vial holder is moved relative to the capper / decapper to place the second vial held in the second vial holder at the cap / decap position relative to the capper / decapper, including moving the movable platform until the second vial held in the second vial holder is placed under the capper / decapper.

[0026] Embodiment 14 is the method of Embodiment 13, wherein the movable platform includes a carousel rotatable about a carousel rotation axis, and the second vial holder and the capper / decapper are radially spaced from the carousel rotation axis by the same distance.

[0027] Embodiment 15 is the method of Embodiment 14, wherein the second vial holder is rotatable about a second vial holder rotation axis, and the method further includes rotating the second vial holder about the second vial holder rotation axis when the carousel is rotated about the carousel rotation axis so that the second vial holder is always in a predetermined orientation when the storage container of the second vial or the second vial held by the second vial holder is at the cap / decap position.

[0028] Embodiment 16 is the method of Embodiment 10, wherein the cap holder is placed on the movable platform, the capper / decapper is in a fixed position, and the cap holder is moved relative to the capper / decapper to place the cap holder at the transfer position relative to the capper / decapper, including moving the movable platform until the cap holder is placed under the capper / decapper.

[0029] Embodiment 17 is the method of Embodiment 16, wherein the movable platform includes a carousel rotatable about a carousel rotation axis, and the cap holder and the capper / decapper are radially spaced from the carousel rotation axis by the same distance.

[0030] Embodiment 18 is the method of Embodiment 17, wherein the cap holder is rotatable about a cap holder rotation axis, and the method further includes rotating the cap holder about a cap holder rotation axis when the carousel is rotated about a carousel rotation axis, such that the cap holder is always in a predetermined orientation when the cap holder or a cap placed on the cap holder is in a transport position.

[0031] Embodiment 19 includes a first vial holder, a second vial holder, and a cap holder mounted on a movable platform, with a capper / decapper in a fixed position, and moving the first vial holder relative to the capper / decapper to position the first vial held in the first vial holder or the container for the first vial held in the first vial holder in the capper / decapper, which involves moving the movable platform until the first vial held in the first vial holder or the container for the first vial held in the first vial holder is positioned below the capper / decapper, and moving the second vial holder relative to the capper / decapper to position the first vial held in the second vial holder The methods of embodiments 2 to 6 include moving a movable platform until the second vial or the container for the second vial held in the second vial holder is positioned below the capper / decapper, thereby positioning the cap holder or the container for the second vial held in the second vial holder in a capper / decapper, and moving the cap holder relative to the capper / decapper to position the cap holder or the cap held on the cap holder in a transfer position relative to the capper / decapper, thereby positioning the cap holder or the cap held on the cap holder below the capper / decapper.

[0032] Embodiment 20 is the method of Embodiment 19, further comprising: moving the drip shield under the cap and sample collection swab removed in (e) after (e); moving the drip shield away from the cap and sample collection swab before (f); moving the drip shield under the cap removed in (c) after (c); and moving the drip shield away from the cap before (d).

[0033] Embodiment 21 is the method of Embodiment 19 or 20, wherein the movable platform comprises a carousel rotatable about a carousel rotation axis, and the first vial holder, the second vial holder, and the cap holder are radially spaced the same distance from the carousel rotation axis, and the capper / decapper is spaced the same distance from the carousel rotation axis as the first vial holder, the second vial holder, and the cap holder.

[0034] Embodiment 22 is a method for processing an input vial using a processing station, wherein the input vial comprises a cap that contains a fluid sample and is removably fixed to the container, and a sample collection swab coupled to the cap, the processing station comprises an input vial holder, an output vial holder, a capper / decapper, and a pipette, the method comprising (a) transporting the input vial to the input vial holder, (b) transporting the output vial to the output vial holder, (c) removing the cap and sample collection swab from the container of the input vial using the capper / decapper, (d) taking a certain amount of fluid sample from the container of the input vial using the pipette, and (e) The method includes automatically performing the following: (c) fixing the cap removed in (c) to the input vial container with the sample collection swab still attached to the cap using a capper / decapper; (f) and (e) removing the input vial from the input vial holder; (g) removing the cap from the output vial container using a capper / decapper; (h) dispensing a fixed amount of fluid sample taken in (d) into the output vial container using a pipette; (i) fixing the cap removed in (g) to the output vial container using a capper / decapper; and (j) removing the output vial from the output vial holder after (i).

[0035] Embodiment 23 is the method of Embodiment 22, wherein (a) includes transporting an input vial from an input rack to an input vial holder, and the method further includes, after (f), transporting the input vial back to the input rack.

[0036] Embodiment 24 is the method of Embodiment 23, wherein (b) includes transporting the output vial from the input rack to the output vial holder.

[0037] Embodiment 25 is the method of Embodiment 24, wherein the processing station comprises at least one pick-and-place robot, input vials are transported from the input rack to the input vial holder, output vials are transported from the input rack to the output vial holder, and input vials are transported from the input vial holder to the input rack by at least one pick-and-place robot.

[0038] Embodiment 26 is any one of Embodiments 22 to 24, wherein (j) includes transporting the output vial from the output vial holder to the output rack.

[0039] Embodiment 27 is the method of Embodiment 26, wherein (j) transports the output vial from the output vial holder to an incubator in order to expose the output vial to a high temperature for a predetermined period of time.

[0040] Embodiment 28 includes an input vial holder that is movable relative to a capper / decapper, where (c) moves the input vial holder relative to the capper / decapper to position the input vial held in the input vial holder in the capping / decapping position relative to the capper / decapper, and (e) moves the input vial holder relative to the capper / decapper to position the container for the input vial held in the input vial holder in the capping / decapper, where the input vial holder is movable relative to a pipette, where (d) moves the input vial holder to position the container for the input vial in the pipetting position relative to the pipette. One of embodiments 22 to 27, comprising (g) moving the output vial holder relative to the capper / decapper to position the output vial in the capping / decapping position relative to the capper / decapper, and (g) and (i) moving the output vial holder relative to the capper / decapper to position the container for the output vial in the capping / decapper, and the output vial holder being movable relative to the pipette, and (h) moving the output vial holder to position the container for the output vial in the pipetting position relative to the pipette.

[0041] Embodiment 29 is a method of Embodiment 28, wherein the input vial holder is positioned on a movable platform, the capper / decapper is in a fixed position, and moving the input vial holder relative to the capper / decapper to position the input vial or container for the input vial held in the input vial holder relative to the capper / decapper includes moving the movable platform until the input vial or container for the input vial held in the input vial holder is positioned below the capper / decapper, and moving the input vial holder to position the input vial in the pipetting position includes moving the movable platform until the container for the input vial held in the input vial holder is positioned in the pipetting position.

[0042] Embodiment 30 is the method of Embodiment 29, further comprising moving the drip shield under the cap and sample collection swab removed in (c) after (c), and moving the drip shield away from the cap and sample collection swab before (e).

[0043] Embodiment 31 is the method of Embodiment 29 or 30, wherein the movable platform comprises a carousel rotatable about a carousel rotation axis, the input vial holder is radially spaced away from the carousel rotation axis, and the capper / decapper is radially spaced away from the carousel rotation axis by the same distance as the input vial holder.

[0044] Embodiment 32 is any one of Embodiments 28 to 31, wherein the pipette is movable relative to the input vial holder, and (d) further comprises moving the pipette to the pipetting position after the container holding the input vial, which is held in the input vial holder, has been moved to the pipetting position.

[0045] Embodiment 33 is the method of Embodiment 28, wherein the output vial holder is supported on a movable platform, the capper / decapper is in a fixed position, and moving the output vial holder relative to the capper / decapper to position the output vial or the container for the output vial held in the output vial holder relative to the capper / decapper includes moving the movable platform until the output vial or the container for the output vial held in the output vial holder is positioned below the capper / decapper, and moving the output vial holder to position the output vial in the pipetting position includes moving the movable platform until the container for the output vial held in the output vial holder is positioned in the pipetting position.

[0046] Embodiment 34 is the method of Embodiment 33, further comprising moving the drip shield under the cap removed in (g) after (g), and moving the drip shield away from the cap before (i).

[0047] Embodiment 35 is the method of Embodiment 33 or 34, wherein the movable platform comprises a carousel rotatable about a carousel rotation axis, the output vial holder is radially spaced from the carousel rotation axis, and the capper / decapper is radially spaced from the carousel rotation axis by the same distance as the output vial holder.

[0048] Embodiment 36 is any one of embodiments 28 to 35, wherein the pipette is movable relative to the output vial holder, and (h) further comprises moving the pipette to the pipetting position after the container holding the output vial, which is held in the output vial holder, has been moved to the pipetting position.

[0049] Embodiment 37 is configured such that the input vial holder and output vial holder are positioned on a movable platform, the capper / decapper is in a fixed position, and moving the input vial holder relative to the capper / decapper to position the input vial or container for the input vial held in the input vial holder relative to the capper / decapper includes moving the movable platform until the input vial or container for the input vial held in the input vial holder is positioned below the capper / decapper, and moving the input vial holder to position the input vial in the pipetting position, and the container for the input vial held in the input vial holder is in the pipetting position. The method of Embodiment 28 includes moving the movable platform until positioned, moving the output vial holder relative to the capper / decapper to position the output vial or output vial container held in the output vial holder in the cap / decapper, moving the movable platform until the output vial or output vial container held in the output vial holder is positioned below the capper / decapper, and moving the output vial holder to position the output vial in the pipette operating position, which includes moving the movable platform until the output vial container held in the output vial holder is positioned in the pipette operating position.

[0050] Embodiment 38 is the method of Embodiment 37, further comprising: moving the drip shield under the cap and sample collection swab removed in (c) after (c); moving the drip shield away from the cap and sample collection swab before (e); moving the drip shield under the cap removed in (g) after (g); and moving the drip shield away from the cap before (i).

[0051] Embodiment 39 is the method of Embodiment 37 or 38, wherein the movable platform comprises a carousel rotatable about a carousel rotation axis, the input vial holder and the output vial holder are radially spaced the same distance from the carousel rotation axis, and the capper / decapper is radially spaced the same distance from the carousel rotation axis as the input vial holder and the output vial holder.

[0052] Embodiment 40 is one of the methods of Embodiments 37 to 39, wherein the pipette is movable relative to an input vial holder and an output vial holder, and (d) further comprises moving the pipette to the pipetting position after the container for the input vial held in the input vial holder has been moved to the pipetting position, and (h) further comprises moving the pipette to the pipetting position after the container for the output vial held in the output vial holder has been moved to the pipetting position.

[0053] Embodiment 41 is a method for processing a first input vial and a second input vial using a processing station, wherein each input vial comprises a cap for containing a fluid sample and detachably fixed to the container, and a sample collection swab coupled to the cap, and the processing station comprises an input vial holder, an output vial holder, a cap holder, a capper / decapper, and a pipette, and the method comprises (a) transporting the first input vial to the input vial holder, and (b) transporting the first output vial to the output vial holder. (c) Using a capper / decapper, remove the cap and the sample collection swab attached to the cap from the container of the first input vial; (d) Using a pipette, extract a certain amount of fluid sample from the container of the first input vial; (e) Using a capper / decapper, fix the cap removed in (c) to the container of the first input vial, with the sample collection swab still attached to the cap; (f) After (e), remove the first input vial from the input vial holder; (g) Using a capper / decapper (h) Remove the cap from the container of the first output vial, (i) Dispense a fixed amount of fluid sample taken out in (d) into the container of the first output vial using a pipette, (j) Secure the cap removed in (g) to the container of the first output vial using a capper / decappender, (j) After (i), remove the first output vial from the output vial holder, (k) Transport the second input vial to the input vial holder, (l) Transport the second output vial to the output vial holder, and (m) Cap (n) Using a capper / decapper to remove the cap from the container of the second output vial, (m) using a capper / decapper to place the cap removed from the container of the second output vial on the cap holder, (o) using a capper / decapper to remove the cap and the sample collection swab attached to the cap from the container of the second input vial, and (p) using a capper / decapper to place the cap removed from the container of the second input vial in (o) with the sample collection swab still attached to the cap.A method comprising the automatic actions of (q) securing a second output vial to its container, (r) removing the second output vial from the output vial holder, (s) gripping the cap held by the cap holder using a capper / decapper, (t) securing the gripped cap to the container of the second input vial using a capper / decapper, and (t) removing the second input vial from the input vial holder.

[0054] Embodiment 42 is the method of Embodiment 41, wherein (a) includes transporting a first input vial from an input rack to an input vial holder, and the method further includes, after (f), transporting the first input vial back to the input rack.

[0055] Embodiment 43 is the method of Embodiment 41 or 42, wherein (k) includes transporting a second input vial from the input rack to the input vial holder, and the method further includes, after (q), transporting a second output vial to the input rack.

[0056] Embodiment 44 is the method of Embodiment 41, wherein (j) includes transporting a first output vial from the output vial holder to the output rack, and (t) includes transporting a second input vial from the input vial holder to the output rack.

[0057] Embodiment 45 is the method of Embodiment 44, wherein (j) transports the first output vial from the output vial holder to the incubator in order to expose the first output vial to a high temperature for a predetermined period of time before the first output vial is transported to the output rack, and / or (t) transports the second input vial from the output vial holder to the incubator in order to expose the second output vial to a high temperature for a predetermined period of time before the second output vial is transported to the output rack.

[0058] Embodiment 46 is the method of Embodiment 45, wherein the first output vial is transported at (j) to the same output rack where the second input vial is transported at (t).

[0059] Embodiment 47 is an input vial holder that is movable relative to a capper / decapper, and (c) includes moving the input vial holder relative to the capper / decapper to position the first input vial held in the input vial holder in a capped / decapped position relative to the capper / decapper, (e) includes moving the input vial holder relative to the capper / decapper to position the container for the first input vial held in the input vial holder in a capped / decapped position relative to the capper / decapper, and (o) includes moving the input vial holder (s) includes moving the vial holder relative to the capper / decapper to position the second input vial held in the input vial holder in the cap / decapper position relative to the capper / decapper, wherein the input vial holder is movable relative to the pipette, and (d) includes moving the input vial holder to position the container for the second input vial held in the input vial holder in the cap / decapper position relative to the capper / decapper, wherein the input vial holder is movable relative to the pipette, and (i) includes (g) moving the output vial holder relative to the capper / decapper to position the first output vial held within the output vial holder in the capping / decapper position relative to the capper / decapper, and (i) moving the output vial holder relative to the capper / decapper to position the first output vial held within the output vial holder in the capping / decapper (m) includes positioning the output vial holder relative to the capper / decapper to position the second output vial relative to the capper / decapper to position the second output vial relative to the capper / decapper to position the second output vial relative to the capper / decapper to position the second output vial holder relative to the capper / decapper to position the second output vial holder relative to the capper / decapper to position the second output vial holder relative to the capper / decapper to position the second output vial holder relative to the capper / decapper to position the output vial holder relative to the pipette, and (h) includes moving the output vial holder to position the second output vial relative to the capper / decapper to position the second output vial holderOne of the methods of embodiments 41 to 46, comprising placing the container for the first output vial held in the output vial holder into a pipette operating position, wherein the cap holder is movable relative to the capper / decapper, and (n) and (r) include moving the cap holder relative to the capper / decapper to place the cap holder into a transfer position relative to the capper / decapper.

[0060] Embodiment 48 is the method of Embodiment 47, wherein an input vial holder is mounted on a movable platform, a capper / decapper is in a fixed position, and moving the input vial holder relative to the capper / decapper to position the first or second input vial or the container for the first or second input vial held in the input vial holder relative to the capper / decapper includes moving the movable platform until the first or second input vial or the container for the first or second input vial held in the input vial holder is positioned below the capper / decapper, and moving the input vial holder to position the container for the first input vial held in the input vial holder in the pipette operating position includes moving the movable platform until the container for the first input vial held in the input vial holder is positioned in the pipette operating position.

[0061] Embodiment 49 is the method of Embodiment 48, further comprising, after (c), moving the drip shield under the cap and the sample collection swab coupled to the cap held in the capper / decapper, and before (e), moving the drip shield away from the cap and the sample collection swab coupled to the cap.

[0062] Embodiment 50 is the method of Embodiment 48 or 49, wherein the movable platform comprises a carousel rotatable around a pivot axis, and the input vial holder and capper / decapper are radially spaced from the pivot axis, and moving the movable platform includes rotating the carousel around the pivot axis.

[0063] Embodiment 51 is the method of Embodiment 50, wherein the input vial holder is rotatable about a rotation axis, and the method further includes rotating the input vial holder about the rotation axis of the input vial holder when the carousel is rotated about the rotation axis of the carousel, such that the input vial holder is always in a predetermined orientation when the first or second input vial or the container for the first or second input vial held by the input vial holder is in the cap / decap position.

[0064] Embodiment 52 is any one of Embodiments 47 to 50, wherein the pipette is movable relative to the input vial holder, and (d) further comprises moving the pipette to the pipette operating position after the container for the first input vial held in the input vial holder has been placed in the pipette operating position.

[0065] Embodiment 53 is the method of Embodiment 47, wherein the output vial holder is mounted on a movable platform, the capper / decapper is in a fixed position, and moving the output vial holder relative to the capper / decapper to position the first or second output vial or the container for the first or second output vial held in the output vial holder relative to the capper / decapper includes moving the movable platform until the first or second output vial or the container for the first or second output vial held in the output vial holder is positioned below the capper / decapper, and moving the output vial holder to position the container for the first output vial held in the output vial holder in the pipetting position includes moving the movable platform until the container for the first output vial held in the output vial holder is positioned in the pipetting position.

[0066] Embodiment 54 is the method of Embodiment 53, further comprising, after (g), moving the drip shield under the cap held in the capper / decapper, and before (i), moving the drip shield away from the cap.

[0067] Embodiment 55 is a method of Embodiment 53 or 54, wherein the movable platform comprises a carousel rotatable about a pivot axis, and the output vial holder and capper / decapper are radially spaced from the pivot axis, and moving the movable platform includes rotating the carousel about the pivot axis.

[0068] Embodiment 56 is the method of Embodiment 55, wherein the output vial holder is rotatable about a rotation axis, and the method further includes rotating the output vial holder about the rotation axis of the output vial holder when the carousel is rotated about the rotation axis of the carousel, such that the output vial holder is always in a predetermined orientation when the first or second output vial or the container for the first or second output vial held by the output vial holder is in the cap / decap position.

[0069] Embodiment 57 is any one of embodiments 47 to 56, wherein the pipette is movable relative to the output vial holder, and (h) further comprises moving the pipette to the pipette operating position after the container for the first output vial held in the input vial holder is positioned in the pipette operating position.

[0070] Embodiment 58 is a method of Embodiment 57 in which the cap holder is placed on a movable platform, the capper / decapper is in a fixed position, and moving the cap holder relative to the capper / decapper to a transfer position relative to the capper / decapper includes moving the movable platform until the cap holder is positioned below the capper / decapper.

[0071] Embodiment 59 is a method of Embodiment 58, wherein the movable platform comprises a carousel rotatable about a pivot axis, the cap holder and capper / decapper are radially spaced from the pivot axis, and moving the movable platform includes rotating the carousel about the pivot axis.

[0072] Embodiment 60 is the method of Embodiment 59, wherein the cap holder is rotatable about a rotation axis, and the method further includes rotating the cap holder about the rotation axis of the cap holder when the carousel is rotated about the rotation axis of the carousel, such that the cap holder is always in a predetermined orientation when the cap holder is in a transport position.

[0073] Embodiment 61 includes an input vial holder, an output vial holder, and a cap holder mounted on a movable platform, with the capper / decapper in a fixed position, and includes moving the input vial holder relative to the capper / decapper to position the first or second input vial or the container for the first or second input vial held in the input vial holder in the cap / decapper, by moving the movable platform until the first or second input vial or the container for the first or second input vial held in the input vial holder is positioned below the capper / decapper, and moving the input vial holder to position the first input vial held in the input vial holder in the pipette operation position, by moving the movable platform until the container for the first input vial held in the input vial holder is positioned in the pipette operation position, and moving the output vial holder relative to the capper / decapper. The method of Embodiment 47 includes, , positioning a first or second output vial or container for a first or second output vial held in an output vial holder in a capping / decapping position relative to a capper / decapping machine, by moving a movable platform until the first or second output vial or container for a first or second output vial held in an output vial holder is positioned below the capper / decapping machine; , moving the output vial holder to position the container for a first output vial held in an output vial holder in a pipetting position, by moving a movable platform until the container for a first output vial held in an output vial holder is positioned below the pipetting position; and , moving the cap holder relative to the capper / decapping machine to position the cap holder in a transfer position relative to the capper / decapping machine, by moving a movable platform until the cap holder is positioned below the capping / decapping machine.

[0074] Embodiment 62 is the method of Embodiment 61, further comprising: after (c), moving the drip shield under the cap and the sample collection swab attached to the cap held in the capper / decapper; before (e), moving the drip shield away from the cap and the sample collection swab attached to the cap; after (g), moving the drip shield under the cap held in the capper / decapper; and before (i), moving the drip shield away from the cap.

[0075] Embodiment 63 is a method of Embodiment 61 or 62, wherein the movable platform comprises a carousel rotatable around a pivot axis, and the input vial holder, output vial holder, cap holder, and capper / decapper are radially spaced from the pivot axis, and moving the movable platform includes rotating the carousel around the pivot axis.

[0076] Embodiment 64 is an input vial holder rotatable around a rotation axis, an output vial holder rotatable around a rotation axis, and a cap holder rotatable around a rotation axis, wherein the input vial holder is rotated around the rotation axis of the carousel as the carousel is rotated, and the input vial holder is held by the output vial holder, such that the input vial holder is always in a predetermined orientation when the first or second input vial or the container for the first or second input vial is in the cap / decap position, and the input vial holder is held by the output vial holder The method of Embodiment 63 further includes rotating the output vial holder around the axis of rotation of the output vial holder when the carousel is rotated around the axis of rotation of the carousel, such that the output vial holder is always in a predetermined orientation when the first or second output vial or the container for the first or second output vial is in the cap / decap position, and rotating the cap holder around the axis of rotation of the cap holder when the carousel is rotated around the axis of rotation of the carousel, such that the cap holder is always in a predetermined orientation when the cap holder is in the transfer position.

[0077] Embodiment 65 is one of the methods of Embodiments 61 to 64, wherein the pipette is movable relative to an input vial holder and an output vial holder, and (d) includes moving the pipette to the pipette operating position after the container for the first input vial held in the input vial holder is in the pipette operating position, and (h) includes moving the pipette to the pipette operating position after the container for the first output vial held in the output vial holder is in the pipette operating position.

[0078] Embodiment 66 is a system for processing a first input vial and a second input vial, each input vial comprising a cap for containing a fluid sample and removably fixed to the container, and a sample collection swab coupled to the cap, wherein the system comprises an input vial holder, an output vial holder, a cap holder, at least one pick-and-place robot, a capper / decapper, a pipette, and a system controller that communicates with the at least one pick-and-place robot, the capper / decapper, and the pipette, The stem controller has the following functions: (A) to operate at least one pick-and-place robot to transport the first input vial to the input vial holder; (B) to operate at least one pick-and-place robot to transport the first output vial to the output vial holder; (C) to operate a capper / decapper to remove the cap and the sample collection swab attached to the cap from the container of the first input vial held in the input vial holder; and (D) after performing function (C), to operate a pipette to transport the first input vial (E) Function to extract a certain amount of fluid sample from the vial container, and after performing function (D), activate a capper / decapper to fix the cap to the container of the first input vial held in the input vial holder with the sample collection swab still attached to the cap, and (F) Function to activate at least one pick-and-place robot to remove the first input vial from the input vial holder after performing function (E), and (G) Function to activate a capper / decapper to remove the output vial from the output vial holder (H) A function to remove the cap from the container of the first output vial held therein; (H) A function to operate a pipette after performing function (G) to dispense a certain amount of fluid sample taken from the container of the first input vial into the container of the first output vial; (I) A function to operate a capper / decappender after performing function (H) to secure the cap to the container of the first output vial; (J) A function to operate at least one pick-and-place robot after performing function (I) to remove the first output vial from the output vial holder.(K) After performing function (F), activate at least one pick-and-place robot to transport the second input vial to the input vial holder; (L) After performing function (J), activate at least one pick-and-place robot to transport the second output vial to the output vial holder; (M) Activate a capper / decapper to remove the cap from the container of the second output vial held in the output vial holder; (N) After performing function (M), activate a capper / decapper to place the cap removed from the container of the second output vial onto the cap holder; (O) After performing function (N), activate a capper / decapper to remove the cap and the sample collection swab attached to the cap from the container of the second input vial held in the input vial holder; (P) After performing function (O), The system is programmed to perform the following functions: (Q) activate a capper / decapper to secure the cap removed from the container of the second input vial to the container of the second output vial, with the sample collection swab still attached to the cap; (Q) activate at least one pick-and-place robot after performing function (P) to remove the second output vial from the output vial holder; (R) activate a capper / decapper after performing function (P) to grasp the cap held by the cap holder; (S) activate a capper / decapper after performing function (R) to secure the cap to the container of the second input vial held in the input vial holder; and (T) activate at least one pick-and-place robot after performing function (S) to remove the second input vial from the input vial holder.

[0079] Embodiment 67 is a system of Embodiment 66 in which the same pick-and-place robot is operated to perform each of functions (A), (B), (F), (J), (K), (L), (Q), and (T).

[0080] Embodiment 68 is a system of Embodiment 66 or 67, further comprising an input rack, wherein function (A) includes operating at least one pick-and-place robot to transport a first input vial from the input rack to an input vial holder, and function (F) includes operating at least one pick-and-place robot to remove the first input vial from the input vial holder and then transport the first input vial back to the input rack.

[0081] Embodiment 69 is a system of Embodiment 66 or 67, further comprising an input rack, wherein function (K) includes operating at least one pick-and-place robot to transport a second input vial from the input rack to an input vial holder, and function (Q) includes operating at least one pick-and-place robot to transport a second output vial to the input rack after removing the second output vial from the output vial holder.

[0082] Embodiment 70 is a system of Embodiment 68 or 69, wherein the input rack comprises a body having a handle at one end thereof, the body including a plurality of vial receptacles arranged in two rows, each vial receptacle in one row being associated with one vial receptacle in the other row, each vial receptacle in one row being longitudinally offset from the associated vial receptacle in the other row, and adjacent vial receptacles in one row being laterally offset from each other.

[0083] Embodiment 71 is a system of any one of Embodiments 66 to 70, further comprising at least one output rack, wherein function (J) includes operating at least one pick-and-place robot to transport a first output vial from an output vial holder to one of at least one output racks, and function (T) includes operating at least one pick-and-place robot to transport a second input vial from an input vial holder to one of at least one output racks.

[0084] Embodiment 72 is a system of Embodiment 71, further comprising an incubator, wherein function (J) includes transporting a first output vial from an output vial holder to an incubator by operating at least one pick-and-place robot to expose a first output vial to a high temperature for a predetermined period of time before transporting the first output vial to one of at least one output rack, and / or function (T) includes transporting a second input vial from an input vial holder to an incubator by operating at least one pick-and-place robot to expose a second input vial to a high temperature for a predetermined period of time before transporting a second output vial to one of at least one output rack.

[0085] Embodiment 73 is a system of any one of Embodiments 66 to 72, wherein the input vial holder is movable relative to the capper / decapper, and the system controller is programmed to automatically move the input vial holder relative to the capper / decapper before executing function (C) to position the first input vial held by the input vial holder in the cap / decapper position relative to the capper / decapper, before executing function (E) to position the container for the first input vial held by the input vial holder in the cap / decapper position relative to the capper / decapper, before executing function (O) to position the second input vial held by the input vial holder in the cap / decapper position relative to the capper / decapper, and before executing function (S) to position the container for the second input vial held by the input vial holder in the cap / decapper position relative to the capper / decapper.

[0086] Embodiment 74 is the system of Embodiment 73, further comprising a movable platform on which the input vial holder is positioned, and the capper / decapper is in a fixed position.

[0087] Embodiment 75 is a system of Embodiment 74 in which the movable platform comprises a carousel that is rotatable around a carousel rotation axis, and the input vial holder and capper / decapper are radially spaced away from the carousel rotation axis.

[0088] Embodiment 76 is a system of Embodiment 75, wherein the input vial holder is rotatable about an input vial holder rotation axis, and is configured to rotate about the input vial holder rotation axis when the carousel rotates about the carousel rotation axis, such that the input vial holder is always in a predetermined orientation when the first or second input vial or the container for the first or second input vial held by the input vial holder is in the cap / decap position.

[0089] Embodiment 77 is a system of Embodiment 76, further comprising a planetary gear mechanism configured to couple the rotation of an input vial holder with the rotation of a carousel.

[0090] Embodiment 78 is a system of any one of Embodiments 66 to 73, wherein an input vial holder is movable relative to the pipette, and an output vial holder is movable relative to the pipette, and the system controller is programmed to automatically move the input vial holder before performing function (D) to position the container for the first input vial held by the input vial holder relative to the pipette, and before performing function (H) to automatically move the output vial holder to position the container for the first output vial held by the output vial holder relative to the pipette.

[0091] Embodiment 79 is the system of Embodiment 78, further comprising a movable platform on which input vial holders and output vial holders are positioned.

[0092] Embodiment 80 is a system of Embodiment 79 in which the movable platform comprises a carousel that is rotatable around a carousel rotation axis, and the input vial holder and output vial holder are radially spaced away from the carousel rotation axis.

[0093] Embodiment 81 is a system of any one of Embodiments 66 to 73, wherein the output vial holder is movable relative to the capper / decapper, and the system controller is programmed to automatically move the output vial holder relative to the capper / decapper before executing function (G) to position the first output vial held by the output vial holder in the cap / decapper position relative to the capper / decapper, before executing function (I) to position the container for the first output vial held by the output vial holder in the cap / decapper position relative to the capper / decapper, before executing function (M) to position the second output vial held by the output vial holder in the cap / decapper position relative to the capper / decapper, and before executing function (P) to position the container for the second output vial held by the output vial holder in the cap / decapper position relative to the capper / decapper.

[0094] Embodiment 82 is the system of Embodiment 81, further comprising a movable platform on which the output vial holder is positioned, and the capper / decapper is in a fixed position.

[0095] Embodiment 83 is a system of Embodiment 82 in which the movable platform comprises a carousel that is rotatable around a carousel rotation axis, and the output vial holder and capper / decapper are radially spaced away from the carousel rotation axis.

[0096] Embodiment 84 is a system of Embodiment 83, wherein the output vial holder is rotatable about an output vial holder rotation axis, and is configured to rotate about an output vial holder rotation axis when the carousel rotates about a carousel rotation axis, such that the output vial holder is always in a predetermined orientation when the first or second output vial or the container for the first or second output vial held by the output vial holder is in the cap / decap position.

[0097] Embodiment 85 is a system of Embodiment 84, further comprising a planetary gear mechanism configured to couple the rotation of an output vial holder with the rotation of a carousel.

[0098] Embodiment 86 is a system of any one of Embodiments 78 to 80, wherein the pipette is movable relative to the input vial holder and the output vial holder, and the system controller is programmed to move the pipette to the pipette operating position after the container for the first input vial held by the input vial holder has been moved to the pipette operating position and before function (D) is performed, and to move the pipette to the pipette operating position after the container for the first output vial held by the output vial holder has been moved to the pipette operating position and before function (H) is performed.

[0099] Embodiment 87 is a system of any one of embodiments 66 to 86, further comprising a drip shield movable relative to the capper / decapper between a first and a second position, wherein the system controller is programmed to move the drip shield to the first position under the cap and the sample collection swab coupled to the cap after performing function (C), move the drip shield to the second position away from the cap and the sample collection swab coupled to the cap before performing function (E), move the drip shield to the first position under the cap after performing function (G), and move the drip shield to the second position away from the cap before performing function (I).

[0100] Embodiment 88 is a system of any one of embodiments 66 to 87, wherein the cap holder is movable relative to the capper / decapper, and the system controller is programmed to automatically move the cap holder to a transport position relative to the capper / decapper before performing function (N) and before performing function (R).

[0101] Embodiment 89 is the system of Embodiment 88, further comprising a movable platform on which the cap holder is positioned, and the capper / decapper is in a fixed position.

[0102] Embodiment 90 is a system of Embodiment 89 in which the movable platform comprises a carousel that is rotatable around a carousel rotation axis, and the cap holder and capper / decapper are radially spaced away from the carousel rotation axis.

[0103] Embodiment 91 is a system of Embodiment 90 in which the cap holder is rotatable about the cap holder rotation axis and is configured to rotate about the cap holder rotation axis when the carousel rotates about the carousel rotation axis, such that the cap holder is always in a predetermined orientation when it is in the transport position.

[0104] Embodiment 92 is the system of Embodiment 91, further comprising a planetary gear mechanism configured to couple the rotation of the cap holder with the rotation of the carousel.

[0105] Embodiment 93 is any one of embodiments 66 to 92, wherein each input vial holder and output vial holder comprises a central structure defining an open chamber in which a vial is received, and a first clamp and a second clamp, each clamp pivotably coupled to the central structure on both sides of the open chamber, and each clamp includes a clamping surface extending into the open chamber and in contact with the side surface of a vial placed in the open chamber, and each clamp includes an outer cam surface, and the system further comprises a closing bracket including a yoke configured to engage with the outer cam surfaces of each of the first clamp and the second clamp when a capper / decapper is removing or securing a cap of a vial placed in the open chamber, wherein the engagement of the yoke with the outer cam surface biases the first clamp and the second clamp to pivot inward, thereby increasing the contact pressure between the clamping surfaces of the first clamp and the second clamp and the side surface of a vial placed in the open chamber.

[0106] Embodiment 94 is a system for processing a first input vial and a second input vial, each input vial comprising a cap for containing a fluid sample and detachably fixed to the container, and a sample collection swab coupled to the cap, wherein the system comprises a control system, an input vial holder, an output vial holder, a cap holder, a vial transport mechanism controlled by the control system to transport the first input vial to the input vial holder, a vial transport mechanism controlled by the control system to transport the first output vial to the output vial holder, a capper / decappender controlled by the control system to remove the cap and the sample collection swab coupled to the cap from the container of the first input vial held in the input vial holder, and a pipette controlled by the control system to take a certain amount of fluid sample from the container of the first input vial held in the input vial holder after the cap and the sample collection swab have been removed from the container of the first input vial, wherein the capper / decappender takes a certain amount of fluid sample After the first input vial is removed from its container, the control system controls the cap to be fixed to the first input vial's container, with the sample collection swab still attached to the cap; after the cap is fixed to the first input vial's container, the control system controls the vial transport mechanism to remove the first input vial from the input vial holder; and the control system controls the capper / decapper to remove the cap from the first output vial's container, which is held in the output vial holder. The control system controls the pipette to dispense a fixed amount of fluid sample taken by the pipette from the container of the first input vial into the container of the first output vial held in the output vial holder, and the control system controls the capper / decapper to secure the cap to the container of the first output vial after the pipette has dispensed a fixed amount of fluid sample into the container of the first output vial, and the vial transport mechanism to secure the cap to the container of the first output vial after the capper / decapper has secured the cap to the container of the first output vial,The control system controls the removal of the first output vial from the output vial holder, the control system controls the transport mechanism to transport the second input vial to the input vial holder after removing the first input vial from the input vial holder, the control system controls the transport mechanism to transport the second output vial to the output vial holder after removing the first output vial from the output vial holder, the control system controls the capper / decapper to remove the cap from the container of the second output vial held in the output vial holder, the control system controls the capper / decapper to place the cap removed from the container of the second output vial on the cap holder, and the control system controls the capper / decapper to remove the cap and the sample collection swab attached to the cap from the container of the second input vial held in the input vial holder. The system is controlled such that the capper / decapper is controlled by the control system to secure the cap removed from the container of the second input vial to the container of the second output vial, with the sample collection swab still attached to the cap; the vial transport mechanism is controlled by the control system to remove the second output vial from the output vial holder after the capper / decapper has secured the cap and the sample collection swab attached to the cap to the container of the second output vial; the capper / decapper is controlled by the control system to grasp the cap held by the cap holder; the capper / decapper is controlled by the control system to secure the cap to the container of the second input vial; and the vial transport mechanism is controlled by the control system to remove the second input vial from the input vial holder after the capper / decapper has secured the cap to the container of the second input vial.

[0107] Embodiment 95 is a system for processing a first vial using a processing station, wherein the first vial contains a fluid sample and comprises a container, a cap removably fixed to the container, and a sample collection swab coupled to the cap, and the system comprises a first vial holder, a second vial holder, a cap holder, at least one pick-and-place robot, a capper / decapper, and a system controller that communicates with at least one pick-and-place robot and a capper / decapper, and the controller The system has the following functions: (A) to operate at least one pick-and-place robot to transport the first vial to the first vial holder; (B) to operate at least one pick-and-place robot to transport the second vial to the second vial holder; (C) to operate a capper / decapper to remove the cap from the container holding the second vial in the second vial holder; and (D) after performing function (C), to operate the capper / decapper to remove the cap removed from the container of the second vial. (E) A function to place on the holder, and after performing function (D), a function to activate the capper / decapper to remove the cap and the sample collection swab attached to the cap from the container of the first vial held in the first vial holder, and (F) a function to activate the capper / decapper after performing function (E) to fix the cap removed from the container of the first vial to the container of the second vial, with the sample collection swab still attached to the cap, and (G) after performing function (F), at least one pick and place (H) After performing function (F), the robot has the function of activating a capper / decapper to grasp the cap held by the cap holder, (I) After performing function (H), the capper / decapper has the function of activating a capper / decapper to secure the cap to the container of the first vial held in the first vial holder, and (J) After performing function (I), the robot has the function of activating at least one pick-and-place robot to remove the first vial from the first vial holder.It is a system programmed to perform the following actions.

[0108] Embodiment 96 is a system of Embodiment 95 in which the same pick-and-place robot is operated to perform each of functions (A), (B), (G), and (J).

[0109] Embodiment 97 is a system of Embodiment 95 or 96, further comprising an input rack, wherein function (A) includes operating at least one pick-and-place robot to transport a first vial from the input rack to a first vial holder, and function (G) includes operating at least one pick-and-place robot to transport a second vial from a second vial holder to the input rack.

[0110] Embodiment 98 is a system of Embodiment 97 in which the input rack comprises a body having a handle at one end thereof, the body including a plurality of vial receptacles arranged in two rows, each vial receptacle in one row being associated with one vial receptacle in the other row, each vial receptacle in one row being longitudinally offset from the associated vial receptacle in the other row, and adjacent vial receptacles in one row being laterally offset from each other.

[0111] Embodiment 99 is any one of the systems of Embodiments 95 to 98, further comprising an output rack, wherein function (J) includes operating at least one pick-and-place robot to transport a first vial from a first vial holder to the output rack.

[0112] Embodiment 100 is a system of Embodiment 99, further comprising an incubator, wherein function (J) includes transporting the first vial from the first vial holder to the incubator, thereby operating at least one pick-and-place robot to expose the first vial to a high temperature for a predetermined period of time before transporting the first vial to the output rack.

[0113] Embodiment 101 is one of the systems of Embodiments 95 to 100, wherein the first vial holder is movable relative to the capper / decapper, and the controller is programmed to automatically move the first vial holder relative to the capper / decapper before performing function (E) to position the first vial held by the first vial holder in the cap / decapper position relative to the capper / decapper, and before performing function (I) to position the container for the first vial held by the first vial holder in the cap / decapper position relative to the capper / decapper.

[0114] Embodiment 102 is the system of Embodiment 101, further comprising a movable platform on which the first vial holder is positioned, and the capper / decapper is in a fixed position.

[0115] Embodiment 103 is a system of Embodiment 102 in which the movable platform comprises a carousel that is rotatable around a carousel rotation axis, and the first vial holder and capper / decapper are radially spaced from the carousel rotation axis.

[0116] Embodiment 104 is a system of Embodiment 103 in which the first vial holder is rotatable about the first vial holder rotation axis, and the first vial holder rotates about the first vial holder rotation axis as the carousel rotates about the carousel rotation axis, such that the first vial holder is always in a predetermined orientation when the first vial or the container for the first vial held by the first vial holder is in the capped / decapped position.

[0117] Embodiment 105 is a system of Embodiment 104 further comprising a planetary gear mechanism configured to couple the rotation of the first vial holder with the rotation of the carousel.

[0118] Embodiment 106 is a system of any one of Embodiments 95 to 100, wherein the second vial holder is movable relative to the capper / decapper, and the controller is programmed to automatically move the second vial holder relative to the capper / decapper before performing function (C) to position the second vial held by the second vial holder in the cap / decapper position relative to the capper / decapper, and before performing function (F) to position the container for the second vial held by the second vial holder in the cap / decapper position relative to the capper / decapper.

[0119] Embodiment 107 is the system of Embodiment 106, further comprising a movable platform on which a second vial holder is positioned, and a capper / decapper in a fixed position.

[0120] Embodiment 108 is a system of Embodiment 107 in which the movable platform comprises a carousel that is rotatable around a carousel rotation axis, and the second vial holder and capper / decapper are radially spaced from the carousel rotation axis.

[0121] Embodiment 109 is a system of Embodiment 108, wherein the second vial holder is rotatable about the second vial holder rotation axis, and is configured to rotate about the second vial holder rotation axis as the carousel rotates about the carousel rotation axis, such that the second vial holder is always in a predetermined orientation when the second vial or the container for the second vial held by the second vial holder is in the cap / decap position.

[0122] Embodiment 110 is a system of Embodiment 109, further comprising a planetary gear mechanism configured to couple the rotation of a second vial holder with the rotation of a carousel.

[0123] Embodiment 111 is one of the systems of Embodiments 95 to 100, wherein the cap holder is movable relative to the capper / decapper, and the controller is programmed to automatically move the cap holder to a transfer position relative to the capper / decapper before performing function (D) and before performing function (H).

[0124] Embodiment 112 is the system of Embodiment 111, further comprising a movable platform on which the cap holder is positioned, and the capper / decapper is in a fixed position.

[0125] Embodiment 113 is a system of Embodiment 112 in which the movable platform comprises a carousel that is rotatable around a carousel rotation axis, and the cap holder and capper / decapper are radially spaced away from the carousel rotation axis.

[0126] Embodiment 114 is a system of Embodiment 113 in which the cap holder is rotatable about the cap holder rotation axis and is configured to rotate about the cap holder rotation axis when the carousel rotates about the carousel rotation axis, such that the cap holder is always in a predetermined orientation when it is in the transport position.

[0127] Embodiment 115 is a system of Embodiment 114, further comprising a planetary gear mechanism configured to couple the rotation of the cap holder with the rotation of the carousel.

[0128] Embodiment 116 is a system in which a first vial holder, a second vial holder, and a cap holder are movable relative to the capper / decapper, and the controller moves the first vial holder relative to the capper / decapper before performing function (E) to position the first vial held by the first vial holder in the capped / decapped position relative to the capper / decapper, and before performing function (I) to position the container for the first vial held by the first vial holder in the capped / decapped position relative to the capper / decapper, and before performing function (C) One of the systems of embodiments 95 to 100 is programmed to move the second vial holder relative to the capper / decapper to position the second vial held by the second vial holder relative to the capper / decapper, before performing function (F), position the container for the second vial held by the second vial holder relative to the capper / decapper, and move the cap holder to the transfer position relative to the capper / decapper before performing function (D) and before performing function (H).

[0129] Embodiment 117 is the system of Embodiment 116, further comprising a movable platform on which a first vial holder, a second vial holder, and a cap holder are positioned, and the capper / decapper is in a fixed position.

[0130] Embodiment 118 is a system of Embodiment 117 in which the movable platform comprises a carousel that is rotatable around a carousel rotation axis, and a first vial holder, a second vial holder, a cap holder, and a capper / decapper are radially spaced from the carousel rotation axis.

[0131] Embodiment 119 is configured such that the first vial holder is rotatable about the first vial holder rotation axis, and the first vial holder is always in a predetermined orientation when the carousel rotates about the carousel rotation axis, and the second vial holder is rotatable about the second vial holder rotation axis, and the second vial holder is rotatable about the second vial holder rotation axis, and the second vial holder is rotatable about the second vial holder rotation axis, and the second vial holder is rotatable about the second vial holder rotation axis The system of Embodiment 103 is configured such that the second vial holder is always in a predetermined orientation when the carousel rotates around its rotation axis, and the cap holder is rotatable around its rotation axis, and is configured such that the cap holder is always in a predetermined orientation when the carousel rotates around its rotation axis, and the cap holder rotates around its rotation axis when the carousel rotates around its rotation axis.

[0132] Embodiment 120 is a system of Embodiment 119, further comprising a planetary gear mechanism configured to couple the rotation of a first vial holder, a second vial holder, and a cap holder with the rotation of a carousel.

[0133] Embodiment 121 is one of the systems of Embodiments 95 to 115, each comprising a first vial holder and a second vial holder, each defining a central structure that defines an open chamber in which a vial is received; and a first clamp and a second clamp, each clamp pivotably coupled to the central structure on both sides of the open chamber, and each clamp includes a clamping surface that extends into the open chamber and contacts the side of a vial disposed in the open chamber, and each clamp includes an outer cam surface, wherein the system further comprises a closing bracket including a yoke configured to engage with the outer cam surfaces of each of the first clamp and the second clamp when a capper / decapper is removing or securing a cap of a vial disposed in the open chamber, wherein the engagement of the yoke with the outer cam surfaces biases the first clamp and the second clamp to pivot inward, thereby increasing the contact pressure between the clamping surfaces of the first clamp and the second clamp and the side of a vial disposed in the open chamber.

[0134] Embodiment 122 comprises a first vial containing a fluid sample, comprising a container, a cap removably fixed to the container, and a sample collection swab coupled to the cap, and a system comprising a control system, a first vial holder, a second vial holder, a cap holder, a vial transport mechanism controlled by the control system to transport the first vial to the first vial holder, a vial transport mechanism controlled by the control system to transport the second vial to the second vial holder, and a capper / decapper controlled by the control system to remove the cap from the container of the second vial held in the second vial holder, wherein the capper / decapper is controlled by the control system to place the cap removed from the container of the second vial onto the cap holder, and the capper / decapper is controlled to remove the cap and the sample collection swab coupled to the cap from the container of the first vial held in the first vial holder. A system for processing a first vial at a processing station, controlled by a system, in which a capper / decapper is controlled to fix the cap removed from the first vial's container into the second vial's container, with the sample collection swab still attached to the cap; a vial transport mechanism is controlled by a system to remove the second vial from the second vial holder after the capper / decapper has fixed the cap and the sample collection swab attached to the cap into the second vial's container; a capper / decapper is controlled by a system to grasp the cap held by the cap holder; a capper / decapper is controlled by a system to fix the cap into the first vial's container; and a vial transport mechanism is controlled by a system to remove the first vial from the first vial holder after the capper / decapper has fixed the cap into the first vial's container.

[0135] Embodiment 123 comprises an input vial containing a fluid sample and a cap removably fixed to the container, and a sample collection swab coupled to the cap, and a system comprising an input vial holder, an output vial holder, at least one pick-and-place robot, a capper / decapper, a pipette, and a system controller communicating with at least one pick-and-place robot, a capper / decapper, and a pipette, wherein the system controller (A) at least one pick-and-place robot (B) The function of activating a pick-and-place robot to transport the input vial to the input vial holder, (C) The function of activating a capper / decapper to remove the cap and the sample collection swab attached to the cap from the container of the input vial held in the input vial holder, (D) After performing function (C), the function of activating a pipette to extract a certain amount of fluid sample from the container of the input vial, and (E) The function of performing function (D) (F) After performing function (E), activate the capper / decapper to secure the cap to the container of the input vial held in the input vial holder, with the sample collection swab still attached to the cap; (G) After performing function (E), activate at least one pick-and-place robot to remove the input vial from the input vial holder; (H) After performing function (E), activate the capper / decapper to remove the cap from the container of the output vial held in the output vial holder; (H) This is a system for processing an input vial, programmed to perform the following functions: (I) after performing function (G), activate a pipette to dispense a fixed amount of fluid sample taken from the input vial's container into the output vial's container; (H) after performing function (I), activate a capper / decapper to secure the cap to the output vial's container; and (J) after performing function (I), activate at least one pick-and-place robot to remove the output vial from the output vial holder.

[0136] Embodiment 124 is a system of Embodiment 123 in which the same pick-and-place robot is operated to perform each of functions (A), (B), (F), and (J).

[0137] Embodiment 125 is a system of Embodiment 123 or 124, further comprising an input rack, wherein function (A) includes operating at least one pick-and-place robot to transport input vials from the input rack to an input vial holder, and function (F) includes operating at least one pick-and-place robot to transport input vials to the input rack after removing them from the input vial holder.

[0138] Embodiment 126 is a system of Embodiment 125 in which the input rack comprises a body having a handle at one end thereof, the body including a plurality of vial receptacles arranged in two rows, each vial receptacle in one row being associated with one vial receptacle in the other row, each vial receptacle in one row being longitudinally offset from the associated vial receptacle in the other row, and adjacent vial receptacles in one row being laterally offset from each other.

[0139] Embodiment 127 is any one of the systems from Embodiments 123 to 126, further comprising an output rack, wherein function (J) includes operating at least one pick-and-place robot to transport output vials from the output vial holder to the output rack.

[0140] Embodiment 128 is a system of Embodiment 127, further comprising an incubator, wherein function (J) includes transporting the output vials from the output vial holder to the incubator to expose the output vials to a high temperature for a predetermined period of time before transporting the output vials to the output rack.

[0141] Embodiment 129 is a system of any one of Embodiments 123 to 128, wherein the input vial holder is movable relative to the capper / decapper, and the system controller is programmed to automatically move the input vial holder relative to the capper / decapper before performing function (C) to position the input vial held by the input vial holder in the cap / decapper position relative to the capper / decapper, and before performing function (E) to position the container for the input vial held by the input vial holder in the cap / decapper position relative to the capper / decapper.

[0142] Embodiment 130 is a system of Embodiment 1129, further comprising a movable platform on which an input vial holder is mounted, with the capper / decapper in a fixed position.

[0143] Embodiment 131 is a system of Embodiment 130 in which the movable platform comprises a carousel rotatable around a rotation axis, and the input vial holder and capper / decapper are radially spaced from the rotation axis.

[0144] Embodiment 132 is a system of Embodiment 131 in which the input vial holder is rotatable about a rotation axis, and is configured to rotate about the rotation axis of the input vial holder when the carousel rotates about the rotation axis of the carousel, such that the input vial holder is always in a predetermined orientation when the input vial or container for the input vial held by the input vial holder is in the cap / decap position.

[0145] Embodiment 133 is a system of Embodiment 132, further comprising a planetary gear mechanism configured to couple the rotation of an input vial holder with the rotation of a carousel.

[0146] Embodiment 134 is a system of any one of Embodiments 123 to 129, wherein an input vial holder is movable relative to the pipette, and an output vial holder is movable relative to the pipette, and the system controller is programmed to automatically move the input vial holder before performing function (D) to position the container for the input vial held by the input vial holder relative to the pipette, and before performing function (H) to automatically move the output vial holder to position the container for the output vial held by the output vial holder relative to the pipette.

[0147] Embodiment 135 is a system of Embodiment 134, further comprising a movable platform on which input vial holders and output vial holders are mounted.

[0148] Embodiment 136 is a system of Embodiment 135 in which the movable platform comprises a carousel rotatable around a rotation axis, and the input vial holder and output vial holder are radially spaced away from the rotation axis.

[0149] Embodiment 137 is a system of any one of Embodiments 123 to 129, wherein the output vial holder is movable relative to the capper / decapper, and the system controller is programmed to automatically move the output vial holder relative to the capper / decapper before performing function (G) to position the output vial held by the output vial holder in the cap / decapper position relative to the capper / decapper, and before performing function (I) to position the container for the output vial held by the output vial holder in the cap / decapper position relative to the capper / decapper.

[0150] Embodiment 138 is the system of Embodiment 137, further comprising a movable platform on which an output vial holder is mounted, and the capper / decapper is in a fixed position.

[0151] Embodiment 139 is a system of Embodiment 138 in which the movable platform comprises a carousel rotatable around a rotation axis, and the output vial holder and capper / decapper are radially spaced from the rotation axis.

[0152] Embodiment 140 is a system of Embodiment 139 in which the output vial holder is rotatable about a rotation axis, and is configured to rotate about the rotation axis of the output vial holder when the carousel rotates about the rotation axis of the carousel, such that the output vial holder is always in a predetermined orientation when the output vial or the container for the output vial held by the output vial holder is in the cap / decap position.

[0153] Embodiment 141 is a system of Embodiment 140, further comprising a planetary gear mechanism configured to couple the rotation of an output vial holder with the rotation of a carousel.

[0154] Embodiment 142 is a system of any one of Embodiments 134 to 136, wherein the pipette is movable relative to the input vial holder and the output vial holder, and the system controller is programmed to move the pipette to the pipette operating position after the container for the input vial held by the input vial holder has been moved to the pipette operating position and before function (D) is performed, and to move the pipette to the pipette operating position after the container for the output vial held by the output vial holder has been moved to the pipette operating position and before function (H) is performed.

[0155] Embodiment 143 is one of the systems from Embodiments 123 to 142, further comprising a drip shield movable relative to the capper / decapper between a first and second position, wherein the system controller is programmed to move the drip shield to the first position under the cap and the sample collection swab coupled to the cap after performing function (C), move the drip shield to the second position away from the cap and the sample collection swab coupled to the cap before performing function (E), move the drip shield to the first position under the cap after performing function (G), and move the drip shield to the second position away from the cap before performing function (I).

[0156] Embodiment 144 is one of the systems of Embodiments 123 to 143, each comprising: an input vial holder and an output vial holder, each comprising: a central structure defining an open chamber in which a vial is received; a first clamp and a second clamp, each clamp pivotably coupled to the central structure on both sides of the open chamber, each clamp including a clamping surface extending into the open chamber and contacting the side of a vial disposed within the open chamber, and each clamp including an outer cam surface; and further comprising: a closing bracket including a yoke configured to engage with the outer cam surfaces of each of the first clamp and the second clamp when a capper / decapper is removing or securing a cap of a vial disposed within the open chamber, wherein the engagement of the yoke with the outer cam surfaces biases the first clamp and the second clamp to pivot inward, thereby increasing the contact pressure between the clamping surfaces of the first clamp and the second clamp and the side of a vial disposed within the open chamber.

[0157] Embodiment 145 comprises an input vial containing a fluid sample and a cap removably fixed to the container, and a sample collection swab coupled to the cap, wherein the system comprises a control system, an input vial holder, an output vial holder, a vial transport mechanism controlled by the control system to transport the input vial to the input vial holder, a vial transport mechanism controlled by the control system to transport the output vial to the output vial holder, a capper / decappender controlled by the control system to remove the cap and the sample collection swab coupled to the cap from the container of the input vial held in the input vial holder, and a pipette controlled by the control system to take a certain amount of fluid sample from the container of the input vial held in the input vial holder after the cap and the sample collection swab have been removed from the container of the input vial, wherein the capper / decappender takes the cap after a certain amount of fluid sample has been taken from the container of the input vial, and the sample collection swab remains attached to the cap. This is a system for processing an input vial, in which a control system controls the input vial to be fixed in its container while coupled, a vial transport mechanism controls the input vial to be removed from the input vial holder after the cap has been fixed in the input vial container, a capper / decapper controls the output vial to be removed from the container of the output vial held in the output vial holder, a pipette controls the pipette to dispense a fixed amount of fluid sample taken from the input vial container into the container of the output vial held in the output vial holder, a capper / decapper controls the pipette to fix the cap to the container of the output vial after the pipette has dispensed a fixed amount of sample into the container of the output vial, and a vial transport mechanism controls the capper / decapper to remove the output vial from the output vial holder after the capper / decapper has fixed the cap to the container of the output vial.

[0158] Embodiment 146 comprises a sample collection vial containing a fluid sample, a cap removably attached to the container, and a sample collection swab attached to the cap, and a processing station comprising a vial holder, a cap holder, a capper / decapper, a pick-and-place robot, and a waste receptacle, wherein the method is to (a) transport the sample collection vial to the vial holder using the pick-and-place robot, (b) transport the replacement cap to the cap holder using the pick-and-place robot, wherein the replacement cap does not include a sample collection swab, and (c) modify the attachment between the cap and the attached sample collection swab and the container using the capper / decapper so that the cap can be separated from the container. The method for processing a sample collection vial using an automated processing station includes: (d) using a pick-and-place robot to remove the cap and attached sample collection swab from the container; (e) using a pick-and-place robot to transport the cap and attached sample collection swab to a waste receptacle and store the cap and attached sample collection swab in the waste receptacle; (f) using a capper / decapper to remove the replacement cap from the cap holder; (g) using a capper / decapper to attach the replacement cap to the container of the sample collection vial; and (h) using a pick-and-place robot to remove the sample collection vial with the replacement cap attached from the vial holder.

[0159] Embodiment 147 is the method of Embodiment 146, wherein the replacement cap is a cap that can be passed through.

[0160] Embodiment 148 is a method of Embodiment 146 or 147, wherein (a) transports the sample collection vial from the input rack to the vial holder, and (h) transports the sample collection vial from the vial holder to the output rack using a pick-and-place robot.

[0161] Embodiment 149 is the method of Embodiment 148, further comprising, prior to (h), placing the sample collection vial with the replacement cap attached inside an incubator to expose the sample collection vial to a high temperature for a predetermined period of time.

[0162] Embodiment 150 is one of the methods of Embodiments 146 to 149, wherein the vial holder is movable relative to the capper / decapper, and the method includes moving the vial holder relative to the capper / decapper before (c) and before (g) to position the sample collection vial held by the vial holder in the cap / decapper position relative to the capper / decapper, and the cap holder is movable relative to the capper / decapper, and the method includes moving the cap holder relative to the capper / decapper before (f) to position the cap holder in the working position relative to the capper / decapper.

[0163] Embodiment 151 is a method of Embodiment 150 in which the vial holder is positioned on a movable platform, and moving the vial holder relative to the capper / decapper to position the sample collection vial in the cap / decapper position relative to the capper / decapper includes moving the movable platform until the sample collection vial is positioned below the capper / decapper.

[0164] Embodiment 152 is the method of Embodiment 151, wherein the movable platform comprises a carousel rotatable around a rotation axis, the vial holder is radially spaced from the rotation axis, and the capper / decapper is radially spaced from the rotation axis by the same distance as the vial holder.

[0165] Embodiment 153 is the method of Embodiment 152, wherein the cap holder is radially spaced from the axis of rotation by the same distance as the vial holder.

[0166] Embodiment 154 is one of the methods of Embodiments 146 to 153, wherein the processing station includes a waste receptacle shutter having an opening inside, and between (a), (b), (c), and (d), the waste receptacle shutter is in a closed position in which a portion of the shutter covers an access opening to the waste receptacle, and the method includes, before (e), automatically moving the waste receptacle shutter from the closed position to an open position in which the opening of the waste receptacle shutter is aligned with the access opening to the waste receptacle, and (e) includes automatically moving the cap and attached sample swab through the opening and access opening of the shutter to store the cap and attached sample swab inside the waste receptacle.

[0167] Embodiment 155 is the method of Embodiment 154, wherein when the waste receptacle shutter is in the open position during (e), at least a portion of the waste receptacle shutter is positioned above the containment container and below the cap and attached sample collection swab removed from the containment container using a pick-and-place robot, and (e) is the method of the pick-and-place robot transporting the cap and attached sample collection swab along a path above the waste receptacle shutter.

[0168] Embodiment 156 is the method of Embodiment 154 or 155, further comprising, after (e), automatically moving the waste receptacle shutter from the open position to the closed position.

[0169] Embodiment 157 is one of the methods of Embodiments 146 to 156, which includes (i) presenting the replacement cap in a position and orientation that allows the replacement cap to be picked up by a pick-and-place robot, prior to (b).

[0170] Embodiment 158 ​​is the method of Embodiment 157, wherein (i) is performed using a vibrating hopper.

[0171] Embodiment 159 comprises a sample collection vial containing a fluid sample, a cap removably attached to the container, and a sample collection swab attached to the cap, and a system comprising a vial holder, a cap holder, a capper / decapper configured to remove the cap from the container or attach the cap to the container, a pick-and-place robot, a waste receptacle, and a system controller that communicates with the capper / decapper and the pick-and-place robot, wherein the system controller has the function of (a) activating the pick-and-place robot to transport the sample collection vial to the vial holder, (b) activating the pick-and-place robot to transport a replacement cap to the cap holder, wherein the replacement cap does not include a sample collection swab, and (c) activating the capper / decapper so that the cap can be separated from the container. (d) a function to change the attachment between the cap and the attached sample collection swab and the containment container; (e) a function to operate a pick-and-place robot to remove the cap and the attached sample collection swab from the containment container; (f) a function to operate a pick-and-place robot to transport the cap and the attached sample collection swab to a waste receptacle and store the cap and the attached sample collection swab in the waste receptacle; (g) a function to operate a capper / decapper to remove the replacement cap from the cap holder; (h) a function to operate a capper / decapper to attach the replacement cap to the containment container of the sample collection vial; and (g) a function to operate a pick-and-place robot to remove the sample collection vial with the replacement cap attached from the vial holder.

[0172] Embodiment 160 is the system of Embodiment 143, wherein the replacement cap is a cap that can be passed through.

[0173] Embodiment 161 is a system of Embodiment 159 or 160, further comprising an input rack for holding one or more sample collection vials and an output rack for holding one or more sample collection vials, wherein function (a) includes a system controller operating a pick-and-place robot to transport a sample collection vial from the input rack to a vial holder, and function (h) includes a system controller operating a pick-and-place robot to transport a sample collection vial from the vial holder to an output rack.

[0174] Embodiment 162 is a system of Embodiment 161, further comprising an incubator for holding one or more sample collection vials, wherein, prior to function (h), a system controller operates a pick-and-place robot to transport the sample collection vials from the vial holder to the incubator in order to expose the sample collection vials to a high temperature for a predetermined period of time.

[0175] Embodiment 163 is a system of any one of Embodiments 159 to 162, further comprising a movable platform on which a vial holder and a cap holder are supported, wherein a system controller communicates with the movable platform and is programmed to actuate the movable platform before function (c) and before function (g) to move the vial holder relative to the capper / decapper to position the sample collection vial held in the vial holder in the capper / decapper, and before function (f) to actuate the movable platform relative to the capper / decapper to position the replacement cap held by the cap holder in the working position.

[0176] Embodiment 164 is a system of Embodiment 163 in which the movable platform comprises a carousel that can rotate around a rotation axis, the vial holder is radially spaced away from the rotation axis, and the capper / decapper is radially spaced the same distance from the rotation axis as the vial holder.

[0177] Embodiment 165 is the system of Embodiment 164, wherein the cap holder is radially spaced from the carousel rotation axis by the same distance as the vial holder.

[0178] Embodiment 166 is a system of any one of Embodiments 159 to 165, comprising a waste receptacle shutter having an opening inside and configured for powered movement between a closed position in which a portion of the shutter covers an access opening to a waste receptacle and an open position in which the opening of the shutter is aligned with the access opening to the waste receptacle, wherein a system controller communicates with the waste receptacle shutter and is programmed to actuate the waste receptacle shutter to move it from the closed position to the open position before function (e), the function (e) comprising the system controller actinguate a pick-and-place robot to move the cap and attached sample swab through the opening of the shutter and the access opening to store the cap and attached sample swab in the waste receptacle.

[0179] Embodiment 167 is a system of Embodiment 166, wherein when the waste receptacle shutter is in the open position during function (e), at least a portion of the waste receptacle shutter is positioned above the containment container and below the cap and attached sample collection swab removed from the containment container using a pick-and-place robot, and function (e) includes the pick-and-place robot transporting the cap and attached sample collection swab along a path above the waste receptacle shutter.

[0180] Embodiment 168 is a system of Embodiment 166 or 167, further comprising, after function (e), the system controller activates the waste receptacle shutter to move it from the open position to the closed position.

[0181] Embodiment 169 is any one of the systems from Embodiments 159 to 168, further comprising a vibrating hopper and a cap chute, wherein the vibrating hopper is configured to present the replacement caps to the cap chute in an orientation that allows the replacement caps to be picked up by a pick-and-place robot.

[0182] Other features and characteristics of the subject matter of this disclosure, as well as the operation methods, the function of combinations of related elements and parts of the structure, and the economics of manufacture, will become more apparent by considering the following description and the appended claims with reference to the appended drawings, all of which form part of this specification, where similar reference numerals indicate corresponding parts of various figures. [Brief explanation of the drawing]

[0183] Brief explanation of the drawing The accompanying drawings are incorporated herein by reference and form part thereof, illustrating various embodiments of the subject matter of this disclosure. In the drawings, similar reference numerals indicate identical or functionally similar elements.

[0184] [Figure 1] Figure 1 is a perspective view of a sample processing apparatus as described herein.

[0185] [Figure 2] Figure 2 is a top perspective view of the sample processing apparatus shown in Figure 1, with certain components of the apparatus omitted from the drawing.

[0186] [Figure 3] Figure 3 is a top-view perspective of the sample processing station of the sample processing equipment.

[0187] [Figure 4] Figure 4 is a bottom perspective view of the sample processing station.

[0188] [Figure 5] Figure 5 is a side view of the sample processing station.

[0189] [Figure 6] Figure 6 is a rear view of the sample processing station.

[0190] [Figure 7] Figure 7 is a bottom view of the sample processing station.

[0191] [Figure 8] Figure 8 is a perspective view of the vial holder, or cradle, of the sample processing station.

[0192] [Figure 9] Figure 9 shows the cap holder, or cradle, of the sample processing station.

[0193] [Figure 10] Figure 10 is a partial front view of a sample processing station in which a capper / decapper is positioned above a vial held within a vial holder.

[0194] [Figure 11] Figure 11 is a partial front view of a sample processing station in which a capper / decapper is lowered onto a vial held in a vial holder.

[0195] [Figure 12] Figure 12 is a cross-sectional view of a vial holder in which a vial having a cap containing a sample collection swab is held within the vial holder.

[0196] [Figure 13] Figure 13 is a top perspective view of the sample collection vial.

[0197] [Figure 14] Figure 14 is a disassembled front view of the sample collection vial with the cap and collection swab removed from the container.

[0198] [Figure 15] Figure 15 is a top perspective view of the output vial.

[0199] [Figure 16] Figure 16 shows a flowchart illustrating an exemplary embodiment of a method for transferring a fixed amount of sample material from an input vial to an output vial using a sample processing station.

[0200] [Figure 17] Figure 17 is a flowchart illustrating an exemplary embodiment of a method for modifying an input vial by replacing the cap on the vial's container so that the vial can be processed in an automated analyzer.

[0201] [Figure 18] Figure 18 is an exemplary top perspective view of a rack for holding input and output vials, showing the rack configured to be inserted into a sample processing instrument, with the rack holding one input vial and one output vial.

[0202] [Figure 19] Figure 19 is a right side view of the rack.

[0203] [Figure 20] Figure 20 is a left side view of the rack.

[0204] [Figure 21] Figure 21 is a top view of the rack.

[0205] [Figure 22] Figure 22 is a bottom view of the rack.

[0206] [Figure 23] Figure 23 is an end view of the rack.

[0207] [Figure 24]Figure 24 is a broken top view of the rack, showing the rack with the input vials in each input vial holder and the output vials in each output vial holder.

[0208] [Figure 25] Figure 25 is a block diagram illustrating the elements of the control architecture of a sample processing device.

[0209] [Figure 26] Figure 26 is a perspective view of the alternative sample handling apparatus described herein, which has a waste receptacle shutter in the open position.

[0210] [Figure 27] Figure 27 is a top perspective view of the sample processing apparatus of Figure 26, with a waste receptacle shutter in the closed position, with certain components of the apparatus omitted from the drawing.

[0211] [Figure 28] Figure 28 is a top perspective view of a sample processing apparatus as shown in Figure 27, which has a waste receptacle shutter in the open position.

[0212] [Figure 29] Figure 29 is a flowchart illustrating an exemplary embodiment of a method for modifying an input vial by removing and discarding the cap and swab from the input vial and attaching a replacement cap to the container of the input vial, so that the vial can be processed in an automated analyzer. [Modes for carrying out the invention]

[0213] Detailed explanation While aspects of the subject matter of this disclosure can be embodied in various forms, the following description and accompanying drawings are intended to disclose only some of these forms as specific examples of the subject matter. Accordingly, the subject matter of this disclosure is not intended to be limited to the forms or embodiments described and illustrated in this manner.

[0214] definition Unless otherwise defined, all technical terms, notations, and other technical or linguistic expressions used herein have the same meaning as those generally understood by those skilled in the art to which this disclosure pertains. All patents, applications, published applications, and other publications referenced herein are incorporated in their entirety by reference. If any definition set forth in this section contradicts or otherwise conflicts with any definition set forth in any patent, application, published application, or other publication incorporated herein by reference, the definition set forth in this section shall prevail over the definition set forth in any patent, application, published application, or other publication incorporated herein by reference.

[0215] Unless otherwise indicated or the context suggests otherwise, when used herein, “a” or “an” means “at least one” or “one or more.”

[0216] References in this specification to “one embodiment,” “an embodiment,” “further embodiment,” “an exemplary embodiment,” “some aspects,” “a further aspect,” and “aspects” indicate that the described embodiments may include certain features, structures, or characteristics, but not all embodiments covered by this disclosure necessarily include those specific features, structures, or characteristics. Furthermore, such phrases do not necessarily refer to the same embodiments. Moreover, where certain features, structures, or characteristics are described in relation to an embodiment, such features, structures, or characteristics are also described in relation to other embodiments, whether explicitly described or not.

[0217] To the extent used herein, the term “sample” means any substance suspected to contain at least one analyte of interest. The analyte of interest may be, for example, nucleic acids, proteins, prions, chemicals, etc. The substance may originate from any source, including animals, industrial processes, the environment, water sources, food, or solid surfaces (e.g., surfaces within a medical facility). Substances obtained from animals may include, for example, blood or blood products, urine, mucus, sputum, saliva, semen, tears, pus, feces, nasopharyngeal or urogenital specimens obtained using swabs or other collection devices, and other bodily fluids or substances. The term “sample” is understood to mean a specimen in its natural form or at any stage of processing.

[0218] To the extent used herein, the terms “receptacle” or “fluid receptacle” refer to any type of fluid container configured to contain a sample or another fluid, including, for example, tubes, vials, cuvettes, wells or cartridges, or other articles having or attached one or more wells, such as microtiter plates. Tubes may be cylindrical (i.e., have a circular cross-section) or non-cylindrical, and may have flat or rounded closed ends. Non-limiting examples of exemplary receptacles include, for example, the Aptima® urine sample collection kit, Aptima® sample transfer kit and Aptima® MultiTest Swab sample collection kit, available from Hologic, Inc., Marlborough, Massachusetts, USA, and the ESwab® liquid-based collection and transfer system, available from Thermo Fisher Scientific, Waltham, Massachusetts, USA.

[0219] This description may use various terms to describe the relative spatial arrangement and / or orientation or direction when describing the position and / or orientation, direction of movement, force, or other dynamic action of components, devices, locations, features, or parts thereof. Unless otherwise specified or interpreted differently in the context of the description, these terms are not limited to: top, bottom, above, below, under, on top of, upper, lower, left, right, in front of, behind, beneath, next Such terms, including to, adjacent, between, horizontal, vertical, diagonal, longitudinal, transverse, radial, axial, clockwise, counter-clockwise, etc., are used for convenience when referring to such components, devices, locations, features, or parts thereof, or their movement, force, or other dynamic actions as depicted in the drawings, and are not intended to limit them.

[0220] Unless otherwise indicated or suggested by the context, any terms used herein to describe the physical and / or spatial relationships between a first component, structure, or part thereof and a second component, structure, or part thereof, such as attached, connected, fixed, joined, linked, combined, or similar terms or variations thereof, shall encompass both cases where the first component, structure, or part thereof is in direct contact with the second component, structure, or part thereof, or where there is a direct relationship between the first component, structure, or part thereof and the second component, structure, or part thereof involving one or more intervening components, structures, or parts thereof.

[0221] Unless otherwise specified, the specific dimensions mentioned in this description are merely illustrative and not intended to limit to any particular implementation of a device embodying an aspect of this disclosure.

[0222] To the extent used herein, the terms “about” or “approximately” apply to all numerical values ​​and terms that indicate specific physical orientations or relationships, such as horizontal, vertical, parallel, right-angled, concentric, or similar terms as specified herein, whether expressly indicated or not. Generally, in the context of this disclosure, the term refers to a range of numbers, orientations, and relationships that a person skilled in the art would consider to be a reasonable deviation of the enumerated numbers, orientations, and relationships (i.e., having equivalent function or results). For example, though not intended to be limiting, the term may be interpreted to include a deviation of ±10% of a given number, orientation, or relationship, provided that such a deviation does not alter the final function or result of the stated value, orientation, or relationship. Thus, as understood by a person skilled in the art, under certain circumstances, a value of about or approximately 1% may be interpreted as ranging from 0.9% to 1.1%.

[0223] To the extent used herein, the term “adjacent” means being close (spatial proximity) or touching. Adjacent objects or parts thereof may be separated from one another, or they may be in actual or direct contact with one another. In some cases, adjacent objects or parts thereof may be joined together, or they may form a single unit with one another.

[0224] To the extent used herein, the terms “substantially” and “substantial” refer to a considerable degree or scope. For example, when used in conjunction with events, situations, characteristics, or properties, these terms may refer to instances in which the event, situation, characteristic, or property occurs exactly as described, as well as instances in which the event, situation, characteristic, or property occurs approximately, such as taking into account the typical tolerance levels or variability of the embodiments described herein.

[0225] To the extent used herein, the terms “optional” and “optionally” or “may” (for example, in the phrases “may include,” “may provide,” “may generate,” “may offer,” or similar phrases) mean that the following components, structures, elements, events, situations, characteristics, properties, etc. may or may not be included, or may or may not occur, and that the description includes both instances in which the components, structures, elements, events, situations, characteristics, properties, etc. are included or occur, and instances in which they are not included or occur.

[0226] To the extent used herein, the term “analyte” refers to the molecule or substance detected or subjected to analysis in an assay. Exemplary analytes include nucleic acids, polypeptides, proteins, antigens, antibodies, and prions.

[0227] To the extent used herein, the term “assay” refers to a procedure for detecting and / or quantifying an analyte in a sample. A sample containing or suspected to contain an analyte is brought into contact with one or more reagents and subjected to conditions that allow for the generation of a detectable signal indicating the presence or absence of the analyte or the amount (e.g., mass or concentration) of the analyte in the sample.

[0228] To the extent used herein, the term “analytical instrument” refers to an automated instrument capable of performing one or more steps of an assay, which includes the step of determining the presence or amount of one or more analytes suspected to be present in a fluid sample.

[0229] To the extent used herein, the term “molecular assay” refers to a procedure for specifically detecting and / or quantifying a target molecule, such as a particular nucleic acid. A sample containing or suspected to contain a target molecule is brought into contact with one or more reagents, each containing at least one reagent specific to the target molecule, and subjected to conditions that allow for the generation of a detectable signal indicating the presence or absence of the target molecule. For example, if the molecular assay involves an amplification reaction such as polymerase chain reaction (PCR), the reagent may contain a primer that is specific to the target nucleic acid, and the generation of a detectable signal may be achieved by providing a labeled probe that hybridizes, at least partially, to an amplification product (amplicon) produced by the primer in the presence of the target. Alternatively, the reagent may contain an intercalating dye for detecting the formation of double-stranded nucleic acids.

[0230] To the extent used herein, the term “reagent” refers to any substance or mixture involved in an assay other than the assay sample material and product. Exemplary reagents for use in molecular assays include nucleotides, enzymes, primers, probes, and salts.

[0231] To the extent used herein, the terms “first” and “second” preceding the names of elements (e.g., components, devices, locations, features, or parts thereof, or directions of movement, forces, or other dynamic actions) are used for identification purposes to distinguish similar elements and are not necessarily intended to imply order, nor do the terms “first” and “second” preclude the inclusion of additional similar elements. Furthermore, the use of the term “first” preceding the names of elements (e.g., components, devices, locations, features, or parts thereof, or directions of movement, forces, or other dynamic actions) does not necessarily imply or require the existence of additional, for example, “second,” “third” or such (one or more) elements.

[0232] To the extent used herein, the terms or phrases “configured to,” “adapted to,” “operable to,” and “built and arranged to” mean that the subject of the term or phrase includes, constitutes, or otherwise incorporates (one or more) necessary structures, (one or more) mechanisms, (one or more) arrangements, (one or more) components, (one or more) materials, (one or more) algorithms, (one or more) circuits, programming, etc., to automatically, permanently, or selectively perform one or more specified tasks or achieve specified outputs or characteristics when requested to do so.

[0233] Detailed description of the drawing Figures 1 and 2 show perspective views of the sample processing device 100. One purpose of the sample processing device 100 is to receive an input vial containing liquid sample material and having a configuration that prevents it from being processed by an analyzer, to transfer a certain amount of sample material from the input vial to an output vial having a configuration that allows it to be processed by an analyzer, or to reconfigure the input vial, for example, by replacing a cap with a sample collection swab with a cap without a sample collection swab, so that the input vial can be processed by an automated diagnostic analyzer.

[0234] Referring to Figures 1 and 2, the sample processing apparatus 100 includes a sample processing station 200, a pipette 128, and a vial transport mechanism such as a pick-and-place robot 126. In one example, the apparatus 100 may include an incubator 280 configured to receive one or more output vials 160 to apply predetermined thermal conditions to the contents of the output vials for a predetermined period of time configurable by the user for workflows requiring such incubation. For example, the predetermined conditions may be 90-120°C for 60-1800 seconds (1-30 minutes), for example, about 15 minutes. One reason for incubation is the formation of crosslinks between nucleic acids in formalin-containing media such as SurePath® preservation solution. Heating such samples in the presence of a buffer reverses the effect of crosslinking and improves the accessibility of the nucleic acids. In one example, a pipette 128 and a pick-and-place robot 126 are supported on a gantry 120 for XYZ movement (Figure 2 shows the sample handling apparatus 100 without the gantry 120, pipette 128, or pick-and-place robot 126). In one example, the pipette 128 is supported on a lateral arm 124a and configured for movement by power in the X direction along the length of the arm 124a (e.g., by a motor, rack and pinion mechanism, linear actuator, belt, etc.), and the arm 124a is supported on a longitudinal arm 122 and configured for movement by power in the Y direction along the longitudinal arm 122 (e.g., by a motor, rack and pinion mechanism, linear actuator, belt, etc.). The pipette 128 is also configured for movement by power in the Z direction relative to the lateral arm 124a. The pipette 128 may include a shaft configured to receive and frictionally engage and hold a disposable pipette tip, and the pipette 128 may be configured to selectively generate negative pressure (vacuum or suction force) for drawing liquid into the pipette tip and positive pressure for discharging the liquid from the pipette tip, i.e., dispensing.

[0235] Similarly, the pick-and-place robot 126 is supported on a lateral arm 124b and configured for movement by power in the X direction along the length of the arm 124b (e.g., by a motor, rack and pinion mechanism, linear actuator, belt, etc.), and the arm 124b is supported on a longitudinal arm 122 and configured for movement by power in the Y direction along the longitudinal arm 122 (e.g., by a motor, rack and pinion mechanism, linear actuator, belt, etc.). The pick-and-place robot 126 is also configured for movement by power in the Z direction relative to the lateral arm 124b. The pick-and-place robot 126 includes a claw or gripper having two or more opposing jaws that are actuated to selectively grasp an object such as an input vial 150 or an output vial 160.

[0236] In an alternative embodiment, the pipette and pick-and-place robot is supported on a longitudinal arm 122 and on a single transverse arm configured for Y-direction powered movement along the longitudinal arm 122.

[0237] The device 100 may be configured to accept and removably hold one or more input racks 102 in an input rack receiving area 130, one or more output racks 104 in an output rack receiving area 132, a pipette tip tray 108, and a waste container 110. The pipette tip tray 108 and the waste container 110 may be supported on drawers 106 and 107, respectively.

[0238] The apparatus 100 may include a printer (not shown) for printing machine-readable labels, such as barcodes, onto vials processed by the apparatus. An exemplary printer is described in U.S. Patent No. 9,724,948.

[0239] Each input rack 102 is configured to be slidably inserted into or removed from the sample processing instrument 100 (for example, tracks or grooves on the instrument 100 are slidably engaged by cooperating grooves or tracks on the bottom of the input rack 102) and is configured to hold a plurality of input vials 150 and, optionally, a plurality of output vials 160. Each output rack 104 is also configured to be slidably inserted into or removed from the processing instrument 100 (for example, on cooperating tracks or grooves on the bottom of the instrument 100 and the output rack 104).

[0240] Figure 2 shows an input rack receiving area 130 for receiving (one or more) input racks 102 and an output rack receiving area 132 for receiving (one or more) output racks 104. The input rack receiving area 130 and the output rack receiving area 132 may each include lanes for receiving each of the racks 102 and 104. Each lane may each include a guide mechanism configured to slidably receive a corresponding guide mechanism on an opposing surface (e.g., the bottom surface) of the racks 102 and 104, and a locking mechanism for holding the racks 102 and 104 within the receiving areas 130 and 132. An exemplary guide mechanism includes a track on the bottom of the racks 102 and 104 and on one of the receiving areas 130 and 132, and cooperating grooves on the bottom of the racks 102 and 104 and on the other of the receiving areas 130 and 132. In the exemplary embodiment, the input rack receiving area 130 and the output rack receiving area 132 include raised tracks or rails 136 defining each lane (including a single continuous track or a plurality of discontinuous aligned tracks, as shown), walls 144 at the ends of the receiving areas 130 and 132, openings 138 formed in the walls 144 and associated with each lane, and pins 142 associated with each lane, extending through the upper edge of the walls 144 and passing through or into the corresponding openings 138. Sensors (not shown) may be provided to detect whether input racks 102 are installed in each lane of the input rack receiving area 130 and whether output racks 104 are installed in each lane of the output rack receiving area 132. Sensors (not shown) may be provided to detect whether locking pins 142 are inserted into each opening 138 to lock the associated racks in place.

[0241] Exemplary input rack acceptance areas and output rack acceptance areas and corresponding locking mechanisms are described in U.S. Patent No. 10,094,847.

[0242] An example of an input rack 102 is shown in Figures 18 to 24. The rack 102 includes a body 550 having a handle 552 at one end of the body. As shown in Figures 18 and 21, the body includes a plurality of input vial receptacles 554 arranged in a row along the side of the body 550, and a plurality of output vial receptacles 556 arranged in a second row parallel to the row of input vial receptacles 554. In the rack illustrated in Figures 18 to 23, one input vial 150 is held in one of the input vial receptacles 554 and the associated output vial 160 is held in one of the output vial receptacles 556 in order to present an associated pair of input and output vials to the instrument. In Figure 24, each input vial 150 is held in an input vial receptacle 554, and each associated output vial 160 is held in an output vial receptacle 556.

[0243] In one example, as shown in Figure 21, each input vial receptacle 554 and its associated output vial receptacle 556 are offset longitudinally by a distance "b". In another example, as shown in Figure 20, the input vial 150 held by the input vial receptacle 554 is offset vertically by a distance "a" from the output vial 160 held by the output vial receptacle 556. In yet another example, as shown in Figure 24, the input vial receptacles 554 are approximately aligned with each other, and the output vial receptacles 556 are offset laterally by a distance "c" for each vial receptacle (staggered). In some examples, one or more offsets "a", "b", and / or "c" are provided so that vials 150 and 160 carried by rack 102 can be more easily grasped by pick-and-place robots from their respective vial receptacles 554 and 556.

[0244] As shown in Figures 22 and 23, the guide groove 560 extends longitudinally along the bottom 558 of the main body 550. As shown in Figures 19 to 22, the projection 562 extends from the end of the main body 550 opposite to the end of the handle 552. As shown in Figure 21, a locking recess 564 is formed on the upper surface of the projection 562.

[0245] When the input rack 102 is placed in the rack receiving area 130, the tracks 136 that define each lane within the rack receiving area 130 are received in grooves 560 formed in the bottom 558 of the main body 550. In an alternative embodiment, raised tracks are provided in the bottom 558 of the main body 550, and these tracks are received in grooves formed in the rack receiving area 132.

[0246] The rack 102 is inserted along the lane of the rack receiving area 130 until the end of the rack body 550 opposite the handle 552 contacts the end wall 144 of the rack receiving area. The projection 562 extends into the opening 138 associated with the lane into which the rack 102 is inserted, and the corresponding locking pin 142 can drop into a locking recess 564 formed within the projection 562, thereby locking the input rack 102 into the input rack receiving area 130.

[0247] The output rack 104 may be identical to the input rack 102, or the output rack 104 may have only a single row of output vial holders.

[0248] Referring to Figures 3, 4, and 5, the sample processing station 200 may include a movable platform 202, which may have a carousel rotatable around a rotation axis 204 (see Figure 5). The movable platform 202 may support one or more vial holders, i.e., cradles, such as an input, i.e., a first vial holder 214, and an output, i.e., a second vial holder 232. The movable platform 202 may also support a cap holder, i.e., cradle 234.

[0249] The sample processing station 200 may include a “teaching post” 180 positioned at a known location relative to the movable platform 202. To synchronize the position of the movable platform 202 with the first and second vial holders 214, 232 and the cap holder 234 supported on the platform 202, the pipette 128 and the pick-and-place robot 126 are moved in the X, Y, and Z directions, respectively, until they contact the teaching post 180. Since the platform 202 and the holders 214, 232, 234 are at known locations relative to the teaching post 180, the specific X, Y, and Z coordinates at which the pipette 128 and the pick-and-place robot 126 contact the teaching post 180 can be correlated with the positions of the holders 214, 232, 234.

[0250] The sample processing station 200 may further include a capper / decapper 300 (which may also be simply called a "capper") configured to grip and rotate a cap screwed onto a container, raising or lowering the cap relative to the container, thereby removing a threaded cap from a container having a matching thread, or securing the cap to the container.

[0251] The sample processing station 200 may also include a movable drip shield 250, as will be described in more detail below.

[0252] The sample processing station 200 may include a barcode reader 270 or other device (e.g., an RFID reader) for reading machine-readable labels or tags to read barcodes or other machine-readable tags on the input vial 150 and / or output vial 160. The barcodes or other machine-readable tags may be used to correlate the vial 150 and / or vial 160 with identification information or other information relating to the contents of the vial 150 and / or vial 160.

[0253] As shown in Figure 4, in the case of a movable platform rotatable around a rotation axis 204, i.e., a carousel 202, a carousel motor 206 (e.g., a servo motor having an encoder and a Hall effect homing sensor) is coupled to the carousel 202 by a belt 208 stretched over a drive wheel 210 attached to the output shaft of the carousel motor 206 and a rotatable shaft 262 attached to the carousel 202, i.e., a driven wheel 212 attached to a spindle. The driven wheel 212 and shaft 262 are rotatably supported, for example, by a mounting bracket 203 located below the carousel 202. The sample processing station 200 may include one or more sensors (not shown) for detecting / indicating the rotational position of the carousel 202.

[0254] Each of the first vial holder 214, the second vial holder 232, and the cap holder 234 is rotatable about a central axis of rotation and is rotated in accordance with the rotation of the carousel 202 by a planetary gear mechanism, as shown in Figure 7, a bottom view of the sample processing station with the mounting bracket 203 omitted. The planetary gear mechanism is configured to rotate each vial holder 214, 232, and cap holder 234 about its respective axis of rotation (axis of symmetry) when the carousel 202 is rotated about the axis of rotation 204 so that the vial holders 214, 232, and cap holder 234 are kept in the same direction of rotation relative to the sample processing station 200. The planetary gear mechanism includes a rotatably fixed sun gear 264 (shown by a dashed line) located at the bottom of the carousel 202, through which a shaft 262 extends; three inner planetary gears 266a, 266b, and 266c, each rotatably mounted to the carousel 202 and having outer teeth that engage with the outer teeth of the sun gear 264; and three outer planetary gears 268a, 268b, and 268c, each rotatably mounted to the carousel 202 and having outer teeth that engage with the outer teeth of the inner planetary gears 266a, 266b, and 266c. The sun gear 264 may be fixed to a mounting bracket 203 (see Figure 4; the mounting bracket 203 is not shown in Figure 7), and the shaft 262 extends through the sun gear 264 to the carousel 202 such that when the shaft 262 rotates, the carousel 202 rotates with the shaft 262, but the sun gear 264 does not rotate. Each of the outer planetary gears 268a, 268b, and 268c is fixed to a rotatable shaft attached to one of the first vial holder 214, the second vial holder 232, and the cap holder 234. As the driven wheels 212 and shaft 262 are rotated via the carousel motor 206 and belt 208, the carousel 202 rotates around the rotation axis 204 (see Figure 5), and each of the inner planetary gears 266a, 266b, 266c and the outer planetary gears 268a, 268b, 268c revolves together with the carousel 202 around the rotation axis 204.The inner planetary gears 266a, 266b, and 266c, which are engaged with the fixed sun gear 264, are rotated around their respective axes of rotation as the carousel 202 rotates, and the outer planetary gears 268a, 268b, and 268c, which are engaged with the associated inner planetary gears 266a, 266b, and 266c, are rotated around their respective axes of rotation, thereby rotating the first vial holder 214, the second vial holder 232, and the cap holder 234 in coordination with the rotation of the carousel 202.

[0255] As shown in Figures 8 and 12, the input vial holder 214 includes a base 224 which can be fixed to the carousel 202 by mechanical fasteners or the like. The configuration of the output vial holder 232 is identical to that of the input vial holder 214, and therefore a separate description of the output vial holder 232 is omitted. The central structure 226 extends above the base 224 and defines an open chamber into which vials are received. The central structure 226 is rotatable relative to the base 224 and is fixedly coupled to one of the outer planetary gears 268a, 268b, and 268c so as to be rotatable with each of the outer planetary gears about its axis of symmetry. Opposing clamps 216a and 216b partially extend into the open sides 226a and 226b of the central structure 226, respectively, and are pivotally attached into the open sides 226a and 226b by pivot pins 218a and 218b, respectively. As shown in Figure 12, each clamp 216a, 216b includes clamp surfaces 220a, 220b that extend into the inner chamber of the central structure 226, which receives vials, and which may be attached to or formed integrally with each clamp 216a, 216b. A spring 230 extends between the clamps 216a, 216b to bias the clamps 216a, 216b and their respective clamp surfaces 220a, 220b toward each other. Although only one spring 230 on one side of the vial holders 214, 232 is shown in the drawing, each vial holder may include another spring extending between the clamps 216a, 216b on the opposite side of the vial holder.

[0256] The central structure 226 may include a central receptacle 228, such as a tube, that receives an input vial 150 (or output vial 160). The operation of the input vial holder 214 for the input vial 150 is described. The operation of the output vial holder 232 for the output vial 160 is identical and will not be described separately. When the vial 150 is inserted into the receptacle 228, the lower end of the containment container 152 extends between the clamp surfaces 220a, 220b. Clamp surface 220a includes an inclined surface 221a, and clamp surface 220b includes an inclined surface 221b. When the vial 150 is inserted into the receptacle 228, the lower end of the containment container 152 contacts the inclined surfaces 221a, 221b, pushing the clamp surfaces 220a, 220b apart against the force of the spring 230, allowing the lower end of the containment container to be inserted between the clamp surfaces 220a, 220b. The force of the spring 230, which biases clamps 216a and 216b toward each other, ensures contact between the clamp surfaces 220a and 220b and the lower end of the containment container 152.

[0257] The receptacle 228 has a sensor opening 229 formed therein (only one opening 229 is shown in Figure 8; another opening (not shown) is provided on the opposite wall of the receptacle 228 and is aligned with the opening 229 shown in Figure 8. Both openings are referred to by reference numeral 229). The openings 229 on both sides of the receptacle 228 are for the sensor to detect the presence of vials 150 or 160 inside the receptacle 228. The sensor may also include an optical sensor (see Figure 5) including an optical emitter 272a and an optical receiver 272b so that it aligns with the opening 229 when the vial holder 214 or 232 is positioned below the capper / decapper 300. If vial 150 or 160 is not held in receptacle 228 when aperture 229 is aligned with sensor 272a / b, the optical signal emitted by sensor emitter 272a passes through aperture 229 and is received by sensor receiver 272b. If vial 150 or 160 is held in receptacle 228 when aperture 229 is aligned with sensor 272a / b, the optical signal emitted by sensor emitter 272a is blocked by vial 150 or 160 and is not received by sensor receiver 272b, thereby triggering a signal to the sensor indicating that vial 150 or 160 is present in vial holder 214, 232.

[0258] As shown in Figures 8 and 12, clamp 216a includes an angled cam surface 222a, and clamp 216b includes a cam surface 222b. The functional operation of cam surfaces 222a and 222b will be described later.

[0259] As shown in Figure 9, the cap holder 234 includes a base 242 which can be fixed to the carousel 202 by mechanical fasteners or the like. The central structure 235 extends above the base 242 and is rotatable relative to the base 242 and is fixedly coupled to one of the outer planetary gears 268a, 268b, 268c so as to be rotatable with each of the outer planetary gears about its axis of symmetry. The central structure 235 includes a cup 236 for holding the cap. Slots 244a, 244b on either side of the cup 236 are for the sensor 272a / b to detect the presence of the cap in the cup 236. If the cap is not held in the cup 236 when the slots 244a, 244b are aligned with the sensor, an optical signal emitted by the sensor emitter 272a passes through the slots 244a, 244b and is received by the sensor receiver 272b. When slots 244a and 244b are aligned with sensors 272a / b and the cap is held inside cup 236, the light signal emitted by sensor emitter 272a is blocked by the cap and not received by sensor receiver 272b, thereby triggering a signal to the sensor indicating that the cap is inside cap holder 234.

[0260] Opposing extensions 238a and 238b extend outward from the cup 236, and each extension 238a and 238b includes cam surfaces 240a and 240b. The function and operation of the cam surfaces 240a and 240b will be described later.

[0261] As shown in Figures 3, 4, and 5 (see also Figures 10 and 11), the capper 300 includes a capper chuck 302 comprising a substantially cylindrical chuck body 304 and jaws 306a, 306b, and 306c mounted within the chuck body 304 for radial movement relative to the axis of rotation of the chuck body 304. The capper chuck 302 may have two or more jaws that are started by jaw actuators for automated (electrically controlled) inward and outward radial movement to grip or release a cap. In one embodiment, the jaw actuator comprises an actuator motor 308 coupled to a rotating body (not shown) located within the chuck body 304 and rotatable independently of the chuck body. The rotating body may include a helical track (not shown) to which the jaws 306a, 306b, and 306c are connected, such that the rotation of the rotating body by the actuator motor 308 causes the jaws 306a, 306b, and 306c to move radially inward or outward.

[0262] The capper 300 is configured to provide power-driven rotation of the capper chuck 302 around the rotation axis of the chuck body 304. In the non-limiting example shown in the drawings (see Figures 3 to 5), the power-driven rotation of the chuck body 304 is provided by the chuck rotary motor 320, which is coupled to the chuck body 304 by an output drive wheel 321 on the output shaft of the chuck rotary motor 320 and a belt 322 stretched around the outer circumference of the chuck body 304. A tension wheel 324 may be provided to maintain and adjust the tension of the belt 322.

[0263] The capper chuck 302 and motor 320 are mounted on a guide track 336 supported by a vertical wall 190 for vertical movement up and down relative to the movable platform 202.

[0264] The axis of rotation of the capper chuck 302, more specifically the chuck body 304, is positioned radially fixed with respect to the axis of rotation 204 of the carousel 202. As the carousel 202 rotates, the input (i.e., first) vial holder 214 or the output (i.e., second) vial holder 232, which are at the same radial distance from the axis of rotation 204, are positioned in a cap / decap position relative to the capper 300 when the axes of rotation of the respective vial holders 214, 232 are substantially aligned with the axis of rotation of the chuck body 304, and the vials 150, 160 held in the vial holders 214, 232 are positioned such that the capper 300 can either remove the caps from the containers 152, 162 held in the respective vial holders 214, 232, or fix the caps onto the containers 152, 162 held in the respective vial holders 214, 232.

[0265] The cap holder 234 is also at the same radial distance from the rotation axis 204 as the vial holders 214 and 232, and is in a transfer position relative to the capper 300 when the rotation axis of the cap holder 234 is approximately aligned with the rotation axis of the chuck body 304, and the cap holder 234 is in a position that allows the capper 300 to place the cap on the cup 236 or remove the cap from the cup 236.

[0266] As shown in Figures 3–5, 10, and 11, the sample processing station 200 further includes a closure bracket 330 that moves vertically up and down relative to the rotatable platform 202, as will be described later. The closure bracket 330 includes a yoke 332 having spindle wheels 334a, 334b ​​located at both ends of the yoke 332. A plate 335 is fixed to the end of the yoke 332 adjacent to the spindle wheel 334a. The plate 335 presents a relatively non-reflective surface to cover the reflective surfaces of the yoke 332 and spindle wheel 334a that may interfere with barcode scanning by the scanner 270.

[0267] The closing bracket 330 is coupled to the guide track 336 by a guide track interface 338 (see Figure 4) for vertical movement relative to the movable platform 202. The capper chuck 302, including the motor 320, is supported on the closing bracket 330 and moves up and down with the closing bracket 330. In one example, the capper chuck 302 is not configured for vertical movement by an independent power source.

[0268] As shown in Figure 6, a pair of parallel, vertically positioned guide rods 352a and 352b are located behind the vertical wall 190. The capper chuck 302 is attached to the upper guide bracket 354 through an opening in the vertical wall 190, and the closing bracket 330 is attached to the lower guide bracket 356 through an opening in the vertical wall 190. The upper guide bracket 354 and the lower guide bracket 356 include linear bearings through which the guide rods 352a and 352b extend.

[0269] The elevator mechanism is configured to provide powered, controlled vertical movement of a closing bracket 330 along a guide track 336. Referring to Figures 5 and 6, the elevator mechanism includes an elevator motor 340 having a drive wheel 342 that drives a pulley wheel 346 via a drive belt 344. The pulley wheel 346 is mounted on a shaft to which an upper pulley wheel 364 (see Figure 5) is also attached. An elevator belt 350 is stretched across the upper pulley wheel 364 and the lower pulley wheel 348. The elevator belt 350 is secured to the lower guide bracket 356 at a belt attachment point 358.

[0270] When the pulley wheel 346 is rotated by the elevator motor 340 via the drive belt 344, the upper pulley wheel 364 rotates, thereby driving the elevator belt 350 on the lower pulley wheel 348. Driving the elevator belt 350 in one or the other direction moves the lower guide bracket 356 to which the elevator belt 350 is attached, along the guide rods 352a, 352b, together with the closing bracket 330 attached to the lower guide bracket 356. As can be understood from the configuration shown in Figure 6, in an exemplary, non-limiting embodiment, driving the elevator belt 354 clockwise moves the lower guide bracket 356 and closing bracket 330 downward, and driving the elevator belt 354 counterclockwise lifts the lower guide bracket 356 and closing bracket 330.

[0271] The processing station 200 may include an upper sensor 360 (e.g., a slotted optical sensor) for detecting when the upper guide bracket 354 (and the capper chuck 302) or the lower guide bracket 356 (and the closing bracket 330) is in a predetermined raised position, and a lower sensor 362 (e.g., a slotted optical sensor) for detecting when the upper guide bracket 354 (and the capper chuck 302) or the lower guide bracket 356 (and the closing bracket 330) is in a predetermined lowered position. To detect the vertical position of the capper chuck 302, a vertically mounted linear encoder may be provided. Although not shown in FIGS. 4, 5, or 6, the linear encoder 366 is identified in FIG. 25 as part of the capper / decapper module 604 of the control architecture 600 described later. The linear encoder may be operatively coupled to the upper guide bracket 354 and / or the lower guide bracket 356 to detect the vertical position of the capper chuck 302. For example, the linear encoder may be operatively configured to detect the position of the closing bracket 330 along the guide track 336, and / or the linear encoder, or a different additional linear encoder, may be operatively configured to detect the position of the upper guide bracket 354 and / or the lower guide bracket 356 relative to the guide rods 352a, 352b.

[0272] As shown in Figure 10, when the capper chuck 302 is in the raised position and not engaged with the vial 150(160) held in the vial holder 214(232), the closing bracket 330 is in the raised position between the clamps 216a, 216b of the vial holder 214(232) and the capper chuck 302. When the capper chuck 302 is lowered and engages with the vial 150(160) held in the vial holder 214(232) in the cap / decap position relative to the capper / decapper 300, the closing bracket 330 is lowered relative to the vial holder 214(232), as shown in Figure 11, thereby causing the spindle wheels 334a, 334b ​​to roll on the cam surfaces 222a, 222b of the clamps 216a, 216b. The planetary gear system described above rotates the holders 214, 232, and 234 around their respective axes of rotation as the rotatable platform 202 rotates, thereby ensuring that the holders 214, 232, and 234 are always oriented in the same direction when in the capping / decapping position or the transfer position under the capper 300. As the spindle wheels 334a and 334b ​​roll on their respective cam surfaces 222a and 222b, which are angled downward and outward, the respective clamps 216a and 216b, which pivot around the pins 218a and 218b, are pushed inward by the wheels 334a and 334b ​​and the yoke 332, increasing the pressure between the clamp surfaces 220a and 220b (see Figure 12) and the lower end of the vial container 152 (162). Furthermore, as the spindle wheels 334a and 334b ​​roll on their respective cam surfaces 222a and 222b, the yoke 332 helps ensure that the capper chuck 302 aligns with the vial 150 (160) held within the vial holder 214 (232).

[0273] The capper chuck 302 is supported by, but not attached to, the closing bracket 330 and descends vertically with the closing bracket 330 until the chuck body 304 contacts the upper part of the vial 150 (160). When the closing bracket 330 continues to descend beyond the clamps 216a, 216b of the vial holder 214 (232), the capper chuck 302 remains in a fixed vertical position supported by the vial 150 (160), and the closing bracket 330 moves independently of the capper chuck 302. When the closing bracket 330 ascends, the capper chuck 302 remains in a fixed vertical position supported by the vial 150 (160) until the closing bracket 330 contacts the capper chuck 302, after which the closing bracket 330 and the capper chuck 302 ascend together.

[0274] Similarly, when the capper chuck 302 is in the raised position and not engaged with the cap held within the cap holder 234, the closing bracket 330 is in a raised position between the extensions 238a, 238b of the cap holder 234 and the capper chuck 302. When the closing bracket 330 is lowered relative to the cap holder 234, the spindle wheels 334a, 334b roll on the cam surfaces 240a, 240b of the extensions 238a, 238b, and the yoke 332 serves to ensure that the cap held within the cap holder 234 is aligned with the capper chuck 302.

[0275] Referring to Figures 3, 4, and 5, the sample processing station 200 further includes a drip shield 250 comprising a drip shield motor 256, a drip shield arm 254 attached to the output shaft of the drip shield motor 256, and a drip shield platter 252 attached to the distal end of the drip shield arm 254. The drip shield motor 256 is configured to rotate the drip shield arm 254 and the drip shield platter 252 about the axis of rotation of its output shaft between a first (i.e., standby) position in which the drip shield platter 252 is rotated away from the capper 300 and does not obstruct the vertical movement of the closing bracket 330 and the capper chuck 302, and a second (i.e., deployed) position shown in Figures 3, 4, and 5 in which the drip shield platter 252 is positioned between the receptacle 228 of the vial holder 214 (232) and the capper chuck 302. One or more sensors may be provided to detect and indicate when the drip shield 250 is in a specific position. In one embodiment, the drip shield motor 256 is an encoderless stepping motor having two end-of-travel sensors. For example, the sample processing station 200 may include a home sensor comprising an optical switch 260 that is tripped by a home flag (not shown) attached to the drip shield arm 254 when the drip shield is in a standby position. Similarly, the sample processing station 200 may include a sensor comprising an optical switch (which may comprise optical switch 260, or a different optical switch (not shown)) that is tripped by a flag (not shown) attached to the drip shield arm 254 when the drip shield is in an deployed position where the drip shield platter 252 is positioned between the receptacle 228 of the vial holder 214 (232) and the capper chuck 302.

[0276] In the alternative embodiment and workflow, a sample collection vial 150 (e.g., of the type described above, as shown in Figures 13 and 14) is transferred from the input rack 102 to the carousel 202 of the sample processing station 200, the cap 156 and collection swab 158 are removed from the container 152 of the sample collection vial 150 and discarded into the waste receptacle, and then a replacement cap without a swab (e.g., a cap of the type described above, as shown in Figure 15) is placed on the container 152 of the sample collection vial 150, and the recapped sample collection vial is transferred from the carousel 202 to the output rack 104. Modified sample processing equipment to facilitate this alternative workflow is shown in Figures 26, 27, and 28. The sample processing device 700 includes many of the components of the sample processing device 100 described above, as shown in Figures 1 and 2 (these common components have the same reference numbers in Figures 26 to 28), and the device 700 is identical to the sample processing device 100, except for the modifications described later.

[0277] The sample processing device 700 may include a mechanism for presenting the replacement cap 170 in a position and orientation that allows the replacement cap 170 to be picked up by the pick-and-place robot 126 and transported to the cap holder 234 of the carousel 202 of the sample processing station 200. The replacement cap 170 may not include a connected sampling swab and may be passable by a pipette tip. Each replacement cap 170 may be the same as the cap 164 described above, as shown in Figure 15.

[0278] In one example, a mechanism for providing replacement caps 170 is a vibrating hopper 370 having a cap chute 372 for separating individual caps 170 supplied to the hopper 370 in bulk and random orientation and presenting them in an upright orientation. The hopper 370 is a vibrating feeder / sorter configured to sort a plurality of randomly arranged and oriented caps 170 and move them in a desired orientation to the end of the cap chute 372, where each cap 170 can be grasped one at a time by a pick-and-place robot 126 and transported to a cap holder 234 of a carousel 202.

[0279] The apparatus 700 includes a waste receptacle 702 having an access opening configured to allow the cap with the sample swab attached to be placed inside the waste receptacle, and having dimensions (e.g., height) sufficient to receive and hold the cap with the sample swab attached to be placed inside the waste receptacle. As shown in Figures 26 to 28, the waste receptacle 702 may be supported on a deck or surface on which other components such as (one or more) input racks 102, (one or more) output racks 104, and sample processing station 200 are supported, or the waste receptacle may be located below the deck with a chute provided to guide the cap 156 and swab 158 into the receptacle.

[0280] A waste receptacle shutter 704 having an opening 706 is coupled to a waste receptacle 702 and is configured to be movable between a closed position, shown in Figure 27, in which the opening 706 is not aligned with the access opening to the waste container 702 (or the opening to the chute to the waste receptacle (not shown) located below the deck), and an open position, shown in Figures 26 and 28, in which the opening 706 is aligned with the access opening to the waste receptacle 702 or the waste receptacle chute. When the shutter 704 is in the closed position (Figure 27), the end 712 of the shutter 704 is retracted from the carousel 202, and when the shutter 704 is in the open position (Figures 26 and 28), the end 712 of the shutter 704 extends over the carousel 202.

[0281] The device 700 may include a motor and / or linear actuator coupled to the shutter 704 to provide powered movement of the shutter 704 between an open position and a closed position. Although the motor and / or linear actuator is not shown in Figures 26–28, the shutter motor / actuator 714 is identified in Figure 25 as part of the waste receptacle module 624 of the control architecture 600 described herein. The device 700 may include one or more sensors, such as one or more photodetectors and one or more linear encoders, for detecting the position of the shutter 704 and / or when the shutter 704 is in the closed or open position. Although the shutter position sensors are not shown in Figures 26–28, the shutter sensor 716 is identified in Figure 25 as part of the waste receptacle module 624 of the control architecture 600 described herein.

[0282] As will be described later, the shutter 704 may also function as a drip shield, and for that purpose, the shutter 704 may have a raised periphery 710 to hold droplets falling onto the shutter 704.

[0283] Figure 25 is a block diagram of a control architecture 600 for a sample processing instrument 100 or instrument 700. Conceptually, the control architecture 600 can be described as a module containing structurally and / or functionally related elements corresponding to different operations and / or components (or groups of components) of instrument 100 or instrument 700, respectively. Such elements may include a capper / decapper module 604, an elevator module 606, a carousel module 608, a drip shield module 610, an input rack receiving area and an output rack receiving area module 612, a vial detection module 614, a barcode reader module 616, a pick-and-place module 618, a pipette module 620, a printer module 622, and a waste receptacle module 624. All modules communicate with controller 602, which may include processing circuits configured to receive one or more input values ​​or signals, execute one or more algorithms stored in a non-temporary machine-readable medium (e.g., software) that manipulate the input values ​​or signals or provide instructions to act on or in response to the input values ​​or signals, and to produce one or more output values ​​or signals, thereby bringing about computation and / or control steps. Such processing circuits may include one or more processors (e.g., one or more general-purpose microprocessors and / or one or more other processors, e.g., one or more computers, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), etc.), and these processors may be juxtaposed in a single housing or a single data center, or may be geographically distributed (i.e., the processing circuits may be encompassed by distributed computing devices). Controller 602 executes control algorithms that govern the operation of each element, examples of which are described later.Each module may include a combination of electromechanical components (e.g., electric motors, actuators) for performing specific operations of the module's components / devices, as well as sensors for monitoring the module's components and devices. The controller 602 can transmit command signals to each module to activate the module's electromechanical devices to produce a desired operation, and receives signals from the sensors of each module to monitor such operations.

[0284] The carousel module 608 of the control architecture 600 includes a carousel motor 206 that brings about and controls the operation of the carousel 202 of the sample processing station 200. The carousel module 608 receives command signals from the controller 602 to activate or deactivate the motor 206, thereby starting and stopping the rotation of the carousel 202. Such command signals may include on / off signals or commands to operate the motor 206 over a specified period of time, for example, by commanding a specified number of steps of a stepping motor. The carousel module 608 may further include one or more sensors (not shown) for detecting the rotational position of the carousel 202 and / or the amount of movement of the carousel 202 (e.g., number of rotations). Such sensors may include any suitable sensors such as magnetic sensors, optical centers, mechanical sensors, or rotary encoders coupled to the rotation of the carousel 202 and / or the rotation of the motor 206.

[0285] Module 612 of the control architecture 600 for the input rack receiving area 130 and the output rack receiving area 132 may include one or more sensors for detecting when an input rack 102 is inserted into a lane in the input rack receiving area 130, and one or more sensors for detecting when an output rack 104 is inserted into a lane in the output rack receiving area 132. One or more sensors (not shown) may be provided for detecting whether a locking mechanism (e.g., a pin 142 inserted into the rack 102 / 104 extending into the opening 138 (see Figures 1 and 2)) for holding the racks 102 and 104 within the receiving areas 130 and 132, respectively, has been activated.

[0286] The vial detection module 614 of the control architecture 600 includes a vial sensor emitter 272a and a vial sensor receiver 272b for detecting the presence of vials 150 or 160 in the receptacle 228 of the input vial holder 214 or the output vial holder 232. The light beam emitted by the sensor emitter 272a may be activated by a command from the controller 602, and the signal received by the receiver 272b is communicated to the controller 602.

[0287] The printer module 622 controls and monitors the printer, which may include a print head (e.g., a thermal print head), one or more motors, and sensors for detecting the presence of vials in the printer and for detecting the characteristics of labels on the vials.

[0288] The pick-and-place robot module 618 of the control architecture 600 controls and monitors the operation of the pick-and-place robot 126 and the gantry 120 (inso that the movement of the pick-and-place robot 126 is brought about by the components of the gantry 120), the operation including on-demand activation of one or more motors or actuators to bring about X, Y, and Z movement of the robot 126, as well as on-demand activation of motors or actuators to control the operable grasping jaws of the robot 126. The pick-and-place robot module 618 may also monitor the X, Y, and Z positions of the pick-and-place robot 126, as well as the state of the grasping jaws (e.g., open or closed), and one or more sensors to detect whether a vial is being grasped by the jaws.

[0289] The pick-and-place robot module 618 may include sensors (not shown) for detecting when the pick-and-place robot 126 comes into contact with another structure. Such sensors may include an accelerometer for detecting the cessation of movement of the robot 126 in the X, Y, or Z direction, and / or a motor load detector for detecting a motor load exceeding a specified threshold, thereby indicating that the robot has come into contact with a stationary object. Thus, contact with the teaching post 180 can be detected when the pick-and-place robot 126 is moving in the X, Y, and Z directions, and the pick-and-place robot module 618 can, for example via sensors, determine the coordinates at which the movement in the X, Y, and Z directions was stopped by the teaching post 180, and communicate these coordinates to the controller 602 to record them in memory.

[0290] The pipette module 620 of the control architecture 600 controls and monitors the operation of the pipette 128 and the gantry 120 (inso that the movement of the pipette 128 is brought about by the components of the gantry 120), the operation including on-demand activation of one or more motors or actuators to bring about the X, Y, and Z movement of the pipette 128, activation of valves and / or pumps to control the pipette pressure for aspirating or dispensing fluid, a volumetric liquid level detection function, a viscous liquid detection function, and so on.

[0291] The pipette module 620 may include sensors (not shown) for detecting when the pipette 128 comes into contact with another structure. Such sensors may include an accelerometer for detecting the cessation of movement of the pipette 128 in the X, Y, or Z direction, and / or a motor load detector for detecting a motor load exceeding a specified threshold, thereby indicating that the robot has come into contact with a stationary object. Thus, contact with the teaching post 180 can be detected when the pipette 128 is moving in the X, Y, and Z directions, and the pipette module 620 can, for example via sensors, determine the coordinates at which the movement in the X, Y, and Z directions was stopped by the teaching post 180, and communicate these coordinates to the controller 602 to record them in memory.

[0292] The barcode reader module 616 of the control architecture 600 controls the barcode reader 270, activates the reader to read the machine-readable label on the vial, and transmits the read information to the controller 602.

[0293] The capper / decapper module 604 of the control architecture 600 includes a chuck rotation motor 320, a jaw actuator motor 308, and a linear encoder 366, and controls the operation of the capper chuck 302 of the capper 300 to grip and rotate the cap in order to remove the cap from the container of the vial 150 or 160, or to secure the cap to the container of the vial 150 or 160. The capper / decapper module 604 receives command signals from the controller 602 to actuate the jaw actuator motor 308 in a first or second direction to selectively close or open the jaws 306a, 306b, and 306c relative to the cap, and to selectively stop the motor 308. When the jaws 306a, 306b, and 306c are closed onto the cap, the capper / decapper module 604 receives a command signal from the controller 602 to operate the chuck rotary motor 320 in the cap removal direction or the cap locking direction, and then stops the motor 320. While the chuck rotary motor 320 is rotating in the cap removal direction, a signal received from the linear encoder 366 indicates that the threads of the cap 156 have been completely disengaged from the threaded neck 153 of the container 152, as described later, thereby informing the controller 602 to terminate the rotary motor 320.

[0294] The elevator module 606 of the control architecture 600 includes a lifting motor 340, an upper sensor 360, and a lower sensor 362. The elevator module 606 receives command signals from the controller 602 to operate the motor 340 in the upward or downward direction, or to stop the motor 340, thereby starting and stopping the vertical movement of the closing bracket 330 (and the capper chuck 302 supported by the closing bracket). Such command signals may include on / off signals, or they may include commands to operate the motor 340 over a specified period of time, for example, by commanding a specified number of steps of a stepping motor. The motor 340 operation and deactivation commands may be based on signals received by the controller 602 from the upper sensor 360 or the lower sensor 362, for example, by maintaining a motor operation command in a first motor direction for upward movement until the upper sensor 360 is triggered and indicates the maximum, i.e., highest vertical movement of the closing bracket 330, or by maintaining a motor operation command in a second motor direction for downward movement until the lower sensor 362 is triggered and indicates the minimum, i.e., lowest vertical movement of the closing bracket 330. The motor 340 operation commands may also be based on signals received by the controller 602 from the linear encoder 366 of the capper / decapper module 604, as described later.

[0295] The drip shield module 610 of the control architecture 600 includes one or more sensors such as a drip shield motor 256 and a home sensor 260, and effects and controls the operation of the movable drip shield 250 between a standby position and a deployed position. The drip shield module 610 receives a command signal from the controller 602 to activate the motor 256 in the first or second direction, or deactivate the motor 256 to start and stop the movement of the drip shield 250. Such a command signal may include an on / off signal or, for example, a command for operating the motor 256 over a specified period by commanding a specified number of steps of a stepping motor. The activation command and deactivation command of the motor 256 are, for example, by maintaining an activation command of the motor in the first motor direction for moving the drip shield 250 from the standby position to the deployed position until the sensor 260 or another sensor indicates that the drip shield 250 is in the deployed position, or by maintaining an activation command of the motor in the second motor direction for moving the drip shield 250 from the deployed position to the standby position until the sensor 260 or another sensor indicates that the drip shield 250 is in the standby position, and may be based on signals received by the controller 602 from the sensor 260 (and optionally one or more other sensors).

[0296] The waste receptacle module 624 of the control architecture 600 includes a shutter motor / actuator 714 and one or more shutter position sensors 716 to bring about and control the movement of the waste receptacle shutter 704 between a closed position and an open position. The waste receptacle module 624 receives command signals from the controller 602 to actuate the motor / actuator 714 in a first or second direction, or to deactivate the motor / actuator 714, thereby starting and stopping the movement of the shutter 704. Such command signals may include on / off signals, or they may include commands to operate the motor / actuator 714 over a specified period of time, for example, by commanding a specified number of steps of a stepping motor. The motor / actuator 714 operation and deactivation commands may be based on signals received by the controller 602 from (one or more) shutter sensors 716 (and optionally one or more other sensors), for example, by maintaining a motor operation command in a first motor direction to move the shutter 704 from the closed position to the open position until (one or more) sensors 716 indicate that the shutter 704 is in the open position, or by maintaining a motor operation command in a second motor direction to move the shutter 704 from the open position to the closed position until (one or more) sensors 716 indicate that the shutter 704 is in the closed position.

[0297] Figure 16 shows a flowchart illustrating one exemplary embodiment of Method 400 for transferring a fixed amount of sample material from an input vial 150 to an output vial 160 using a sample processing device 100. Method 400 may be performed using, or in conjunction with, any of the computer systems, devices, mechanisms, elements, sensors, or components disclosed herein, particularly including the control architecture 600 illustrated in Figure 25. Method 400 may be encoded and stored as a computer-executable control algorithm for controlling the operation of one or more of the computer systems, devices, mechanisms, elements, or components disclosed herein via the control architecture 600. In various embodiments, some of the illustrated method steps may be performed simultaneously, in a different order than shown, or omitted. Additional method steps may also be performed as needed.

[0298] Before starting Method 400, at least one sample collection vial (input vial) 150 and at least one output vial 160 are placed in the input rack receiving area 130 of the instrument 100. In one example, an input rack 102 holding one or more sample collection vials (or input vials) is placed in the input rack receiving area 130 of the instrument 100, and an output rack 104, which may be empty initially, is placed in the output rack receiving area 132 of the instrument 100. The input rack 102 may hold an associated pair of input vials 150 containing liquid sample material and output vials 160 having a cap, such as a cap that may be pierced by a pipette tip and does not contain a connected sampling swab, allowing the vials to be processed by the automated instrument. The presence of at least one input rack 102 in the input rack receiving area 130 and at least one output rack 104 in the output rack receiving area 132, as well as whether the racks are locked in place, can be verified via sensors in the input rack receiving area and output rack receiving area modules 612.

[0299] The flow of method 400 begins at step S402.

[0300] In step S402, the pick-and-place module 618 and controller 602 use the pick-and-place robot 126 and gantry 120 to remove the input vial 150 containing the sample material from the input rack 102.

[0301] In step S404, the barcode (or other machine-readable label or tag) on ​​the input vial 150 is read by the barcode reader 270 (or another reader for the machine-readable label or tag), and the information read by the reader 270 is communicated to the controller 602. In one embodiment, the pick-and-place robot 126 positions the input vial 150 in front of the barcode reader 270 and rotates the input vial 150 while the barcode reader 270 reads the barcode.

[0302] In step S406, the input vial 150 is placed in the input vial holder 214. In one embodiment, step S406 includes moving (e.g., rotating) the movable platform 202 of the sample processing station 200 to position the input vial holder 214 in a predetermined location controlled by a carousel module 608 of the control architecture 600, accessible by a pick-and-place robot 126, and placing the input vial 150 in the input vial holder 214 using the pick-and-place robot 126 and the gantry 120. The movable platform may then be moved as needed (for example, by rotation) to position the input vial holder 214 in a predetermined position (determined and controlled by the carousel module 608 of the control architecture 600), where the opening 229 in the receptacle 228 of the input vial holder 214 is aligned with the optical emitter 272a and optical receiver 272b to confirm the presence of the input vial 150 in the input vial holder 214 via the vial detection module 614 of the control architecture 600.

[0303] Step S408 is a determination of whether the system is in print barcode mode, i.e., whether a barcode or other machine-readable label should be printed on the output vial. If the system is not in print barcode mode, the flow proceeds to step S416; if the system is in print barcode mode, the flow proceeds to step S410.

[0304] In step S410, if the system is in print barcode mode, the pick-and-place module 618 and controller 602 transport the output vial 160 to a printer (not shown). In one embodiment, step S410 includes transporting the output vial 160 from the input rack 102 to the printer by a pick-and-place robot 126 and gantry 120.

[0305] In step S412, a barcode, label, or tag corresponding to a barcode, label, or tag read on the input vial 150 is printed on the output vial 160 by the printer. In one embodiment, the barcode, label, or tag printed on the output vial 160 is at least partially identical to the barcode, label, or tag read on the input vial 150, which is communicated to the printer from the controller 602 via the printer module 622 of the control architecture 600. Exemplary processes for reading a label such as a barcode on an input vial and printing a corresponding label on an output vial are described in U.S. Patents 9,335,336 and 9,724,948.

[0306] In step S414, it is verified that the barcode or other machine-readable label printed on the output vial 160 corresponds to the barcode or label read on the input vial 150. In one embodiment, the pick-and-place robot 126 positions the output vial 160 in front of the barcode reader 270 and rotates the output vial 160 while the barcode reader 270 reads the barcode. The image read by the reader 270 is communicated to the controller via the barcode reader module 616 of the control architecture 600, and the controller 600 compares the image read by the reader 270 with the intended image.

[0307] In step S416, the output vial 160 is placed in the output vial holder 232. In one embodiment, step S416 includes moving (e.g., rotating) the movable platform 202 to position the output vial holder 232 in a predetermined location controlled by a carousel module 608 of the control architecture 600, where the output vial holder 232 is accessible by a pick-and-place robot 126, and then using the pick-and-place robot 126 and the gantry 120 to place the output vial 160 in the output vial holder 232. The movable platform may then be moved (for example, by rotation) to position the output vial holder 232 in a predetermined location, which is determined and controlled by the carousel module 608 of the control architecture 600, where the opening 229 in the receptacle 228 of the output vial holder 232 is aligned with the optical emitter 272a and optical receiver 272b to confirm the presence of the output vial 160 in the output vial holder 232 by the vial detection module 614 of the control architecture 600.

[0308] In step S418, the pipette 128 is moved to the pipette tip tray 108 by the pick-and-place module 618 and controller 602 to pick up a disposable pipette tip.

[0309] In step S420, the cap 156 and the sampling swab 158 are removed from the container 152 of the input vial 150. In one embodiment, step S420 includes moving (e.g., rotating) the movable platform 202 to position the input vial holder 214 and the input vial 150 held by the input vial holder in a cap / decapping position below the capper 300, so that the input vial is operably accessible by the capper 300, controlled by the carousel module 608 of the control architecture 600. Upon receiving a signal via the carousel module 608 that the input vial holder 214 is in the cap / decapping position, the controller 602 acts on the lift motor 340 via the elevator module 606 to lower the capper chuck 302 onto the cap 156 of the input vial 150. When the lower sensor 362 of the elevator module 606 is triggered, indicating that the closing bracket 330 is in its lowest position, engaged with the cam surfaces 222a, 222b of the clamps 216a, 216b, and the capper chuck 302 is supported over the input vial 150, the jaws 306a, 306b, 306c are started by the actuator motor 308 as commanded by the controller 602 and the capper / decapper module 604 to grip the cap 156, and the chuck body 304 is rotated by the rotary motor 320 as commanded by the controller 602 and the capper / decapper module 604, while the containment container 152 is held by the clamp surfaces 220a, 220b of the clamps 216a, 216b respectively, to remove the cap 156 from the container 152 of the input vial 150. As the chuck body 304 rotates the cap 156, the threads of the cap 156 disengage from the threaded neck 153 of the container 152, and the chuck body 304 is lifted, as detected by the linear encoder 366 of the capper / decapper module 604.When the threads of the cap 156 are completely disengaged from the threaded neck 153 of the container 152, a drop (one thread pitch) of the unsupported chuck body 304 occurs, which can be detected by the linear encoder 366 and is accurate to within 1 / 40 mm in one example. When the drop is detected, the rotary motor 320 is terminated by the capper / decapper module 604 and controller 602, and the chuck body 304 stops rotating. The controller 602 then acts on the lifting motor 340 via the elevator module 606, which triggers the upper sensor 360 of the elevator module 606, lifting the capper chuck 302 supported on the closing bracket 330 until the closing bracket 330 indicates that it is in its highest position, corresponding to the position of the capper chuck 302 with the head 159 of the swab 158 attached to the cap 156 passing over the top of the container 152. While the capper chuck 302 is being lifted, the opening 229 of the receptacle 228 of the input vial holder 214 is aligned with the optical emitter 272a and optical receiver 272b via the vial detection module 614 of the control architecture 600 to ensure that the input vial 150 remains inside the input vial holder 214 and that the input vial 150 is not inadvertently removed from the input vial holder 214 by the rising capper chuck 302. When the controller 602 receives a signal via the elevator module 608 that the capper chuck 302 is in the raised position, the controller 602 activates the drip shield motor 256 via the drip shield module 610 to rotate the drip shield platter 252 from the standby position to the deployed position shown in Figure 3, where the drip shield platter 252 is below (and detected by the sensor 260 of the drip shield module 610) the cap 156 and swab 158 held inside the capper chuck 302.As described above, the range of vertical movement of the capper chuck 302 must be sufficient to completely remove the swab 158 from the container 152, and the distance between the capper chuck 302 and the drip shield platter 252 must correspond to the length of the swab 158 extending below the cap 156 held within the capper chuck 302.

[0310] In step S422, the container 152 of the input vial 150 is positioned for pipetting. In one embodiment, step S422 includes moving (e.g., rotating) the movable platform 202 to position the input vial holder 214 and the container 152 of the input vial 150 held by the input vial holder to a predetermined position (pipette operating position) accessible by the pipette 128, as controlled by the carousel module 608 of the control architecture 600. Upon receiving a signal via the carousel module 608 that the input vial holder 214 is in the pipette operating position, the controller 602 activates the pipette 128 via the pipette module 620 to move it to a position above the input vial holder 214 and lower the disposable tip held on the pipette 128 into the input vial 150 held within the input vial holder 214.

[0311] In step S424, a sufficient sample volume in the container 152 of the input vial 150 is verified, for example, by performing a volumetric liquid level detection ("cLLD") of the fluid in the input vial 150 using a pipette 128 and a pipette tip attached to the pipette, as is known in the art.

[0312] Assuming there is sufficient fluid in the container 152 of the input vial 150, in step S426, a disposable tip attached to the pipette 128 is lowered under the control of the controller 602 and pipette module 620 to insert the pipette tip into the container 152 of the input vial 150, and a certain amount of sample material 154 is aspirated by the pipette 128.

[0313] In any step S428, the pipette is moved to break any viscous strands attached to the pipette tip, and inverse volumetric level detection is performed to confirm that there are no viscous strands attached to the pipette tip. An exemplary method implemented by the controller 602 and pipette module 620, which involves moving the pipette to break viscous strands and using inverse volumetric level detection to confirm that there are no viscous strands attached to the pipette tip, is described in U.S. Patent No. 9,335,336.

[0314] In step S430, the controller 602 and the pipette module 620 move the pipette 128 to a standby position above the fixed drip shield 140 (see Figures 1 and 2) adjacent to the sample processing station 200.

[0315] In step S432, the cap 156 and the sampling swab 158 are reattached to the container 152 of the input vial 150. In one embodiment, step S432 includes the carousel module 608 and controller 602 positioning the container 152 of the input vial 150 in the capped position by moving (e.g., rotating) the movable platform 202 to position the container 152 of the input vial 150, held by the input vial holder 214, in the capped / decapped position under the capper 300. The drip shield module 610 and controller 602 rotate the movable drip shield 250 from the deployed position shown in Figure 3, where the drip shield platter 252 is under the cap 156 and swab 158 held in the capper chuck 302, to a standby position where no part of the drip shield 250 obstructs the movement of the capper chuck 302. The elevator module 606 and controller 602 lower the capper chuck 302 onto the container 152 of the input vial 150, positioning the cap 156 onto the container 152 of the input vial 150 while inserting the swab 158 into the container 152. The capper / decapper module 604 and controller 602 rotate the chuck body 304 while the containment container 152 is held by the clamping surfaces 220a and 220b of clamps 216a and 216b, respectively, to screw the cap 156 onto the container 152, after which the capper / decapper module 604 and controller 602 retract the jaws 306a, 306b and 306c to release the cap 156. Next, the elevator module 606 and controller 602 lift the capper chuck 302 above the input vial holder 214 to a position where it does not obstruct the rotation of the movable platform 202. The cap is not held in the capper chuck 302 at the end of step S432, but the movable drip shield 250 may, if necessary, be moved by the drip shield module 610 and controller 602 from the standby position to the deployed position shown in Figure 3 below the capper chuck 302.

[0316] In step S434, the cap 164 is removed from the container 162 of the output vial 160. In one embodiment, step S434 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the output vial 160 for decapping by placing the output vial holder 232 and the output vial 160 held by the output vial holder into a cap / decapping position below the capper 300. The elevator module 606 and controller 602 lower the capper chuck 302 of the capper 300, the capper / decapper module 604 and controller 602 activate the jaws 306a, 306b, and 306c to grip the cap 164, and the capper / decapper module 604 and controller 602 rotate the chuck body 304 while the container 162 is held by the clamping surfaces 220a and 220b of the clamps 216a and 216b respectively to remove the cap 164 from the container 162 of the output vial 160. The elevator module 606 and controller 602 lift the capper chuck 302, which is gripping the removed cap 164, above the output vial holder 232, and the drip shield module 610 and controller 602 move the movable drip shield 250 from the standby position to the deployed position shown in Figure 3, where the drip shield platter 252 is below the capper chuck 302 and the cap 164 held by the capper chuck.

[0317] In step S436, the container 162 of the output vial 160 is positioned for pipetting. In one embodiment, step S436 includes the carousel module 608 and controller 602 moving the movable platform 202 (for example, by rotating it) to position the output vial holder 232 and the container 162 of the output vial 160 held by the output vial holder in a position accessible by the pipette 128 (pipette position). The pipette module 620 and controller 602 move the pipette 128 to a position above the container 162 held by the output vial holder 232.

[0318] In some embodiments, the container 162 of the output vial 160 is pre-filled with a certain amount of buffer, and in such embodiments, method 400 may include an optional step S438 which includes verifying the amount of buffer in the container 162 of the output vial 160 by, for example, cLLD.

[0319] In step S440, the pipette module 620 and controller 602 lower the pipette 128 and insert the pipette tip into the container 162 of the output vial 160, and a certain amount of sample material is dispensed from the pipette 128 into the container 162.

[0320] In any step S442, pipette mixing is performed, if necessary, by alternately aspirating and dispensing the contents of the container 162 of the output vial 160 one or more times using the pipette 128.

[0321] In step S444, the system verifies, for example, that the correct amount of sample material has been dispensed into the container 162 of the output vial 160 by liquid level detection ("LLD") and RDV (pressure waveform verification). For pressure waveform verification, the pipette 128 has, for example, a pressure sensor inside the pipette plunger, which outputs a pressure waveform during fluid aspiration or fluid dispensing. The waveform is analyzed by the controller 5602 for detection of blood clots or air.

[0322] In step S446, the pipette module 620 and the controller 602 move the pipette 128 to a position above the waste container 110 and discharge the used pipette tip from the pipette 128 into the waste container 110.

[0323] In step S448, the cap 164 is secured on the container 162 of the output vial 160. In one embodiment, step S448 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the output vial holder 232 and the container 162 of the output vial 160 held by the output vial holder in a capped / decapped position below the capper 300. The drip shield module 610 and controller 602 rotate the drip shield 250 from the deployed position shown in Figure 3, where the drip shield platter 252 is below the capper chuck 302 and the cap 164, to a standby position where no part of the drip shield 250 obstructs the movement of the capper chuck 302. The elevator module 606 and controller 602 lower the capper chuck 302 to position the cap 164 on the container 162 of the output vial 160. The capper / decapper module 604 and controller 602 rotate the chuck body 304 while the container 162 is held by the clamping surfaces 220a and 220b of clamps 216a and 216b, respectively, to screw the cap 164 onto the container 162. Then, the capper / decapper module 604 and controller 602 retract the jaws 306a, 306b and 306c to release the cap 164. Next, the elevator module 606 and controller 602 lift the capper chuck 302 above the output vial holder 232 to a position where it does not obstruct the rotation of the movable platform 202.

[0324] In step S450, the input vial 150 is returned to the input rack 102. In one embodiment, step S450 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the input vial holder 214 and the input vial 150 held by the input vial holder in a location accessible by the pick-and-place robot 126. The input vial 150 is then removed from the input vial holder 214 by the pick-and-place robot 126 and returned to the input rack 102 by the pick-and-place robot 126 and the gantry 120.

[0325] In step S452, the output vial 160 is moved to the output rack 104. In one embodiment, step S452 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the output vial holder 232 and the output vial 160 held by the output vial holder in a position accessible by the pick-and-place robot 126. The output vial 160 is then removed from the output vial holder 232 by the pick-and-place robot 126 and moved to the output rack 104 by the pick-and-place robot 126 and the gantry 120. In one example, prior to step S452, the output vial 160 is first moved to the incubator 280 by the pick-and-place robot 126 (e.g., at 90-120°C for 1-30 minutes).

[0326] Figure 17 shows a flowchart illustrating an exemplary embodiment of Method 500 for modifying an input vial 150 so that it can be processed by an automated analyzer using a sample processing instrument 100. Method 500 may be performed using, or in conjunction with, any of the computer systems, devices, mechanisms, elements, or components disclosed herein, particularly including the control architecture 600 illustrated in Figure 25. Method 500 may be encoded and stored as a computer-executable control algorithm for controlling the operation of one or more of the computer systems, devices, mechanisms, elements, or components disclosed herein, particularly via the control architecture 600. In various embodiments, some of the illustrated method steps may be performed simultaneously, in a different order than shown, or omitted. Additional method steps may also be performed as needed.

[0327] Before starting Method 500, at least one sample collection vial (input vial) 150 and at least one output vial 160 are placed in the input rack receiving area 130 of the instrument 100. In one example, an input rack 102 holding one or more sample collection vials (or input vials) is placed in the input rack receiving area 130 of the instrument 100, and an output rack 104, which may be initially empty, is placed in the output rack receiving area 132 of the instrument 100. The input rack 102 may hold associated pairs of input vials 150 containing liquid sample material and output vials 160 having caps such as caps that may be pierced by a pipette tip and do not include connected sampling swabs, allowing the contents of the vials to be processed by the automated instrument without removing the caps. The presence of at least one input rack 102 in the input rack receiving area 130 and at least one output rack 104 in the output rack receiving area 132, as well as whether the racks are locked in place, can be verified via sensors in the input rack receiving area and output rack receiving area modules 612.

[0328] The flow of method 500 begins at step S502.

[0329] In step S502, the pick-and-place module 618 and controller 602 use the pick-and-place robot 126 and gantry 120 to remove the input vial 150 containing the sample material (referred to as the "first vial" for the purposes of illustrating process 500, and which may be the same input vial or sample collection vial 150 as described above in Figures 13 and 14).

[0330] In step S504, the barcode (or other machine-readable label or tag) on ​​the first vial 150 is read by the barcode reader 270 (or another reader for the machine-readable label or tag), and the information read by the reader 270 is communicated to the controller 602. In one embodiment, the pick-and-place robot 126 positions the first vial 150 in front of the barcode reader 270 and rotates the first vial 150 while the barcode reader 270 reads the barcode.

[0331] In step S506, the first vial 150 is placed in the vial holder 214 (referred to as the “first vial holder” for the purposes of illustrating Method 500). In one embodiment, step S506 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 of the sample processing station 200 to position the first vial holder 214 in an accessible location for the pick-and-place robot 126, and using the pick-and-place robot 126 and gantry 120 to place the first vial 150 into the first vial holder 214. The movable platform may then be moved (for example, by rotation) to position the first vial holder 214 in a predetermined location, which is determined and controlled by the carousel module 608 of the control architecture 600, where the opening 229 in the receptacle 228 of the first vial holder 214 is aligned with the optical emitter 272a and optical receiver 272b to confirm the presence of the first vial 150 in the first vial holder 214 by the vial detection module 614 of the control architecture 600.

[0332] Step S508 is a determination of whether the system is in print barcode mode, i.e., whether the label should be printed on the output vial. If the system is not in print barcode mode, the flow proceeds to step S516; if the system is in print barcode mode, the flow proceeds to step S510.

[0333] In step S510, if the system is in print barcode mode, the pick-and-place module 618 and controller 602 transport the output vial 160 to the printer. In one embodiment, step S510 includes transporting the output vial 160 (referred to as the “second vial” for the purposes of illustrating Method 500, and which may be the same as the output vial 160 described above shown in Figure 15) from the input rack 102 to the printer by the pick-and-place robot 126 and gantry 120.

[0334] In step S512, a notification such as "WASTE VIAL" is communicated from the controller 602 to the printer via the printer module 622 of the control architecture 600, and the printer 134 prints it on the second vial 160.

[0335] In any step S514, the notice printed on the second vial 160 is verified by an automated label reader.

[0336] In step S516, the second vial 160 is placed in the vial holder 232 (referred to as the “second vial holder” for the purposes of illustrating process 500). In one embodiment, step S516 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the second vial holder 232 in a location accessible by the pick-and-place robot 126, and the pick-and-place module 618 and controller 602 placing the second vial 160 into the second vial holder 232. The movable platform may then be moved (for example, by rotation) to position the second vial holder 232 in a predetermined location, which is determined and controlled by the carousel module 608 of the control architecture 600, at which point the opening 229 in the receptacle 228 of the second vial holder 232 is aligned with the optical emitter 272a and optical receiver 272b to confirm the presence of the second vial 160 in the second vial holder 232 by the vial detection module 614 of the control architecture 600.

[0337] In step S518, the cap 164 is removed from the second vial 160. In one embodiment, step S518 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the second vial holder 232 and the second vial 160 held by the second vial holder in a capped / decapped position below the capper 300. The elevator module 606 and controller 602 lower the capper chuck 302 of the capper 300 onto the cap 164 of the second vial 160 held in the second vial holder 232, the capper / decapper module 604 and controller 602 activate the jaws 306a, 306b, and 306c to grip the cap 164, and the capper / decapper module 604 and controller 602 rotate the chuck body 304 while the container 162 is held by the clamping surfaces 220a and 220b of the clamps 216a and 216b respectively to remove the cap 164 from the container 162 of the second vial 160. Next, the elevator module 606 and controller 602 lift the capper chuck 302, in which the removed cap 164 is gripped above the second vial holder 232, and the drip shield module 610 and controller 602 may, if necessary, rotate the movable drip shield 250 from the standby position to the deployed position shown in Figure 3, in which the drip shield platter 252 is positioned below the cap 164 held within the capper chuck 302.

[0338] In step S520, the cap 164 removed from the second vial 160 in step S518 is placed on the cap holder 234. In one embodiment, step S520 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 of the sample processing station 200 to position the cap holder 234 in a transfer position under the capper 300. If the movable drip shield 250 has been moved to an unfolded position under the removed cap at the end of step S518, the movable drip shield 250 is rotated from the unfolded position shown in Figure 3, where the drip shield platter 252 is under the capper chuck 302 and cap 165, to a standby position where no part of the drip shield 250 obstructs the movement of the capper chuck 302. Next, the elevator module 606 and controller 602 lower the capper chuck 302 onto the cap holder 234, and the capper / decapper module 604 and controller 602 retract the jaws 306a, 306b, and 306c to release the cap 164 removed from the second vial 160 in step S518 into the cup 236 of the cap holder 234. Then, the elevator module 606 and controller 602 raise the capper chuck 302 above the cap holder 234 to a position where it does not obstruct the rotation of the movable platform 202.

[0339] In step S522, the cap 156 to which the swab 158 is attached is removed from the first vial 150. In one embodiment, step S522 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the first vial holder 214 and the first vial 150 held by the first vial holder in a capped / decapped position below the capper 300. The elevator module 606 and controller 602 lower the capper chuck 302 onto the cap 156 of the first vial 150 held in the first vial holder 214, the capper / decapper module 604 and controller 602 activate the jaws 306a, 306b, and 306c to grip the cap 156, and the capper / decapper module 604 and controller 602 rotate the chuck body 304 while the container 152 is held by the clamping surfaces 220a, 220b of clamps 216a, 216b, respectively, to remove the cap 156 from the first vial 150. Next, the elevator module 606 and controller 602 raise the capper chuck 302, which is gripped above the first vial holder 214 with the removed cap 156, until the upper sensor 360 of the elevator module 606 is triggered and the closing bracket 330 indicates that the head 159 of the swab 158 attached to the cap 156 is in its highest position corresponding to the position of the capper chuck 302 as it passes over the top of the container 152. While the capper chuck 302 is being raised, the opening 229 of the receptacle 228 of the input vial holder 214 is aligned with the optical emitter 272a and optical receiver 272b via the vial detection module 614 of the control architecture 600 to ensure that the input vial 150 remains inside the input vial holder 214 and that the input vial 150 is not inadvertently removed from the input vial holder 214 by the rising capper chuck 302.When the controller 602 receives a signal via the elevator module 608 indicating that the capper chuck 302 is in the raised position, it activates the drip shield motor 256 via the drip shield module 610 to rotate the movable drip shield 250 from the standby position to the deployed position shown in Figure 3, where the drip shield platter 252 is located beneath the cap 156 and swab 158 held within the capper chuck 302. As described above, the range of vertical movement of the capper chuck 302 must be sufficient to completely remove the swab 158 from the container 152, and the distance between the capper chuck 302 and the drip shield platter 252 must correspond to the length of the swab 158 extending beneath the cap 156 held within the capper chuck 302.

[0340] In step S524, the cap 156 and swab 158 removed from the first vial 150 are secured to the container 162 of the second vial 160. In one embodiment, step S524 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the container 162 of the second vial 160, held by the second vial holder 232 (with the cap 164 removed in step S518), in the cap / decapping position below the capper 300. The drip shield module 610 and controller 602 rotate the drip shield 250 from the deployed position shown in Figure 3, where the drip shield platter 252 is below the cap 156 and swab 158 held in the capper chuck 302, to a standby position where no part of the drip shield 250 obstructs the movement of the capper chuck 302. The elevator module 606 and controller 602 then lower the capper chuck 302, placing the cap 156 (and swab 158) removed from the first vial 150 in step S522 onto the container 162 of the second vial 160, while inserting the swab 158 into the container 162. Next, the capper / decapper module 604 and controller 602 rotate the chuck body 304 while the container 162 is held by the clamping surfaces 220a and 220b of clamps 216a and 216b, respectively, to screw the cap 156 onto the threaded end of the container 162, and then the capper / decapper module 604 and controller 602 retract the jaws 306a, 306b and 306c to release the cap 156. Next, the elevator module 606 and controller 602 lift the capper chuck 302 above the second vial holder 232 to a position where the capper chuck 302 does not obstruct the rotation of the movable platform 202. Since no cap is held in the capper chuck 302 at the end of step S524, the movement of the movable drip shield 250 from the standby position to the deployed position shown in Figure 3 below the capper chuck 302 is optional.

[0341] In step S526, the cap 164 held by the cap holder 234 is gripped by the capper 300. In one embodiment, step S526 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the cap holder 234 in a transfer position below the capper 300. If the movable drip shield 250 is moved to the deployed position below the capper chuck 302 at the end of step S524, the movable drip shield 250 is rotated from the deployed position shown in Figure 3, where the drip shield platter 252 is below the capper chuck 302, to a standby position where no part of the drip shield 250 obstructs the movement of the capper chuck 302. Next, the elevator module 606 and controller 602 lower the capper chuck 302, and the capper / decapper module 604 and controller 602 activate the jaws 306a, 306b, and 306c to grip the cap 164 held in the cup 236 of the cap holder 234. Then, the elevator module 606 and controller 602 raise the capper chuck 302 above the cap holder 234 to a position where it does not obstruct the rotation of the movable platform 202, and the movable drip shield 250 may, if necessary, move from the standby position to the deployed position shown in Figure 3 below the capper chuck 302 and the cap 164.

[0342] In step S528, the cap 164 is secured to the container 152 of the first vial 150. In one embodiment, step S528 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the container 152 of the first vial 150, held by the first vial holder 214 (with the cap 156 and swab 158 removed in step S522), in the cap / decapping position under the capper 300. If the movable drip shield 250 is moved to the deployed position under the capper chuck 302 at the end of step S526, the movable drip shield 250 is rotated from the deployed position shown in Figure 3, where the drip shield platter 252 is under the capper chuck 302 and the cap 164, to a standby position where no part of the drip shield 250 obstructs the movement of the capper chuck 302. Next, the elevator module 606 and controller 602 lower the capper chuck 302 to position the cap 164 removed from the second vial 160 in step S518 onto the container 152 of the first vial 150. Then, the capper / decapper module 604 and controller 602 rotate the chuck body 304 while the container 152 is held by the clamping surfaces 220a and 220b of clamps 216a and 216b, respectively, to screw the cap 164 onto the threaded neck 153 of the container 152, and then the capper / decapper module 604 and controller 602 retract the jaws 306a, 306b and 306c to release the cap 164. Next, the elevator module 606 and the controller 602 lift the capper chuck 302 above the first vial holder 214 to a position where the capper chuck 302 does not obstruct the rotation of the movable platform 202.

[0343] From the above explanation, it will be understood that the container 152 of the first vial 150 and the container 162 of the vial 160 have the same diameter and thread pitch on their respective threaded necks so that the caps 156 and 164 can be exchanged between container 152 and container 164.

[0344] In step S530, the first vial 150, which has a cap 164, is removed from the first vial holder 214. In one embodiment, step S530 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to position the first vial holder 214 so that the first vial holder 214 and the first vial 150 held by the first vial holder are accessible by the pick-and-place robot 126, and the first vial 150, which contains the sample material and has a cap 164 fixed to it, is removed from the first vial holder 214 by the pick-and-place robot 126. In one embodiment, the first vial 150 is moved to the output rack 104 by the pick-and-place robot 126 and gantry 120. In one example, prior to step S530, the output vial 160 is first moved to the incubator 280 by the pick-and-place robot 126 (for example, at 90-120°C for 1-30 minutes).

[0345] In step S532, the second vial 160, having a cap 156 and a swab 158, is removed from the second vial holder 232. In one embodiment, step S532 includes the carousel module 608 and controller 602 moving (e.g., rotating) the movable platform 202 to a position where the second vial holder 232 and the second vial 160 held by the second vial holder are accessible by the pick-and-place robot 126 and the second vial 160 is removed from the second vial holder 232 by the pick-and-place robot 126. In one embodiment, the second vial 160 is returned from the second vial holder 232 to the input rack 102 by the pick-and-place robot 126 and gantry 120.

[0346] In some examples, the device 100 is configured to perform both method 400 and method 500 so that method 400 can be performed on one input vial and then method 500 can be performed on a subsequent input vial.

[0347] Figure 29 shows a flowchart illustrating a method 750 for removing and discarding the cap 156 and connected swab 158 from the input vial 150 and attaching a replacement cap 170 to the container 152 of the input vial 150 using a sample processing instrument 700. Method 750 may be performed using, or in conjunction with, any of the computer systems, devices, mechanisms, elements, sensors, or components disclosed herein, particularly including the control architecture 600 illustrated in Figure 25. Method 750 may be encoded and stored as a computer-executable control algorithm for controlling the operation of one or more of the computer systems, devices, mechanisms, elements, or components disclosed herein via the control architecture 600. In various embodiments, some of the illustrated method steps may be performed simultaneously, in a different order than shown, or omitted. Additional method steps may also be performed as needed.

[0348] Before starting Method 750, at least one sample collection vial 150 and at least one replacement cap 170 are placed on the instrument 700. In one example, an input rack 102 for holding one or more sample collection vials is placed in the input rack receiving area 130 of the instrument 700, and a supply of replacement caps is placed in the hopper 370. Also, an output rack 104, which may be empty initially, is placed in the output rack receiving area 132 of the instrument 700. The presence of at least one input rack 102 in the input rack receiving area 130 and at least one output rack 104 in the output rack receiving area 132, as well as whether the racks are locked in place, can be verified via sensors in the input rack receiving area and output rack receiving area modules 612.

[0349] The flow of method 750 begins at step S752.

[0350] In step S752, the pick-and-place robot 126, controlled by the pick-and-place module 618 and controller 602, is instructed to remove the sample collection vial 150 from the input rack 102.

[0351] In step S754, the pick-and-place robot 126 and gantry 120, controlled by the pick-and-place module 618 and controller 602, are commanded to move the sample collection vial 150 to the vial holder 214 on the carousel 202 and to place the sample collection vial 150 in the vial holder 214. Process 750 is described herein with the sample collection vial 150 in the vial holder 214, but process 750 can also be performed with the sample collection vial 150 in the vial holder 232. Process 750 can also be performed on an instrument 700 having a sample processing station 200 with only one vial holder 214 or 232.

[0352] The carousel 202 may then be moved as needed (for example, by rotation) to position the vial holder 214 in a predetermined position (determined and controlled by the carousel module 608 of the control architecture 600), where the opening 229 in the receptacle 228 of the vial holder 214 is aligned with the optical emitter 272a and optical receiver 272b to confirm the presence of the sampling vial 150 in the vial holder 214 via the vial detection module 614 of the control architecture 600.

[0353] In step S756, the pick-and-place robot 126 and gantry 120, controlled by the pick-and-place module 618 and controller 602, are commanded to move to the cap chute 372 to remove the replacement cap 170 from the end of the chute and to transport the replacement cap 170 to the cap holder 234 on the carousel 202. The carousel 202 may then be moved (for example, by rotating) as necessary to position the cap holder 234 in place (determined and controlled by the carousel module 608 of the control architecture 600), where the slots 244a and 244b in the cap holder 234 are aligned with the optical emitter 272a and optical receiver 272b to confirm the presence of the replacement cap 170 on the cap holder 234 via the vial detection module 614 of the control architecture 600.

[0354] In step S758, the carousel 202, controlled by the carousel module 608 and controller 602, is commanded to rotate and position the vial holder 214, which holds the sample collection vial 150, in the capping / decapping position below the capper / decapping 300.

[0355] In step S760, the cap 156 and the collection swab 158 are removed from the container 152 of the sample collection vial 150. When the controller 602 receives a signal via the carousel module 608 that the vial holder 214 is in the cap / decap position, the controller 602 activates the lift motor 340 via the elevator module 606 to lower the capper chuck 302 onto the cap 156 of the sample collection vial 150. When the lower sensor 362 of the elevator module 606 is triggered, indicating that the closing bracket 330 is in its lowest position, engaged with the cam surfaces 222a, 222b of the clamps 216a, 216b of the vial holder 214, and the capper chuck 302 is supported over the sample collection vial 150, the jaws 306a, 306b, 306c are started by the actuator motor 308 as commanded by the controller 602 and the capper / decapper module 604 to grip the cap 156. The chuck body 304 is rotated by the rotary motor 320 as commanded by the controller 602 and the capper / decapper module 604, while the containment container 152 is held by the clamp surfaces 220a, 220b of the clamps 216a, 216b respectively, to loosen the cap 156 from the threaded neck 153 of the container 152 of the sample collection vial 150. As the chuck body 304 rotates the cap 156, the threads of the cap 156 disengage from the threaded neck 153 of the container 152, lifting the chuck body 304 as detected by the linear encoder 366 of the capper / decapper module 604. When the threads of the cap 156 are completely disengaged from the threaded neck 153 of the container 152, an unsupported drop of the chuck body 304 (one thread pitch) occurs, which can be detected by the linear encoder 366 and is accurate to within 1 / 40 mm in some cases. Once the drop of the chuck body 304 is detected, the rotary motor 320 is terminated by the capper / decapper module 604 and the controller 602, and the chuck body 304 stops rotating.The jaws 306a, 306b, and 306c are started by the actuator motor 308 as instructed by the controller 602 and the capper / decapper module 604 to release the cap 156. The elevator module 606 and the controller 602 then operate the lifting motor 340 to lift the closing bracket 330 and the capper chuck 302 supported on the closing bracket 330 until the upper sensor 360 of the elevator module 606 is triggered, indicating that the closing bracket 330 and the capper chuck 302 are in their highest positions. While the capper chuck 302 is being lifted, the opening 229 of the receptacle 228 of the vial holder 214 is aligned with the optical emitter 272a and optical receiver 272b via the vial detection module 614 of the control architecture 600 to ensure that the sample collection vial 150 remains inside the vial holder 214 and that the sample collection vial 150 is not inadvertently removed from the vial holder 214 by the rising capper chuck 302.

[0356] In step S762, when the controller 602 receives a signal via the elevator module 608 that the capper chuck 302 is in the raised position, the container 152 of the sample collection vial 150 and the loosened cap 156 are positioned for removal of the cap 156. In one example, step S762 includes moving (e.g., rotating) the carousel 202 to position the vial holder 214 and the container 152 of the sample collection vial 150 held by the vial holder to a predetermined position (pickup position) accessible by the pick-and-place robot 126, controlled by the carousel module 608 of the control architecture 600.

[0357] In step S764, when the controller 602 receives a signal via the carousel module 608 indicating that the vial holder 214 is in the pickup position, the controller 602 activates the pick-and-place robot 126 and gantry 120 via the pick-and-place module 618 to move them to a position above the vial holder 214, pick up the cap 156 on the sample collection vial 150 held inside the vial holder 214, and lift the cap 156 until the swab 158 passes over the top of the containment container 152. While the pick-and-place robot 126, which holds the cap 156 and the attached swab 158, is being lifted, the opening 229 of the receptacle 228 of the vial holder 214 is aligned with the photoemitter 272a and photoreceiver 272b via the vial detection module 614 of the control architecture 600 to ensure that the sample collection vial 150 remains inside the vial holder 214, and to prevent the container 152 from being inadvertently removed from the vial holder 214 while the cap 156 and swab 158 are being removed from the container 152.

[0358] In step S766, when the controller 602 receives a signal via the pick-and-place module 618 that the pick-and-place robot 126 is in the raised position, the shutter motor / actuator 714 is activated by the controller 602 and the waste receptacle module 624 to start the shutter 704 from the closed position to the open position. In the open position, the end 712 of the shutter 704 is positioned above the carousel 202, so that the end portion of the shutter 704 is positioned below the swab 158 suspended below the raised pick-and-place robot 126, and acts as a shield to capture any droplets that may fall from the swab 158.

[0359] In step S768, when the controller 602 receives a signal via the shutter sensor 716 and the waste receptacle module 624 confirming that the shutter 704 is in the open position, the pick-and-place robot 126 and the gantry 120 are actuated by the controller 602 and the pick-and-place module 618 to move to a position above the opening 706 of the shutter 704, which is aligned with the opening of the waste receptacle 702 or with a chute connected to the waste receptacle, and lower the cap 156 and swab 158 through the opening 706, releasing the cap 156 and swab 158 into the waste receptacle. In one example, the pick-and-place module 618 is programmed to move the pick-and-place robot 126 along a path that keeps the swab 158, suspended from the robot 126, above a portion of the shutter 704 so that any droplets falling from the swab 158 are captured by the shutter 704. As shown in Figures 27 and 28, the shutter 704 may include radial notches 708 to allow the fingers of the pick-and-place robot 126 to extend radially and release the cap 156. The shutter 704 has three notches 708 spaced 120° apart to accommodate a pick-and-place robot having three expandable / retractable fingers spaced 120° apart. In other examples, the shutter may have more or fewer notches than three, depending on the number and spacing of the fingers of the pick-and-place robot.

[0360] In step S770, when the controller 602 receives a signal via the pick-and-place module 618 that the pick-and-place robot 126 is in the raised position after releasing the cap 156 and swab 158 into the waste receptacle, the shutter motor / actuator 714 is activated by the controller 602 and the waste receptacle module 624 to start the shutter 704 from the open position to the closed position, closing the opening to the waste receptacle, and as a result the shutter 704 is no longer positioned above the carousel.

[0361] In step S772, when the controller 602 receives a signal via the shutter sensor 716 and the waste receptacle module 624 confirming that the shutter 704 is in the closed position, the carousel module 608 and the carousel 202, controlled by the controller 602, are commanded to rotate the cap holder 234, which holds the replacement cap 170, to the cap / decap position below the capper / decaper 300.

[0362] In step S774, when the controller 602 receives a signal via the carousel module 608 indicating that the cap holder 234 is in the cap / decap position, the controller 602 activates the lift motor 340 via the elevator module 606 to lower the capper chuck 302 onto the replacement cap 170 held on the cap holder 234. When the lower sensor 362 of the elevator module 606 is triggered, indicating that the closing bracket 330 is in its lowest position and the capper chuck 302 is supported on the replacement cap 170, the jaws 306a, 306b, and 306c are activated by the actuator motor 308 as commanded by the controller 602 and the capper / decaper module 604 to grip the replacement cap 170. Next, the elevator module 606 and the controller 602 activate the lifting motor 340 to lift the closing bracket 330 and the capper chuck 302 supported on the closing bracket 330 until the upper sensor 360 of the elevator module 606 is triggered, indicating that the closing bracket 330 and the capper chuck 302 are in their highest positions.

[0363] In step S776, when the controller 602 receives a signal via the elevator module 608 that the capper chuck 302 holding the replacement cap 170 is in the raised position, the uncapped container 152 of the sample collection vial 150 is positioned for the attachment of the replacement cap 170. In one example, the carousel 202, controlled by the carousel module 608 and the controller 602, is commanded to rotate the vial holder 214 holding the replacement container 152 to the cap / decapping position below the capper / decapping 300.

[0364] In step S778, the replacement cap 170 is secured to the container 152 of the sample collection vial 150. In one example, when the controller 602 receives a signal via the carousel module 608 indicating that the vial holder 214 and the container 152 of the sample collection vial 150 held by the vial holder are positioned below the capper / decapper 300, the controller 602 activates the lifting motor 340 via the elevator module 606 to lower the capper chuck 302 and place the replacement cap 170 on the container 152. Next, the capper / decapper module 604 and controller 602 operate the chuck rotary motor 320 to rotate the chuck body 304 while the container 152 is held by the clamping surfaces 220a and 220b of clamps 216a and 216b, respectively, to screw the replacement cap 170 onto the threaded neck 153 of the container 152. Then, the capper / decapper module 604 and controller 602 operate the jaw actuator motor 308 to retract the jaws 306a, 306b and 306c, releasing the cap 170. Next, the elevator module 606 and controller 602 lift the capper chuck 302 above the first vial holder 214 to a position where it does not obstruct the rotation of the carousel 202.

[0365] In step S780, when the controller 602 receives a signal via the elevator module 608 indicating that the capper chuck 302 is in the raised position, the newly capped container 152 of the sample collection vial 150 is positioned for pickup by the pick-and-place robot 126. In one example, the carousel 202, controlled by the carousel module 608 and the controller 602, is commanded to the pick-and-place robot 126 to rotate the vial holder 214 and the sample collection vial 150 held by the vial holder to the pickup position.

[0366] In step S782, the sample collection vial 150 is moved to the output rack 104. In one example, the sample collection vial 150 is removed from the vial holder 214 by the pick-and-place robot 126 and gantry 120 under the control of the controller 602 and pick-and-place module 618, and then moved to the output rack 104 by the pick-and-place robot 126 and gantry 120. In one example, prior to step S782, the output vial 160 is first moved to the incubator 280 by the pick-and-place robot 126 (e.g., 90-120°C for 1-30 minutes).

[0367] Hardware and software Embodiments of the subject matter disclosed herein may be implemented via control and computation hardware components, software (which may include firmware), data input components, and data output components. Hardware components include computation and control modules (e.g., one or more system controllers), such as processing circuits, configured to receive one or more input values, execute one or more algorithms stored on a non-temporary machine-readable medium (e.g., software) that manipulates the input values ​​or provides instructions to act on or in response to the input values, and bring about computation and / or control steps by outputting one or more output values. Such a processing circuit may include one or more processors (e.g., one or more general-purpose microprocessors and / or one or more other processors, e.g., one or more computers, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), etc.), and such processors may be juxtaposed in a single housing or a single data center, or may be geographically distributed (i.e., the processing circuit may be encompassed by a distributed computing device). Such outputs may be displayed to or otherwise directed to a user to provide information to the user, e.g., information about the status of the device or the status of a process being carried out by the device, and such outputs may include inputs to other processes and / or control algorithms. Data input components include elements into which data is input for use by control and computing hardware components. Such data inputs may include signals generated by sensors or scanners such as position sensors, velocity sensors, accelerometers, environmental (e.g., temperature) sensors, motor encoders, barcode scanners, or RFID scanners, as well as signals generated by manual input elements such as keyboards, stylus-based input devices, touchscreens, microphones, switches, and manual operation scanners. Data inputs may further include data obtained from memory.Data output components may include a hard drive or other storage medium, a monitor, a printer, an indicator light, or an audible signal element (e.g., a chime, buzzer, horn, bell, etc.).

[0368] All possible combinations of elements and components described herein or enumerated in the claims are intended to be and shall be deemed to be part of this disclosure. It should be understood that all combinations of the aforementioned and additional concepts discussed below (insofar as such concepts are not mutually contradictory) are considered to be part of the subject matter of the invention disclosed herein. In particular, all combinations of the subject matter of the claims at the end of this disclosure are considered to be part of the subject matter of the invention disclosed herein.

[0369] While the subject matter of this disclosure is described and illustrated in considerable detail with reference to certain exemplary embodiments, including various combinations and partial combinations of features, those skilled in the art will readily understand other embodiments and their variations and modifications that are included within the scope of this disclosure. Furthermore, the descriptions of such embodiments, combinations, and partial combinations are not intended to convey that the claimed subject matter requires features or combinations of features other than those expressly enumerated in the claims. Accordingly, the scope of this disclosure is intended to include all modifications and modifications that are included within the appended claims.

Claims

1. A method for processing a first input vial and a second input vial using a processing station, wherein each of the first and second input vials comprises a cap for containing a fluid sample and a cap removably fixed to the container, and a sample collection swab extending from the cap, the processing station comprising an input vial holder, an output vial holder, a cap holder, a capper / decapper, and a pipette, wherein the input vial holder, the output vial holder, and the cap holder are movable relative to the capper / decapper and the pipette, and the method is Transporting the first input vial from the input rack to the input vial holder, The process involves transporting a first output vial to the output vial holder, wherein the first output vial includes a container and a cap fixed to the container. Moving the first input vial relative to the capper / decapper to position the first input vial in the capping / decapping position relative to the capper / decapper, Using the capper / decaper, remove the cap from the container of the first input vial, and using the capper / decaper, lift the cap relative to the container to completely remove the sample collection swab from the container of the first input vial. The container of the first input vial is moved relative to the pipette to position the container of the first input vial in a location accessible to the pipette, Using the pipette, a certain amount of fluid sample is extracted from the container of the first input vial. The containment container of the first input vial is moved relative to the capper / decapper, and the containment container of the first input vial is positioned relative to the capper / decapper. The cap is fixed to the container of the first input vial using the capper / decapper, Moving the first output vial relative to the capper / decapper to position the first output vial at the capping / decapping position relative to the capper / decapper, Using the capper / decapper, remove the cap from the container of the first output vial, Move the container of the first output vial relative to the pipette to position the container of the first output vial in a location accessible to the pipette, Dispensing a fixed amount of fluid sample into the container of the first output vial using the pipette, The container of the first output vial is moved relative to the capper / decapper, and the container of the first output vial is positioned relative to the capper / decapper. The cap is fixed to the container of the first output vial using the capper / decaper, The first input vial is transported from the input vial holder to the input rack, and the first output vial is transported from the output vial holder to the output rack. Transporting the second input vial from the input rack to the input vial holder, The process involves transporting a second output vial to the output vial holder, wherein the second output vial includes a container and a cap fixed to the container. Moving the second output vial relative to the capper / decapper to position the first output vial in an operating position relative to the capper / decapper, Using the capper / decapper, remove the cap from the container of the second output vial, The cap holder is moved relative to the capper / decapper, and the cap holder is positioned in the transfer position relative to the capper / decapper. Using the capper / decapper, the cap removed from the container of the second output vial is placed on the cap holder, Moving the second input vial relative to the capper / decapper to position the second input vial at the capping / decapping position relative to the capper / decapper, Using the capper / decaper, remove the cap from the container of the second input vial, and using the capper / decaper, lift the cap relative to the container to completely remove the sample collection swab from the container of the second input vial. The container of the second output vial is moved relative to the capper / decapper, and the container of the second output vial is positioned relative to the capper / decapper. Using the capper / decaper, the cap removed from the container of the second input vial is fixed to the container of the second output vial, Moving the cap holder relative to the capper / decapper, and positioning the cap holder in the transfer position relative to the capper / decapper, Using the capper / decapper, the cap held by the cap holder is gripped, The container of the second input vial is moved relative to the capper / decapper, and the container of the second input vial is positioned relative to the capper / decapper. Using the capper / decaper, the cap removed from the container of the second output vial is fixed onto the container of the second input vial, Transporting the second input vial from the input vial holder to the output rack, The second output vial is transported from the output vial holder to the input rack. A method that includes doing so automatically.

2. A method for processing a first vial using a processing station, wherein the first vial comprises a container for containing a fluid sample, a cap detachably fixed to the container, and a sample collection swab coupled to the cap, the processing station comprises a first vial holder, a second vial holder, a cap holder, and a capper / decaper, and the method is (a) Transporting the first vial to the first vial holder, (b) Transporting a second vial to the second vial holder, wherein the second vial comprises a container and a cap detachably fixed to the container. (c) Using the capper / decapper, remove the cap from the container of the second vial, (d) Using the capper / decapper, the cap removed from the container of the second vial in (c) is placed on the cap holder, (e) Using the capper / decapper, remove the cap and the sample collection swab from the container of the first vial, (f) Using the capper / decapper, fix the cap removed from the container of the first vial in (e) to the container of the second vial, with the sample collection swab still attached to the cap. (g) Removing the second vial from the second vial holder, (h) Using the capper / decapper, grip the cap held by the cap holder, (i) Using the capper / decapper, secure the gripped cap to the container of the first vial, (j) Removing the first vial from the first vial holder and A method that includes doing so automatically.

3. A method for processing an input vial using a processing station, wherein the input vial comprises a cap for containing a fluid sample and detachably fixed to a container, and a sample collection swab coupled to the cap, and the processing station comprises an input vial holder, an output vial holder, a capper / decapper, and a pipette, and the method is (a) Transporting the input vial to the input vial holder, (b) Transporting the output vial to the output vial holder, (c) Using the capper / decapper, remove the cap and the sample collection swab from the container of the input vial, (d) Using the pipette, a certain amount of the fluid sample is taken from the container of the input vial, (e) Using the capper / decapper, fix the cap removed in (c) to the container of the input vial, with the sample collection swab still attached to the cap. (f)(e) After this, remove the input vial from the input vial holder, (g) Using the capper / decapper, remove the cap from the container of the output vial, (h) Dispensing a fixed amount of the fluid sample taken out in (d) into the container of the output vial using the pipette, (i) Using the capper / decapper, fix the cap removed in (g) to the container of the output vial, (j)(i) followed by removing the output vial from the output vial holder and A method that includes doing so automatically.

4. A method for processing a first input vial and a second input vial using a processing station, wherein each input vial comprises a cap for containing a fluid sample and detachably fixed to a container, and a sample collection swab coupled to the cap, the processing station comprising an input vial holder, an output vial holder, a cap holder, a capper / decapper, and a pipette, and the method is as follows: (a) Transporting the first input vial to the input vial holder, (b) Transporting the first output vial to the output vial holder, (c) Using the capper / decapper, remove the cap and the sample collection swab attached to the cap from the container of the first input vial, (d) Using the pipette, a certain amount of the fluid sample is taken from the container of the first input vial, (e) Using the capper / decapper, fix the cap removed in (c) to the container of the first input vial, with the sample collection swab still attached to the cap. (f)(e) After this, remove the first input vial from the input vial holder, (g) Using the capper / decapper, remove the cap from the container of the first output vial, (h) Dispensing a fixed amount of the fluid sample taken out in (d) into the container of the first output vial using the pipette, (i) Using the capper / decapper, secure the cap removed in (g) to the container of the first output vial, (j)(i) followed by removing the first output vial from the output vial holder, (k) Transporting the second input vial to the input vial holder, (l) Transporting the second output vial to the output vial holder, (m) Using the capper / decapper, remove the cap from the container of the second output vial, (n) Using the capper / decapper, the cap removed from the container of the second output vial in (m) is placed on the cap holder, (o) Using the capper / decapper, remove the cap and the sample collection swab attached to the cap from the container of the second input vial, (p) Using the capper / decapper, the cap removed from the container of the second input vial in (o) is fixed to the container of the second output vial, with the sample collection swab still attached to the cap. (q) Removing the second output vial from the output vial holder, (r) Using the capper / decapper, grip the cap held by the cap holder, (s) Using the capper / decapper, the gripped cap is fixed to the container of the second input vial, (t) Removing the second input vial from the input vial holder A method that includes doing so automatically.

5. A system for processing a first input vial and a second input vial, each input vial comprising a cap for containing a fluid sample and removably fixed to a container, and a sample collection swab coupled to the cap, the system, Input vial holder and, Output vial holder and Cap holder and, At least one pick-and-place robot, Cappa / Decappa, Pipette and, The system controller that communicates with the at least one pick-and-place robot, the capper / decapper, and the pipette. The system controller is equipped with, (A) A function to operate the at least one pick-and-place robot to transport the first input vial to the input vial holder, (B) A function to operate the at least one pick-and-place robot to transport the first output vial to the output vial holder, (C) A function to operate the capper / decapper to remove the cap and the sample collection swab attached to the cap from the container of the first input vial held in the input vial holder, (D) After performing function (C), the pipette is operated to extract a certain amount of fluid sample from the container of the first input vial. (E) After performing function (D), the capper / decapper is activated to fix the cap to the container of the first input vial held in the input vial holder, with the sample collection swab still attached to the cap. (F) A function to operate at least one pick-and-place robot after performing function (E) to remove the first input vial from the input vial holder, (G) After performing function (E), the capper / decapper is activated to remove the cap from the container holding the first output vial in the output vial holder, (H) After performing function (G), the pipette is operated to dispense a certain amount of the fluid sample taken from the container of the first input vial into the container of the first output vial. (I) After performing function (H), the capper / decapper is activated to fix the cap to the container of the first output vial, (J) A function to operate at least one pick-and-place robot after performing function (I) to remove the first output vial from the output vial holder, (K) After performing function (F), the function of operating at least one pick-and-place robot to transport the second input vial to the input vial holder, (L) After performing function (J), the function of operating at least one pick-and-place robot to transport the second output vial to the output vial holder, (M) A function to operate the capper / decapper to remove the cap from the container holding the second output vial in the output vial holder, (N) After performing function (M), the capper / decapper is operated to place the cap removed from the container of the second output vial onto the cap holder. (O) After performing function (N), the capper / decapper is activated to remove the cap and the sample collection swab attached to the cap from the container of the second input vial held in the input vial holder, (P) After performing function (O), the capper / decapper is activated to fix the cap removed from the container of the second input vial to the container of the second output vial, with the sample collection swab still attached to the cap. (Q) A function to operate at least one pick-and-place robot after performing function (P) to remove the second output vial from the output vial holder, (R) After performing function (P), the capper / decapper is activated to grip the cap held by the cap holder, (S) After performing function (R), the capper / decapper is activated to fix the cap to the container of the second input vial held in the input vial holder, (T) After performing function (S), the function of operating at least one pick-and-place robot to remove the second input vial from the input vial holder and A system programmed to perform a certain action.

6. A system for processing a first input vial and a second input vial, each input vial comprising a cap for containing a fluid sample and removably fixed to a container, and a sample collection swab coupled to the cap, the system, Control system and, Input vial holder and, Output vial holder and Cap holder and, A vial transport mechanism controlled by the control system to transport the first input vial to the input vial holder, A vial transport mechanism controlled by the control system to transport a first output vial to the output vial holder, A capper / decapper controlled by the control system to remove the cap and the sample collection swab coupled to the cap from the container of the first input vial held in the input vial holder, After the cap and the sample collection swab are removed from the container of the first input vial, a pipette controlled by the control system is used to extract a certain amount of the fluid sample from the container of the first input vial, which is held in the input vial holder. Equipped with, The capper / decapper is controlled by the control system to fix the cap to the container of the first input vial after a certain amount of fluid sample has been removed from the container of the first input vial, with the sample collection swab still attached to the cap. The vial transport mechanism is controlled by the control system to remove the first input vial from the input vial holder after the cap has been fixed to the container for the first input vial. The capper / decapper is controlled by the control system to remove the cap from the container holding the first output vial in the output vial holder. The pipette is controlled by the control system to dispense a fixed amount of the fluid sample, taken by the pipette from the containment container of the first input vial, into the containment container of the first output vial held in the output vial holder. The capper / decapper is controlled by the control system to fix the cap onto the container of the first output vial after the pipette has dispensed a certain amount of the fluid sample into the container of the first output vial. The vial transport mechanism is controlled by the control system to remove the first output vial from the output vial holder after the capper / decapper has secured the cap to the container of the first output vial. The vial transport mechanism is controlled by the control system to transport the second input vial to the input vial holder after removing the first input vial from the input vial holder. The vial transport mechanism is controlled by the control system to transport the second output vial to the output vial holder after removing the first output vial from the output vial holder. The capper / decapper is controlled by the control system to remove the cap from the container holding the second output vial in the output vial holder. The capper / decapper is controlled by the control system to position the cap removed from the container of the second output vial onto the cap holder. The capper / decapper is controlled by the control system to remove the cap and the sample collection swab attached to the cap from the container of the second input vial held in the input vial holder. The capper / decapper is controlled by the control system to fix the cap removed from the container of the second input vial to the container of the second output vial, with the sample collection swab still attached to the cap. The vial transport mechanism is controlled by the control system to remove the second output vial from the output vial holder after the capper / decapper has fixed the cap and the sample collection swab coupled to the cap to the container of the second output vial. The capper / decapper is controlled by the control system to grip the cap held by the cap holder. The capper / decapper is controlled by the control system to secure the cap to the container of the second input vial. The vial transport mechanism is controlled by the control system to remove the second input vial from the input vial holder after the capper / decapper has secured the cap to the container of the second input vial.

7. A system for processing a first vial using a processing station, wherein the first vial contains a fluid sample and comprises a container, a cap removably fixed to the container, and a sample collection swab coupled to the cap, and the system is The first vial holder and The second vial holder, Cap holder and, At least one pick-and-place robot, Cappa / Decappa, The controller that communicates with the at least one pick-and-place robot and the capper / decaper. The controller is equipped with, (A) A function to operate the at least one pick-and-place robot to transport the first vial to the first vial holder, (B) A function to operate the at least one pick-and-place robot to transport the second vial to the second vial holder, (C) The function of operating the capper / decapper to remove the cap from the container holding the second vial in the second vial holder, (D) After performing function (C), the capper / decapper is operated to place the cap removed from the container of the second vial onto the cap holder, (E) After performing function (D), the capper / decapper is activated to remove the cap and the sample collection swab attached to the cap from the container of the first vial held in the first vial holder, (F) After performing function (E), the capper / decapper is activated to fix the cap removed from the container of the first vial to the container of the second vial, with the sample collection swab still attached to the cap. (G) After performing function (F), the function of operating at least one pick-and-place robot to remove the second vial from the second vial holder, (H) After performing function (F), the capper / decapper is activated to grip the cap held by the cap holder, (I) After performing function (H), the capper / decapper is activated to fix the cap to the container of the first vial held in the first vial holder, (J) After performing function (I), the function of operating at least one pick-and-place robot to remove the first vial from the first vial holder and A system programmed to perform a certain action.

8. A system for processing a first vial using a processing station, wherein the first vial contains a fluid sample and comprises a container, a cap removably fixed to the container, and a sample collection swab coupled to the cap, and the system is Control system and, The first vial holder and The second vial holder, Cap holder and, A vial transport mechanism controlled by the control system to transport the first vial to the first vial holder, A vial transport mechanism controlled by the control system to transport a second vial to the second vial holder, A capper / decapper controlled by the control system to remove the cap from the container holding the second vial in the second vial holder, and Equipped with, The capper / decapper is controlled by the control system to position the cap removed from the container of the second vial onto the cap holder. The capper / decapper is controlled by the control system to remove the cap and the sample collection swab attached to the cap from the container of the first vial held in the first vial holder. The capper / decapper is controlled by the control system to fix the cap removed from the first vial's container to the second vial's container, with the sample collection swab still attached to the cap. The vial transport mechanism is controlled by the control system to remove the second vial from the second vial holder after the capper / decapper has fixed the cap and the sample collection swab coupled to the cap to the container of the second vial. The capper / decapper is controlled by the control system to grip the cap held by the cap holder. The capper / decapper is controlled by the control system to secure the cap to the container of the first vial. The vial transport mechanism is controlled by the control system to remove the first vial from the first vial holder after the capper / decapper has secured the cap to the container of the first vial.

9. A system for processing an input vial, wherein the input vial comprises a cap for containing a fluid sample and detachably fixed to a container, and a sample collection swab coupled to the cap, and the system is Input vial holder and, Output vial holder and At least one pick-and-place robot, Cappa / Decappa, Pipette and, The system controller that communicates with the at least one pick-and-place robot, the capper / decapper, and the pipette. The system controller is equipped with, (A) A function to operate the at least one pick-and-place robot to transport the input vial to the input vial holder, (B) A function to operate the at least one pick-and-place robot to transport the output vial to the output vial holder, (C) A function to operate the capper / decapper to remove the cap and the sample collection swab attached to the cap from the container of the input vial held in the input vial holder, (D) After performing function (C), the pipette is operated to extract a certain amount of the fluid sample from the container of the input vial. (E) After performing function (D), the capper / decapper is activated to fix the cap to the container of the input vial held in the input vial holder, with the sample collection swab still attached to the cap. (F) After performing function (E), the function of operating at least one pick-and-place robot to remove the input vial from the input vial holder, (G) After performing function (E), the capper / decapper is activated to remove the cap from the container holding the output vial in the output vial holder, (H) After performing function (G), the pipette is operated to dispense a fixed amount of the fluid sample taken from the container of the input vial into the container of the output vial. (I) After performing function (H), the capper / decapper is activated to secure the cap to the container of the output vial, (J) After performing function (I), the function of operating at least one pick-and-place robot to remove the output vial from the output vial holder and A system programmed to perform a certain action.

10. A system for processing an input vial, wherein the input vial comprises a cap for containing a fluid sample and detachably fixed to a container, and a sample collection swab coupled to the cap, and the system is Control system and, Input vial holder and, Output vial holder and A vial transport mechanism controlled by the control system to transport the input vial to the input vial holder, A vial transport mechanism controlled by the control system to transport the output vial to the output vial holder, A capper / decapper controlled by the control system to remove the cap and the sample collection swab attached to the cap from the container of the input vial held in the input vial holder, After the cap and the sample collection swab are removed from the container of the input vial, a pipette controlled by the control system is used to extract a certain amount of the fluid sample from the container of the input vial, which is held in the input vial holder. Equipped with, The capper / decapper is controlled by the control system to fix the cap to the container of the input vial after the fixed amount of fluid sample has been removed from the container of the input vial, with the sample collection swab still attached to the cap. The vial transport mechanism is controlled by the control system to remove the input vial from the input vial holder after the cap has been secured to the container for the input vial. The capper / decapper is controlled by the control system to remove the cap from the container holding the output vial in the output vial holder. The pipette is controlled by the control system to dispense a fixed amount of the fluid sample, taken by the pipette from the container of the input vial, into the container of the output vial held in the output vial holder. The capper / decapper is controlled by the control system to fix the cap onto the container of the output vial after the pipette has dispensed a certain amount of sample into the container of the output vial. The vial transport mechanism is controlled by the control system to remove the output vial from the output vial holder after the capper / decapper has secured the cap to the container of the output vial.

11. A method for processing a sample collection vial using an automated processing station, wherein the sample collection vial comprises a cap for containing a fluid sample and detachably attached to the container, and a sample collection swab attached to the cap, and the processing station comprises a vial holder, a cap holder, a capper / decapper, a pick-and-place robot, and a waste receptacle, and the method is as follows: (a) Using the pick-and-place robot to transport the sample collection vial to the vial holder, (b) Using the pick-and-place robot, transport the replacement cap to the cap holder, wherein the replacement cap does not contain a sample collection swab. (c) Modify the attachment between the cap and the attached sample collection swab and the container so that the cap can be separated from the container using the capper / decapper, (d) Using the pick-and-place robot, remove the cap and the attached sample collection swab from the container, (e) Using the pick-and-place robot, transport the cap and the attached sample collection swab to the waste receptacle, and store the cap and the attached sample collection swab in the waste receptacle, (f) Using the capper / decapper, remove the replacement cap from the cap holder, (g) Using the capper / decapper, attach the replacement cap to the container of the sample collection vial, (h) Using the pick-and-place robot, remove the sample collection vial with the replacement cap attached from the vial holder. Methods that include...

12. A system for processing a sample collection vial, wherein the sample collection vial comprises a cap that contains a fluid sample and is removably attached to a container, and a sample collection swab attached to the cap, and the system is vial holder and Cap holder and, A capper / decappender configured to remove a cap from a container or to attach a cap to a container, Pick-and-place robots and Waste receptacle and A system controller that communicates with the aforementioned capper / decapper and the aforementioned pick-and-place robot. The system controller is equipped with, (a) A function to operate the pick-and-place robot to transport the sample collection vial to the vial holder, (b) A function of operating the pick-and-place robot to transport the replacement cap to the cap holder, wherein the replacement cap does not include a sample collection swab. (c) A function to change the attachment between the cap and the attached sample collection swab and the container so that the cap can be separated from the container by operating the capper / decapper, (d) The function of operating the pick-and-place robot to remove the cap and attached sample collection swab from the container, (e) The function of operating the pick-and-place robot to transport the cap and attached sample collection swab to the waste receptacle and to store the cap and attached sample collection swab inside the waste receptacle, (f) A function to remove the replacement cap from the cap holder by operating the capper / decapper, (g) The function of operating the capper / decapper to attach the replacement cap to the container of the sample collection vial, (h) The function of operating the pick-and-place robot to remove the sample collection vial with the replacement cap attached from the vial holder. A system programmed to perform a certain action.

Images