Method and apparatus for printing on curved objects - Patents.com

Abstract

To provide a method and apparatus for printing on an object having a curved surface.SOLUTION: A printing module (10) configured to print a label on a curved surface of an article (12) includes an expandable printing mechanism (50) configured to be expanded to an open configuration for receiving the article or contracted to a closed configuration placing the curved surface in an operative position with respect to a print head (152) and an article moving assembly (260) configured to grasp and hold the article and effect relative movement between the curved surface and the print head (152). The printing mechanism includes contact elements, such as rollers (72, 74), that contact or otherwise engage the article when the printing mechanism is in the closed configuration and maintain the curved surface in the operative position with respect to the print head (152) during relative movement between the curved surface and the print head (152).SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of priority under 35 U.S.C. §119(e) to Provisional Patent Application No. 62 / 066,468, filed October 21, 2014, the disclosure of which is incorporated herein by reference.

[0002] FIELD OF THEINVENTION The present disclosure relates to systems and methods for printing information on curved surfaces, such as injection molded plastic test tubes, that may have dimensional and / or surface irregularities and / or other irregularities. [Background technology]

[0003] In certain processes, such as, for example, manufacturing, or analytical, or diagnostic testing processes, it is often necessary, or at least desirable, to identify articles or items undergoing the process and to monitor the location and status of the articles throughout the process. This may be particularly true in automated processes in which multiple steps are performed at multiple locations throughout the system, e.g., an assembly line, a manufacturing line, a diagnostic instrument, or a laboratory. It is not uncommon for one or more process steps performed to vary for different articles, thus making it necessary not only to track the location of the article, but also to communicate with different process modules in the system about the specific step(s) to be performed on that particular article.

[0004] For example, in analytical or diagnostic chemical or biological tests, such as molecular diagnostic assays, the nature and / or source of the sample being tested, and / or the specific testing protocol to be followed in testing each sample, must be monitored and tracked throughout the testing process.

[0005] In the case of chemical or biological testing, identification of the sample, e.g., its characteristics and / or its source, including diagnostic, industrial, environmental, and food sources, may be performed using an identifying label affixed to a container that holds a volume of sample from which an aliquot is removed for testing and / or a container in which one or more chemical or biological reactions are performed. Such identifying information may include human-readable (e.g., alphanumeric) information that is read by a person handling and processing the container. For containers that are placed in diagnostic equipment for subsequent automated processing, it may be advantageous to provide machine-readable information on the container. Such machine-readable information may include a barcode (linear or two-dimensional) that can be read by a scanner in the equipment or laboratory, and the unique number sequence encoded in the barcode is correlated, e.g., via an associated database, with information records about the container and / or its contents. For biological samples, the information may include characteristics of the sample material, e.g., blood, urine, sputum, saliva, pus, mucus, cerebrospinal fluid, feces, etc., the source of the sample material, e.g., the patient's name, and the test(s) performed on the sample material. When the container is processed in the device and / or laboratory, data from the container barcode is read by a barcode scanner or reader, and data including (or otherwise containing) information derived from the barcode data, and optionally other information related to the barcode information, may be written to or retrieved from memory so as to be readable by the processing device. During or after processing, additional information may be added to the record, including, for example, tests or processes performed, test results and error codes, available volume in the container, device ID, and / or other tracking information, e.g., a complete history of all devices on which the container is processed.

[0006] In one embodiment, the data of the container barcode constitutes an address in a database, e.g., a relational database, where information about the contents of the container is stored. For example, if the container holds a sample, the information contained in the barcode data can be used to look up within database information about the sample, such as the characteristics of the sample (blood, urine, etc.), the identity of the patient or other source from which the sample was obtained, the date the sample was obtained, the test(s) or assay(s) performed on the sample, etc., or combinations thereof. On the other hand, if the container contains a reagent or other processing material, the information contained in the barcode data can be used to look up within database information about the type of processing material, such as manufacturer, lot number, expiration date, storage conditions, usage history, volume, etc.

[0007] In some cases, an empty container may be provided pre-labeled with unique identification information that is later associated with information about the sample placed in the container. This association is made by scanning a pre-applied barcode and associating the information coded in the barcode with information about the sample material that has been or will be added to the container. In other cases, before or after the sample material is placed in the unleveled container, a label may be printed for the container that bears a unique identifier associated with information about the sample material placed in the container. Such labels are typically printed on paper with adhesive, and a technician or other laboratory personnel peels the label off the backing and applies it onto the container. Care must be taken to ensure that the label is applied in the correct orientation onto the container to allow the scanner to read the label code and ensure that the information printed on the label does not bleed or otherwise become distorted, for example by wrinkles in the label, in a manner that would interfere with subsequent reading of the label. Of course, care must also be taken to ensure that each label is applied to the correct container that contains the sample material associated with the unique identifier on the label.

[0008] To avoid the need for laboratory personnel to peel the label from the backing and to reduce the possibility of misuse or unreadable labels, it may be desirable to print the unique identification information directly on the initially blank label affixed to the container. In the case of machine-readable information such as bar codes, the printed information must be sufficiently precise so that the information can be accurately read by a bar code scanner. Poor quality printing, such as fuzzy, blurred, or disorganized lines and edges, or overlapping printed characters, will impair the scanner's ability to accurately read the information printed on the label. Typically, thermal printers, which selectively heat coated thermochromic paper, i.e., thermal paper, to produce images as the paper passes over a thermal print head, are ideal for such applications because they are capable of clean and accurate printing. In addition, in chemical or biological laboratory applications, as well as in specialized, e.g., sterile, manufacturing, or assembly processes, thermal printers have an advantage over other printers that use inks or carbon-based toner powders, because such inks or powders can be a source of contamination during processing. Additionally, the lack of consumables such as ink, ribbons, toner, etc. associated with other printers increases the reliability of thermal printers over such other printers and makes thermal printers easier to use and maintain since the necessary replenishment of such non-existent consumables is avoided.

[0009] Precision printing with a thermal printer requires sufficient physical and thermal contact between the thermal print head and the thermal paper throughout the printing process, which involves relative movement between the print head and the paper. Maintaining such contact can be very difficult when the surface being printed is relatively hard and rigid, especially when the surface being printed is curved and / or has imperfections or other surface irregularities, such as warping, ridges, waves, warping, etc. In conventional thermal printers, such as point-of-sale printers, the print head contacts the thermal paper as the paper moves over rollers, which are typically made of an elastomeric material such as rubber. The surface of such rollers The flexible surface allows the print head to press the thermal paper against the roller surface, and the flexibility of the roller surface facilitates uniform contact between the print head and the paper. In addition, rollers for such printers can be made with tight tolerances to minimize dimensional changes and surface one-sidedness. On the other hand, containers used for certain chemical or biological tests may comprise generally cylindrical tubes made of injection molded thermoplastic. Such tubes may be of relatively small dimensions, e.g., 0.5 inches, and thus the sidewalls of such tubes have a high degree of curvature. Furthermore, due to the very nature of the molding process, when this type of article is mass-produced, such tubes may have dimensional tolerances that result in concave and / or convex sidewall portions that can create high or low levels or other surface imperfections and irregularities that prevent good and uniform contact between the thermal print head and the sidewalls of the tube. Summary of the Invention [Problem to be solved by the invention]

[0010] Thus, a need exists for a device configured for printing, particularly thermal printing, information on curved surfaces that may contain dimensional inconsistencies and other irregular and unpredictable surface variations and anomalies. [Means for solving the problem]

[0011] The present disclosure describes an apparatus for printing on a curved surface of an article. The apparatus includes an expandable printing mechanism including a print head and is configured and controlled to selectively (1) expand to an open configuration that allows an article having a curved surface on which information is to be printed to be received into or removed from the apparatus, and (2) contract to a printing configuration that places the curved surface of an article received into the apparatus in an operative position relative to the print head and maintains the curved surface in an operative printing position relative to the print head during relative movement of the curved surface relative to the print head. The apparatus also includes an article moving assembly configured and controlled to (1) grip an article received into the apparatus and effect relative movement between the curved surface of the article and the print head when the expandable printing mechanism is in the printing configuration, and (2) release the article when the expandable printing mechanism is in the open configuration, thereby allowing the article to be removed from the apparatus.

[0012] According to a further aspect of the present disclosure, the apparatus further comprises a housing at least partially enclosing the expandable printing mechanism and the article movement assembly.

[0013] According to a further aspect of the present disclosure, the apparatus further comprises an opening formed in the housing through which an article having a curved surface on which information is printed is received into or removed from the apparatus.

[0014] According to a further aspect of the present disclosure, an expandable printing mechanism includes a first support element having one or more contact element(s) operatively supported thereon, and a second support element supporting a print head thereon. The first support element and the second support element are configured to move relative to one another between an open configuration of the expandable printing mechanism and a printing configuration of the expandable printing feature. The contact element(s) are configured to contact an article received within the apparatus to hold a curved surface in an operative position relative to the print head when the expandable printing mechanism is in the printing configuration.

[0015] According to a further aspect of the present disclosure, the one or more contact elements include a first roller and a second roller rotatably mounted to the first support element.

[0016] According to a further aspect of the present disclosure, the apparatus further comprises an expander mechanism configured to effect relative movement of the first and second support elements between the open configuration and the printing configuration.

[0017] According to a further aspect of the disclosure, the first roller extends axially and the second roller includes a first head portion extending axially along the length of the roller, the first head portion having a first diameter, an extension portion having a second diameter smaller than the first diameter, and a second head portion having a third diameter larger than the second diameter.

[0018] According to a further aspect of the present disclosure, the third diameter is equal to the first diameter.

[0019] According to a further aspect of the present disclosure, the first roller is cylindrical.

[0020] According to a further aspect of the present disclosure, the first roller has a varying diameter that increases from each axial end of the roller toward the axial center of the roller.

[0021] According to a further aspect of the disclosure, the first support element comprises a roller bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the first roller and the second roller being rotatably mounted between the first and second flanges. The second support element comprises a print head bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges. The roller bracket and the print head bracket are oriented such that the webs of the roller bracket and the print head bracket are generally parallel to one another, and the roller bracket and the print head bracket are pivotally mounted on a common pivot shaft such that the roller bracket and the print head bracket are hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration.

[0022] According to a further aspect of the disclosure, the first and second support elements are pivotally mounted on a common pivot shaft such that the first and second support elements are hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration. The expander mechanism includes a driven shaft disposed between the first and second support elements, the driven shaft being generally parallel to the pivot shaft, and a cam element attached to and rotatable therewith and in contact with both the first and second support elements. The cam element has a varying diameter such that in one orientation of the cam element, a portion of the cam element contacting the first and second support elements holds the first and second support elements apart a first distance corresponding to the open configuration of the expandable printing mechanism, and in another orientation of the cam element, a portion of the cam element contacting the first and second support elements holds the first and second support elements apart a second distance corresponding to the printing configuration of the expandable printing mechanism.

[0023] According to a further aspect of the disclosure, the cam element includes a cam disc fixedly mounted to and coaxial with the driven shaft, the cam disc having a variable radius such that in a first rotational position of the cam disc a portion of the cam disc having a first radius contacts the first and second support elements to hold the first and second support elements apart a first distance corresponding to the open configuration, and in a second rotational position of the cam disc a portion of the cam disc having a second radius, smaller than the first radius, contacts the first and second support elements to hold the first and second support elements apart the second distance corresponding to the print configuration.

[0024] According to a further aspect of the present disclosure, the expander mechanism further comprises a spring extending between the first and second support elements and configured to bias the first and second support elements into contact with the cam element.

[0025] According to a further aspect of the present disclosure, each of the first and second support elements further includes a roller bearing mounted thereon, and the cam element is The roller bearings come into contact with the bearings.

[0026] According to a further aspect of the present disclosure, the apparatus further comprises a drive mechanism comprising a pulley wheel coaxially mounted on the driven shaft, a motor having an output shaft and a drive wheel, and a drive belt connecting the drive wheel to the pulley wheel.

[0027] According to a further aspect of the present disclosure, the dilator mechanism further comprises a rotational position sensor configured to detect a rotational position of the driven shaft and the cam element.

[0028] According to a further aspect of the present disclosure, a rotational position sensor includes an index wheel coaxially coupled to a driven shaft, the index wheel having one or more detectable features formed therein or attached thereto at designated rotational positions, and an optical sensor configured to detect the one or more detectable features as the driven shaft and index wheel rotate relative to the optical sensor.

[0029] According to a further aspect of the present disclosure, the apparatus further comprises a hand wheel attached to the driven shaft and configured to enable manual rotation of the driven shaft and the cam element.

[0030] According to a further aspect of the present disclosure, the second support element includes a printhead platen on which the printhead is mounted.

[0031] According to a further aspect of the present disclosure, the printhead platen is configured and mounted such that its position on the second support element is laterally adjustable.

[0032] According to a further aspect of the present disclosure, the apparatus further includes a platen shaft attached to the second support element, the platen shaft extending through a portion of the printhead platen to permit lateral movement of the printhead platen along the platen shaft.

[0033] According to a further aspect of the present disclosure, the apparatus further includes a platen adjustment lever pivotally mounted to the second support element, the platen adjustment lever including a contact point that contacts a portion of the printhead platen, the platen adjustment lever configured such that pivotal movement of the platen adjustment lever effects lateral movement of the printhead platen along the platen shaft.

[0034] According to a further aspect of the present disclosure, the platen adjustment lever includes a protrusion configured to be inserted into one of a plurality of holes formed in the second support element to secure the platen adjustment lever in a selected rotational position.

[0035] According to a further aspect of the present disclosure, the apparatus further comprises a timing mark sensor configured to detect a timing mark on the curved surface.

[0036] According to a further aspect of the present disclosure, an article moving assembly includes a carousel configured for motorized rotation and a movable gripper element configured to be movable between a release position that allows an article to be placed in or removed from the apparatus such that the article rotates with the carousel, and a grip position that secures the article relative to the carousel.

[0037] According to a further aspect of the present disclosure, each gripper element comprises a gripper assembly coupled to a carousel, the gripper assemblies being configured such that rotation of the carousel in a first direction causes all of the gripper assemblies to move radially inwardly toward a gripping position relative to an article placed between the gripper assemblies and rotation of the carousel in a second direction opposite to the first direction causes all of the gripper assemblies to move radially inwardly toward a gripping position relative to an article placed between the gripper assemblies. a) causes all of the gripper assemblies to move radially outwardly toward a release position relative to the article.

[0038] According to a further aspect of the present disclosure, the apparatus includes three gripper assemblies.

[0039] According to a further aspect of the present disclosure, a carousel includes an upper disk and a lower disk coaxially disposed with the upper disk, the upper and lower disks being rotatable relative to one another.

[0040] According to a further aspect of the present disclosure, each gripper element includes a pivoting gripper assembly disposed between an upper disk and a lower disk of the carousel and including a pivot arm pivotally attached to the upper disk, a knurled wheel rotatably mounted on a shaft extending from the pivot arm above and through the upper disk, and a guide pin extending from the pivot arm into an associated guide slot formed in the lower disk.

[0041] According to a further aspect of the present disclosure, a first end of each guide slot formed in the lower disk is closer to a radial center of the lower disk than a second end of the guide slot.

[0042] According to a further aspect of the present disclosure, the article moving assembly further comprises a drive mechanism comprising a motor having an output shaft and a drive wheel, and a drive belt connecting the drive wheel to the carousel.

[0043] According to a further aspect of the present disclosure, the carousel includes peripheral gear teeth for engagement by said drive belt.

[0044] According to a further aspect of the present disclosure, the print head includes a thermal print head.

[0045] The present disclosure also describes a method of printing on a curved surface of an article using a printing module configured to receive an article having a curved surface, secure the article so that the curved surface is in an operative position relative to a print head of the printing module, and provide relative movement between the curved surface and the print head while maintaining the curved surface in an operative position relative to the print head while the print head is actuated, thereby printing information on the curved surface, and then release the article so that it can be removed from the printing module. The method includes verifying that the printing module is in an open configuration that allows an article having a curved surface to be placed in the module, inserting the article into the printing module, moving the curved surface relative to the print head, detecting timing marks on the curved surface, configuring the printing module in a printing configuration where the curved surface of the article placed in the printing module is in an operative position relative to the print head of the printing module, actuating the print head, adding an image onto the curved surface by moving the curved surface relative to the print head a specified amount of relative movement while maintaining the curved surface in an operative position relative to the print head while the print head is actuated, deactivating the print head after adding the image onto the curved surface and stopping the relative movement between the curved surface and the print head, configuring the printing module in an open configuration that allows the article to be removed from the printing module, and removing the article from the printing module.

[0046] According to a further aspect of the present disclosure, the timing marks are detected by a timing mark sensor configured to detect a change in reflectivity of a portion of the curved surface.

[0047] According to a further aspect of the present disclosure, a timing mark sensor generates a waveform based on the reflectivity of a portion of the curved surface, and the timing mark detects a change in the waveform that exceeds a predetermined threshold. and is detected by.

[0048] According to a further aspect of the present disclosure, the method further includes adding a timing mark modification on the curved surface to indicate that the article has been printed.

[0049] According to a further aspect of the present disclosure, the method further includes, after detecting the timing mark, determining one or more dimensions of the timing mark and comparing the determined one or more dimensions of the timing mark to at least one predefined threshold dimension.

[0050] According to a further aspect of the present disclosure, the method further includes, after configuring the printing module in the open configuration, determining whether each determined dimension of the image is within a predetermined range of expected dimensions of the image.

[0051] The present disclosure also describes a method of printing on a curved surface of an article using a printing module, the method including: configuring the printing module in an open configuration to receive an article having a curved surface on which information is to be printed, placing the article in the printing module, configuring the printing module in a printing configuration and securing the article such that the curved surface is in an operative position relative to a print head of the printing module, actuating the print head to provide relative movement between the curved surface and the print head while maintaining the curved surface in an operative position relative to the print head while the print head is actuated, configuring the printing module in an open configuration that allows the article to be removed from the printing module after printing an image on the curved surface, and removing the article from the printing module.

[0052] The present disclosure also describes a system for processing a sample. The system includes a sample transport apparatus, a code reading device, a controller, and a printing module. The sample transport apparatus is configured to remove a quantity of sample material from a first container and dispense at least a portion of the removed sample material into a second container. The code reading device is configured to read a first machine-readable graphical code on a surface of the first container, the first machine-readable graphical code being encoded with information related to the sample material contained in the first container. The controller is configured to generate a second machine-readable graphical code being encoded with information related to the information encoded in the first machine-readable graphical code. The printing module is configured and controlled to print the second machine-readable graphical code onto a curved surface of the second container. The printing module includes an expandable printing mechanism including a print head. The expandable printing mechanism is configured and controlled to selectively (1) expand to an open configuration that allows the second container to be received into or removed from the printing module, and (2) contract to a printing configuration that places the curved surface of the second container in an operative printing position relative to the print head and maintains the curved surface in the operative printing position relative to the print head during relative movement of the curved surface relative to the print head. The printing module further comprises a translation assembly configured and controlled to (1) grip the received second container and effect relative movement between the curved surface of the second container and the print head when the expandable printing mechanism is in the printing configuration, and (2) release the article, thereby allowing the article to be removed from the printing module when the expandable printing mechanism is in the open configuration.

[0053] According to a further aspect of the present disclosure, the sample transport apparatus includes a pipettor mounted on a robotic arm.

[0054] According to a further aspect of the present disclosure, the system further comprises a pick-and-place mechanism configured and controlled to selectively move either or both of the first and second containers from a first location within the system to a second location within the system.

[0055] According to a further aspect of the present disclosure, the pick and place mechanism includes a container gripper mounted on a robotic arm.

[0056] According to a further aspect of the present disclosure, the print module further comprises a housing at least partially enclosing the expandable print mechanism and the translation assembly.

[0057] According to a further aspect of the present disclosure, the system further includes an opening formed in the housing through which the second container can be moved into or out of the housing of the printing module.

[0058] According to a further aspect of the present disclosure, an expandable printing mechanism includes a first support element having one or more contact element(s) operatively supported thereon, and a second support element supporting a print head thereon. The first support element and the second support element are configured to move relative to one another between an open configuration of the expandable printing mechanism and a printing configuration of the expandable printing feature. The contact element(s) are configured to contact a second container received within the printing module to hold a curved surface in an operative position relative to the print head when the expandable printing mechanism is in the printing configuration.

[0059] According to a further aspect of the present disclosure, the one or more contact elements include a first roller and a second roller rotatably mounted to the first support element.

[0060] According to a further aspect of the present disclosure, the expandable printing mechanism further comprises an expander mechanism configured to effect relative movement of the first and second support elements between the open configuration and the printing configuration.

[0061] According to a further aspect of the disclosure, the first roller extends axially and the second roller includes a first head portion extending axially along the length of the roller, the first head portion having a first diameter, an extension portion having a second diameter smaller than the first diameter, and a second head portion having a third diameter larger than the second diameter.

[0062] According to a further aspect of the present disclosure, the second roller is configured such that the third diameter is equal to the first diameter.

[0063] According to a further aspect of the present disclosure, the first roller is cylindrical.

[0064] According to a further aspect of the present disclosure, the first roller has a varying diameter that increases from each axial end of the roller toward the axial center of the roller.

[0065] According to a further aspect of the disclosure, the first support element comprises a roller bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the first roller and the second roller being rotatably mounted between the first and second flanges. The second support element comprises a print head bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the roller bracket and the print head bracket being oriented such that the webs of the roller bracket and the print head bracket are generally parallel to one another. The roller bracket and the print head bracket are pivotally mounted on a common pivot shaft such that the roller bracket and the print head bracket are hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration.

[0066] According to a further aspect of the disclosure, the first and second support elements are pivotally mounted on a common pivot shaft such that the first and second support elements are hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration. The expander mechanism includes a driven shaft disposed between the first and second support elements, the driven shaft being generally parallel to the pivot shaft, and a cam element attached to and rotatable therewith and in contact with both the first and second support elements. The cam element has a varying diameter such that in one orientation of the cam element, a portion of the cam element contacting the first and second support elements holds the first and second support elements apart a first distance corresponding to the open configuration of the expandable printing mechanism, and in another orientation of the cam element, a portion of the cam element contacting the first and second support elements holds the first and second support elements apart a second distance corresponding to the printing configuration of the expandable printing mechanism.

[0067] According to a further aspect of the disclosure, the cam element includes a cam disc fixedly mounted to and coaxial with the driven shaft, the cam disc having a variable radius such that in a first rotational position of the cam disc a portion of the cam disc having a first radius contacts the first and second support elements to hold the first and second support elements apart a first distance corresponding to an open configuration, and in a second rotational position of the cam disc a portion of the cam disc having a second radius, smaller than the first radius, contacts the first and second support elements to hold the first and second support elements apart a second distance corresponding to a printing configuration.

[0068] According to a further aspect of the present disclosure, the expander mechanism further comprises a spring extending between the first and second support elements and configured to bias the first and second support elements into contact with the cam element.

[0069] According to a further aspect of the present disclosure, each of the first and second support elements further includes a roller bearing mounted thereon, and the cam element contacts the roller bearing of each of the first and second support elements.

[0070] According to a further aspect of the disclosure, the system further includes a drive mechanism including a pulley wheel coaxially mounted on the driven shaft, a motor having an output shaft and a drive wheel, and a drive belt connecting the drive wheel to the pulley wheel.

[0071] According to a further aspect of the present disclosure, the dilator mechanism further comprises a rotational position sensor configured to detect a rotational position of the driven shaft and the cam element.

[0072] According to a further aspect of the present disclosure, a rotational position sensor includes an index wheel coaxially coupled to a driven shaft, the index wheel having one or more detectable features formed therein or attached thereto at designated rotational positions, and an optical sensor configured to detect the one or more detectable features as the driven shaft and index wheel rotate relative to the optical sensor.

[0073] According to a further aspect of the present disclosure, the system further comprises a hand wheel attached to the driven shaft and configured to enable manual rotation of the driven shaft and the cam element.

[0074] According to a further aspect of the present disclosure, the second support element includes a printhead platen on which the printhead is mounted.

[0075] According to a further aspect of the present disclosure, the printhead platen is configured and mounted such that its position on the second support element is laterally adjustable.

[0076] According to a further aspect of the present disclosure, the system further includes a platen shaft attached to the second support element, the platen shaft extending through a portion of the printhead platen to permit lateral movement of the printhead platen along the platen shaft.

[0077] According to a further aspect of the present disclosure, the system further includes a platen adjustment lever pivotally mounted to the second support element, the platen adjustment lever including a contact point that contacts a portion of the printhead platen, the platen adjustment lever configured such that pivotal movement of the platen adjustment lever effects lateral movement of the printhead platen along the platen shaft.

[0078] According to a further aspect of the present disclosure, the platen adjustment lever includes a protrusion configured to be inserted into one of a plurality of holes formed in the second support element to secure the platen adjustment lever in a selected rotational position.

[0079] According to a further aspect of the present disclosure, the system further comprises a timing mark sensor configured to detect a timing mark on the curved surface.

[0080] According to a further aspect of the present disclosure, the moving assembly includes a carousel configured for motorized rotation and a movable gripper element configured to be movable between a release position that allows an article to be placed in or removed from the printing module such that the article rotates with the carousel, and a grip position that secures the second container relative to the carousel.

[0081] According to a further aspect of the present disclosure, each gripper element includes a gripper assembly coupled to a carousel, the gripper assemblies configured such that rotation of the carousel in a first direction causes all of the gripper assemblies to move radially inward toward a gripping position relative to a second container positioned therebetween, and rotation of the carousel in a second direction opposite the first direction causes all of the gripper assemblies to move radially outward toward a release position relative to the second container.

[0082] According to a further aspect of the present disclosure, the system includes three gripper assemblies.

[0083] According to a further aspect of the present disclosure, a carousel includes an upper disk and a lower disk coaxially disposed with the upper disk, the upper and lower disks being rotatable relative to one another.

[0084] According to a further aspect of the present disclosure, each gripper element includes a pivoting gripper assembly disposed between an upper disk and a lower disk of the carousel and including a pivot arm pivotally attached to the upper disk, a knurled wheel rotatably mounted on a shaft extending from the pivot arm above and through the upper disk, and a guide pin extending from the pivot arm into an associated guide slot formed in the lower disk.

[0085] According to a further aspect of the present disclosure, a first end of each guide slot formed in the lower disk is closer to a radial center of the lower disk than a second end of the guide slot.

[0086] According to a further aspect of the present disclosure, the movement assembly further comprises a drive mechanism comprising a motor having an output shaft and a drive wheel, and a drive belt connecting the drive wheel to the carousel.

[0087] According to a further aspect of the present disclosure, the carousel includes peripheral gear teeth for engagement by the drive belt.

[0088] According to a further aspect of the present disclosure, the print head includes a thermal print head.

[0089] A further aspect of the disclosure is embodied in a method of processing sample material in a sample processing system. The method includes automatically reading a first machine-readable label on a surface of a first sample container containing a volume of sample material with a code reading device. Information related to the sample material contained in the first sample container is coded in the first machine-readable label. A second machine-readable label is automatically applied onto a curved surface of a second sample container. The second machine-readable label applied to the curved surface includes a label related to the first machine-readable label read from the first sample container, and automatically applying the second machine-readable label onto the curved surface includes directly printing the second machine-readable label onto the curved surface with a printing module. The printing module includes a printing head, one or more contact elements configured to hold the second sample container relative to the printing head to hold the curved surface in an operating position relative to the printing head, and a translation assembly configured to hold the second sample container and rotate the second sample container to move the curved surface relative to the printing head. An automated material transfer device is used to automatically transfer a quantity of sample material from a first sample container to a second sample container.

[0090] According to a further aspect, the method further includes moving the second sample container from the input rack to the printing module using a robotic pick-and-place mechanism prior to applying a second machine-readable indicia to the second sample container.

[0091] According to a further aspect, the method further includes, after applying a second machine-readable label onto the second sample vessel, moving the second sample vessel from the printing module to a sample processing station using a robotic pick-and-place mechanism before transferring a quantity of sample material from the first sample vessel to the second sample vessel.

[0092] According to a further aspect, the method further includes, after transferring the amount of sample material from the first sample container to the second sample container, moving the second sample container from the sample processing station to an output rack using a robotic pick-and-place mechanism.

[0093] According to a further aspect, the first machine-readable indicia comprises a first bar code and the second machine-readable indicia comprises a second bar code.

[0094] According to a further aspect, the first and second barcodes are at least partially identical.

[0095] According to a further embodiment, the second sample container initially includes a blank label and the second machine-readable indicia is printed on the blank label.

[0096] According to a further aspect, the printhead is a thermal printhead and the curved surface comprises a thermally sensitive print medium.

[0097] According to a further aspect, the information relating to the sample material includes sample identification information.

[0098] According to a further aspect, the information relating to the sample material includes sample identification information, and a second machine-readable indicia applied to the curved surface of the second sample vessel is at least partially identical to the first machine-readable indicia on the first sample vessel.

[0099] According to a further aspect, the second machine-readable indicia applied to the curved surface of the second sample vessel comprises: The sample container includes an additional machine-readable label that is different from the first machine-readable label on the one sample container, the additional machine-readable label having encoded therein information related to one or more of time, volume, sample type, reagents, test procedure, and error.

[0100] A further aspect of the present disclosure is embodied in a method of controlling a printing process in which a print head prints an image on a predefined printable area of ​​a label, the method including: effecting relative movement between a timing mark sensor and the label, detecting a position of a timing mark with the timing mark sensor while effecting relative movement, effecting relative movement between the print head and the label after detecting the timing mark to position the print head at an image position a specified distance away from the position of the timing mark, actuating the print head, and while the print head is actuated, effecting relative movement between the print head and the label at the specified image distance to print an image on the printable area.

[0101] According to a further aspect of the present disclosure, the image comprises a barcode.

[0102] According to a further aspect of the present disclosure, a label is disposed on a curved surface of an article, and causing relative movement between the label and the timing mark sensor, and between the label and the print head, includes rotating the article relative to the timing mark sensor and the print head.

[0103] According to a further aspect of the present disclosure, the timing mark sensor is configured to detect a reflectivity of a surface passing in front of the timing mark sensor, and detecting the timing mark includes detecting a reflectivity of a portion of the label passing in front of the timing mark sensor, where the reflectivity of the timing mark differs from the reflectivity of a remainder of the label passing in front of the timing mark sensor.

[0104] According to a further aspect of the present disclosure, the method further includes detecting the presence of the label prior to effecting relative movement between the timing sensor and the label.

[0105] According to a further aspect of the present disclosure, the presence of a label is detected by a timing mark sensor based on a change in reflectance due to the presence of the label exceeding a predefined print surface presence threshold.

[0106] According to a further aspect of the present disclosure, the method further includes generating a waveform from an output of the timing mark sensor based on a reflectivity of a portion of the label passing through the timing mark sensor, and the timing mark is detected by detecting a change in the waveform that exceeds a predetermined threshold value of the timing mark.

[0107] According to a further aspect of the present disclosure, the method further includes detecting a first edge of the timing mark based on a change in the waveform below a negative timing mark threshold and detecting a second edge of the timing mark based on a change in the waveform above a positive timing mark threshold.

[0108] According to a further aspect of the present disclosure, the waveform includes a plurality of data points recorded continuously from an output of the timing mark sensor, and detecting a change in the waveform includes comparing a first waveform value for a current data point to a second waveform value for a data point recorded at a predetermined time prior to the current data point to determine whether the first waveform value exhibits a difference from the second waveform value that is greater than a predetermined timing mark threshold.

[0109] According to a further aspect of the present disclosure, the method further comprises: Further comprising the step of printing a timing mark modification on the label that is detectable by a timing mark sensor.

[0110] According to a further aspect of the present disclosure, printing the timing mark modification includes printing an image that alters the timing mark in a manner detectable by a timing mark sensor.

[0111] According to a further aspect of the present disclosure, printing the timing mark modifications includes printing additional marks distinct from the timing marks.

[0112] According to a further aspect of the present disclosure, effecting relative movement between the print head and the label to position the print head at an image location a specified distance away from the location of the timing mark includes effecting relative movement between the print head and the label a first predetermined distance to place the print head at a print start position on the timing mark, and printing the timing mark correction portion includes actuating the print head to effect relative movement between the print head and the label.

[0113] According to a further aspect of the present disclosure, printing the timing mark correction portion includes actuating the print head to effect a first stage of relative movement between the print head and the label, terminating the first stage when the timing mark is detected by the timing mark sensor, and actuating the print head to effect a second stage of relative movement between the print head and the label defined by a specified amount of relative movement between the print head and the label.

[0114] According to a further aspect of the present disclosure, effecting relative movement between the print head and the label to position the print head at an image location a specified distance away from the location of the timing mark further includes effecting relative movement between the print head and the label a third predetermined distance without actuating the print head to create a printing gap following the timing mark correction portion, wherein after the relative movement the third predetermined distance the print head is in the printable area.

[0115] According to a further aspect of the present disclosure, detecting the timing mark includes determining the positions of leading and trailing edges of the timing mark relative to a direction of relative movement between the timing mark sensor and the label, and effecting relative movement between the print head and the label to position the print head at an image position a specified distance away from the position of the timing mark includes effecting relative movement between the print head and the label to position the print head at an image position a specified distance away from the position of the trailing edge of the timing mark.

[0116] According to a further aspect of the present disclosure, the method further includes measuring the brightness of the timing mark sensor by setting a brightness of the timing mark sensor to a first level that would cause the output of the timing mark sensor to exceed an upper output limit, and periodically varying the brightness of the timing mark sensor while causing relative movement between the timing mark sensor and the label until the output of the timing mark sensor is between the lower output limit and the upper output limit throughout movement of the sensor relative to the label.

[0117] According to a further aspect of the present disclosure, the method further includes determining a length of the timing mark and comparing the determined length of the timing mark to an expected length of the timing mark.

[0118] According to a further aspect of the present disclosure, the method further includes completing these steps only if the length of the timing mark is within a predetermined range of an expected length of the timing mark.

[0119] According to a further aspect of the present disclosure, the method further includes determining a length of the timing mark and comparing the determined length of the timing mark to an expected length. Determining the length of the timing mark includes calculating a first point on the waveform where a change in the waveform is below a negative timing mark threshold, calculating a second point on the waveform where a change in the waveform is above a negative timing mark threshold, calculating a third point on the waveform where a change in the waveform is above a positive timing mark threshold, calculating a fourth point on the waveform where a change in the waveform is below a positive timing mark threshold, and calculating the length of the timing mark as the relative movement between the timing mark sensor and the label between a point bisecting the first and second points and a point bisecting the third and fourth points.

[0120] According to a further aspect of the present disclosure, the method includes, after printing an image on the printable area, causing relative movement between a timing mark sensor and the label, detecting a position of a timing mark on the label using the timing mark sensor while causing relative movement, determining an amount of relative movement between the timing mark sensor and the label when the timing mark is detected, and comparing the detected amount of relative movement to an expected distance between an edge of the image and the timing mark.

[0121] According to a further aspect of the present disclosure, the timing marks are darker than their surroundings such that the reflectivity of the timing marks is lower than the reflectivity of their surroundings.

[0122] According to a further aspect of the present disclosure, the timing marks are brighter than their surroundings such that the reflectivity of the timing marks is higher than the reflectivity of their surroundings.

[0123] According to a further aspect of the present disclosure, printing the timing mark modification includes printing an extension to increase a length of the timing mark.

[0124] According to a further aspect of the present disclosure, the timing mark comprises a cut-out portion in the label.

[0125] According to a further aspect of the present disclosure, the timing mark comprises one or more encoder markings of a series of encoder markings.

[0126] According to a further aspect of the present disclosure, the timing mark comprises a physical feature formed on a surface of the article to which the label is affixed.

[0127] According to a further aspect of the present disclosure, the timing marks comprise a one-dimensional or two-dimensional bar code.

[0128] According to a further aspect of the present disclosure, the timing mark comprises a one- or two-dimensional barcode, and printing the timing mark modification includes printing the one- or two-dimensional barcode.

[0129] According to a further aspect of the present disclosure, the timing mark comprises a two-dimensional barcode, and detecting the position of the timing mark includes identifying a location of known coordinates within the two-dimensional barcode using a two-dimensional barcode reader.

[0130] According to a further aspect of the present disclosure, the timing mark comprises a one-dimensional barcode, and detecting the position of the timing mark includes identifying a leading edge of the one-dimensional barcode as the first position at which a one-dimensional barcode reader can read the one-dimensional barcode.

[0131] A further aspect of the disclosure is embodied in a method of controlling a printing process in which a print head prints an image on a label affixed to a tube positioned adjacent the print head and adjacent a sensor configured to detect optical and / or physical characteristics of the label. The method includes commanding the sensor to detect the presence of a label affixed to the tube. The sensor (1) does not generate a signal indicative of the presence of the label or (2) generates a signal indicative of the presence of the label. If the sensor generates a signal indicative of the presence of the label, the sensor is commanded to detect the location of a timing mark on the label, and the sensor does not generate a signal indicative of the location of the timing mark on the label. If the sensor does not generate a signal indicative of the presence of the label or if the sensor does not generate a signal indicative of the location of the timing mark on the label, the print head is selectively actuated while effecting relative movement between the print head and the label to print multiple alternating images at multiple locations on the label.

[0132] A further aspect of the present disclosure is embodied in a method of controlling a printing process in which a print head prints an image on a label affixed to a tube positioned adjacent the print head and adjacent a sensor configured to detect optical and / or physical characteristics of the label. A command is sent to the sensor to detect the presence of a label affixed to the tube, and the sensor does not generate a signal indicative of the presence of the label. Upon failure of the sensor to generate a signal indicative of the presence of the tube, the print head is then selectively actuated while effecting relative movement between the print head and the label to print multiple alternating images at multiple locations on the label.

[0133] A further aspect of the present disclosure is embodied in a method of controlling a printing process in which a print head prints an image on a label affixed to a tube positioned adjacent the print head and adjacent a sensor configured to detect optical and / or physical characteristics of the label. The presence of the label affixed to the tube is detected by the sensor. After detecting the label, a command is sent to the sensor to detect the location of a timing mark on the label, where the sensor does not generate a signal indicative of the location of a timing mark on the label. After failing to generate a signal indicative of the location of a timing mark, the print head is selectively actuated while effecting relative movement between the print head and the label to print multiple alternating images at multiple locations on the label.

[0134] Other characteristics and attributes of the subject matter of the present disclosure, as well as its method of operation, function of elements in construction and combination of parts, and economies in manufacture, will become more apparent upon consideration of the following description and the appended claims, with reference to the accompanying drawings, all of which form a part hereof and in which like reference characters refer to corresponding parts in the various drawings. The present specification also provides, for example, the following items: (Item 1) 1. An apparatus for printing on a curved surface of an article, comprising: (A) an expandable printing mechanism including a printhead, and optionally (1) expands into an open configuration that allows an article having a curved surface on which information is to be printed to be received into or removed from the apparatus; and (2) an expandable printing mechanism configured and controlled to contract into a printing configuration that places the curved surface of an article received within the apparatus in an operative position relative to the print head and maintains the curved surface in an operative printing position relative to the print head during relative movement of the curved surface with respect to the print head; (B) an article transfer assembly; (1) gripping an article received within the apparatus when the expandable printing mechanism is in the printing configuration and providing relative movement between the curved surface of the article and the print head; and (2) an article moving assembly configured and controlled to release the article when the expandable printing mechanism is in the open configuration, thereby enabling the article to be removed from the apparatus. (Item 2) Item 1. The apparatus of item 1, further comprising a housing at least partially enclosing the expandable printing mechanism and the article moving assembly. (Item 3) 3. The apparatus of claim 2, further comprising an opening formed in the housing through which an article having a curved surface onto which information is printed is received into or removed from the apparatus. (Item 4) the expandable printing mechanism comprising: a first support element having one or more contact element(s) operatively supported thereon; and a second support element on which the print head is supported; 4. The apparatus of any one of claims 1 to 3, wherein the first support element and the second support element are configured to move relative to one another between the open configuration of the expandable printing mechanism and the printing configuration of the expandable printing feature, and the contact element(s) are configured to contact an article received within the apparatus to hold the curved surface in the operative position relative to the print head when the expandable printing mechanism is in the printing configuration. (Item 5) 5. The apparatus of claim 4, wherein the one or more contact elements comprise a first roller and a second roller rotatably mounted to the first support element. (Item 6) 6. The apparatus of claim 4 or 5, further comprising an expander mechanism configured to provide relative movement of the first and second support elements between the open configuration and the printing configuration. (Item 7) the first roller extends axially; 6. The apparatus of claim 5, wherein the second roller comprises a first head portion having a first diameter extending axially along a length of the roller, an extension portion having a second diameter smaller than the first diameter, and a second head portion having a third diameter larger than the second diameter. (Item 8) 8. The apparatus of claim 7, wherein the third diameter is equal to the first diameter. (Item 9) 9. The apparatus according to claim 7 or 8, wherein the first roller is cylindrical. (Item 10) 9. The apparatus of claim 7 or 8, wherein the first roller has a varying diameter that increases from each axial end of the roller towards the axial center of the roller. (Item 11) the first support element comprises a roller bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the first roller and the second roller being rotatably mounted between the first and second flanges; The second support element includes a printhead bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the roller bracket and and the print head bracket is oriented such that the webs of the roller bracket and the print head bracket are generally parallel to one another; 11. The apparatus of any one of items 5 to 10, wherein the roller bracket and the print head bracket are pivotally mounted on a common pivot shaft, whereby the roller bracket and the print head bracket are hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration. (Item 12) the first and second support elements are pivotally mounted on a common pivot shaft such that the first and second support elements are hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration; and an expander mechanism; a driven shaft disposed between the first and second support elements, the driven shaft being generally parallel to the pivot shaft; and a cam element attached to and rotatable with the driven shaft and in contact with both the first and second support elements, the cam element having a varying diameter such that in one orientation of the cam element, a portion of the cam element contacting the first and second support elements holds the first and second support elements a first distance apart that corresponds to the open configuration of the expandable printing mechanism, and in another orientation of the cam element, a portion of the cam element contacting the first and second support elements holds the first and second support elements a second distance apart that corresponds to the printing configuration of the expandable printing mechanism. (Item 13) 13. The apparatus of claim 12, wherein the cam element includes a cam disc fixed to and coaxial with the driven shaft, the cam disc having a variable radius, whereby in a first rotational position of the cam disc a portion of the cam disc having a first radius contacts the first and second support elements to hold the first and second support elements apart at the first distance corresponding to the open configuration, and in a second rotational position of the cam disc a portion of the cam disc having a second radius smaller than the first radius contacts the first and second support elements to hold the first and second support elements apart at the second distance corresponding to the printing configuration. (Item 14) Item 14. The apparatus of item 12 or 13, wherein the expander mechanism further comprises a spring extending between the first and second support elements and configured to bias the first and second support elements into contact with the cam element. (Item 15) Item 15. The apparatus of any one of items 12 to 14, wherein each of the first and second support elements further includes a roller bearing mounted thereon, and the cam element contacts the roller bearing of each of the first and second support elements. (Item 16) a pulley wheel mounted coaxially on the driven shaft; a motor having an output shaft and a drive wheel; 16. The apparatus according to any one of items 12 to 15, further comprising a drive mechanism comprising a drive belt connecting the drive wheel to the pulley wheel. (Item 17) 17. The device of any one of claims 12 to 16, wherein the expander mechanism further comprises a rotational position sensor configured to detect a rotational position of the driven shaft and cam element. (Item 18) The rotational position sensor is an index wheel coaxially coupled to said driven shaft, the index wheel having one or more detectable features formed therein or attached thereto at designated rotational positions; and an optical sensor configured to detect the one or more detectable characteristics as the driven shaft and the index wheel rotate relative to the optical sensor. (Item 19) Item 19. The apparatus of any one of items 12 to 18, further comprising a hand wheel attached to the driven shaft and configured to enable manual rotation of the driven shaft and the cam element. (Item 20) 20. The apparatus of any one of claims 4 to 19, wherein the second support element comprises a printhead platen on which the printhead is mounted. (Item 21) Item 21. The apparatus of item 20, wherein the printhead platen is constructed and mounted such that its position on the second support element can be laterally adjusted. (Item 22) 22. The apparatus of claim 21, further comprising a platen shaft attached to the second support element, the platen shaft extending through a portion of the printhead platen to permit lateral movement of the printhead platen along the platen shaft. (Item 23) 23. The apparatus of claim 22, further comprising a platen adjustment lever pivotally mounted to the second support element, the platen adjustment lever including a contact point that contacts a portion of the printhead platen, the platen adjustment lever configured such that pivotal movement of the platen adjustment lever effects lateral movement of the printhead platen along the platen shaft. (Item 24) Item 24. The apparatus of item 23, wherein the platen adjustment lever includes a protrusion configured to be inserted into one of a plurality of holes formed in the second support element to fix the platen adjustment lever in a selected rotational position. (Item 25) Item 25. The apparatus of any one of items 1 to 24, further comprising a timing mark sensor configured to detect timing marks on the curved surface. (Item 26) the article moving assembly comprising: a carousel configured for motorized rotation; 26. The apparatus of any one of claims 1 to 25, comprising a movable gripper element configured to be movable between a release position that allows an article to be placed in or removed from the apparatus so that the article rotates with the carousel, and a grip position that secures the article relative to the carousel. (Item 27) 27. The apparatus of claim 26, wherein each gripper element comprises a gripper assembly coupled to the carousel, the gripper assemblies configured such that rotation of the carousel in a first direction causes all of the gripper assemblies to move radially inward relative to an article placed between them toward the gripping position, and rotation of the carousel in a second direction opposite the first direction causes all of the gripper assemblies to move radially outward relative to the article toward the release position. (Item 28) 28. The apparatus of item 27, comprising three gripper assemblies. (Item 29) The carousel is The upper disc and and a lower disk disposed coaxially with the upper disk, 29. The apparatus according to any one of items 26 to 28, wherein the disks are rotatable relative to each other. (Item 30) Each gripper element includes a pivoting gripper assembly, the pivoting gripper assembly including: a pivot arm disposed between the upper and lower disks of the carousel and pivotally attached to the upper disk; a knurled wheel rotatably mounted on a shaft extending from the pivot arm above and through the upper disc; 30. The apparatus of claim 29, further comprising a guide pin extending from the pivot arm into an associated guide slot formed in the lower disk. (Item 31) Item 32. The apparatus of item 30, wherein a first end of each guide slot formed in the lower disk is closer to a radial center of the lower disk than a second end of the guide slot. The article moving assembly further comprises a drive mechanism, the drive mechanism comprising: a motor having an output shaft and a drive wheel; Item 32. The apparatus of any one of items 26 to 31, further comprising: a drive belt connecting the drive wheel to the carousel. (Item 33) Item 33. The apparatus of item 32, wherein the carousel includes peripheral gear teeth for engagement by the drive belt. (Item 34) Item 34. The apparatus of any one of items 1 to 33, wherein the print head comprises a thermal print head. (Item 35) 1. A method of printing onto a curved surface of an article using a printing module configured to receive an article having a curved surface, secure the article such that the curved surface is in an operative position relative to a print head of the printing module, and while the print head is actuated, provide relative movement between the curved surface and the print head while maintaining the curved surface in the operative position relative to the print head, thereby printing information on the curved surface, and then release the article so that it can be removed from the printing module, the method comprising: Verifying that the printing module is in an open configuration that allows the article having a curved surface to be placed within the module; Inserting the article into the printing module; moving the curved surface relative to the print head; detecting timing marks on the curved surface; configuring the print module in a printing configuration, wherein the curved surface of the article placed in the print module is in an operative position relative to the print head of the print module; activating the print head; applying an image onto the curved surface by moving the curved surface relative to the print head a specified relative movement amount while maintaining the curved surface in the operative position relative to the print head while the print head is in operation; ceasing operation of the print head after applying the image onto the curved surface, thereby ceasing relative motion between the curved surface and the print head; configuring the printing module in an open configuration in which the article may be removed from the printing module; and and removing the article from the printing module. (Item 36) Item 36. The method of item 35, wherein the timing marks are detected by a timing mark sensor configured to detect a change in reflectivity of a portion of the curved surface. (Item 37) 37. The method of claim 36, wherein the timing mark sensor generates a waveform based on the reflectivity of a portion of the curved surface, and the timing mark is detected by detecting a change in the waveform that exceeds a predetermined threshold. (Item 38) 38. The method of any one of claims 35 to 37, further comprising adding a timing mark modification on the curved surface to indicate that the article has been printed. (Item 39) The method according to any one of claims 35 to 38, further comprising the steps of: after detecting the timing mark, determining one or more dimensions of the timing mark; and comparing the determined one or more dimensions of the timing mark to at least one predefined threshold dimension. 40. The method of any one of items 35 to 39, further comprising, after configuring the printing module in the open configuration, determining whether each determined dimension of the image is within a predetermined range of expected dimensions of the image. (Item 41) 1. A method of printing on a curved surface of an article using a printing module, comprising: configuring the printing module in an open configuration to receive an article having a curved surface onto which information is to be printed; placing an article in the printing module; configuring the printing module in a printing configuration and securing the article such that the curved surface is in an operative position relative to a print head of the printing module; actuating the print head and providing relative movement between the curved surface and the print head while maintaining the curved surface in the operative position relative to the print head while the print head is actuated; configuring the printing module in an open configuration that allows the article to be removed from the printing module after printing an image on the curved surface; and removing the article from the printing module. (Item 42) 1. A system for processing a sample, comprising: a sample delivery device configured to remove a quantity of sample material from a first container and to dispense at least a portion of the removed sample material into a second container; a code reading device configured to read a first machine-readable graphical code on a surface of the first container, the first machine-readable graphical code being encoded with information related to the sample material contained in the first container; and a controller configured to generate a second machine-readable graphical code encoded with information related to the information encoded in the first machine-readable graphical code; a printing module configured and controlled to print the second machine-readable graphical code on a curved surface of the second container, the printing module comprising: (A) an expandable printing mechanism including a print head, and optionally (1) expanding to an open configuration that allows the second container to be received within or removed from the printing module; and (2) an expandable printing mechanism configured and controlled to contract to a printing configuration that places the curved surface of the second container in an operative printing position relative to the print head and maintains the curved surface in the operative printing position relative to the print head during relative movement of the curved surface with respect to the print head; (B) A moving assembly. (1) gripping the received second container when the expandable printing mechanism is in the printing configuration and providing relative movement between the curved surface of the second container and the print head; and (2) a translation assembly configured and controlled to release the article when the extendable printing mechanism is in the open configuration, thereby enabling the article to be removed from the printing module. (Item 43) Item 43. The system of item 42, wherein the sample transport device comprises a pipettor mounted on a robotic arm. (Item 44) Item 44. The system of item 42 or 43, further comprising a pick-and-place mechanism configured and controlled to selectively move either or both of the first and second containers from a first location within the system to a second location within the system. (Item 45) Item 45. The system of item 44, wherein the pick and place mechanism comprises a container gripper mounted on a robotic arm. (Item 46) 46. ​​The system of any one of items 42 to 45, wherein the printing module further comprises a housing at least partially enclosing the expandable printing mechanism and the moving assembly. (Item 47) Item 47. The system of item 46, further comprising an opening formed in the housing through which the second container can be moved into or out of the housing of the printing module. (Item 48) the expandable printing mechanism comprising: a first support element having one or more contact element(s) operatively supported thereon; and a second support element on which the print head is supported; 48. The system of any one of claims 42 to 47, wherein the first support element and the second support element are configured to move relative to one another between the open configuration of the expandable printing mechanism and the printing configuration of the expandable printing feature, and the contact element(s) are configured to contact the second container received within the printing module to hold the curved surface in the operating position relative to the print head when the expandable printing mechanism is in the printing configuration. (Item 49) Item 49. The system of item 48, wherein the expandable printing mechanism further comprises an expander mechanism configured to provide relative movement of the first and second support elements between the open configuration and the printing configuration. (Item 50) 50. The system of claim 48 or 49, wherein the one or more contact elements comprise a first roller and a second roller rotatably mounted to the first support element. (Item 51) the first roller extends axially; Item 51. The system of item 50, wherein the second roller comprises a first head portion having a first diameter extending axially along a length of the roller, an extension portion having a second diameter smaller than the first diameter, and a second head portion having a third diameter larger than the second diameter. (Item 52) Item 52. The system of item 51, wherein the third diameter is equal to the first diameter. (Item 53) 53. The system according to any one of claims 50 to 52, wherein the first roller is cylindrical. . (Item 54) 53. The system of any one of items 50-52, wherein the first roller has a varying diameter that increases from each axial end of the roller toward an axial center of the roller. (Item 55) the first support element comprises a roller bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the first roller and the second roller being rotatably mounted between the first and second flanges; the second support element comprises a print head bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the roller bracket and the print head bracket being oriented such that the webs of the roller bracket and the print head bracket are generally parallel to one another; 55. The system of any one of items 50 to 54, wherein the roller bracket and the print head bracket are pivotally mounted on a common pivot shaft, such that the roller bracket and the print head bracket are hingedly pivotable relative to one another about the pivot shaft between the open configuration and the printing configuration. (Item 56) the first and second support elements are pivotally mounted on a common pivot shaft such that the first and second support elements are hingedly pivotable relative to one another about the pivot shaft between the open configuration and the printing configuration, and the expander mechanism comprises: a driven shaft disposed between the first and second support elements, the driven shaft being generally parallel to the pivot shaft; 56. The system of any one of claims 49 to 55, comprising: a cam element attached to and rotatable with the driven shaft and in contact with both the first and second support elements, the cam element having a varying diameter such that in one orientation of the cam element, a portion of the cam element contacting the first and second support elements holds the first and second support elements a first distance apart that corresponds to the open configuration of the expandable printing mechanism, and in another orientation of the cam element, a portion of the cam element contacting the first and second support elements holds the first and second support elements a second distance apart that corresponds to the printing configuration of the expandable printing mechanism. (Item 57) 57. The system of claim 56, wherein the cam element includes a cam disc fixedly mounted to and coaxial with the driven shaft, the cam disc having a variable radius, whereby in a first rotational position of the cam disc a portion of the cam disc having a first radius contacts the first and second support elements to hold the first and second support elements apart at the first distance corresponding to the open configuration, and in a second rotational position of the cam disc a portion of the cam disc having a second radius smaller than the first radius contacts the first and second support elements to hold the first and second support elements apart at the second distance corresponding to the printing configuration. (Item 58) Item 58. The system of item 56 or 57, wherein the expander mechanism further comprises a spring extending between the first and second support elements and configured to bias the first and second support elements into contact with the cam element. (Item 59) 59. The system of any one of claims 56 to 58, wherein each of the first and second support elements further includes a roller bearing mounted thereon, and the cam element contacts the roller bearing of each of the first and second support elements. (Item 60) a pulley wheel mounted coaxially with the driven shaft; a motor having an output shaft and a drive wheel; 60. The system of any one of claims 56 to 59, further comprising a drive mechanism comprising: a drive belt connecting the drive wheel to the pulley wheel. (Item 61) 61. The system of any one of claims 56 to 60, wherein the expander mechanism further comprises a rotational position sensor configured to detect a rotational position of the driven shaft and cam element. (Item 62) The rotational position sensor is an index wheel coaxially coupled to said driven shaft, the index wheel having one or more detectable features formed therein or attached thereto at designated rotational positions; and an optical sensor configured to detect the one or more detectable characteristics as the driven shaft and the index wheel rotate relative to the optical sensor. (Item 63) 63. The system of any one of claims 56 to 62, further comprising a hand wheel attached to the driven shaft and configured to enable manual rotation of the driven shaft and the cam element. (Item 64) Item 64. The system of any one of items 48 to 63, wherein the second support element comprises a printhead platen on which the printhead is mounted. (Item 65) Item 65. The system of item 64, wherein the printhead platen is configured and mounted such that its position on the second support element is laterally adjustable. (Item 66) Item 66. The system of item 65, further comprising a platen shaft attached to the second support element, the platen shaft extending through a portion of the printhead platen to allow lateral movement of the printhead platen along the platen shaft. (Item 67) Item 67. The system of item 66, further comprising a platen adjustment lever pivotally mounted to the second support element, the platen adjustment lever including a contact point that contacts a portion of the printhead platen, the platen adjustment lever configured such that pivotal movement of the platen adjustment lever effects lateral movement of the printhead platen along the platen shaft. (Item 68) Item 68. The system of item 67, wherein the platen adjustment lever includes a protrusion configured to be inserted into one of a plurality of holes formed in the second support element to fix the platen adjustment lever in a selected rotational position. (Item 69) Item 69. The system of any one of items 42 to 68, further comprising a timing mark sensor configured to detect timing marks on the curved surface. (Item 70) The moving assembly includes: a carousel configured for motorized rotation; Item 69. The system of any one of items 42 to 69, comprising a movable gripper element configured to be movable between a release position to allow an article to be placed in or removed from the printing module and a gripping position to secure the second container relative to the carousel so that the article rotates with the carousel. (Item 71) 71. The system of claim 70, wherein each gripper element comprises a gripper assembly coupled to the carousel, the gripper assemblies configured such that rotation of the carousel in a first direction causes all of the gripper assemblies to move radially inward toward the grip position relative to the second container positioned therebetween, and rotation of the carousel in a second direction opposite the first direction causes all of the gripper assemblies to move radially outward toward the release position relative to the second container. (Item 72) Item 72. The system of item 71, comprising three gripper assemblies. (Item 73) The carousel is The upper disc and 73. The system of any one of claims 70 to 72, further comprising: a lower disk coaxially disposed with the upper disk, the upper and lower disks being rotatable relative to each other. (Item 74) Each gripper element includes a pivoting gripper assembly, the pivoting gripper assembly including: a pivot arm disposed between the upper and lower disks of the carousel and pivotally attached to the upper disk; a knurled wheel rotatably mounted on a shaft extending from the pivot arm above and through the upper disc; Item 74. The system of item 73, comprising: a guide pin extending from the pivot arm into an associated guide slot formed in the lower disk. (Item 75) Item 75. The system of item 74, wherein a first end of each guide slot formed in the lower disk is closer to a radial center of the lower disk than a second end of the guide slot. (Item 76) The translation assembly further comprises a drive mechanism, the drive mechanism comprising: a motor having an output shaft and a drive wheel; 76. The system of any one of claims 70 to 75, further comprising: a drive belt connecting the drive wheel to the carousel. (Item 77) Item 77. The system of item 76, wherein the carousel includes peripheral gear teeth for engagement by the drive belt. (Item 78) Item 78. The system of any one of items 42 to 77, wherein the print head comprises a thermal print head. (Item 79) 1. A method of processing sample material in a sample processing system, comprising: (a) automatically reading, with a code reading device, a first machine-readable indicia on a surface of a first sample container containing a volume of sample material, wherein information related to the sample material contained in the first sample container is encoded in the first machine-readable indicia; (b) automatically applying a second machine-readable indicia onto the curved surface of the second sample container; the second machine-readable indicia applied to the curved surface comprises an indicia related to the first machine-readable indicia read from the first sample vessel in step (a); Automatically applying the second machine-readable indicia onto the curved surface includes printing the second machine-readable indicia directly onto the curved surface with a printing module, Lu is (i) a print head; one or more contact elements configured to hold the second sample container against the print head so as to hold the curved surface in an operative position relative to the print head; (ii) a translation assembly configured to hold the second sample container and rotate the second sample container to move the curved surface relative to the print head; (c) automatically transferring a quantity of sample material from the first sample container to the second sample container using an automated material transfer device. (Item 80) 80. The method of claim 79, further comprising, prior to step (b), moving a second sample container from an input rack to the printing module using a robotic pick-and-place mechanism. (Item 81) 81. The method of claim 79 or 80, further comprising, after step (b) and before step (c), moving a second sample container from the printing module to a sample processing station using a robotic pick-and-place mechanism. (Item 82) 82. The method of claim 81, further comprising, after step (c), moving the second sample container from the sample processing station to an output rack using the robotic pick-and-place mechanism. (Item 83) 83. The method of any one of claims 79 to 82, wherein the first machine-readable indicia comprises a first bar code and the second machine-readable indicia comprises a second bar code. (Item 84) Item 84. The method of item 83, wherein the first and second barcodes are at least partially identical. (Item 85) 85. The method of any one of items 79 to 84, wherein the second sample container initially comprises a blank label, and the second machine-readable indicia is printed on the blank label. (Item 86) 86. The method of any one of claims 79 to 85, wherein the print head is a thermal print head and the curved surface comprises a heat-sensitive print medium. (Item 87) 87. The method of any one of items 79 to 86, wherein the information related to the sample material comprises sample identification information. (Item 88) 88. The method of any one of items 79 to 87, wherein the information related to the sample material comprises sample identification information, and the second machine-readable indicia applied on the curved surface of the second sample vessel is at least partially identical to the first machine-readable indicia on the first sample vessel. (Item 89) Item 89. The method of item 88, wherein the second machine-readable indicia applied to the curved surface of the second sample vessel comprises an additional machine-readable indicia different from the first machine-readable indicia on the first sample vessel, the additional machine-readable indicia encoding information related to one or more of time, volume, sample type, reagents, test procedure, and error. (Item 90) 1. A method of controlling a printing process in which a print head prints an image on a predefined printable area of ​​a label, comprising: (a) providing relative movement between a timing mark sensor and the label; (b) during step (a), detecting a position of a timing mark with the timing mark sensor; and (c) after step (b), effecting relative movement between the print head and the label to position the print head at an image location a specified distance away from the location of the timing mark detected in step (b); (d) actuating the print head; and (e) during step (d), providing relative movement between the print head and the label at a specified image distance to print the image on the printable area. (Item 91) Item 91. The method of item 90, wherein the image comprises a barcode. (Item 92) 92. The method of claim 90 or 91, wherein the label is disposed on a curved surface of an article, and causing relative movement between the label and the timing mark sensor, and between the label and the print head, includes rotating the article relative to the timing mark sensor and the print head. (Item 93) 93. A method according to any one of claims 90 to 92, wherein the timing mark sensor is configured to detect the reflectivity of a surface passing in front of the timing mark sensor, and step (b) comprises detecting the reflectivity of a portion of the label passing the timing mark sensor, the reflectivity of the timing mark being different to the reflectivity of a portion of the label surrounding the timing mark. (Item 94) 94. The method of any one of items 90 to 93, further comprising detecting the presence of the label before carrying out step (a). (Item 95) Item 95. The method of item 94, wherein the presence of the label is detected by the timing mark sensor based on a change in reflectance due to the presence of a label exceeding a predefined print surface presence threshold. (Item 96) 94. The method of claim 93, further comprising generating a waveform from an output of the timing mark sensor based on the reflectivity of the portion of the label passing by the timing mark sensor, wherein the timing mark is detected by detecting a change in the waveform that exceeds a timing mark predetermined threshold. (Item 97) 97. The method of claim 96, further comprising detecting a first edge of the timing mark based on the change of the waveform below a timing mark negative threshold and detecting a second edge of the timing mark based on the change of the waveform above a timing mark positive threshold. (Item 98) Item 98. The method of claim 96 or 97, wherein the waveform comprises a plurality of data points recorded successively from the output of the timing mark sensor, and detecting a change in the waveform comprises comparing a first waveform value for a current data point to a second waveform value for a data point recorded at a predetermined time prior to the current data point to determine whether the first waveform value exhibits a difference compared to the second waveform value that is greater than a predetermined threshold value for the timing mark. (Item 99) Item 99. The method of any one of items 90 to 98, further comprising printing a timing mark modification on the label that is detectable by the timing mark sensor to indicate that the label has been printed. (Item 100) 100. The method of claim 99, wherein printing the timing mark modification includes printing an image that alters the timing mark in a manner detectable by the timing mark sensor. (Item 101) 100. The method of claim 99, wherein printing the timing mark modification includes printing an additional mark that is different from the timing mark. (Item 102) Item 99. The method of any one of items 99-101, wherein step (c) includes effecting relative movement between the print head and the label by a first predetermined distance to position the print head at a print start position on the timing mark, and wherein printing the timing mark correction portion includes actuating the print head to effect relative movement between the print head and the label. (Item 103) printing the timing mark correction actuates the print head to provide a first stage of relative movement between the print head and the label; terminating the first stage when the timing mark is detected by the timing mark sensor; and actuating the print head to provide a second stage of relative movement between the print head and the label defined by a specified amount of relative movement between the print head and the label. (Item 104) Item 105. The method of item 102 or 103, wherein step (c) further includes effecting relative movement between the print head and the label a third predetermined distance without actuating the print head to cause a print gap following the timing mark modification, and wherein after the third predetermined distance relative movement, the print head is in the printable area. Item 95. The method of any one of items 90 to 104, wherein step (b) includes determining the positions of the leading and trailing edges of the timing mark relative to a direction of relative movement between the timing mark sensor and the label, and step (c) includes effecting relative movement between the print head and the label to position the print head at the image position a specified distance away from the position of the trailing edge of the timing mark. (Item 106) setting a brightness of the timing mark sensor to a first level that causes an output of the timing mark sensor to exceed an upper output limit; Item 106. The method of any one of items 93 to 105, further comprising the step of measuring brightness by periodically varying the brightness of the timing mark sensor while effecting relative movement between the timing mark sensor and the label until the output of the timing mark sensor is between a lower output limit and an upper output limit throughout movement of the sensor relative to the label. (Item 107) Item 107. The method of any one of items 90 to 106, further comprising determining a length of the timing mark and comparing the determined length of the timing mark with an expected length of the timing mark. (Item 108) Item 108. The method of item 107, further comprising completing steps (c)-(e) only if the length of the timing mark is within a predetermined range of the expected length of the timing mark. (Item 109) determining a length of the timing mark; and setting the determined length of the timing mark as Determining the length of the timing mark further includes comparing the length to an expected length, calculating a first point on the waveform where a change in the waveform falls below a negative threshold value of the timing mark; calculating a second point on the waveform where the change in the waveform exceeds a negative threshold value of the timing mark; calculating a third point on the waveform where a change in the waveform exceeds a positive threshold value of the timing mark; Calculating a fourth point on the waveform where the change in the waveform falls below a positive threshold for the timing mark, and calculating a length of the timing mark as the relative movement between the timing mark sensor and the label between a point bisecting the first and second points and a point bisecting the third and fourth points. (f) after step (e), causing relative movement between the timing mark sensor and the label; (g) during step (f), detecting the position of the timing mark on the label with the timing mark sensor; (h) determining a relative amount of movement between the timing mark sensor and the label when the timing mark is detected in step (g); (i) comparing the amount of relative movement detected in step (h) with an expected distance between an edge of the image printed in step (e) and the timing mark. (Item 111) Item 111. The method of any one of items 93 to 110, wherein the timing mark is darker than its surroundings such that the reflectivity of the timing mark is lower than the reflectivity of its surroundings. (Item 112) Item 111. The method of any one of items 93 to 110, wherein the timing mark is brighter than its surroundings such that the reflectivity of the timing mark is higher than the reflectivity of its surroundings. (Item 113) 101. The method of claim 99 or 100, wherein printing a timing mark modification comprises printing an extension to increase a length of the timing mark. (Item 114) Item 99. The method of any one of items 90 to 98, wherein the timing mark comprises a cut-out portion in the label. (Item 115) Item 99. The method of any one of items 90-98, wherein the timing mark comprises one or more encoder markings of a series of encoder markings. (Item 116) 93. The method of any one of claims 90 to 92, wherein the timing mark comprises a physical feature formed on a surface of an article to which the label is affixed. (Item 117) 90. The method of any one of claims 90 to 99, wherein the timing mark comprises a one-dimensional or two-dimensional barcode. (Item 118) 100. The method of claim 99, wherein the timing mark comprises a one- or two-dimensional bar code, and printing the timing mark modification includes printing a one- or two-dimensional bar code. (Item 119) The timing mark includes a two-dimensional barcode or a one-dimensional barcode, and detecting the position of the timing mark includes reading the two-dimensional barcode using a two-dimensional barcode reader. Item 118. The method of item 117, comprising identifying a location of known coordinates within the barcode or within the one-dimensional barcode. (Item 120) Item 118. The method of item 117, wherein the timing mark comprises a one-dimensional barcode, and detecting the position of the timing mark includes identifying a leading edge of the one-dimensional barcode as a first position at which a one-dimensional barcode reader can read the one-dimensional barcode. (Item 121) 1. A method of controlling a printing process in which a print head prints an image on a label affixed to a tube, the tube being positioned adjacent to the print head and adjacent a sensor configured to detect optical and / or physical characteristics of the label, the method comprising: (a) sending a command to the sensor to detect the presence of the label affixed to the tube, the sensor comprising: (1) does not produce a signal indicative of the presence of the label; or (2) producing a signal indicative of the presence of the label; (b) if in step (a) the sensor generates a signal indicative of the presence of the label, sending a command to the sensor to detect the location of a timing mark on the label, the sensor not generating a signal indicative of the location of a timing mark on the label; and (c) if the sensor in step (a) does not generate a signal indicating the presence of the label or if the sensor in step (b) does not generate a signal indicating the position of a timing mark on the label, selectively actuating the print head while effecting relative movement between the print head and the label to print a plurality of alternating images at a plurality of locations on the label. (Item 122) 1. A method of controlling a printing process in which a print head prints an image on a label affixed to a tube, the tube being positioned adjacent to the print head and adjacent a sensor configured to detect optical and / or physical characteristics of the label, the method comprising: (a) sending a command to the sensor to detect the presence of the label affixed to the tube, the sensor not generating a signal indicative of the presence of the label; (b) after step (a), selectively actuating the print head while effecting relative movement between the print head and the label to print a plurality of alternating images at a plurality of locations on the label. (Item 123) 1. A method of controlling a printing process in which a print head prints an image on a label affixed to a tube, the tube being positioned adjacent to the print head and adjacent a sensor configured to detect optical and / or physical characteristics of the label, the method comprising: (a) detecting the presence of the label affixed to the tube with the sensor; (b) after step (a), sending a command to the sensor to detect a position of a timing mark on the label, the sensor not generating a signal indicative of a position of a timing mark on the label; (c) after step (b), selectively actuating the print head while effecting relative movement between the print head and the label to print a plurality of alternating images at a plurality of locations on the label. [Brief description of the drawings]

[0135] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate various embodiments of the presently disclosed subject matter, in which like reference numbers indicate identical or functionally similar elements. [Figure 1] FIG. 2 is a front right-hand partial perspective view of the printing module. [Diagram 2] FIG. 2 is a rear right-hand partial perspective view of the printing module; [Diagram 3] FIG. 2 is a partial front right-hand perspective view of the expandable printing mechanism separated from the remaining components of the printing module. [Figure 4] FIG. 1 is a partial front left hand perspective view of the bracket extender, roller bracket, rollers, and pivot shaft of the expandable printing mechanism with the printhead bracket of the expandable printing mechanism omitted from the drawing. [Diagram 5] FIG. 2 is a front left-hand partial perspective view of the roller bracket, rollers, and pivot shaft of the expandable printing mechanism. [Figure 5A] FIG. 13 is a partial front left hand perspective view of the roller bracket, rollers, and pivot shaft of an expandable printing mechanism in an alternative embodiment. [Figure 6] FIG. 1 is a partial front right-hand perspective view of the bracket extender, printhead assembly, and pivot shaft of the expandable printing mechanism with the roller bracket of the expandable printing mechanism omitted from the drawing. [Figure 7] FIG. 13 is a top plan view of the cam disk of the bracket extender of the expandable printing mechanism. [Figure 8] FIG. 2 is a rear right-hand partial perspective view of the printhead bracket, printhead assembly, and pivot shaft of the expandable printing mechanism. [Figure 9] FIG. 2 is a right side view of the printhead bracket and printhead assembly. [Figure 10] FIG. 2 is a rear right-hand perspective view of the printhead bracket and printhead assembly; [Figure 11] FIG. 2 is a left-hand side view of the printhead bracket. [Figure 12]FIG. 2 is a partial front right-hand perspective view of the container rotation assembly with the tubular container supported thereon, separated from the remaining components of the printing module; [Figure 13] FIG. 13 is a top exploded perspective view of the carousel of the container rotation assembly. [Figure 14] FIG. 1 is a top partial perspective view of a carousel of a container rotating assembly with the top disk omitted from the drawing. [Figure 15] FIG. 13 is a top perspective view of a pivoting gripper assembly of the carousel of the container rotating assembly. [Figure 16] FIG. 2 is a bottom plan view of the carousel. [Figure 17] FIG. 1 is a top plan view of the upper disk of the carousel. [Figure 18] FIG. 2 is a bottom partial perspective cross-sectional view of the carousel, containers supported thereon, and mounting frames of the printing modules. [Figure 19] FIG. 3 is a partial cross-sectional view taken along line AA in FIG. 2. [Figure 20] FIG. 2 is a block diagram illustrating a schematic control architecture of a print module. [Figure 21] 4 is a flowchart showing a control algorithm of the print module. [Figure 22] 1 is a perspective view in longitudinal cross section of a container on whose exterior surface information can be printed by the printing module of the present disclosure. [Diagram 23] FIG. 2 is a side cross-sectional view of the container. [Figure 24] FIG. 2 is a bottom perspective view of the container. [Diagram 25] FIG. 2 is a bottom plan view of the container. [Figure 26] FIG. 13 is a side view in longitudinal cross section of an alternative embodiment of a container further comprising a cap. [Figure 27] FIG. 1 is a perspective view of a sample processing instrument into which the printing module may be incorporated. [Figure 28] 1 is a flow chart illustrating a workflow for processing a sample using a sample processing device. [Figure 29]FIG. 1 is a plan view of a printable label configured to be affixed to an article to be printed and including pre-printed timing marks to identify the location of an image to be printed on the label and a timing mark modifier to indicate that the label has already been printed. [Diagram 30] FIG. 2 is a schematic top view of a timing mark sensor, a print head, and a tubular container. [Diagram 31] FIG. 13 is a plot of an example waveform from a timing mark sensor as a label passes the sensor for one revolution of the tube before any printing is applied on the label. [Diagram 32] 4 is a plot of a waveform from a timing mark sensor and a plot of the difference waveform as a timing mark passes in front of the timing mark sensor; FIG. [Diagram 33] FIG. 2 is a plot diagram showing steps in a printing process for printing an image and timing mark modifications onto a label. [Diagram 34] FIG. 2 is a plan view of a printable label having alternating images printed thereon. [Diagram 35] FIG. 13 is a plan view of a printable label including pre-printed timing marks and alternative embodiments of timing mark modifiers. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0136] While aspects of the subject matter of the present disclosure may be embodied in a variety of forms, the following description and the accompanying drawings are intended to disclose merely some of these forms as illustrative examples of the subject matter, and therefore, the subject matter of the present disclosure is not intended to be limited to the forms or embodiments described and illustrated.

[0137] Unless otherwise defined, all technical terms, notations, and other scientific or technical terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure belongs. Many of the techniques and procedures described or referenced herein are widely understood by those skilled in the art and are commonly employed using conventional techniques. Where appropriate, procedures using commercially available kits and reagents are typically performed according to manufacturer-specified protocols and / or parameters unless otherwise specified.

[0138] All patents, applications, published applications, and other publications referenced herein are incorporated in their entirety. To the extent that a definition set forth in this section conflicts or is inconsistent with a definition set forth in a patent, application, published application, or other publication incorporated by reference herein, the definition set forth in this section shall control over the definition incorporated by reference herein.

[0139] As used herein, "a" or "an" means "at least one" or "one or more."

[0140] This specification may use relative spatial and / or orientation terms to describe the location and / or orientation of a component, device, location, feature, or portion thereof. Unless otherwise stated or otherwise indicated in the context of this specification, such terms, including but not limited to top, bottom, above, below, under, on top of, upper, lower, left of, right of, in front of, behind, next to, adjacent, between, horizontal, vertical, diagonal, longitudinal, across, etc., are used for convenience to refer to such components, devices, locations, features, or portions thereof within the drawings and are not intended to be limiting.

[0141] Printing Module A printing module according to the present disclosure is generally designated by reference numeral 10 in Figures 1 and 2. According to one aspect of the present disclosure, the printing module 10 receives an article having a curved surface, such as a tubular container 12, on which information is to be printed, secures the article such that the curved surface is in an operative position relative to a print head of the printing module, and provides relative movement between the curved surface and the print head while the print head is actuated, while maintaining the curved surface in the operative position relative to the print head, thereby printing the curved surface. It is configured to print information on a surface and then release the article so that it can be removed from the print module.

[0142] In the context of this specification, the term "print head" includes a component or portion of a printing mechanism that applies an image onto a surface, and the surface to be printed is "in an operative position relative to" or "operatively engaged with" the print head such that when the print head and surface are positioned and oriented relative to one another, the printing mechanism can apply the precise image at the intended location on the surface. In one embodiment, the print head includes a thermal print head having a heat sensitive element that contacts or nearly contacts a surface comprising a heat sensitive print media, such as thermal paper, and is selectively heated during relative movement between the thermal print head and the surface, causing selected portions of the surface to darken in a predetermined pattern, thereby applying an image to the surface.

[0143] The curved article may comprise a container 12, e.g., a tubular container such as a "test tube" having a tubular, e.g., generally cylindrical, shape, with a label affixed to its outer curved surface on which information is printed. In one embodiment, the printed curved surface may comprise a label, e.g., formed from a thermal paper media and secured to the outer surface of the container 12 with an adhesive or the like.

[0144] Exemplary tubular vessels are described below.

[0145] In the exemplary embodiment of the printing module 10 shown in Figures 1 and 2, the printing module 10 includes an expandable printing mechanism 50 and an article moving assembly 260. The expandable printing mechanism 50 includes a print head and is configured and controlled to selectively expand to an open configuration that allows an article to be received into or removed from the apparatus, and to contract to a closed or printing configuration that places a curved surface of the article in an operative position relative to the print head and maintains the curved surface in an operative printing position relative to the print head during relative movement of the curved surface relative to the print head. The article moving assembly 260 is configured and controlled to grip or otherwise operatively engage and hold the article when the expandable printing mechanism 50 is in the printing configuration, provide relative movement between the curved surface and the print head of the expandable printing mechanism 50, and release the article when the expandable printing mechanism 50 is in the open configuration, thereby allowing the article to be removed from the printing module 10.

[0146] In the illustrated embodiment, the article moving assembly 260 includes a container rotation assembly configured to grasp a container operatively engaged with the print head of the expandable printing mechanism 50, such as a tubular container such as container 12, rotate the container to apply an image onto the curved surface of the container while the print head is operating, and release the container after printing is completed and the expandable printing mechanism is in an open configuration that allows the container to be removed from the printing module 10.

[0147] The expandable print mechanism 50 and the article movement / container rotation assembly 260 are supported on and relatively positioned on a mounting frame 20 within the module 10. In the illustrated embodiment, the mounting frame 20 has a channel-like configuration with an upper horizontal flange 22, a lower horizontal flange 26, and a web 24 extending generally vertically between the edges of the upper horizontal flange 22 and the lower horizontal flange 26. The mounting frame 20 is formed from a material that has suitable strength and rigidity and is suitably processable. The material is also preferably lightweight. Aluminum is one example of a suitable material. In other examples, the mounting frame 20 may be formed (e.g., stamped) from sheet metal, molded from plastic, or cast-in bearing alloy.

[0148] For example, printed circuit boards and connectors for communicating power and / or signals between the printing module 10 and external components such as a power source and computer controller (described in more detail below). Various electronics, generally indicated by the reference numeral 40, may be associated with the printing module 10, including connectors and power supplies.

[0149] The printing module 10 may further be enclosed within a housing (not shown), and the mounting frame 20 may be supported above the floor of the housing on a number of standoffs 42 extending between the floor of the housing and a lower horizontal flange 26 of the mounting frame 20 (see FIG. 1 ).

[0150] Expandable Printing Mechanism With continued reference to Figures 1 and 2, in which the expandable printing mechanism 50 is shown separated from the mounting frame 20 and the container rotation assembly 260, and to Figure 3, the expandable printing mechanism 50 includes two frames or support elements upon which the various components of the expandable printing mechanism 50 are mounted and which are connected to one another for hinged relative movement between an open configuration and a closed or printing configuration. In the illustrated embodiment, the first support element includes a roller bracket generally indicated by reference numeral 52, and the second support element includes a print head bracket generally indicated by reference numeral 100. The roller bracket 52 operatively supports a contact element, such as a roller (an exemplary embodiment is described in further detail below), which contacts or otherwise engages an article (e.g., container 12) when the expandable printing mechanism 50 is in a closed or printing configuration. The print head bracket 100 is cooperatively configured to print information on a surface of an article, such as a container 12, when the expandable printing mechanism 50 is in a closed or printing configuration, and operatively supports a print head (exemplary embodiments are described in further detail below) oriented relative to contact elements or rollers of the roller bracket 52, the contact elements, such as rollers, of the roller bracket 52 contacting or otherwise engaging the article, such as a container 12, to hold the article in an operative position relative to the print head of the print head bracket 100.

[0151] The roller bracket 52 and the print head bracket 100 are each mounted for pivotal hinged rotation relative to one another on a common pivot shaft 200. The pivot shaft 200 is mounted between the upper horizontal flange 22 and the lower horizontal flange 26 of the mounting frame 20. The lower end of the pivot shaft 200 is supported in a bushing 210 mounted in the lower flange 26 of the mounting frame 20.

[0152] A coil spring 190 extending between the spring hook 60 of the roller bracket 52 and the spring hook 114 of the print head bracket 100 biases the free ends of the brackets 52 and 100 toward one another such that the force that hinges the brackets 52 and 100 together must overcome the force of the spring 190, and when that force is removed, the brackets 52 and 100 hinge back toward one another under the biasing force of the spring 190.

[0153] The expander mechanism, which may comprise a bracket expander, is generally indicated by the reference numeral 220 and is configured to contact or otherwise engage the roller bracket 52 and the print head bracket 100 and selectively expand the expandable print station 50 by pushing the roller bracket 52 and the print head bracket 100 away from each other against the biasing force of the springs 190 to hinge the roller bracket 52 and the print head bracket 100 open about the pivot shaft 200. The bracket expander 220 is also configured to selectively allow the roller bracket 52 and the print head bracket 100 to close toward each other under the force of the springs 190 to maintain the brackets 52 and 100 at a defined minimum spacing corresponding to the printing mechanism of the expandable printing mechanism 50.

[0154] Further details of the pivot shaft 200, roller bracket 52, and bracket extender 220 are shown in Figures 4 and 5. Figure 4 shows the configuration of the extendable printing mechanism 50 from the rest of the print mechanism. 5 is a partial front left-hand perspective view of the roller bracket 52 and pivot shaft 200 separated from the rest of the expandable printing mechanism 50. FIG.

[0155] 3, 4, and 5, in the illustrated embodiment, the roller bracket 52 has a generally channel-like structure having an upper horizontal flange 54, a lower horizontal flange 58, and a web 56 extending vertically between the edges of the upper flange 54 and the lower flange 58. The roller bracket 52 is preferably formed of a material that has sufficient strength and rigidity, is machineable, and is lightweight. Aluminum is an example of a suitable material for the roller bracket 52, although stamped sheet metal, plastic, or cast metal may be suitable in some embodiments. The roller bracket 52 is pivotally supported on a pivot shaft 200 by the pivot shaft 200 extending through an opening formed in a pivot flange 62 that extends laterally (e.g., horizontally) from the web 56 between the upper and lower flanges 54, 58 of the roller bracket 52. In the illustrated embodiment, the pivot flange 52 is fixed axially to the pivot shaft 200 between a central bushing 202(b) fixedly mounted at a central location of the pivot shaft 200 and a circlip 208 or other suitable retaining element. Because the roller bracket 62 is supported on the pivot shaft 200 at only one location, namely the pivot flange 62, additional support and stability may be provided by an extension 92 of the lower flange 58 of the roller bracket 52, which is slidably supported on a roller bracket support 90 extending upwardly from the lower flange 26 of the mounting frame 20 (see FIG. 3 ).

[0156] The expandable printing mechanism 50 includes one or more contact elements configured to contact an article to be printed when the expandable printing mechanism 50 is in a closed or printing configuration and to hold the curved surface of the article in an operative position relative to the print head of station 50 during relative movement between the print head and the curved surface. In the illustrated embodiment, the contact elements comprise two rollers 72, 74 rotatably mounted within the roller bracket 52 between the upper and lower flanges 54, 58 of the bracket 52.

[0157] In the illustrated embodiment, roller 72 is a "clamp roller" which may comprise a convex roller having a roller surface with a varying diameter that is mounted on a shaft extending between upper flange 54 and lower flange 58 and that increases from the longitudinal or axial ends of roller 72 toward the center of the roller where the diameter is greatest. In an alternative embodiment shown in Figure 5A, clamp roller 72' may be a cylindrical roller having a generally constant diameter.

[0158] Roller 74 is a "capture roller" comprising a dumbbell-shaped roller mounted on an axle or rod extending between upper flange 54 and lower flange 58, and having an upper head 76 and a lower head 80. Upper head 76 includes a bearing portion 78, and lower head 80 includes a bearing portion 82. In one embodiment, each bearing portion 78, 82 exhibits a cylindrical outer surface, and the outer diameters of bearing portions 78 and 82 are the same. In alternative embodiments, bearing portions 78 and 82 may each have a different diameter.

[0159] In various embodiments, rollers 72, 72', and 74 are fabricated from stainless steel.

[0160] In the illustrated embodiment, the outer contact surfaces of rollers 72, 72' and bearing portions 78, 82 of dumbbell roller 74 have a circular shape in axial cross section. This is to accommodate a generally circular article, such as tubular container 12, that is contacted by rollers 72 and 74. However, it is contemplated that rollers provided to contact an article having a surface may have a circular cross section that is larger than that of the rollers. It is contemplated that the contact hole may have a non-circular configuration to accommodate non-circular items that are contacted by the contact hole.

[0161] 1, 2, 3, and 5, roller bearing 64 is rotatably mounted within web 56 of roller bracket 52 on a generally vertically oriented bearing shaft 66 disposed within a vertical slot 68 having a width less than the diameter of the bearing shaft 66. The roller bearing 64 itself is disposed within a rectangular bearing slot 69 formed in web 56. The bearing shaft 66 is secured within the vertical slot 68 by a bearing retainer plate 70 having a notched end 71 that allows the bearing retainer plate 70 to hold the bearing shaft 66 in place within the slot 68 without interfering with the roller bearing 64. The bearing retainer plate 70 is secured to web 56 of roller bracket 52 by bolts or other suitable fasteners or fastening means, such as screws, adhesives, soldering, brazing, welding, and the like.

[0162] Further details of the pivot shaft 200, print head bracket 100, and bracket extender 220 are shown in Figures 6 and 8. Figure 6 is a partial front right-hand perspective view of the print head bracket 100, bracket extender 220, and pivot shaft 200, separated from other portions of the expandable printing mechanism 50. Figure 8 is a partial rear right-hand perspective view of the print head bracket 100 and pivot shaft 200, separated from other portions of the expandable printing mechanism 50.

[0163] The print head bracket 100 comprises a generally channel-like structure including an upper horizontal flange 102, a lower horizontal flange 106, and a web 104 extending vertically between the edges of the upper and lower flanges 102, 106. As with the roller bracket 52, suitable materials for forming the print head bracket 100 include aluminum, stamped sheet metal, plastic, and cast metal. In the embodiment shown, the print head bracket 100 is supported on a pivot shaft 200 by the pivot shaft 200 extending through openings formed in the lower and upper flanges 106, 102, and the bracket 100 is axially fixed to the pivot shaft 200 by an upper bushing 202a fixedly mounted to the pivot shaft 200, a bottom bushing 202c fixedly mounted to the pivot shaft 200, and associated washers 206 and circlips 208, or other suitable retainer elements.

[0164] Similar to roller bracket 52, print head bracket 100 further includes a roller bearing 116 rotatably mounted within web 104 of print head bracket 100 on a generally vertically oriented bearing shaft 118 disposed within a vertical slot 120 having a width less than a diameter of the bearing shaft 118. The roller bearing 116 is disposed within a rectangular bearing slot 121 formed in web 104. The bearing shaft 118 may be secured within the vertical slot 120 by a bearing retainer plate 130 having a notched end 131 that enables the bearing retainer plate 130 to hold the bearing shaft 118 in place within the slot 120 without interfering with the roller bearing 116. The bearing retainer plate 130 is secured to web 104 of print head bracket 100 by bolts or other suitable fasteners or fastening means, such as screws, adhesives, soldering, brazing, welding, etc.

[0165] A printhead assembly 150 is secured to the web 104 of the printhead bracket 100. The printhead assembly includes a printhead 152, which in one embodiment is a thermal printhead, mounted on a printhead platen 154. By way of example, a suitable printhead is available from ROHM Co. Ltd. under model number KD3002-DF10A. The printhead platen 154 serves as a mounting platform for the printhead 152. The printhead platen 152 may be attached to the printhead platen 154 by any suitable means, including mechanical fasteners such as screws, bolts, rivets, or the like. The printhead platen 154 includes an enlarged shaft boss portion 160 through which extends a platen shaft 162 by which the printhead assembly 150 is attached to the web 104 of the printhead bracket 100. In the illustrated embodiment, the platen shaft 162 is disposed in a horizontal shaft slot 122 having a width smaller than that of the shaft 162. A retainer clip 164 secured to the web 104 by, for example, a mechanical fastener, or the like, retains the platen shaft 162 in the shaft slot 122. In various embodiments, the printhead assembly 150 can rotate about the platen shaft 162. To limit rotation of the printhead platen 154 about the platen shaft 162, a lower blocking leg 156 and an upper blocking leg 158 protrude behind the printhead platen 154 and contact the web 104 of the printhead bracket 100.

[0166] As shown in Figure 11, which shows the left hand side of the printhead bracket 100, opposite the right hand side shown in Figures 6, 8, 9, and 10, the shaft boss portion 160 of the printhead platen 154 extends into a rectangular opening 124 formed in the web 104 of the printhead bracket 100. The width of the opening 124 is slightly greater than the width of the shaft boss portion 160, such that when the shaft boss portion 160 is disposed against one side of the rectangular opening 124, it defines a gap 126 between the edge of the opening 124 and the side of the boss portion 160. This gap 126 allows the printhead platen 154 to slide a limited amount along the platen shaft 162, thereby allowing the lateral position of the printhead assembly 150 to be adjusted.

[0167] 8, 9, and 10, the printhead adjustment lever 166 is attached to the web 104 of the printhead bracket 100 at a pivot point 178. The pivot point 178 may comprise a bolt or screw extending through the adjustment lever 166 to the web 104 with a spring washer 179 to frictionally limit rotation of the printhead adjustment lever 166 about the pivot point 178. The cam end 172 of the adjustment lever 166 includes a contact point 174 in contact with one side of the printhead assembly 150. As can be seen from FIG. 9, in the illustrated embodiment, a clockwise rotation of the adjustment lever 166 causes the contact point 174 to push the printhead assembly 150 to the left in the figure. In various embodiments, a spring or other biasing element may be provided to bias the printhead assembly 150 against the cam end 172 of the adjustment lever 166 (to the right in FIG. 9). Alternatively, or additionally, relative movement of the surfaces across the printhead (i.e., from left to right in FIG. 9 ) urges the printhead assembly 150 against a cam end 172 of an adjustment lever 166. The adjustment lever 166 can be held in a desired position by a protrusion 170 (see FIG. 10 ) that extends into one of a plurality of holes 128 formed on an arcuate path at a fixed radial distance relative to a pivot point 178 of the adjustment lever 166. A gripping end 168 of the printhead adjustment lever 166 is configured to be manually gripped to allow manipulation of the adjustment lever 166 by removing the protrusion 170 from one of the openings 128, rotating the lever 166 in the desired clockwise or counterclockwise direction, and then reinserting the protrusion into one of the openings 128.

[0168] 3, 4, and 6, bracket extender 220 is disposed between roller bracket 52 and print head bracket 100 of expandable printing mechanism 50. In one embodiment, bracket extender 220 includes a drive shaft 222 having mounted thereon first and second support elements, e.g., cam elements that contact roller bracket 52 and print head bracket 100, and drive shaft 222 having a varying diameter such that in one orientation of the cam elements, the portions of the cam elements that contact the first and second support elements separate the first and second support elements a first distance corresponding to an open configuration of expandable printing mechanism 50, and in another orientation of the cam elements, the portions of the cam elements that contact the first and second support elements separate the first and second support elements a first distance corresponding to an open configuration of expandable printing mechanism 50, The two support elements are spaced apart at a second distance corresponding to the closing or printing mechanism of the expandable printing mechanism 50 .

[0169] In the illustrated embodiment, the cam element includes a cam disc 226. Details of the cam disc 226 are shown in FIG. 7, which is a plan view of the cam disc 226. The cam disc 226 may have a structure symmetrical with respect to the longitudinal axis of the drive shaft 222 and a corresponding axis of rotation, and may have a disc-like shape (i.e., have an axial dimension or thickness that is smaller, typically much smaller, than its radial dimension or width). In the illustrated embodiment, the cam disc 226 is mounted coaxially on the shaft 222 and is non-circular with a variable radius. In the illustrated embodiment, the cam disc 226 has two diametrically opposed portions 228 having a first radius r1 and a diametrically opposed portion 230 having a second radius r2. In the illustrated embodiment, the portions 228 are spaced 90° apart from the portions 230, and r1 is greater than r2. The cam disc 226 contacts roller bearing 64 of roller bracket 52 and roller bearing 116 of print head bracket 100 to allow smooth, non-frictional relative movement between the cam disc 226 and brackets 52 and 100. In an alternative embodiment, roller bearings 64 and 116 are omitted and the cam disc contacts roller bracket 52 and print head bracket 100 directly or through other intermediary contact mechanisms.

[0170] The driven shaft 222 is mounted for rotation within the mounting frame 20 by upper and lower spinner bearings 232a, 232b, which support the shaft 222 at the upper and lower flanges 222, 26 of the mounting frame 20, respectively.

[0171] The bracket extender 220 further comprises a pulley wheel 234 coaxially mounted on the lower end of the driven shaft 222 and a motor 248 having a drive wheel 240 attached to the output shaft of the motor 248, for example by a hub fastener 250, and connected to the pulley wheel 234 by a drive or timing belt 246. An exemplary suitable drive wheel is a Fairloc® timing belt pulley available from SDP / SI New Hyde Park, NY.

[0172] The operation of the bracket expander 220 will now be described.

[0173] With the shaft 222 and cam disc 226 in the first position (bracket extended position), a contact portion 228 of radius r1 of the cam disc 226 contacts the roller bearings 64, 116 of the roller bracket 52 and the print head bracket 100, respectively (such that the roller bearings are spaced apart a distance of 2×r1). In this position of the cam disc 226, the roller bracket 52 and the print head bracket 100 are spaced apart the maximum distance provided by the bracket extender 220, thereby placing the expandable printing mechanism 50 in its open configuration.

[0174] Rotation of the driven shaft 222 and cam disc 226 90° to the second position (bracket retracted position) positions the contact portion 230 of radius r2 of the cam disc 226 into contact with the roller bearings 64, 116 of the roller bracket 52 and the print head bracket 100, respectively (so that the roller bearings are spaced apart a distance of 2×r2), and the roller bracket 52 and print head bracket 100 are spaced apart the minimum distance allowed by the bracket extender 220, thereby placing the extendable printing mechanism 50 in a closed or printing configuration.

[0175] The driven shaft 222 is a motor supported on the lower flange 26 of the mounting frame 20. 2. The driven shaft 222 is driven by a motor 248 (see FIGS. 1 and 2). As mentioned above, the motor 248 is coupled to the driven shaft 222 by a drive belt 246 wrapped around the pulley wheel 234 and a drive wheel 240 attached to the output shaft of the motor 248. An idler wheel 242 coupled to a belt tensioner 244 ensures proper tensioning of the belt 246 and / or allows for adjustment of the belt tension. An exemplary suitable tensioner is available from York Industries, Inc., Garden City Park, NY under part number DP3UB-2G24A74-B53PE-ACS.

[0176] Motor 248 may comprise a stepper motor. An exemplary suitable stepper motor is available from Lin Engineering, Morgan Hill, Calif. under model number WO-4118S-01.

[0177] The bracket expander 220 may further include a hand wheel 224 coaxially or otherwise operatively attached to the driven shaft 222 to allow manual rotation of the cam disc 226 and thus manual expansion or contraction of the roller bracket 52 and the print head bracket 100.

[0178] To enable automated control of the printing module 10 by a controller, such as a computerized servo controller, signals indicative of the status or configuration of one or more components of the module may be provided as inputs to the controller, as described in more detail below. Thus, in one embodiment, the bracket extender 220 includes a detector or other means for generating a signal indicative of the status or position of the bracket extender 220 and thereby the status (open or closed) of the extendable printing mechanism 50.

[0179] In one embodiment, as shown in Figures 4 and 6, the bracket extender 220 includes an index wheel 236 mounted coaxially with the driven shaft 222. An optical sensor, such as a grooved optical sensor 238 mounted in a module at the top flange 102 of the print head bracket 100, detects a detectable feature of the index wheel 236, such as the passage of one or more radial slots 237, 239 formed in the wheel 236. In one embodiment, the optical sensor 238 comprises a grooved optical sensor forming an emitter / receiver pair, where the light beam from the emitter to the detector is broken by the presence of the index wheel 236, but when the wheel rotates such that one of the slots 237, 239 passes the sensor, thereby completing the light circuit from the emitter to the receiver and generating a signal indicative of the passage of the slot. Thus, the optical sensor 238 and a detector, such as the index wheel 236, can generate a signal indicative of the position of the bracket extender, such as a bracket extended position or a bracket retracted position.

[0180] With the expandable printing mechanism 50 in an open configuration, i.e., with the roller bracket 52 and the print head bracket 100 spaced apart from one another by the bracket extender 220, the tubular container 12 may be inserted into an access opening 30 formed in the upper flange 22 of the mounting frame 20. The access opening 30 may be surrounded by a tube guide 28 defined by a plurality of resilient fingers projecting downwardly and radially inward. When the tubular container 12 is inserted into the access opening 30, the tips of the fingers of the tube guide 28, which may be spaced apart a distance less than the diameter of the tubular container 12, resiliently press against the outer surface of the tubular container while deflecting outward to allow the tube to be inserted, thereby holding the tubular container in a relatively stable lateral position.

[0181] Once the tubular container 12 is fully inserted into the expandable printing mechanism 50, the bracket expander 220 is actuated, causing the roller bracket 52 and the print head bracket 100 to slide over the tubular container 12. When the roller bracket 52 closes, the rollers 72 and 74 press against the tubular container 12, thereby pressing against the opposite side of the tubular container 12 into operative contact with a print head 152 of a print head assembly 150. An embodiment of this arrangement is shown in FIG. 19, which is a partial cross sectional view showing the rollers 72 and 74, including the tube bearing portion 82 of the lower head 80 of the dumbbell roller 74, and the print head 152 which engages the container 12 when the roller bracket 52 and print head bracket 100 are in the closed position.

[0182] The convex clamp roller 72, which has a larger diameter at its axial center than at its axial ends, provides operable physical contact between the curved outer surface of the tubular container 12 and the print head 152 along the entire length of the print head 152. In one embodiment, the tubular container 12 may have a convex shape that increases in diameter from its axial ends to its axial center. This is described in detail below. In other cases, the tubular container 12 may have a curved or "banana" shape with curved sides from one end to the other. The dumbbell rollers 74, which have a tube bearing portion 78 at the upper head 76 and a tube bearing portion 82 at the lower head 80, respectively bear against the upper and lower axial ends of the tubular container 12, thereby ensuring that the tube is maintained in a stable position. One primary function of the convex rollers 72 is to straighten the bowed sides of the tubular container 12. This functionality may be useful in "banana-shaped" or outwardly bowed containers where the concave side of the container does not meet the print head 152 in a plane, thereby leaving one or more gaps between the print head and the printable surface of the container side. The convex roller 72 presses and assists the tube wall to bounce up against the print head 152. In other embodiments, a clamp roller 72' (see FIG. 5A) having a cylindrical shape can provide enough pressure to provide sufficiently consistent contact between the print head and the printable surface. The tube bearing portions 78, 82 of the dumbbell roller 74 press primarily at the top and bottom ends of the tubular container 12, thereby preventing the container from being swept sideways without pressing against the sides of the container in a manner that counteracts the corrective pressure applied by the convex roller 72.

[0183] In one embodiment, the clamp rollers 72, 72' and capture roller 74 are preferably substantially parallel to the print head 152 so as to hold the tube against the print head 152 with substantially uniform pressure along the length of the print head. The clamp rollers 72, 72' and capture roller 74 are also preferably parallel to the tube 12. In this regard, the roller bracket support 90 preferably supports the roller bracket 52 in the appropriate position so that the clamp rollers 72, 72' and capture roller 74 are parallel to the print head 152 and tube 12.

[0184] Vessel Rotation Assembly An embodiment of the bin rotation assembly 260 is shown in FIG. 12, which is a partial top perspective view of the bin rotation assembly 260 and mounting frame 20 separated from the remaining components of the printing module 10.

[0185] The container rotation assembly 260 includes a carousel 261 on which the tubular containers 12 are supported and operatively connected to a motor 300 by a drive belt or timing belt 298 for motorized rotation. The drive belt 298 is wrapped around a drive wheel 302 attached to the output shaft of the motor 300, for example by a hub fastener 304, and the carousel 261. An exemplary suitable drive wheel is a Fairloc® timing belt pulley available from SDP / SI New Hyde Park, NY. An idler wheel 308 attached to a belt tensioner 306 may be provided to ensure and adjust proper tension in the belt 298. An exemplary suitable tensioner is available from York Industries, Inc., Garden City Park, NY. It is available under part number DP3UB-2G24A74-B53PE-PS.

[0186] Motor 300 may comprise a stepper motor and is mounted on the lower flange 26 of mounting frame 20 on a plurality (e.g., four) standoffs 301 (see FIGS. 1 and 2). An exemplary suitable stepper motor is available from Lin Engineering, Morgan Hill, Calif., model number WO-211-13-02F.

[0187] A timing mark sensor 310 is positioned adjacent to a tube container 12 mounted on the carousel 261 and configured to detect a timing mark, such as a dark rectangle or other detectable graphic symbol, provided on the outer surface 14 of the tube container 12, for example, on a label affixed to the outer surface. In the illustrated embodiment, the sensor 310 is supported on a depending shelf 32 that extends laterally from the mounting frame 20 through the print head bracket 100 (see also FIGS. 18 and 19 ). The timing mark sensor 310 is configured and positioned to detect timing marks on a printable surface, as described in more detail below, but is also operable to detect the presence of a tube container 12 inserted into the expandable printing mechanism 50. In various embodiments, the sensor 310 is a reflective sensor, such as an Optek #OPB70FWZ or Optek #OPB748WZ.

[0188] In one embodiment, the capture roller 74 is located diametrically across from the sensor 310 (see FIG. 19, which shows the roller 74 across from the sensor support shelf 32). Thus, in such an embodiment, a dark paint (e.g., black) may be applied to the roller 74 to minimize reflections from the roller 74. The paint may be an epoxy powder paint.

[0189] Further details of the carousel 261 are shown in FIGS.

[0190] Figure 13 is a top exploded perspective view of carousel 261, separated from the rest of container rotation assembly 260. Figure 14 is a partial top perspective view of carousel 261. Figure 16 is a bottom plan view of carousel 261.

[0191] The carousel 261 includes an upper disk 294 and a lower disk 262 mounted on a shaft 322 for rotation relative to one another. With reference to Figures 13, 14, and 16, the lower disk 262 includes peripheral gear teeth 264 engaged by a drive belt 298. The lower disk 262 further includes three guide slots 266 each having a first end 268 and a second end 270. The first end 268 is located radially inward from the second end 270 relative to the center of the lower disk 262. Each guide slot 266 further includes a curved inner portion 274 extending from the first end 268 to the second end 270, an outer portion 272 having a first curvature at a first degree from the first end 268 to a point 273 where the curvature of the outer portion 272 changes, and a second curvature from the point 273 to the second end 270. In another embodiment, the inner and outer portions of each guide slot have the same, or substantially the same, curvilinear shape, and the width of each slot is substantially constant along its length.

[0192] 13 and 17, which are top plan views of upper disk 294, upper disk 294 includes three slots 296. Carousel 261 further includes three pivoting gripper assemblies 280 disposed partially between lower disk 262 and upper disk 294. As shown in FIGS. 13, 14, and 15, each pivoting gripper assembly 280 includes a pivot arm 282, a knurled wheel 284, a mounting shaft 286 on which the knurled wheel is mounted, a spacer 288 below knurled wheel 284 and surrounding mounting shaft 286, a pivot pin 290, a guide pin 292, and a guide pin 293. , in one embodiment, the carousel includes three gripper assemblies including three knurled wheels 284a, 284b, 284c mounted on three mounting shafts 286a, 286b, 286c, respectively. As shown in FIG. 16, in various embodiments, elastic bands 285 may be disposed on the mounting shafts 286a, 286b, 286c, above the spacers 288, and below the knurled wheels 284a, 284b, 284c, to bias the knurled wheels of all the pivoting gripper assemblies 280 radially inward. Referring to FIG. 14, which shows the lower disk 262 and only one of the gripper assemblies 280, each pivoting gripper assembly 280 is disposed on the lower disk 262 with a guide pin 292 disposed in one of the guide slots 266 of the lower disk 262. The pivot pin 290 of each gripper assembly 280 extends from the pivot arm 282 to a pivot hole 297 in an upper disk 294 disposed on the pivot arm 282. The mounting shaft 286 and spacer 288 extend through one of the slots 296 in the upper disk 294, and the knurled wheels 284a, 284b, 284c are disposed on the upper disk 294 (see FIG. 13).

[0193] FIG. 18 is a cross-sectional perspective view showing a portion of the carousel 261 and mounting frame 20 in cross section.

[0194] 13 and 18, the carousel 261 is rotatably mounted to the lower flange 26 of the mounting frame 20 by a shaft 322 that extends through the center of the upper disk 294 and the lower disk 262 and through the lower flange 26. In one embodiment, the container 12 includes a conical bottom portion 16 that nests with a recess 312 formed in the top of the shaft 322 for centering and maintaining the container 12 in its centered position. A lower end 326 of the shaft 322 may be secured within the lower flange 26 by a retainer 314, which may include a snap fit or a threaded retainer. The upper disk 294 is rotatably mounted on the shaft 322 by a roller bearing 320 or the like. The lower disk 262 is rotatably mounted on the shaft 322 by a bearing race 318 or the like, which includes an inner race 318a and an outer race 318b. A coil spring 316 is disposed between a bearing race 318 (inner race 318a) and the lower flange 26 of the mounting frame 20. A cap portion 324 of the shaft 322 retains the upper disk 294 and the lower disk 262 on the shaft 322. The spring 316 biases the assembly including the bearing race 318, lower disk 262, pivot arm 282, upper disk 294, and roller bearing 320 against the cap 324 of the shaft 322.

[0195] The operation of the pivoting gripper assembly 280 will now be described. Rotation of the lower disk 262 in a first direction (counterclockwise in the configuration shown in FIG. 16) causes the pivoting gripper assembly 280 to pivot about its respective pivot pin 290 as each guide pin 292 moves from one end 268 to the opposite end 270 within its associated guide slot 266, thereby moving each knurled wheel 286a,b,c radially inward and into contact with the end of the tubular container. When each guide pin 292 reaches the end of its movement within its associated guide slot 266 and no relative movement is permitted between the guide pin 292 and the lower disk 262, further rotation of the lower disk 262 rotates the upper disk 294 and the tubular container to which the pivoting gripper assembly 280 is coupled via their pivot pins 290. Additionally, the resilient band 285 helps urge the knurled wheels 284 radially inward into contact with the tubular container.

[0196] Reversing the rotation of the lower disk 262 reverses the pivoting of the gripper assembly 280 as each guide pin 292 moves from end 270 to the opposite end 268 within their associated guide slots 266, thereby lowering the knurled wheels 286 radially outwardly from the tubular container against the bias of the elastic bands 285.

[0197] Note that deformation of the inner portion 274 and outer portion 272 of each guide slot 266 allows for manual operation of the pivoting gripper assembly 280 when the guide pin 292 is at point 273, which is the widest portion of the slot 266.

[0198] Hardware and Software Aspects of the subject matter disclosed herein may be implemented through control and computer hardware components, software (which may include firmware), data input components, and data output components. Hardware components include computation and control modules (e.g., system controller(s)), such as microprocessors, embedded controllers, application specific integrated circuits (ASICs), and computers, configured to receive one or more input values, execute one or more algorithms stored on a non-transitory machine-readable medium (e.g., software), and provide instructions to manipulate or otherwise determine or output one or more output values ​​in response to the input values, resulting in computation and / or control steps. Such output may be displayed or otherwise indicated to a user to provide information to a user, such as the status of the equipment or the status of a process being performed thereby, or such output may include input to other process and / or control algorithms. Data input components include elements through which data is input for use in the control and computation hardware components. Such data inputs may include, for example, signals generated by position sensors, motor encoders, barcode scanners, or RFID scanners, as well as manual input elements such as keyboards, stylus-based input devices, touch screens, microphones, switches, manually operated scanners, etc. Data inputs also include data retrieved from memory. Data output components may include hard drives or other storage media, monitors, printers, indicator lights, or audible signal elements (e.g., chimes, buzzers, horns, bells, etc.).

[0199] Control System 20 is a block diagram that generally illustrates the control architecture of the printing module 10. The exemplary control architecture may include a controller 400 that monitors, communicates with, and controls aspects of the printing module 10, including the expandable printing mechanism 50, the container rotation assembly 260, the tube presence detection sensor 310, and the timing mark sensor 315 (in one embodiment, the tube presence detection sensor and the timing mark sensor may be the same sensor 310). The motor 248 of the expandable printing mechanism 50 and the motor 300 of the container rotation assembly 260 are coupled to and controlled by the controller 400, which is also connected to a controllable power source 402. The controller 400 provides power and motion control signals to the motors 248 and 300. The controller 400 may also receive data from the motors 248, 300 in the form of rotary encoder calculations from the encoders 251, 305, respectively, as well as other feedback sensor signals.

[0200] The controller 400 comprises a computer system that executes software (which may include firmware) that provides operation, control, and monitoring of the print module 10. The controller 400 may be implemented via one or more logic elements, such as a computer, an embedded controller, an application specific integrated circuit, etc., and may include or access a data storage memory 404, which may include random access memory (RAM), read only memory (ROM), flash memory, and other types of memory now known or later developed. The controller 400 may also include additional memory, including, for example, a hard disk drive and / or a removable storage drive, which may represent a magnetic tape drive, an optical disk drive, a USB slot, a memory card interface, internet memory, cloud-based memory, or any storage medium or format now known or later developed. As used herein, memory device and storage unit refer to any currently known or later developed memory device or storage unit. The term "data storage" may include any storage medium for persistent and / or volatile storage of electronic data, whether now known or later developed. Such data may be stored within the storage medium in a database, which may include any data structure and format now known or later developed, such as a relational database, an object database, a flat file, a list, etc., or some combination thereof.

[0201] In alternative embodiments, some or all of the memory may include other similar means for allowing computer programs or other instructions to be loaded into a computer system. Such means may include, for example, removable storage units and interfaces. Examples of such may include memory sticks and memory stick interfaces, secure digital cards and interfaces, and other portable media and interfaces that allow software and data to be transferred to the controller 400.

[0202] The software includes instructions stored on a non-transitory computer-readable medium that, when executed by logic elements of the controller 400, cause the control and computing hardware to perform one or more automated or semi-automated processes.

[0203] The computer system of the controller 400 may also include a communications interface that allows information (e.g., power, control and feedback signals, software, data, etc.) to be transferred between the controller 400 and external devices. Examples of communications interfaces may include a modem, a network interface (such as an Ethernet card), a communications port, a PCMCIA slot and card, a USB port, a Firewire port, or any interface now known or later developed. Information transferred via a communications interface is in the form of electronic, electromagnetic, optical, or other signals capable of being received by the communications interface.

[0204] The computer system of the controller 400 may also include one or more input devices, such as a touch screen, stylus, keyboard, mouse or other position indicating device, microphone, data scanner (e.g., barcode, RFID, etc.), etc. Various output devices may also be included in the computer system, including indicator lights, displays, printers, tactile (e.g., vibratory) indicators, and audio speakers.

[0205] In this document, the terms “computer program medium,” “computer readable medium,” “computer usable medium,” and the like are used generally to refer to removable storage units, hard disks installed in hard disk drives, and other means of providing software and data to the controller 400.

[0206] Computer programs (also called computer control logic) are stored in one or more portions of memory 404 that are part of or accessed by the controller 400. Computer programs may also be received via a communications interface. Such computer programs, when executed, enable the computer system of the controller 400 to control the operation of the print module 10 in accordance with the aspects disclosed herein.

[0207] In embodiments in which aspects of the subject matter disclosed herein are implemented using software, the software may be stored in a computer program product and loaded into the computer system of the controller 400 using a removable storage drive, a hard drive, an interface, and / or a communication interface. Control Logic (Software) When executed by the processor of the controller 400, causes the processor to perform functional aspects of the subject matter disclosed herein via the above-mentioned systems, devices, apparatus, sensors, encoders, etc. An operating system may perform basic tasks such as recognizing input from input devices, sending output to output devices, managing files and system resources, and managing various processes that embody computer programs operating on the computer system.

[0208] The controller 400 may comprise a stand-alone system dedicated to the printing module 10, or one or more components of the controller 400, such as the processor, memory, interfaces, input / output devices, etc., may be a shared part of an overall controller that controls the printing module 10 as well as one or more components of the instrument or laboratory of which the printing module 10 is a component.

[0209] 20, for the expandable printing mechanism 50, a controller 400 receives signals from the motor 248 and / or from the encoder 251 and from the bracket extender 220 and from a position sensor, such as an optical sensor 238 that detects passage of the bracket extender 220 through slots 237, 239 of the index wheel 236. The controller 400 sends control (power) signals to the motor 248 to effect selective operation of the motor and bracket extender 220, and to the print head 152 to effect selective printing 248.

[0210] The controller 400 may also retrieve from the memory 404 information printed by the print head 152 or information related to the information printed by the print head 152. In the case of a container for a biological or chemical sample or reaction, the information may include an identification of the sample, such as the type of sample material (e.g., a chemical compound or a sample of water, blood, urine, water, etc.), the source of the sample (e.g., the origin of the compound or sample, e.g., diagnostic, industrial, environmental, and food sources, patient name, and other source information), the date the sample was obtained, or other identifying parameters. The information may also include the type of assay(s) or test(s) to be performed on the sample, the identity of reagents or other materials that have been or will be added to the sample, or any other information regarding the contents of the container and / or the procedure to be performed on the contents. The identification information itself may be printed directly on the surface of the container, but often the information printed on the surface is a human-readable (e.g., graphic and / or alphanumeric code) and / or machine-readable (e.g., one-dimensional and / or two-dimensional bar code) code that is associated, for example in a relational database, with information related to the container and / or its contents.

[0211] The information is retrieved from memory 404 by controller 400 and converted into control signals for operation of print head 152 which prints the desired information (eg, a barcode) on a surface.

[0212] With respect to the vessel rotation assembly 260 , the controller 400 may receive signals from the motor 300 and / or from the encoder 305 and send control (power) signals to the motor 300 to effect selective operation of the motor 300 .

[0213] The controller 400 may also receive signals from the tube presence detection sensor 310 and the timing mark sensor 310, which are processed to generate control signals to the motor 248 to effect operation of the bracket expander 220, to the motor 300 to effect operation of the container rotation assembly 260, and to the print head 152 which, in conjunction with operation of the container rotation assembly 260, applies printed information to the curved surface of the tube.

[0214] A process or algorithm 450 implemented during operation of the printing module 10 is depicted in the flow chart of FIG. 21. In one embodiment, the algorithm 450 is an automated process that allows the printing module 10 to operate to print information on a curved surface completely or substantially without human intervention. In one embodiment, all or a portion of the algorithm 450 may be coded as executable software (e.g., firmware) using any suitable programming language, such as assembly, C, or C++, and / or all or a portion of the algorithm may be "hard-coded" or "hard-wired" in a control module, such as an embedded controller, e.g., an application specific integrated circuit ("ASIC"). The algorithm 450 may be implemented by a controller module, such as the controller 400 described above, and all or a portion of any executable software may be stored, for example, in memory 404, in a manner that is functionally accessible to the controller 400.

[0215] At the beginning of the algorithm 450, step 452, the module 10 is ready to receive a curved container, such as the container tube 12, by ensuring that the expandable printing mechanism 50 is in an open configuration and thus in a configuration capable of receiving an article. The expandable printing mechanism 50 being in the open configuration may be verified and / or confirmed by receiving a signal from a sensor or other indicator that monitors a particular parameter indicative of the configuration (open or closed) of the expandable printing mechanism. For example, in one embodiment, step 452 may be performed by the controller 400 receiving a signal from a grooved optical sensor 238 that indicates the position of the cam disc 226 of the bracket extender 220, for example, by detecting a characteristic of the index wheel 236. When the position of the cam disc 226, indicated by the signal from the sensor 238 corresponding to the rotational position of the index wheel 236, is such that the portion 228 of the cam disc 226 contacts the roller bracket 52 and the print head bracket 100 of the expandable printing mechanism 50, the printing mechanism 50 is in the open configuration. On the other hand, when the position of cam disc 226 is such that portion 230 of cam disc 226 contacts roller bracket 52 and print head bracket 100, the expandable printing mechanism is in the closed or printing configuration.

[0216] If the expandable printing mechanism 50 is not in the open configuration, the bracket extender 220 is actuated by the controller 400 sending an actuation signal (control and power signal) to the motor 248 to rotate the shaft 222 and cam disk 226 until the portion 228 of the cam disk contacts the roller bracket 52 and the print head bracket 100, thereby opening the expandable printing mechanism 50 to the open configuration. If the motor 248 is a stepper motor, the shaft 222 and cam disk 226 can be actuated a specified number of steps to rotate the shaft 222 and cam disk 226, for example, 90 degrees, to a position that opens the expandable printing mechanism 50, provided that the initial rotational position of the shaft 222 and cam disk 226 is known. Additionally or alternatively, the motor 248 can be actuated until a signal is received from the optical sensor 238 indicating that the portion 228 of the cam disk 226 is in contact with the roller bracket 52 and the print head bracket 100. When a signal is received by the controller 400 indicating that the expandable printing mechanism 50 is in the open configuration, the controller 400 stops the motor 248 .

[0217] In step 454, an article, such as a container tube 12, is inserted into the access opening 30 of the module 10. The article may be placed in the module 10 by any suitable means or mechanism, including manual or robotic pick-and-place mechanisms.

[0218] In step 456, the container 12 is detected, for example by the sensor 310, to ensure that it is fully and properly inserted into the module 10. The presence of the container is detected, for example, by the tube presence detection sensor 310, and / or any suitable sensor, e.g., in communication with the controller 400. For example, this may be confirmed by a contact sensor, a light sensor, or a proximity sensor.

[0219] In step 458, the rotation assembly 260 is activated by the controller 400 to begin rotating the container 12. The rotation assembly 260 may be activated by sending control and power signals to the motor 300 to rotate the carousel 261.

[0220] In step 460, the article, e.g., container 12, is rotated until a timing mark located on the container 12 is detected by the timing mark sensor 310. In one embodiment, detection of the timing mark indicates that the container 12 is at a predefined position relative to the print head assembly 150. The predefined position may be the position where printing is to begin, or it may be a position that is a known rotational offset from the print position such that printing begins after the container is rotated from the predefined position by the offset amount.

[0221] Thus, in the context of the present disclosure, timing marks on the surface of a container do not necessarily relate to time or a time parameter, but rather are spatial parameters for detecting position and / or distance relative to the detected position and / or relative to one or more of the dimensions of the timing mark.

[0222] Further details regarding an exemplary method for detecting the timing marks and positioning the tube in a print ready position are provided below.

[0223] After the timing marks are located, the bracket extender 220 is actuated by the controller 400 to change the expandable printing mechanism 50 to a closed or printing configuration in step 462. The bracket extender 220 can be actuated and controlled by sending control and power signals to the motor 248 to operate the motor a specified number of steps to rotate the cam disc 226, for example 90°, from a first position corresponding to the open configuration of the expandable printing mechanism 50, i.e., a position where the portion 228 of the cam disc 226 is in contact with the roller bracket 52 and the print head bracket 100, to a second position corresponding to the closed configuration of the expandable printing mechanism 50, i.e., a position where the portion 230 of the cam disc 226 is in contact with the roller bracket 52 and the print head bracket 100. The optical sensor 238 can be monitored by the controller 400 to verify that the shaft 222 and the cam disc 226 have rotated to the proper position for the closed configuration of the expandable printing mechanism 50. Alternatively, or in addition, the motor 248 can be operated by sending power to the motor 248 to rotate the shaft 222 and the cam disc 226 until the grooved optical sensor 238 indicates that the cam disc 226 has rotated from a first position corresponding to an open configuration of the expandable printing mechanism 50 to a second position corresponding to a closed or printing configuration of the expandable printing mechanism 50, at which point power to the motor 248 is stopped.

[0224] In step 464, when an article, such as a container 12, is in a printing position relative to the print head assembly 152, the print head assembly 152 is actuated by the controller 400 to begin printing on the curved surface. The rotating assembly 260 may be controlled such that detection of the timing mark in step 462 results in a temporary stopping of the carousel 261 and containers 12, at which point the print head 152 is actuated in step 464 before rotation of the carousel 261 and containers 12 resumes. Alternatively, the rotating assembly 260 may be controlled such that rotation of the carousel 261 and containers 12 continues and detection of the timing mark 462 results in actuation of the print head assembly 150 while the carousel 261 continues to rotate.

[0225] In step 466, with the printhead assembly 152 in operation, the container 12 is rotated and the curved surface is moved relative to the printhead assembly 150 in operation. The rotation assembly 260 is actuated such that the rotation assembly 260 rotates in a direction perpendicular to the rotation axis 262. In one embodiment, the motor 300 is actuated a specified number of counts or steps, thereby providing the correct angular relative movement between the article 12 and the print head assembly 152 to apply the desired image to the curved surface.

[0226] Further details regarding an exemplary printing process are described below. In the embodiments described below, timing mark modifications, which may be extensions or other detectable deflections of the timing marks, or which may be secondary timing marks, are printed during the printing process to provide an indication that the tube has been printed. Detection of such timing mark modifications by the timing mark sensor 310 indicates that the tube has already been printed and may result in the tube being rejected for further processing.

[0227] In step 468, after step 466 is completed, the motor 300 is stopped to stop the rotation of the carousel 261 and the printhead assembly 152 is stopped to terminate printing on the curved surface.

[0228] In step 470, the bracket extender 220 is actuated to rotate the shaft 222 and cam disk 226 and open the expandable printing mechanism 50 to an open configuration so that an article, such as a container 12, can be removed from the printing module 10. In reverse to the above operation, the bracket extender 220 can be actuated and controlled by sending control and power signals to the motor 248 to operate the motor in a specified number of steps to rotate the cam disk 226 from a second position corresponding to the closed configuration of the expandable printing mechanism 50, i.e., a position where the portion 230 of the cam disk 226 is in contact with the roller bracket 52 and the print head bracket 100, to a first position corresponding to the open configuration of the expandable printing mechanism 50, i.e., a position where the portion 228 of the cam disk 226 is in contact with the roller bracket 52 and the print head bracket 100. Again, the optical sensor 238 can be monitored by the controller 400 to verify that the shaft 222 and cam disk 226 have rotated to the appropriate position for the open configuration of the expandable printing mechanism 50. Alternatively, or in addition, the motor 248 can be operated by sending power to the motor 248 to rotate the shaft 222 and the cam disc 226 until the grooved optical sensor 238 indicates that the cam disc 226 has rotated from a second position corresponding to a closed configuration of the expandable printing mechanism 50 to a first position corresponding to an open configuration of the expandable printing mechanism 50, at which point power to the motor 248 is stopped.

[0229] In step 472 , the motor 300 is activated which is operated in reverse to cause reverse rotation of the carousel 261 and lower disk 262 and lower the knurled wheel 284 radially away from the container 12 .

[0230] When an article, for example, a tube 12, is rotated by the article moving assembly 260 while the article is pressed against the print head 152 by the rollers 72 (or 72') and 74, the tube 12 may slip within the knurled wheel 284 of the pivoting gripper assembly 280. If the tube slips, the carousel 261 may rotate a prescribed amount, but the tube 12 will rotate less than the predefined amount. Because there should be relative movement between the print head 152 and the tube 12 when an image is applied by the print head 152 onto the curved surface of the tube 12, slippage interrupts that relative movement, resulting in errors and inaccuracies in the image printed by the print head. Therefore, in the embodiment described below, before step 472 is performed, a slippage detection process may be performed to determine whether the tube has slipped within the knurled wheel 284 during the printing process.

[0231] In step 474, the container 12 is removed from the module 10 through the access opening 30. The container or other item may be removed by any suitable method, including a manual or robotic pick-and-place mechanism. The print module 10 may be removed by any suitable means or mechanism, including by a suitable means such as a handwheel or a handrail.

[0232] tubular container A specific embodiment of a container, such as container 12, for use in printing module 10 is indicated generally by reference numeral 500 in Figures 22-25. Figure 22 is a perspective view of container 500 in a longitudinal cross section, Figure 23 is a side cross section of container 500, Figure 24 is a bottom perspective view of container 500, and Figure 25 is a bottom plan view of container 500.

[0233] The container 500 is a generally tubular container having a sidewall 502 with an outer surface 530, a generally circular opening 514 at the upper end 504 of the container, and a bottom wall 516 near the lower end 506 of the container. In the illustrative embodiment shown in Figures 22 and 23, the bottom wall 516 is frusto-conical in shape. The outer surface 530 may include a label, made from, for example, a thermally printed media, secured to the outer surface of the sidewall 502 by an adhesive or the like.

[0234] Container 500 may be made from any suitable material, and is preferably made from an injection molded plastic such as polypropylene or other similar material. The material from which container 500 is made preferably has sufficient strength and flexibility to withstand the forces applied to sidewall 502 by print head 150 and rollers 72 and 74 without breaking or permanently deforming container 12.

[0235] Container 500 may be configured to hold chemical and / or biological sample materials, including biological samples that are typically collected and sent to a clinical laboratory for analysis, such as blood, urine, sputum, saliva, pus, mucus, and bone marrow fluid, and / or chemical and / or biological processing materials, such as chemical compounds or reagents that react with the sample materials and / or with each other within container 500.

[0236] The container 500 may be configured at its upper end 504 to cooperatively receive a cap or other closure element for temporarily or permanently closing a top opening 514 of the container 500. Features provided for cooperating with a cap may include threads 510 formed on the outer surface of the sidewall 502 of the container 500 and configured to cooperate with mating threads formed on the inner surface of the cap. Alternatively, threads may be formed on the inner surface of the sidewall 502 and configured to cooperate with mating threads formed on the outer surface of the cap. Other features for securing a cap to the container 500 may include cooperating flanges, recesses, and / or tabs that allow the cap to be snapped into position on the container.

[0237] A ring flange 512 extending circumferentially around the sidewall 502 of the container 500 may be included such that it abuts the bottom annular edge of the cap sidewall when the cap is placed on the upper end of the container 500 .

[0238] Suitable caps for use with container 500 include the pierceable caps described by Kacian et al. in US Pat. No. 6,893,612.

[0239] An axially depending skirt 518 extends from the side wall 502 to a position lower than the bottom wall 516 at the lower end 506 of the container 500. In the illustrated embodiment, the depending skirt 518 comprises an axial extension of the side wall 502 lower than the frusto-conical bottom wall 516. The lower end of the skirt 518 defines an edge ring 508 that is generally perpendicular to the longitudinal axis of the container 500, thereby defining a bottom edge upon which the container can be placed in an upright position on a flat surface such as a table or counter. The skirt 518 also provides a surface at the bottom of the tubular container 500 that is contacted by the knurled wheel 284 of the container rotation assembly 260.

[0240] In the illustrated embodiment, a circular intermediate skirt 520 surrounds the frustoconical bottom wall 516 and extends below the outer surface of the bottom wall 516 in a generally concentric configuration with the axially depending skirt 518. A lower end 524 of the intermediate skirt 520 is generally perpendicular to the longitudinal axis of the container 500 and, in the illustrated embodiment, is co-terminal with the tip of the frustoconical bottom wall 516.

[0241] 23-25, a plurality of radially oriented spoke ribs 522 extend between the intermediate skirt 520 and the axially depending skirt 518. The illustrated embodiment includes six radial spoke ribs 522. The spoke ribs 522 are equiangularly spaced as shown, with each spoke rib 522 extending radially between the skirts 518 and 520 and extending axially from the outer surface of the frustoconical bottom wall 516 to a terminal edge that is higher than the lower edge 524 of the intermediate skirt 520.

[0242] In one embodiment, the container 500 may have a tubular, e.g., cylindrical, configuration having a generally constant diameter from the top end 504 to the bottom end 506. In another embodiment, the diameter of the sidewall 502 of the container 500 may vary along the axial length of the container 500. For example, as shown in FIG. 23, the sidewall 502 may be defined by a diameter "A" near the top end 504 of the container, a diameter "B" at the axial midpoint of the sidewall 502, and a diameter "C" near the bottom end 506 of the container 500. In one embodiment, the sidewall 502 has a convex shape with diameter B being greater than diameters C and A. Diameters A and C may be approximately equal. The diameter of the container 500 may vary continuously, e.g., linearly from diameter A to diameter B to diameter C. The convex profile of the sidewall 502 of the container 500 facilitates sufficient contact between the surface 530 and a printhead, such as the printhead assembly 152 of the print module 10, especially when combined with a convex contact element, such as a convex roller 72 for pressing the outer surface of the sidewall 502 into contact with the printhead 152. The container 500 may also be formed from a somewhat flexible material such that when the convex sidewall 502 is pressed against the printhead assembly 150 by the rollers 72, 74, the sidewall 502 bends into substantially constant contact between the sidewall 502 and the printhead assembly 150 to compensate for minor dimensional irregularities or tolerances inherent in the manufacturing process of the container 500.

[0243] An alternative specific embodiment of a container for use in the printing module 10 is generally indicated at 540 in FIG. 26. FIG. 26 is a side cross-sectional view of the container 540. Similar to the container 500, the container 540 is a generally tubular container having a sidewall 542 and a generally circular opening at the upper end 544 of the container, and a bottom wall 556 near the lower end 546 of the container. In the embodiment illustrated in FIG. 26, the bottom wall 556 has a conical shape. The sidewall 542 may include a label (not labeled in FIG. 26), made, for example, from a thermal print media, secured to an outer surface of the sidewall 542 by adhesive or the like.

[0244] Container 540 may be made from any suitable material, and is preferably made from an injection molded plastic such as polypropylene or other similar material.

[0245] Container 540 may be configured at its upper end 544 to cooperatively receive a cap or other closure element for temporarily or permanently closing a top opening 570 of container 540. Features provided for cooperating with a cap, such as cap 570, include external threads that cooperate with mating internal threads of cap 570. Again, alternatively, threads may be formed on the inner surface of sidewall 542 and configured to cooperate with mating threads formed on the outer surface of the cap, or cooperating flanges, recesses, and / or tabs may be provided to allow cap 570 to be snapped into position on container 540.

[0246] A ring flange 552 extending circumferentially around the sidewall 542 of the container 540 abuts a bottom edge 572 of the cap 570. Suitable caps for use with the container 540 include the pierceable cap described by Kacian et al. in U.S. Patent No. 6,893,612.

[0247] An axially depending skirt 558 extends from the side wall 542 at the lower end 546 of the container 540 to a position lower than the conical bottom wall 556. In the illustrated embodiment, the depending skirt 558 comprises an axial extension of the side wall 542 lower than the conical bottom wall 546. The lower end of the skirt 558 defines an annular edge ring 548 that is generally perpendicular to the longitudinal axis of the container 540, thereby defining a bottom edge upon which the container can be placed in an upright position on a flat surface, such as a table or counter.

[0248] The vessel 540 may have a tubular, e.g., cylindrical, configuration having a generally constant diameter from the top end 544 to the bottom end 546. However, in another embodiment, the diameter of the sidewall 542 of the vessel 540 may vary along the axial length of the vessel 540. For example, as shown in FIG. 26, the sidewall 542 may be defined by a diameter "D" near the top end 544 of the vessel, a diameter "E" at the axial midpoint of the sidewall 542, and a diameter "F" near the bottom end 546 of the vessel 540. In one embodiment, the sidewall 542 has a convex shape with diameter E being greater than diameters D and F. Diameters D and F may be approximately equal. The diameter of the vessel 540 may vary continuously, e.g., linearly from diameter D to diameter E to diameter F.

[0249] Sample Processing Equipment The tube printing module 10 may be incorporated into a sample processing instrument, such as an automated instrument for transferring material from one container to another. An exemplary instrument is described in U.S. Patent Application Publication No. 2013-0065797, "Automated Sample Handling Instrumentation, Systems, Processes, and Methods." With reference to FIG. 27, an automated instrument 600 of a type in which the printing module 10 may be incorporated includes one or more input racks 602, one or more output racks 604, a robotic arm 630, a sample processing station 610, a sample transport apparatus, such as a sample pipettor 638 or other material transport device, a robotic pick-and-place mechanism, such as a container gripper 640, and one or more incubators 612. In one embodiment, the sample transport apparatus comprises a Cavro® Air Displacement Pipettor, available from Tecan Group Ltd. Mannedorf, Switzerland. Each input rack 602 mounts, e.g., in a one-to-one arrangement, a plurality of first sample containers 606, which may comprise capped sample vials, and a plurality of second sample containers 608, which may comprise capped sample tubes. Each output rack 604 is configured to hold a plurality of second sample containers 608 after a quantity of sample material has been transferred from the first sample containers 606 to the second sample containers 608, and optionally after transferring one or more material(s), e.g., reagents, probes, buffers, etc., to the second sample containers and / or incubating the contents of the second sample containers 608.

[0250] Each of these components may be located within an instrument housing.

[0251] In one embodiment, the instrument 600 is configured to move a first sample container 606 and a second sample container 608 between an input rack 602, a sample processing station 610, and an output rack 604. As described in U.S. Patent Application Publication No. 2013-0065797, the sample processing station 610 receives and holds the first sample container 606, automatically removes the lid from the first sample container 606, positions the first sample container 606 open so that an aliquot of sample material may be aspirated from the first sample container 606, replaces the cap on the first sample container 606, receives and holds the second sample container 608, and .... the lid is configured to automatically remove the lid from the first sample container 606, position the second sample container 608 such that all or a portion of the aliquot of sample material removed from the first sample container 606 may be dispensed into the second sample container 608, and reattach the lid onto the second sample container 608.

[0252] In one embodiment, the sample pipettor 638 transports the specimen from a first sample container 606, such as a liquid based cytology (LBC) specimen container, to a second sample container 608 (e.g., an Aptima® transport tube available from Hologic, Inc., San Diego, Calif.) while performing liquid level detection and reagent dispensing. The sample processing station 610 is also preferably configured to hold the first sample container 606 and the second sample container 608 and perform barcode reading, barcode positioning, and specimen mixing in addition to uncapping / replacing the first sample container 606 and the second sample container 608. Incubator(s) 612 may be incorporated into the instrument 600 and, as in the depicted embodiment, may be adapted to hold one or more sample output racks 604 and may be utilized to directly incubate samples in the second sample container(s) 608 held within the output rack(s) 604. LBC samples, such as those collected in SurePath® vials (Becton Dickinson, Inc., Franklin Lakes, NJ), often require the addition of reagents and heat incubation prior to further processing, such as molecular assays. Other types of LBC samples, such as those collected in ThinPrep® vials (Hologic, Inc., Bedford, Mass.), often do not require incubation.

[0253] More specifically, the sample processing station 610 may include a turntable 650 on which are mounted vessel holders 644, 646, 648 configured to hold separate first sample containers 606 or second sample containers 608. The sample processing station 610 is configured such that the turntable 650 may rotate to selectively position the first sample containers 606 or second sample containers 608. The turntable 650 and vessel holders 644, 646, 648 may rotate simultaneously about their respective axes of rotation to effect mixing of the contents of the first sample containers 606 and / or second sample containers 608 mounted within the vessel holders. The sample processing station 610 may further include a capping / decapping mechanism 642 configured to selectively remove or recap the caps of the first sample containers 606 or second sample containers 608 mounted on the turntable 650. The sample processing station further includes a mechanism for providing relative movement between the vessel and the capping / uncapping mechanism 642 to enable the mechanism 642 to engage a cap of the first or second sample vessel. After engaging, e.g., gripping or clamping, the capping / uncapping mechanism rotates to remove the screw-on cap from the first or second sample vessel or to re-seat an already removed screw-on cap onto the first or second sample vessel.

[0254] In one embodiment, specimens are tracked within the instrument 600 by providing matching bar codes on both the first sample container 606 and the second sample container 608. For example, an on-board bar code scanner 614 or other code reading device reads the tube bar code or other machine-readable code as each tube is placed into the sample processing station 610. System processing controls, tube bar codes, time / date stamps, user information, and system status are often stored within a built-in tracking system that can be interrogated via bar codes on the first sample container 606 and / or the second sample container 608. In various embodiments, a user can manually enter an identifier associated with a bar code through the use of a keyboard or keypad, the instrument's touch screen, or through the use of any portable bar code scanner to perform such interrogations. System software can be adapted to monitor overall system status, reagent and supply inventory, records of processed specimens, and maintenance.

[0255] In one embodiment, the robotic arm 630 is translatable in mutually orthogonal X, Y, and Z directions to move the first sample container 606 and the second sample container 608 between modules of the instrument 600 (e.g., between the sample processing station 610, the input rack(s) 602, the output rack(s) 604, and the printing module 10). In one embodiment, as depicted in FIG. 27, the robotic arm 630 includes a first arm 632 extending in a longitudinal side-by-side orientation, and two or more robotic arms 634, 636 mounted on the first arm 632 and extending in a front-to-back side-by-side orientation relative to the first arm 632. In one embodiment, the arms 634, 636 are configured for motorized translation in the longitudinal (X-axis) direction along the first arm 632, actuated, for example, by a motorized belt and pulley arrangement, rack and pinion, or threaded rod. In the illustrated embodiment, robotic arm 634 includes a sample pipettor 638 and robotic arm 636 includes a vessel gripper 640. Sample pipettor 638 is configured for motorized translation in a lateral direction (Y-axis) along robotic arm 634 and vessel gripper 640 is configured for motorized translation in a lateral direction (Y-axis) along robotic arm 636, each actuated by, for example, a motorized belt and pulley arrangement, rack and pinion, or threaded rod. Sample pipettor 638 and vessel gripper 640 are configured for motorized translation in a vertical direction (Z-axis) and actuated by, for example, a motorized rack and pinion or threaded rod.

[0256] The motors used for motorized movement of the robot arm 630 components in the X, Y, and Z directions may comprise independently controllable stepper motors and may include rotary encoders. Home and / or limit sensors may be used along each axis to detect movement to designated home and / or limit positions, respectively.

[0257] In a preferred embodiment, the sample pipettor 638 of the robotic arm 630 incorporates a pneumatic pipettor system to aspirate sample from the first sample vessel 606 and dispense sample and reagents into the second sample vessel 608 .

[0258] In an alternative embodiment, sample pipettor 638 and vessel gripper 640 are integrated onto the same robotic arm (e.g., a single, laterally extending robotic arm), but each is independently movable in the Y and Z directions.

[0259] One example of a contemplated sample pipettor 638 is a fully integrated OEM module (e.g., available from Tecan Group Ltd., Mannedorf, Switzerland) capable of dispensing volumes from 10 to 1000 μL with a CV of 0.75%. In a preferred embodiment, the pipettor is compatible with Tecan disposable tips (e.g., 10 μl, 50 μl, 200 μl, 1000 μl, with or without filters) and is a pneumatic pipettor that does not require tubing, valves, or syringes. The pipettor head often includes advanced built-in pump diagnostics, self-diagnostics, and error reporting capabilities. Additionally, preferred pipettors have configurable liquid level detection with an integrated pressure sensor (pLLD), are compatible with external capacitive liquid level detection hardware (cLLD), can provide real-time streaming data from one or more pressure sensors for process monitoring, have a DiTi (disposable tip) presence detection sensor, and a DiTi release mechanism.

[0260] The container gripper module 640 is configured to pick and place the first sample container 606 and the second sample container 608 within the container 600. The container gripper module 640 is mounted on a moveable boom for movement in the Z direction and selectively opens to grip and release either the first sample container 606 or the second sample container 608. A chuck or caliper configured to open and close the gripper may also be used. In one embodiment, the gripper mechanism 640 uses a cam disk that opens and closes the gripper when rotated CW / CCW. In one embodiment, the cam disk is driven by a small high torque DC gear motor or stepper motor, as needed. A variety of additional gripper mechanisms are also contemplated and known in the art.

[0261] As explained above, another problem that arises when automating the sample manipulation process is ensuring the accuracy of sample identification. For example, when a sample is prepared, an aliquot of sample material is transferred from a first container 606 to a second sample container 608 using a sample pipettor 638. It is therefore important to ensure that the sample in the second sample container 608 is accurately correlated with the sample in the first sample container 606 so that the sample is processed according to the proper protocol and the correlation of the sample to the sample source, e.g., the donor patient, is maintained. To solve these problems, the instrument 600 advantageously tracks the identity of each sample throughout the process, including tracking the samples as they are transferred from the first sample container 606 to the second sample container 608. One exemplary method of tracking this information provided herein is to utilize bar codes on both the first sample container 606 and the second sample container 608. This process maintains a positive identity tracking of the sample-to-result.

[0262] The instrument 600 may also incorporate a controller that may be in communication with and / or part of the controller 400 of the printing module 10 described above. The instrument controller manages and handles overall system activity by delegating, monitoring, and controlling specific tasks to instrument subcomponents or modules. Exemplary system activities include capping / uncapping sample and second sample containers, vortexing (i.e., mixing), picking and placing sample and second sample containers, pipetting, monitoring waste reservoirs, monitoring consumables (e.g., pipette tips), monitoring sample queues, maintaining operational logs, monitoring process controls, monitoring system alarms, etc.

[0263] In one embodiment, an experimental workflow for sample processing, such as an LBC sample, requires that both the first sample container 606 and the second sample container 608 have barcodes that contain sample identification information. This requires that the first sample container 606 and the second sample container 608 have barcodes that are identical, at least partially identical, or otherwise related to each other, such that independently traceable sample identification information is encoded in both barcodes. This allows downstream analytical equipment, such as equipment that can perform sample processing (e.g., isolation and purification of target molecules), hybridization assays, amplification processes, sequencing reactions, and / or immunoassays, to communicate with the laboratory's LIS via the barcoded information provided on the second sample container 608.

[0264] In this context, barcodes are identical if the same data, e.g., the same alphanumeric sequence, is coded into each barcode. In various embodiments, barcodes of different formats, e.g., one-dimensional vs. two-dimensional, may be considered identical if each has the same data coded into the barcode. Barcodes are partially identical if some, but not all, of the same data is coded into each barcode.

[0265] In one embodiment, a barcode containing or associated with sample identification information is applied to the first sample container 606, while the second sample container 608 contains no label, a blank label, or a different label. The first sample container 606 is moved by the robotic arm 630 and the container gripper 640 from the input rack 602 to the sample processing station 610 for processing. In addition, the corresponding second sample container 608 is transferred by the robotic arm 630 and the container gripper 640 from the input rack 602 to the print module 10. The instrument 600 then, for example, transfers the barcode in the sample processing station 610 to the sample processing station 610. The barcode on the first sample container 606 is read using the code reader 614. After reading the barcode of the first sample container, the instrument 600 generates a corresponding barcode (with any additional metadata in the form of a barcode prefix, suffix, etc.) directly on the second sample container 608 using the printing module 10. In some embodiments, a different additional barcode containing additional metadata related to the processing of the corresponding sample (e.g., time, volume, type, reagent, error code, processing information (e.g., tests or processes performed or carried out), test results, etc.), or other human-readable and / or machine-readable information, is printed on the second sample container 608. As described in more detail below, the printer may print a code or graphical feature indicating that the second sample container is "used," and the printer may include a sensor, such as a timing mark sensor 310, configured to detect this "container-used" mark. After the barcode is printed on the second sample container 608 , the second sample container 608 is transported from the print module 10 to the output rack 604 by the robotic arm 630 and the container gripper 640 .

[0266] In an alternative application of the printing module 10 disclosed herein, a container having a curved surface may be moved between two or more stations (processing modules) of a processing system on a conveyor system. One or more stations may include the printing module 10 to print processing data (human readable and / or machine readable) onto the tube, and subsequent stations print additional processing data as the container traverses the processing system. Thus, in one embodiment, the entire history of the container may be printed on the container, including results, error codes, processing control data, aliquot data, date and time stamp, next processing station to be delivered to, material (e.g., patient) ID, laboratory address, etc.

[0267] Sample Processing Workflow FIG. 28 is a flow chart illustrating a workflow 700 for processing a first sample container and a second sample container in an instrument using a printing module 10, such as instrument 600.

[0268] In step 702, the input rack 602 containing the first sample containers 606 and the second sample containers 608 are placed in appropriate slots or other locations within the instrument 600. Typically, each first sample container 606 has a label with a machine-readable identification such as a barcode, and may also include a human-readable label. The second sample containers 608 contain a blank or partially blank label. Additionally, each first sample container 606 and each second sample container 608 are typically capped with a screw-on cap. In one implementation, the first sample containers 606 and the second sample containers 608 are provided in a one-to-one configuration, meaning that the number of first sample containers 606 and the number of second sample containers 608 on the input rack 602 are the same.

[0269] In step 704 , the first sample container 606 is moved from the input rack 602 to the sample processing station 610 by the robotic pick-and-place mechanism 640 .

[0270] In step 706, the empty second sample container 608 is removed from the input rack 602 to the print module 10 by the robotic pick-and-place mechanism 640. Note that steps 704 and 706 may be performed in reverse order.

[0271] In step 708, which may occur before or after step 706, the machine-readable label on the first sample container 606 is read. For example, a barcode on the sample container 606 may be read by an integrated barcode reader 614. In an alternative embodiment, the barcode or other machine-readable label on the sample container 606 may be read before the sample container is moved to the sample processing station 610. Information encoded on or obtained from the machine-readable label on the sample container 606 is then accessible to, for example, an instrument controller. The information is stored in a storage medium.

[0272] In step 710, the printing module 10 prints a machine-readable identification label on the second sample container 608 that was moved to the printing module in step 706. The machine-readable label may be a barcode that corresponds to the barcode or other machine-readable label on the first sample container 606 and includes information based on information obtained and stored from the machine-readable label on the first sample container 606. As explained above, in one embodiment, the machine-readable label printed on the second sample container 608 may be identical to the barcode on the first sample container 606 and may have an identification number coded therein, such as the accession number of the patient from whom the sample was obtained.

[0273] After the machine-readable label is printed on the second sample container 608 in step 712, the second sample container 608 is moved from the printing module 10 to the sample processing station 610 by the robotic pick-and-place mechanism 640.

[0274] In step 714 , the contents of the first sample container 606 are mixed, for example, by simultaneously rotating the turntable 650 and one of the container holders 644 , 646 , 648 that hold the first sample container 602 .

[0275] In step 716 , the cap is automatically removed from the first sample vessel 606 using the capping / uncapping mechanism 642 .

[0276] In step 718 , an aliquot of sample material is removed from the first sample container 606 using the sample pipettor 638 .

[0277] In step 720 , the first sample vessel 606 is recapped using the capping / uncapping mechanism 642 .

[0278] In step 722 , the cap is automatically removed from the second sample vessel 608 using the capping / uncapping mechanism 642 .

[0279] In step 724 , an aliquot of sample material is dispensed into the second sample container 608 using the sample pipettor 638 .

[0280] In step 726 , the second sample vessel 608 is recapped using the capping / uncapping mechanism 642 .

[0281] In step 728, the second sample container 608 is moved from the input rack 610 to the output rack 604 using a robotic pick-and-place mechanism 640. The output rack may have already been placed in the instrument 600 in an appropriate slot or other location, for example, during start-up when one or more input racks holding the first and second sample containers are placed in the instrument.

[0282] In any step, the second sample container may be first moved to an incubator where it remains for a predefined residence time or where all or a portion of the output rack 640 holding the second sample container 608 is incubated.

[0283] In step 730 , the first sample container 606 is moved from the sample processing station 610 back to the input rack 602 using the robotic pick-and-place mechanism 640 .

[0284] After all of the first sample containers on the input rack have been processed, all of the second sample containers containing aliquots of sample material are placed on the output rack, and the output rack is removed from the instrument 600 for further processing of the contents of each second sample container.

[0285] Printer labels and timing marks An embodiment of a tube printer label configured to be placed on the surface 14 of the tube 12 is shown at 800 in Figure 29. The label 800 may include a paper label, such as a thermal printer paper, affixed to the tube 12 with an adhesive such that a line 802 is generally parallel to the longitudinal axis of the tube. The label may extend completely around the tube, with the line 802 defining an area 804 where the labels overlap. Alternatively, the label 800 may be printed on or integrally formed on the surface of the tube.

[0286] The tube printer label 800 may include areas 806, 808 containing preprinted text and / or graphic labels (e.g., "artwork"), a preprinted timing mark 810 extending between ends (i) and (ii), a printable area 812 beginning at a leading edge or image location (iv) located a predetermined distance away from the timing mark 810 and ending at a trailing edge (vi) where text and / or graphic indicia, such as a bar code or other machine-readable indicia, are printed by the printing module 10, and a timing mark modification 814 printed on the label 800 by the printing module 10 as an indication for later detection that the tube has already been printed. In the illustrated embodiment, the timing mark modification 814 is an extension that increases at least one dimension, e.g., length, of the timing mark 810. In other embodiments, the timing mark modification decreases at least one dimension, e.g., length, of the timing mark 810. In yet other embodiments, the timing mark modification does not directly alter the timing mark, but instead is an additional, separate mark printed by the printing module 10 on the label 800 as an indication for later detection that the tube has been printed. In one embodiment, the printable area 812 may have a portion dedicated to machine-readable indicia, such as a "bar code" position between (v) and (vi). As shown in FIG. 29, the width of the timing mark modification 814 in the horizontal direction of FIG. 29 (corresponding to the vertical or longitudinal direction when the label is applied on an upright tube 12) is greater than the width of the timing mark 810. This is to account for manufacturing tolerances in the relative positions of the sensor 310 and / or the print head 152 and to ensure that a portion of the timing mark modification 814 is detected by the sensor 310.

[0287] The timing mark 810 and timing mark extension 814 are preferably easily detectable by the sensor 310. If the sensor 310 is a reflectance sensor and the label background is a light color (e.g., white), the timing mark 810 and timing mark extension 814 are preferably a solid dark color (e.g., black) to provide a clear, easily detectable difference between the marks and the background portion of the label.

[0288] 30 shows the relative positions of the print head 152, timing mark sensor 310, and tube 12. In one embodiment, the rotation assembly 260 rotates the tube 12 clockwise, thereby positioning the print head 152 rotationally ahead of the sensor 310 during printing and scanning. The timing marks 810, timing mark modifiers 814, and printable area 812 on the tube 12 are shown. The remaining surface area of ​​the label 800 is typically not used during the normal printing process.

[0289] In one embodiment, the sensor 310 is configured to measure the reflectance of a label 800 on a tube 12 currently positioned in front of the sensor 310. Unprinted (white) areas produce detectably higher sensor values ​​(reflectance) compared to pre-printed timing marks 810, and thus the controller 400 can determine from the sensor output when a timing mark 810 is present. It is possible to detect if a 0 passes in front of the sensor 310.

[0290] FIG. 31 shows an example output waveform of the sensor 310 scanning the label 800 as a portion of the label 800 passes the sensor 310 prior to printing any indicia thereon. The waveform shown in FIG. 31 represents the output from the sensor 310, such as a number of successively recorded data points over a period of slightly more than one revolution of the tube 12, with the locations of the timing marks 810 and the printable area 812 shown in the bar plot above the waveform. Because this is a pre-printed scan, the timing mark modifiers 814 have not yet been printed on the label 800. In one embodiment, the output of the sensor 310 is in the form of discrete values ​​recorded at specified intervals. For example, in one embodiment, the sensor is sampled (i.e., the sensor value is recorded) every half-step of the motor 300 during the rotation of the tube 12 by the container rotation assembly 260.

[0291] As shown, in FIG. 12 , the timing mark sensor 310 is located proximate to the bottom end of the tube 12 positioned within the printing module 10 (i.e., near the carousel 261). In one embodiment, the label 800 is affixed to the outer surface of the tube 12 such that the left end of the label 800 (as shown in FIG. 29 ) is proximate to the bottom end of the tube 12. Thus, the timing mark 810, the timing mark modifier 814 (if printed), and the left side (bottom end) of the printable area 812 will pass in front of the sensor 310 and be detected during the rotation of the tube 12. Areas 806 and 808 that do not extend to the bottom end of the label 800 (to the left of the label 800 in FIG. 29 ) do not pass in front of the sensor 310 and are not detected.

[0292] Referring again to Figure 31, the timing mark 810 can be seen in portion A between samples 200 and 500 of the waveform (and later again at sample 2000) where the reflectivity measured by sensor 310 drops due to the lower reflectivity of the timing mark 810. The leading and trailing edges of the timing mark 810 relative to the rotational direction (points (i) and (ii) in Figure 29) are represented by falling and rising portions B and C of the waveform, respectively. The bump D in the waveform between samples 1500 and 1800 is caused by sensor 310 detecting an increase in reflectivity adjacent to the label edge.

[0293] The printing process begins with determining whether a tube 12 has been inserted into the printing module 10 using the sensor 310. In one embodiment, the determination of whether a tube is present in the printing module 10 is based on the value registered with the sensor 310. A sensor value below a specified threshold, which may be a predetermined control parameter stored in memory 404, indicates that a tube is not present, and a sensor value greater than or equal to the threshold indicates that a tube is present. The specified tube-present or printing surface-present threshold may be determined empirically.

[0294] If a tube 12 is present in the module 10, the tube is then rotated one revolution by the container rotation assembly 260 to allow the pivoting gripper assembly 280 to fully engage the tube 12 and encourage the tube to settle into its correct position. A sensor brightness measurement may be performed during this first revolution to adjust the brightness of the sensor 310 to account for variations between different sensors and labels (e.g., darkness of the timing mark 810, glossiness of the paper, etc.) and to account for degradation of sensor performance over time. In one embodiment, the measurement process begins by setting the sensor 310 to a brightness level where the sensor output is expected to saturate, and then the tube is rotated. The upper and lower output limits of the sensor output waveform are predetermined control parameters stored in memory 404. As the tube is rotated, if the sensor output exceeds a predetermined upper output limit of the tube sensor waveform, the sensor brightness is reduced (e.g., the brightness value decreases by 0.1% from the current value for each half step of the motor 300), or if the sensor output is below a predetermined lower output limit, the sensor brightness is increased. The sensor brightness is set so that throughout the revolutions of the tube 12, the sensor output is between an upper output limit and a lower output limit.

[0295] In various embodiments incorporating a reflectance sensor for sensor 310, the sensor's light source (eg, an LED) is energized only when needed and with only the power required for a given operation.

[0296] The next step is to find the timing mark 810 on the label 800 and perform a seek to start procedure to rotate the tube 12 from the timing mark to the print start position.

[0297] The seek start procedure involves two steps. The first step is to find the location of the timing mark 810 and then determine at least one dimension of the timing mark, such as its circumference. The second step is to rotate the tube 12 to the print start position.

[0298] During the first step, the rotating assembly 260 rotates the tube 12 and the controller 400 monitors the output of the sensor 310 to identify falling and rising values ​​in the sensor output waveform (portions B and C of the waveform shown in FIG. 31 ) that respectively represent the beginning and end of the timing mark 810 (or also the timing mark modifier 814, if present). The falling and rising edges of the sensor output waveform are identified by calculating the difference between a current output sample of the sensor 310 and an output sample taken at a predetermined previous point in time (e.g., a specified number of motor steps or samples, e.g., 128 steps ago) and comparing the difference between the two output values ​​to a predetermined timing mark threshold (e.g., 200). The predetermined previous point in time (i.e., the previous sample to which the current sample is compared) and the predetermined threshold value of the timing mark may be predetermined control parameters stored in the memory 404. In other words, if the sensor output between two samples separated by a specified time drops by an amount that exceeds a threshold, this abrupt transition is taken as an indication that the sensor has passed over the leading edge (i) of the timing mark 810, and the controller correlates the rotational position of the drop in output as the relative position of the leading edge of the timing mark 810. Similarly, if the sensor output rises by an amount that exceeds a threshold, this is taken as an indication that the sensor has passed over the trailing edge (ii) of the timing mark 810 (or the trailing edge (iii) of the timing mark modifier 814), and the controller 400 correlates the rotational position of the rise in output as the rotational position of the trailing edge of the timing mark 810 or the trailing edge of the timing mark modifier 814.

[0299] FIG. 32 shows an exemplary algorithm for calculating the length of the timing mark 810 (or even the timing mark modification portion 814) from the waveform data. FIG. 32 shows an exemplary sensor waveform (top curve) and the result of a difference calculation (bottom curve) near the timing mark portion of the waveform (portions A, B, C of FIG. 31). The rectangles define a "filter" for calculating the difference and determining when the difference exceeds a threshold (the long dashed line indicates the filter for detecting the start of a transition, and the short dashed line is the filter for indicating the end of a transition). The width of the filter corresponds to a given previous epoch (e.g., 128 samples) and the height corresponds to the timing mark threshold (e.g., ±200).

[0300] As shown in the bottom curve of FIG. 32, the difference calculation identifies four conditions that are detected: (a) the filter result (i.e., the difference between samples spaced over a period of time) falls below the timing mark negative threshold, (b) the filter result exceeds the timing mark negative threshold, (c) the filter result exceeds the timing mark positive threshold, and (d) the filter result falls back below the timing mark positive threshold. These four points are used to calculate the length of the timing mark 810 (or even the timing mark modifier 814) detected by the sensor 310 by taking the distance between point (f), which bisects points (c) and (d), and point (e), which bisects points (a) and (b). The calculated length between points (f) and (e) is used to determine whether the label 800 on the tube 12 is longer than the label 800 if the tube has already been used and a label has not been printed. 8. The controller 404 determines whether the timing mark 810 includes a printed timing mark modifier 814 indicating that the tube 12 has been used, thereby preventing a used (and printed) tube from being reused. The length of the timing mark 810 and the length of the timing mark modifier 814 are control parameters stored in the memory 404. In an exemplary embodiment, the length of the timing mark 810 is 7.0 mm and the trailing edge (iii) of the timing mark modifier 814 extends 2.0 mm beyond the trailing edge (ii) of the timing mark 810. Thus, in such an embodiment, the distance between points (f) and (e) in the waveform is approximately the length of the timing mark 810 (e.g., 7.0 mm), and the controller determines that the tube 12 has not been used. On the other hand, if the distance between points (f) and (e) in the waveform is approximately equal to the combined length of the timing mark 810 and the timing mark modifier 814 (e.g., 9.0 mm), the controller determines that the tube 12 has been used. In one embodiment, a single length threshold may be defined (e.g., 8.0 mm in the example above, which is the average of 7.0 mm and 9.0 mm), and calculated timing mark lengths below the length threshold are deemed to be indicative of an unused tube, and calculated timing mark lengths above the length threshold are deemed to be indicative of a used tube.

[0301] Assuming the tube is unusable and unprinted, point (f) identifies the location of the trailing edge (ii) of timing mark 810 in the waveform, and controller 400 correlates the rotational position that coincides with that point.

[0302] After determining the location of the trailing edge of the timing mark 810, in the second step of the seek start procedure, the tube 12 is rotated a specified distance (e.g., number of motor steps) by the container rotation assembly 260 to place the sensor 310 at a predetermined print start position, e.g., at the far end of the label 800 (the bottom end of the label 800 as oriented in FIG. 29). In one embodiment, the control algorithm must take into account the distance the motor 300 needs to slow down at the end of this step, so that the commanded amount of rotation (e.g., number of motor steps) is less than the amount of rotation required to place the tube at the print start position. For example, assuming a distance of 28.5 mm from the trailing edge (ii) of the timing mark 810 to the print start position, a motor speed of 60 rad / s, and a motor deceleration rate of 1000 rad / s2, the commanded move distance (constant speed) must be 2.4 mm less than the actual required distance of 28.5 mm, leading to a resultant move command of 26.1 mm.

[0303] At this stage, the tube is rotationally positioned in its start-of-print position relative to the sensor 310 and print head 152, and the bracket extender 220 is actuated to close the extendable print station 50. After the print station is closed, a printing process is performed that generally includes three sub-processes: relocating the timing marks 810, printing the timing mark modifiers 814, and printing an image (e.g., a barcode) in the printable area 812.

[0304] More specifically, the printing process consists of seven steps, (1)-(7), which are illustrated in Figure 33, which shows five snapshots (j), (k), (l), (m), (n) of the sensor waveforms, motor 300 speed, and sensor 310, print head 152, and tube 12 throughout the printing process.

[0305] In step (1), the motor 300 accelerates to a constant speed, and as shown in part (j) of Figure 33, the waveform is relatively flat because the sensor 310 is at the start of printing position, which is the portion of the label 800 prior to the timing mark 810. Also, note that in the illustrated embodiment, the print head 152 is disposed over the timing mark 810 at this time.

[0306] Step (2) begins when motor 300 reaches a constant speed, and controller 400 commands print head 152 to begin printing timing mark modifier 814 (above timing mark 810). In one embodiment, step (2) ends when the sensor difference signal (filtered sensor waveform) drops below the timing mark negative threshold for the first time (see point (a) in FIG. 32). As shown in portion (k) of FIG. 33, at the end of step (2), timing mark 810 begins to pass in front of sensor 310 (at which point the waveform falls below the timing mark negative threshold), and the print head begins to print a portion of timing mark modifier 814 that extends beyond the trailing edge of timing mark 810.

[0307] In one embodiment, during step (3), after detection of the leading edge of the timing mark 810 signaling the end of step (2), the print head 152 continues to print the remainder of the timing mark modification 814. Step (3) ends when the timing mark printing is completed. The duration of step (3) depends on the length of the extension mark 814, which controls the amount of relative movement between the print head 152 and the label 800 during step (3), and measurements that compensate for changes in the relative position between the tube sensor and the print head. The length of the extension mark 814 may be a predetermined control parameter stored in memory 404. The measurements may be calculated for a given module and then stored in memory 404, as described below.

[0308] Thus, the timing mark modification 814 is printed over a first and second phase, defined by steps (2) and (3), respectively. The duration of step (2) (first phase) is not controlled by a predefined number of steps by the motor 300, but instead by detection of the leading edge of the timing mark 810. The duration of step (3) (second phase) depends on the amount of relative movement between the print head 152 and the label 800 required to print the desired length of the extension mark 814 during step (3). The first phase is thereby controlled by detection of the timing mark, and the second phase is thereby controlled by a motor command for a specified number of motor steps to effect the required amount of relative movement.

[0309] In step (4), the print head 152 is stopped while the tube 12 continues to rotate to provide a predetermined amount of relative movement between the print head 152 and the label to create a gap without printed content between the trailing edge (iii) of the timing mark modification 814 and the next printed content, which may be human readable characters and bar code images, starting in the printable area 812.

[0310] During step (5), the print head 152 is commanded to print an image (e.g., human readable characters and / or a bar code) on the printable area 812. The duration of step (5) and the circumferential length of the image are determined by the amount of rotation of the tube while the print head 152 is operating. This rotation can be controlled by commanding several steps of the motor 300, which moves the label a specified image distance relative to the print head 152 and can be predetermined control parameters stored in the memory 404, while the print head 152 is operating. As shown in portion (l) of FIG. 33, at the beginning of step (5), the print head 152 is positioned at the beginning of the printable area 812 and the sensor 310 is generally aligned with the center of the timing mark 810. As shown in portion (m) of FIG. 33, at the end of step (5), the print head 152 is positioned at the end of the printable area 812 and the sensor 310 is generally aligned with the center of the printable area 812. As shown in the portion of the sensor waveform during step (5), the waveform reaches a peak at point E, which corresponds to the gap (area of ​​maximum reflectance) between the trailing edge (iii) of timing mark modification 814 and the printed content of printable area 812 created during step (4). Following the peak at point E, the sensor The waveform drops at F to a lower, relatively constant level at G as 310 passes over the printable area 812 on which the print head 152 has just printed a bar code or other image reducing the reflectivity and resulting in a lower value of the waveform.

[0311] The printed image may be stored completely or partially in the system memory 404. The image may be a stored image retrieved from memory 404 for each tube to be printed, or may be temporarily stored as input received immediately prior to printing, for example, input from the built-in barcode reader 614 after reading the identifying barcode on the first sample container 606 (see steps 708, 710 of FIG. 28).

[0312] Step (5) ends after the tube is rotated while the print head 152 is in motion to move the label a specified image distance relative to the print head 152 to form a complete image.

[0313] Step (6) begins after the image has been printed and the print head 152 has stopped. With the print head stopped in step (6), the tube continues to rotate at a constant speed to create a gap adjacent the image formed in the printable area 812. In step (7), the motor 300 slows to a stop to conclude the printing process.

[0314] After printing is completed, the bracket extenders 220 are actuated to open the extendable print station 50. The final step is to check for possible sliding of the tube 12 relative to the pivoting gripper assembly 280 during printing.

[0315] Slip detection is performed by checking for the recurrence of the start of the timing mark 810. The location of this transition is a measure of the slippage that occurred during the printing process (including any slippage that may occur when opening the expandable print station 50). As shown in part (n) of FIG. 33, at the end of the printing process, i.e., at the end of step (7), the sensor 310 is placed at or near the trailing edge (vi) of the printable area 812. The distance between the trailing edge and the start of the timing mark 810 is known from the label geometry and may be a control parameter stored in memory 404. The sensor 310 and label 800 are moved relative to each other, for example, the tube 12 is rotated, and the waveforms are monitored until the sensor difference signal (filtered sensor waveform) falls below the timing mark negative threshold for the first time (point (a) of FIG. 32), indicating that the leading edge (i) of the timing mark 810 has been encountered. If the distance the tube has rotated before encountering the timing mark 810 is within a predetermined range of the known distance (e.g., number of motor steps) between the trailing edge (vi) of the printable area 812 and the leading edge (i) of the timing mark 810, the tube is deemed to have rotated properly during the printing process. On the other hand, if the distance the tube has rotated before the timing mark is detected is not within a predetermined range of the known distance between the printable area 812 and the timing mark 810, it means the printable area 812 is not the correct width, and the tube is deemed to have slipped during the printing process.

[0316] Using the above process, slippage is detected after printing by measuring the distance between the printable area 812 and the timing mark 810. Additionally, before printing is completed, slippage can be detected by measuring the distance between the start of printing (e.g., the edge of the label 800) and the timing mark 810 when the timing marks are resynchronized at the beginning of the printing process. If the distance between the start of printing and the timing mark 810, i.e., the distance covered during steps (1) and (2) in the process illustrated in FIG. 33, is not within a predetermined range of expected distances, then the tube may have slipped, possibly while the expandable print station 50 was closed. The predetermined range may be a control parameter stored in memory 404.

[0317] An optional additional step after confirming sliding is to rotate the tube 12 to a final orientation that faces the just printed image on the opposite side of the tube 12 from the print head 152; this may be done to avoid an additional process of centering the barcode after the tube is removed from the printing module 10.

[0318] In various embodiments incorporating a reflectance detector for the sensor 310, the sensor's light source (e.g., an LED) is energized only when needed and with only the power required for a given operation. Thus, for example, the light source may be energized while verifying tube presence, locating and measuring timing marks, locating and measuring timing mark corrections, or during slippage detection. At other times when the sensor 310 is not in use, the light source is not energized to extend the light source's life and improve the reliability of the sensor 310.

[0319] In one embodiment, a sensor calibration procedure is performed to calculate a measurement that is used to compensate for changes in the relative positions of the sensor 310 and the print head 152. Due to manufacturing tolerances, the rotational distance between the sensor 310 and the print head 152 may vary from one print module 10 to another. To determine the rotational distance between the sensor 310 and the print head 152 in a particular module 10, the tube 12 is placed in the module 10 and a timing mark modification 814 (not including other parts of the image, such as a barcode) is printed using the printing process described above in connection with FIG. 33. The length of the printed timing mark modification 814 is then calculated from the waveform using the printing process described above in connection with FIG. 32, and this value is compared to the expected length of the timing mark modification 814. Any variation between the measured length and the expected length of the timing mark modification due to the sensor 310 and the print head 152 being closer or farther apart than expected may be used to calculate the measurement. Typically, the relative positions of the print head 152 and the sensor 310 are expected to remain constant over the life of the print module 10 (not considering potential maintenance), so in one embodiment, the sensor measurement process is performed once during manufacture or installation.

[0320] As an alternative to the dark timing mark 810 and timing mark modification 814 described above, if the label background is dark, the timing mark 810 may be formed of a solid light color to provide a detectable distinction. For example, the timing mark may take the form of a white mark, such as a white square, rectangle, bar, etc., formed on a dark band that extends across the label (i.e., surrounding the tube 12). In the case of a white timing mark, the timing mark modification may not include an overlapping mark that extends the circumferential length of the timing mark, such as timing mark modification 814 that extends the length of timing mark 810, but instead may include a dark mark overlapping the white timing mark to detectably reduce the length of the timing mark.

[0321] It should be understood that in such embodiments where the timing mark is brighter than its surroundings, the waveform produced by the timing mark sensor 310 will be essentially the inverse of the waveform shown in Figure 31. Transitions in the waveform indicating the leading and trailing edges of the timing mark will be indicated by a sharp rise in the waveform with the leading edge exceeding a positive threshold and a drop in the waveform with the trailing edge falling below a negative threshold.

[0322] Yet another alternative timing mark may include a cutout formed in the label where a non-optical characteristic of the material underlying the label and visible from the cutout, e.g. reflectivity, differs from the rest of the label such that the hole can be detected by a timing mark sensor. Alternatively, the edge of the cutout may be detectable by a suitably sensitive contact sensor. The start of printing position may be a specified distance away from the cutout, as described above. A timing mark correction may be installed and slippage detection may be performed by verifying the correct distance between the printed image and the cutout, also as described above. Another photo-detectable timing mark correction may be printed at a predetermined location relative to the cutout, and the system can verify that the tube has not been pre-printed by checking for the absence of the timing mark correction prior to printing.

[0323] Yet another alternative timing mark may include a physical feature formed on the side of the tube, such as a raised ridge or depression, detectable by a mechanical sensor, such as a contact sensor. For such timing marks formed on the tube itself, care must be taken to apply the printable label in the proper position relative to the timing mark to ensure proper location of the printed image on the label. The print start position may be placed a specified distance away from the physical feature, as described above, and slippage detection may be performed by verifying the correct distance between the printed image and the physical feature, also as described above. Another optically detectable timing mark modifier may be printed at a predetermined location relative to the physical feature, and the system can verify that the tube has not been pre-printed by verifying the absence of the timing mark modifier prior to printing.

[0324] Yet another alternative for timing mark 810 may include encoder marks formed across the label to extend circumferentially around the tube. One of the encoder marks may be formed differently, e.g., longer, wider, narrower, etc., than the other encoder marks to define a "home" encoder mark that functions as a timing mark. The remaining markings, distributed at known angular intervals, can provide position information relative to the home encoder mark by simply counting the marks from the home mark using an incremental encoder.

[0325] The start of printing position can be found by counting a specified number of encoding marks from the home mark. Additionally, slippage detection can be performed while the image is being printed by ensuring the correct number of encoder marks have passed the sensor when the image is complete. Separate photo-detectable timing mark modifiers may be printed at predetermined locations determined from the encoder marks, and the system can verify that the tube has not been pre-printed by checking for the absence of the timing mark modifier prior to printing.

[0326] Sensor 310 may be replaced or supplemented by a machine vision based sensor that detects specific features on the label that provide a relative position on the label. A machine vision based sensor may be used in an incremental encoder system to detect and count encoder markings. Alternatively, a machine vision sensor may be used in an absolute encoder system where the encoder marks are consecutively labeled, e.g., incrementally numbered, and such consecutive labels may be read by a machine vision camera to provide an absolute position on the label.

[0327] In yet another alternative for timing mark 810, the timing mark sensor is a barcode reader and the timing mark and timing mark modifiers may include two-dimensional and / or one-dimensional barcodes. Such an alternative is shown in FIG. 35, where timing mark 810' is a two-dimensional barcode and timing mark modifier 814' is a one-dimensional barcode. FIG. 35 is exemplary, either the timing mark or the timing mark modifiers may be a two-dimensional or one-dimensional barcode.

[0328] A two-dimensional barcode reader can identify specific coordinates on the two-dimensional barcode, such as the beginning (leading edge of the barcode) and / or the trailing edge of the barcode, and thus can read the timing mark 810' without having to interpret the positive and negative transitions of the waveform as described above. A specific location on the label can be identified by

[0329] One-dimensional bar codes and bar code readers can also provide accurate position information without the need for waveform analysis. As the label is moved relative to the bar code reader, the location at which the bar code reader first manages to read the one-dimensional bar code defines the leading edge of the bar code, and the location at which the bar code reader last manages to read the bar code defines the trailing edge of the bar code.

[0330] The leading edge position of the timing mark (as determined by the leading edge coordinates of the 2D barcode or as determined by the leading edge of the 1D barcode) can be used to determine the start of printing position as described above, and post-print slippage detection can be performed as described above. The leading and trailing edges of the timing mark modifier can be used to perform pre-print slippage detection as described above.

[0331] Additionally, a bar code reader located within the printing module 10 can be used to read the image formed on the label to ensure that it is of sufficient readable quality before the tube 12 is removed from the module.

[0332] In one embodiment, the printing module 10 is configured to operate in an "alternate printing" mode in which the printing module prints alternating images on the label 800 even if the tube 12 cannot be detected or the timing mark 810 is missing (e.g., due to a failure of the sensor 310). Thus, in the event of a sensor failure, it is not necessarily necessary to shut down the printing module 10 until the sensor is repaired.

[0333] If the controller of the instrument 600 "knows" that a tube 12 has been placed in the printing module 10, for example after step 706 of the workflow 700 shown in FIG. 28, but the presence of the tube cannot be confirmed by the sensor 310, or the presence of the tube can be confirmed but the timing mark 810 is not detected by the sensor 310, the printing module 10 operates in an alternating print mode and prints alternating readable images on the tube so that the tube can then be processed by the instrument 600. On the other hand, if a used tube with a barcode is placed in the module 10 and the timing mark modification is not detected, for example because the sensor 310 has failed, it is important not to reuse the tube even if a new barcode has been printed on the tube. Thus, in various embodiments, the sample processing station 610 is configured to scan images at multiple locations on the tube 12 so that it can detect images created in the printable area 812 as well as images printed elsewhere on the label 800. If multiple inconsistent barcodes are detected, processing for that tube can be terminated.

[0334] As shown in Fig. 34, to allow both the old and new barcodes created in the printable area 812 to be scanned and detected at the sample processing station 610, the alternating print mode does not print normal images (e.g., human readable labels and barcodes) in the printable area 812 of the label 800, as this could potentially result in overprinting of the already printed image. Instead, in the alternating print mode, during the relative movement between the print head 152 and the label 800, the print head 152 is selectively activated to print smaller alternating images on different portions of the label 800. The alternating images may include one or more human readable labels 816a, 816b, 816c and / or one or more machine readable images (e.g., one-dimensional or two-dimensional barcodes) 818a, 818b, 818c, which are the same images that would have been printed in the printable area 812 if the printing module had functioned normally. In one embodiment, as shown in FIG. 34, the labels 816a-c and / or barcodes 818a-c are smaller than the image printed within the printable area 812, and preferably at least one of the images 816 / 818 is smaller than the image printed on the label 800. 34. The alternating images 816 / 818 are printed in multiple locations such that the alternating images are printed on the unprinted (e.g., white) portions outside the printable area 812 of the label 800. The pattern (e.g., number, location, size, orientation, spacing, etc.) of the image(s) 816 / 818 can be defined to take into account the configuration of the label 800 and the locations of other elements such as the timing marks 810, areas 806, 808, and printable area 812. Although the alternating images 816 / 818 are aligned in FIG. 34 (vertically as shown in FIG. 34 and horizontally when applied to the tube 12), the alternating images 816 / 818 need not be so aligned and may be printed in different locations depending on the configuration of the label 800, for example to increase the likelihood that the alternating images are printed on the unprinted areas.

[0335] In one embodiment, the alternating print mode operates as follows.

[0336] In a first step, upon receiving a signal that the pick and place mechanism 640 has placed the tube 12 in the print module 10 (after step 707 of FIG. 28 or step 454 of FIG. 21 ), The controller sends a signal (e.g., a power and / or command signal) to the tube presence detection sensor 310 to verify the presence of a tube within the print module 10. In other words, the system attempts to execute step 456 of FIG.

[0337] In a conditional next step, if the tube presence detection sensor 310 does not generate a signal confirming the presence of a tube 12 in the printing module 10, for example due to a failure of the tube presence detection sensor, the controller retrieves the image to be printed from memory 404 and sends alternating print commands (e.g., power and / or control commands) to the rotating assembly 260 to rotate the tube and to the print head 152 to selectively operate the print head to print alternating images at multiple locations on the tube.

[0338] In an alternative conditional step, if the tube presence detection sensor 310 generates a signal confirming the presence of a tube within the printing module 10, the controller sends a command to the rotating assembly 260 and the timing mark sensor 315 (which may be the same sensor as the tube presence detection sensor 310) to perform a timing mark positioning procedure, such as the procedure described above.

[0339] In a conditional next step, if the timing mark sensor 315 / 310 does not generate a signal indicating the detection and position of the timing mark on the tube, for example due to a timing mark sensor failure, the controller sends an alternating print command to the rotating assembly 260 and printer 152 to print alternating images at multiple locations on the tube.

[0340] In this embodiment, in the first example, if the sensor fails to confirm the presence of a tube, there is no need to scan the location of the timing marks and an alternating image is then printed after failing to detect the presence of a tube. In the second example, if the sensor is able to confirm the presence of a tube but is unable to detect the location of the timing marks, an alternating image is printed after failing to locate the timing marks.

[0341] Those skilled in the art will appreciate that the above description of the print control process, including the timing mark sensor, printer label, timing marks, and timing mark modifiers, does not apply solely to printing on curved surfaces, such as tube 12. Rather, the print control process may be implemented in any manner for controlling an automated printing process in which a print head prints an image on a defined printable area of ​​a label during relative movement between the print head and the label.

[0342] Exemplary embodiments The following embodiments are encompassed by the above disclosure.

[0343] Embodiment 1: An apparatus for printing on a curved surface of an article, comprising: (A) an expandable printing mechanism including a print head; and optionally: (1) expands into an open configuration that allows an article having a curved surface on which information is printed to be received into or removed from the apparatus; and (2) an expandable printing mechanism configured and controlled to contract into a printing configuration that positions a curved surface of an article received within the apparatus in an operative position relative to the print head and maintains the curved surface in an operative printing position relative to the print head during relative movement of the curved surface with respect to the print head; (B) an article moving assembly; (1) gripping an article received within the apparatus when the expandable printing mechanism is in a printing configuration and providing relative movement between a curved surface of the article and the print head; and (2) an article moving assembly configured and controlled to release the article when the expandable printing mechanism is in the open configuration, thereby enabling the article to be removed from the apparatus.

[0344] Embodiment 2: The apparatus of embodiment 1, further comprising a housing at least partially enclosing the expandable printing mechanism and the article movement assembly.

[0345] Embodiment 3: The device of embodiment 2, further comprising an opening formed in the housing through which an article having a curved surface on which information is printed is received into or removed from the device.

[0346] Embodiment 4: An expandable printing mechanism comprising: a first support element having one or more contact element(s), the one or more contact elements being operatively supported thereon; and a second support element supporting the print head thereon; 4. The apparatus of any one of embodiments 1 to 3, wherein the first support element and the second support element are configured to move relative to one another between an open configuration of the expandable printing mechanism and a printing configuration of the expandable printing feature, and the contact element(s) are configured to contact an article received within the apparatus to hold the curved surface in an operative position relative to the print head when the expandable printing mechanism is in the printing configuration.

[0347] Embodiment 5: An apparatus as described in embodiment 4, wherein the one or more contact elements comprise a first roller and a second roller rotatably mounted on the first support element.

[0348] Embodiment 6: The apparatus of embodiment 4 or 5, further comprising an extension mechanism configured to provide relative movement of the first and second support elements between the open configuration and the printing configuration.

[0349] Embodiment 7: An apparatus as described in embodiment 5 or 6, wherein the first roller extends axially and the second roller comprises a first head portion having a first diameter extending axially along the length of the roller, an extension portion having a second diameter smaller than the first diameter, and a second head portion having a third diameter larger than the second diameter.

[0350] Embodiment 8: The device of embodiment 7, wherein the third diameter is equal to the first diameter.

[0351] Embodiment 9: The apparatus of embodiment 7 or 8, wherein the first roller is cylindrical.

[0352] Embodiment 10: An apparatus as described in embodiment 7 or 8, wherein the first roller has a varying diameter that increases from each axial end of the roller towards the axial center of the roller.

[0353] Embodiment 11: the first support element comprises a roller bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the first roller and the second roller being rotatably mounted between the first and second flanges; the second support element comprises a print head bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the roller bracket and the print head bracket being oriented such that the webs of the roller bracket and the print head bracket are generally parallel to one another; 11. The system of any one of claims 5 to 10, wherein the roller bracket and the print head bracket are pivotally mounted on a common pivot shaft, such that the roller bracket and the print head bracket are hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration.

[0354] Embodiment 12: the first and second support elements are pivotally mounted on a common pivot shaft such that the first and second support elements are hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration; and an expander mechanism; a driven shaft disposed between the first and second support elements, the driven shaft being generally parallel to the pivot shaft; A system as described in any one of embodiments 6 to 11, comprising a cam element attached to and rotatable with the driven shaft and in contact with both the first and second support elements, the cam element having a varying diameter such that in one orientation of the cam element, a portion of the cam element in contact with the first and second support elements holds the first and second support elements apart a first distance corresponding to an open configuration of the expandable printing mechanism, and in another orientation of the cam element, a portion of the cam element in contact with the first and second support elements holds the first and second support elements apart a second distance corresponding to a printing configuration of the expandable printing mechanism.

[0355] Embodiment 13: An apparatus as described in embodiment 12, wherein the cam element includes a cam disc fixed to and coaxial with the driven shaft, the cam disc having a variable radius such that in a first rotational position of the cam disc, a portion of the cam disc having a first radius contacts the first and second support elements to hold the first and second support elements apart at a first distance corresponding to an open configuration, and in a second rotational position of the cam disc, a portion of the cam disc having a second radius smaller than the first radius contacts the first and second support elements to hold the first and second support elements apart at a second distance corresponding to a printing configuration.

[0356] Embodiment 14: The device of embodiment 12 or 13, wherein the expansion mechanism further comprises a spring extending between the first and second support elements and configured to bias the first and second support elements into contact with the cam element.

[0357] Embodiment 15: An apparatus described in any one of embodiments 12 to 14, wherein each of the first and second support elements includes a roller bearing mounted thereon, and the cam element contacts the respective roller bearings of the first and second support elements.

[0358] Embodiment 16: a pulley wheel mounted coaxially on the driven shaft; a motor having an output shaft and a drive wheel; 16. The apparatus of any one of embodiments 12-15, further comprising a drive mechanism comprising a drive belt connecting the drive wheel to the pulley wheel.

[0359] Embodiment 17: A device described in any one of embodiments 12 to 16, wherein the expander mechanism further comprises a rotational position sensor configured to detect the rotational position of the driven shaft and the cam element.

[0360] Embodiment 18: A rotational position sensor comprising: an index wheel coaxially coupled to the driven shaft, the index wheel having one or more detectable features formed therein or attached thereto at designated rotational positions; 18. The apparatus of embodiment 17, further comprising: an optical sensor configured to detect one or more detectable characteristics as the driven shaft and the index wheel rotate relative to the optical sensor.

[0361] Embodiment 19: An apparatus described in any one of embodiments 12 to 18, further comprising a hand wheel attached to the driven shaft and configured to enable manual rotation of the driven shaft and the cam element.

[0362] Embodiment 20: An apparatus described in any one of embodiments 4 to 19, wherein the second support element comprises a printhead platen on which the printhead is mounted.

[0363] Embodiment 21: The apparatus of embodiment 20, wherein the print head platen is configured and mounted such that its position on the second support element can be laterally adjusted.

[0364] Embodiment 22: The apparatus of embodiment 21, further comprising a platen shaft attached to the second support element, the platen shaft extending through a portion of the print head platen to allow lateral movement of the print head platen along the platen shaft.

[0365] Embodiment 23: The apparatus of embodiment 22, further comprising a platen adjustment lever pivotally mounted to the second support element, the platen adjustment lever including a contact point that contacts a portion of the print head platen, and configured such that pivotal movement of the platen adjustment lever results in lateral movement of the print head platen along a platen axis.

[0366] Embodiment 24: An apparatus as described in embodiment 23, wherein the platen adjustment lever includes a protrusion configured to be inserted into one of a plurality of holes formed in the second support element to fix the platen adjustment lever at a selected rotational position.

[0367] Embodiment 25: An apparatus described in any one of embodiments 1 to 24, further comprising a timing mark sensor configured to detect timing marks on the curved surface.

[0368] Embodiment 26: An article moving assembly comprising: a carousel configured for motorized rotation; An apparatus as described in any one of embodiments 1 to 25, comprising a movable gripper element configured to be movable between a release position that allows an article to be placed in or removed from the apparatus so that the article rotates with the carousel, and a grip position that secures the article relative to the carousel.

[0369] Embodiment 27: Each gripper element comprises a gripper assembly coupled to a carousel, the gripper assemblies being configured such that rotation of the carousel in a first direction causes all of the gripper assemblies to move radially inwardly toward a gripping position relative to an article placed between the gripper assemblies, and rotation of the carousel in a second direction opposite the first direction causes all of the gripper assemblies to move radially outwardly toward a release position relative to the article. 27. The apparatus of embodiment 26, configured to induce movement.

[0370] Embodiment 28: The apparatus of embodiment 27, comprising three gripper assemblies.

[0371] Embodiment 29: A carousel comprising: The upper disc and An apparatus according to any one of embodiments 26 to 28, comprising an upper disk and a lower disk arranged coaxially therewith, the upper and lower disks being rotatable relative to each other.

[0372] Embodiment 30: Each gripper element comprises a pivoting gripper assembly, the pivoting gripper assembly comprising: a pivot arm disposed between an upper disc and a lower disc of the carousel and pivotally attached to the upper disc; a knurled wheel rotatably mounted on a shaft extending from the pivot arm above and through the upper disc; 30. The apparatus of embodiment 29, comprising: a guide pin extending from the pivot arm into an associated guide slot formed in the lower disk.

[0373] Embodiment 31: An apparatus as described in embodiment 30, wherein a first end of each guide slot formed in the lower disk is closer to the radial center of the lower disk than a second end of the guide slot.

[0374]

[0081] Embodiment 32: The article moving assembly further comprises a drive mechanism, the drive mechanism comprising: a motor having an output shaft and a drive wheel; An apparatus as described in any one of embodiments 26 to 31, comprising a drive belt connecting the drive wheel to the carousel.

[0375] Embodiment 33: The apparatus of embodiment 32, wherein the carousel includes peripheral gear teeth for engagement by the drive belt.

[0376] Embodiment 34: The device of any one of embodiments 1 to 33, wherein the print head comprises a thermal print head.

[0377] Embodiment 35: A method of printing on a curved surface of an article using a printing module, the printing module being configured to receive an article having a curved surface, secure the article such that the curved surface is in an operative position relative to a print head of the printing module, and while the print head is actuated, provide relative movement between the curved surface and the lint head while maintaining the curved surface in an operative position relative to the print head, thereby printing information on the curved surface, and then release the article so that it can be removed from the printing module, the method comprising: Verifying that the printing module is in an open configuration that allows an article having a curved surface to be placed in the module; Inserting an article into a printing module; moving the curved surface relative to the print head; Detecting timing marks on a curved surface; configuring the print module in a printing configuration, wherein a curved surface of an article placed in the print module is in an operative position relative to a print head of the print module; activating a print head; applying an image onto the curved surface by moving the curved surface relative to the print head a specified relative movement amount while maintaining the curved surface in an operative position relative to the print head while the print head is operating; deactivating the print head after applying the image onto the curved surface, thereby ceasing relative motion between the curved surface and the print head; configuring the printing module in an open configuration in which the article may be removed from the printing module; and removing the article from the print module.

[0378] Embodiment 36: The method of embodiment 35, wherein the timing marks are detected by a timing mark sensor configured to detect a change in reflectivity of a portion of the curved surface.

[0379] Embodiment 37: The method of embodiment 36, wherein the timing mark sensor generates a waveform based on the reflectivity of a portion of the curved surface, and the timing mark is detected by detecting a change in the waveform that exceeds a predetermined threshold.

[0380] Embodiment 38: The method of any one of embodiments 35 to 37, further comprising adding a timing mark modifier on the curved surface to indicate that the article has been printed.

[0381] Embodiment 39: A method according to any one of embodiments 35 to 38, further comprising the step of determining one or more dimensions of the timing mark after detecting the timing mark, and comparing the determined one or more dimensions of the timing mark with at least one predefined threshold dimension.

[0382] Embodiment 40: The method described in embodiments 35 to 39, further comprising a step of determining whether each determined dimension of the image is within a predetermined range of expected dimensions of the image after configuring the printing module in an open configuration.

[0383] Embodiment 41: A method of printing on a curved surface of an article using a printing module, comprising: configuring a printing module in an open configuration to receive an article having a curved surface onto which information is to be printed; Placing an article in a printing module; configuring a printing module in a printing configuration and securing the article such that the curved surface is in an operative position relative to a print head of the printing module; actuating the print head to provide relative movement between the curved surface and the print head while maintaining the curved surface in an operative position relative to the print head while the print head is actuated; configuring the printing module in an open configuration that allows the article to be removed from the printing module after printing the image on the curved surface; and removing the article from the print module.

[0384] Embodiment 42: A system for processing a sample, comprising: a sample delivery device configured to remove a quantity of sample material from a first container and to dispense at least a portion of the removed sample material into a second container; a code reading device configured to read a first machine-readable graphical code on a surface of the first container, the first machine-readable graphical code having encoded thereon information related to the sample material contained in the first container; a controller configured to generate a second machine-readable graphical code having information encoded therein related to the information encoded in the first machine-readable graphical code; a printing module configured and controlled to print a second machine-readable graphical code on the curved surface of the second container, the printing module comprising: (A) an expandable printing mechanism including a print head, and optionally (1) expands to an open configuration that allows a second container to be received within or removed from the printing module; and (2) an expandable printing mechanism configured and controlled to contract into a printing configuration that places a curved surface of the second container in an operative printing position relative to the print head and maintains the curved surface in the operative printing position relative to the print head during relative movement of the curved surface with respect to the print head; (B) A moving assembly. (1) gripping a received second container when the expandable printing mechanism is in a printing configuration and providing relative movement between a curved surface of the second container and the print head; and (2) a movement assembly configured and controlled to release the article when the extendable printing mechanism is in the open configuration, thereby enabling the article to be removed from the printing module.

[0385] Embodiment 43: The system described in embodiment 42, wherein the sample transport device comprises a pipettor mounted on a robotic arm.

[0386] Embodiment 44: A system described in embodiment 42 or 43, further comprising a pick-and-place mechanism configured and controlled to selectively move either or both of the first and second containers from a first position in the system to a second position in the system.

[0387] Embodiment 45: The system described in embodiment 44, wherein the pick-and-place mechanism comprises a container gripper mounted on a robotic arm.

[0388] Embodiment 46: A system described in any one of embodiments 42 to 45, wherein the printing module further comprises a housing that at least partially encloses the expandable printing mechanism and the movement assembly.

[0389] Embodiment 47: The system described in embodiment 46, further comprising an opening formed in the housing through which the second container can be moved into or out of the housing of the printing module.

[0390]

[0081] Embodiment 48: An expandable printing mechanism comprising: a first support element having one or more contact element(s), the one or more contact elements being operatively supported thereon; and a second support element supporting the print head thereon; A system as described in any one of embodiments 42 to 47, wherein the first support element and the second support element are configured to move relative to each other between an open configuration of the expandable printing mechanism and a printing configuration of the expandable printing feature, and the contact element(s) are configured to contact a second container received within the printing module to hold the curved surface in an operative position relative to the print head when the expandable printing mechanism is in the printing configuration.

[0391] Embodiment 49: The system described in embodiment 48, wherein the expandable printing mechanism further comprises an expander mechanism configured to effect relative movement of the first and second support elements between the open configuration and the printing configuration.

[0392] Embodiment 50: A system described in embodiment 48 or 49, wherein the one or more contact elements comprise a first roller and a second roller rotatably mounted to the first support element.

[0393] Embodiment 51: The first roller extends axially; 51. The system of embodiment 50, wherein the second roller comprises a first head portion having a first diameter extending axially along the length of the roller, an extension portion having a second diameter smaller than the first diameter, and a second head portion having a third diameter larger than the second diameter. Tem.

[0394] Embodiment 52: The system described in embodiment 51, wherein the third diameter is equal to the first diameter.

[0395] Embodiment 53: A system described in any one of embodiments 50 to 52, wherein the first roller is cylindrical.

[0396] Embodiment 54: A system described in any one of embodiments 50 to 52, wherein the first roller has a varying diameter that increases from each axial end of the roller toward the axial center of the roller.

[0397] Embodiment 55: the first support element comprises a roller bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the first roller and the second roller being rotatably mounted between the first and second flanges; the second support element comprises a print head bracket having an upper flange, a lower flange, and a web extending between the upper and lower flanges, the roller bracket and the print head bracket being oriented such that the webs of the roller bracket and the print head bracket are generally parallel to one another; A system described in any one of embodiments 50 to 54, wherein the roller bracket and the print head bracket are pivotally mounted on a common pivot shaft, such that the roller bracket and the print head bracket are hingedly pivotable relative to each other about the pivot shaft between an open configuration and a printing configuration.

[0398] Embodiment 56: the first and second support elements are pivotally mounted on a common pivot shaft such that the first and second support elements are hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration; and an expander mechanism; a driven shaft disposed between the first and second support elements, the driven shaft being generally parallel to the pivot shaft; 56. The system of any one of embodiments 49 to 55, comprising: a cam element attached to and rotatable with the driven shaft and in contact with both the first and second support elements, the cam element having a varying diameter such that in one orientation of the cam element, a portion of the cam element in contact with the first and second support elements holds the first and second support elements apart a first distance corresponding to an open configuration of the expandable printing mechanism, and in another orientation of the cam element, a portion of the cam element in contact with the first and second support elements holds the first and second support elements apart a second distance corresponding to a printing configuration of the expandable printing mechanism.

[0399] Embodiment 57: The system described in embodiment 56, wherein the cam element includes a cam disc fixed to and coaxial with the driven shaft, the cam disc having a variable radius, whereby in a first rotational position of the cam disc, a portion of the cam disc having a first radius contacts the first and second support elements to hold the first and second support elements apart at a first distance corresponding to the open configuration, and in a second rotational position of the cam disc, a portion of the cam disc having a second radius smaller than the first radius contacts the first and second support elements to hold the first and second support elements apart at a second distance corresponding to the printing configuration.

[0400] Embodiment 58: The system described in embodiment 56 or 57, wherein the expander mechanism further comprises a spring extending between the first and second support elements and configured to bias the first and second support elements into contact with the cam element.

[0401] Embodiment 59: Each of the first and second support elements has a roller mounted thereon. 59. The system of any one of embodiments 56 to 58, further comprising a bearing, wherein the cam element contacts a roller bearing of each of the first and second support elements.

[0402] Embodiment 60: a pulley wheel mounted coaxially on the driven shaft; a motor having an output shaft and a drive wheel; 60. The system of any one of embodiments 56-59, further comprising a drive mechanism comprising a drive belt connecting the drive wheel to the pulley wheel.

[0403] Embodiment 61: A system described in any one of embodiments 56 to 60, wherein the expander mechanism further comprises a rotational position sensor configured to detect the rotational position of the driven shaft and the cam element.

[0404] Embodiment 62: A rotational position sensor comprising: an index wheel coaxially coupled to the driven shaft, the index wheel having one or more detectable features formed therein or attached thereto at designated rotational positions; 62. The system of embodiment 61, further comprising: an optical sensor configured to detect one or more detectable characteristics when the driven shaft and the index wheel rotate relative to the optical sensor.

[0405] Embodiment 63: A system described in any one of embodiments 56 to 62, further comprising a hand wheel attached to the driven shaft and configured to enable manual rotation of the driven shaft and the cam element.

[0406] Embodiment 64: A system described in any one of embodiments 48 to 63, wherein the second support element comprises a print head platen on which the print head is mounted.

[0407] Embodiment 65: The system described in embodiment 64, wherein the print head platen is configured and mounted such that its position on the second support element can be laterally adjusted.

[0408] Embodiment 66: The system described in embodiment 65, further comprising a platen shaft attached to the second support element, the platen shaft extending through a portion of the print head platen to allow lateral movement of the print head platen along the platen axis.

[0409] Embodiment 67: The system described in embodiment 66, further comprising a platen adjustment lever pivotally mounted to the second support element, the platen adjustment lever including a contact point that contacts a portion of the print head platen, and configured such that pivotal movement of the platen adjustment lever results in lateral movement of the print head platen along the platen shaft.

[0410] Embodiment 68: The system described in embodiment 67, wherein the platen adjustment lever includes a protrusion configured to be inserted into one of a plurality of holes formed in the second support element to fix the platen adjustment lever at a selected rotational position.

[0411] Embodiment 69: A system described in any one of embodiments 42 to 68, further comprising a timing mark sensor configured to detect timing marks on a curved surface.

[0412] Embodiment 70: A moving assembly comprising: a carousel configured for motorized rotation; A release position that allows an article to be placed in or removed from the print module. and a movable gripper element configured to be movable between a gripping position that secures the second container relative to the carousel such that the article rotates with the carousel.

[0413] Embodiment 71: The system described in embodiment 70, wherein each gripper element comprises a gripper assembly coupled to a carousel, and the gripper assemblies are configured such that rotation of the carousel in a first direction causes all of the gripper assemblies to move radially inward toward a gripping position relative to a second container placed between the gripper assemblies, and rotation of the carousel in a second direction opposite to the first direction causes all of the gripper assemblies to move radially outward toward a release position relative to the second container.

[0414] Embodiment 72: The system described in embodiment 71, comprising three gripper assemblies.

[0415] Embodiment 73: A carousel comprising: The upper disc and A system described in any one of embodiments 70 to 72, comprising an upper disk and a lower disk arranged coaxially therewith, wherein the upper and lower disks are rotatable relative to each other.

[0416] Embodiment 74: Each gripper element comprises a pivoting gripper assembly, the pivoting gripper assembly comprising: a pivot arm disposed between an upper disc and a lower disc of the carousel and pivotally attached to the upper disc; a knurled wheel rotatably mounted on a shaft extending from the pivot arm above and through the upper disc; 74. The system of embodiment 73, comprising: a guide pin extending from the pivot arm into an associated guide slot formed in the lower disk.

[0417] Embodiment 75: A system as described in embodiment 74, wherein a first end of each guide slot formed in the lower disk is closer to the radial center of the lower disk than a second end of the guide slot.

[0418] Embodiment 76: The moving assembly further comprises a drive mechanism, the drive mechanism comprising: a motor having an output shaft and a drive wheel; A system as described in any one of embodiments 70 to 75, comprising a drive belt connecting the drive wheel to the carousel.

[0419] Embodiment 77: The system described in embodiment 76, wherein the carousel includes peripheral gear teeth for engagement by the drive belt.

[0420] Embodiment 78: The system of any one of embodiments 42 to 77, wherein the print head comprises a thermal print head.

[0421] Embodiment 79: A method of processing sample material in a sample processing system, comprising: (a) automatically reading, with a code reading device, a first machine-readable indicia on a surface of a first sample container containing a volume of sample material, wherein information related to the sample material contained in the first sample container is coded in the first machine-readable indicia; (b) automatically applying a second machine-readable indicia onto the curved surface of the second sample container; A second machine-readable indicia applied to the curved surface is read from the first sample container in step (a). a first machine-readable indicator associated with the first machine-readable indicator; Automatically applying the second machine-readable indicia onto the curved surface includes printing the second machine-readable indicia directly onto the curved surface with a printing module, the printing module comprising: (i) a print head; (ii) one or more contact elements configured to hold the second sample container relative to the print head so as to hold the curved surface in an operative position relative to the print head; (iii) a translation assembly configured to hold the second sample container and rotate the second sample container to move the curved surface relative to the print head; (c) automatically transferring a quantity of sample material from the first sample container to the second sample container using an automated material transfer device.

[0422] Embodiment 80: The method of claim 79, further comprising, prior to step (b), moving the second sample container from the input rack to the printing module using a robotic pick-and-place mechanism.

[0423] Embodiment 81: The method described in embodiment 79 or 80, further comprising, after step (b) and before step (c), moving the second sample container from the printing module to the sample processing station using a robotic pick-and-place mechanism.

[0424] Embodiment 82: The method of embodiment 81, further comprising, after step (c), moving the second sample container from the sample processing station to an output rack using a robotic pick-and-place mechanism.

[0425] Embodiment 83: The method of any one of embodiments 79 to 82, wherein the first machine-readable label comprises a first bar code and the second machine-readable label comprises a second bar code.

[0426] Embodiment 84: The method of embodiment 83, wherein the first and second barcodes are at least partially identical.

[0427] Embodiment 85: The method of any one of embodiments 79 to 84, wherein the second sample container initially comprises a blank label, and the second machine-readable indicia is printed on the blank label.

[0428] Embodiment 86: The method of any one of embodiments 79 to 85, wherein the print head is a thermal print head and the curved surface comprises a thermally sensitive print medium.

[0429] Embodiment 87: The method of any one of embodiments 79 to 86, wherein the information related to the sample material includes sample identification information.

[0430] Embodiment 88: A method according to any one of embodiments 79 to 87, wherein the information relating to the sample material includes sample identification information, and the second machine-readable mark applied to the curved surface of the second sample container is at least partially identical to the first machine-readable mark on the first sample container.

[0431] Embodiment 89: The method of embodiment 88, wherein the second machine-readable marking applied to the curved surface of the second sample container includes an additional machine-readable marking that is different from the first machine-readable marking on the first sample container, and the additional machine-readable marking is encoded with information related to one or more of time, volume, sample type, reagents, test procedures, and errors.

[0432] Embodiment 90: A method of controlling a printing process in which a print head prints an image on a predefined printable area of ​​a label, comprising: (a) providing relative movement between a timing mark sensor and a label; (b) during step (a), detecting the position of the timing mark with a timing mark sensor; (c) after step (b), effecting relative movement between the print head and the label to position the print head at an image location a specified distance away from the location of the timing mark detected in step (b); (d) actuating the print head; and (e) during step (d), providing relative movement between the print head and the label at a specified image distance to print an image on the printable area.

[0433] Embodiment 91: The method of embodiment 90, wherein the image comprises a barcode.

[0434] Embodiment 92: The method of embodiment 90 or 91, wherein the label is disposed on a curved surface of the article, and causing relative movement between the label and the timing mark sensor, and between the label and the print head, includes rotating the article relative to the timing mark sensor and the print head.

[0435] Embodiment 93: A method according to any one of embodiments 90 to 92, wherein the timing mark sensor is configured to detect the reflectivity of a surface passing in front of the timing mark sensor, and step (b) includes detecting the reflectivity of a portion of the label passing in front of the timing mark sensor, wherein the reflectivity of the timing mark is different from the reflectivity of the remainder of the timing mark on the label.

[0436] Embodiment 94: The method of any one of embodiments 90 to 93, further comprising detecting the presence of a label before performing step (a).

[0437] Embodiment 95: The method of embodiment 94, wherein the presence of a label is detected by a timing mark sensor based on a change in reflectance due to the presence of a label exceeding a predefined printing surface presence threshold.

[0438] Embodiment 96: The method of embodiment 93, further comprising generating a waveform from the output of the timing mark sensor based on the reflectivity of a portion of the label passing through the timing mark sensor, wherein the timing mark is detected by detecting a change in the waveform that exceeds a predetermined threshold value of the timing mark.

[0439] Embodiment 97: The method of embodiment 96, further comprising detecting a first edge of the timing mark based on a change in the waveform below a negative threshold of the timing mark, and detecting a second edge of the timing mark based on a change in the waveform above a positive threshold of the timing mark.

[0440] Embodiment 98: A method as described in embodiment 96 or 97, wherein the waveform includes a plurality of data points continuously recorded from the output of the timing mark sensor, and detecting a change in the waveform includes comparing a first waveform value for a current data point to a second waveform value for a data point recorded at a predetermined time prior to the current data point, and determining whether the first waveform value exhibits a difference compared to the second waveform value that is greater than a timing mark predetermined threshold.

[0441] Embodiment 99: A method according to any one of embodiments 90 to 98, further comprising the step of printing a timing mark modification on the label that is detectable by a timing mark sensor to indicate that the label has been printed.

[0442] Embodiment 100: The method of embodiment 99, wherein printing the timing mark modification includes printing an image that alters the timing mark in a manner detectable by a timing mark sensor.

[0443] Embodiment 101: The method of embodiment 99, wherein printing the timing mark modification portion includes printing an additional mark that is different from the timing mark.

[0444] Embodiment 102: A method according to any one of embodiments 99 to 101, wherein step (c) includes effecting relative movement between the print head and the label by a first predetermined distance to position the print head at a print start position on the timing mark, and printing the timing mark correction portion includes actuating the print head to effect relative movement between the print head and the label.

[0445] Embodiment 103: Printing a timing mark correction portion, activating the print head to effect a first stage of relative movement between the print head and the label; terminating the first stage when the timing mark is detected by the timing mark sensor; activating the print head to effect a second stage of relative movement between the print head and the label defined by a specified amount of relative movement between the print head and the label.

[0446] Embodiment 104: The method described in embodiment 102 or 103, wherein step (c) further includes causing relative movement between the print head and the label by a third predetermined distance without operating the print head to create a printing gap following the timing mark correction portion, and after the relative movement by the third predetermined distance, the print head is in the printable area.

[0447] Embodiment 105: A method described in any one of embodiments 90 to 104, wherein step (b) includes determining the positions of the leading and trailing edges of the timing mark relative to the direction of relative movement between the timing mark sensor and the label, and step (c) includes effecting relative movement between the print head and the label to position the print head at an image position a specified distance away from the position of the trailing edge of the timing mark.

[0448] EMBODIMENT 106: setting a brightness of the timing mark sensor to a first level that causes an output of the timing mark sensor to exceed an upper output limit; A method according to any one of embodiments 93 to 105, further comprising the step of measuring the brightness by periodically varying the brightness of the timing mark sensor while effecting relative movement between the timing mark sensor and the label until the output of the timing mark sensor is between a lower output limit and an upper output limit throughout movement of the sensor relative to the entire label.

[0449] Embodiment 107: A method according to any one of embodiments 90 to 106, further comprising a step of determining a length of the timing mark and comparing the determined length of the timing mark with an expected length of the timing mark.

[0450] Embodiment 108: The method of embodiment 107, further comprising completing steps (c) to (e) only if the length of the timing mark is within a predetermined range of the expected length of the timing mark.

[0451]

[0081] Embodiment 109: The method further includes determining a length of the timing mark and comparing the determined length of the timing mark to an expected length, wherein determining the length of the timing mark includes: calculating a first point on the waveform where a change in the waveform falls below a negative threshold of a timing mark; calculating a second point on the waveform where the change in the waveform exceeds a negative threshold value of the timing mark; calculating a third point on the waveform where the change in the waveform exceeds a positive threshold of the timing mark; calculating a fourth point on the waveform where the change in the waveform falls below a positive threshold of the timing mark; 98. The method of embodiment 97, comprising: calculating the length of the timing mark as the relative movement between the timing mark sensor and the label between a point that bisects the first and second points and a point that bisects the third and fourth points.

[0452] EMBODIMENT 110: (f) after step (e), causing relative movement between the timing mark sensor and the label; (g) during step (f), detecting the position of a timing mark on the label with a timing mark sensor; (h) determining a relative amount of movement between the timing mark sensor and the label when the timing mark is detected in step (g); A method according to any one of embodiments 90 to 109, comprising: (i) comparing the relative movement detected in step (h) with the expected distance between the end of the image printed in step (e) and the timing mark.

[0453] Embodiment 111: The method of any one of embodiments 93 to 110, wherein the timing mark is darker than its surroundings such that the reflectivity of the timing mark is lower than the reflectivity of its surroundings.

[0454] Embodiment 112: The method of any one of embodiments 93 to 110, wherein the timing mark is brighter than its surroundings such that the reflectivity of the timing mark is higher than the reflectivity of its surroundings.

[0455] Embodiment 113: The method of embodiment 99 or 100, wherein printing the timing mark modification portion includes printing an extension portion to increase the length of the timing mark.

[0456] Embodiment 114: The method of any one of embodiments 90 to 98, wherein the timing mark comprises a cut-out portion in the label.

[0457] Embodiment 115: A method according to any one of embodiments 90 to 98, wherein the timing mark comprises one or more encoder marks of a series of encoder marks.

[0458] Embodiment 116: The method of any one of embodiments 90 to 92, wherein the timing mark comprises a physical feature formed on a surface of the article to which the label is affixed.

[0459] Embodiment 117: A method according to any one of embodiments 90 to 99, wherein the timing mark comprises a one-dimensional or two-dimensional barcode.

[0460] Embodiment 118: The method of embodiment 99, wherein the timing mark comprises a one-dimensional or two-dimensional barcode, and printing the timing mark modification portion includes printing the one-dimensional or two-dimensional barcode.

[0461] Embodiment 119: The method of embodiment 117, wherein the timing mark comprises a two-dimensional barcode, and detecting the position of the timing mark includes identifying a position of known coordinates within the two-dimensional barcode using a two-dimensional barcode reader.

[0462] Embodiment 120: The method of embodiment 117, wherein the timing mark comprises a one-dimensional barcode, and detecting the position of the timing mark includes identifying a leading edge of the one-dimensional barcode as the first position at which a one-dimensional barcode reader can read the one-dimensional barcode.

[0463] Embodiment 121: A method of controlling a printing process in which a print head prints an image on a label affixed to a tube positioned adjacent the print head and adjacent a sensor configured to detect optical and / or physical characteristics of the label, comprising: (a) sending a command to a sensor to detect the presence of a label affixed to the tube, the sensor (1) does not produce a signal indicating the presence of the label; or (2) producing a signal indicative of the presence of the label; (b) if in step (a) the sensor generates a signal indicative of the presence of a label, sending a command to the sensor to detect the location of a timing mark on the label, and if the sensor does not generate a signal indicative of the location of a timing mark on the label; (c) if in step (a) the sensor does not generate a signal indicating the presence of a label or if in step (b) the sensor does not generate a signal indicating the position of a timing mark on the label, selectively actuating the print head while effecting relative movement between the print head and the label to print a plurality of alternating images at a plurality of locations on the label.

[0464] Embodiment 122: A method of controlling a printing process in which a print head prints an image on a label affixed to a tube positioned adjacent the print head and adjacent a sensor configured to detect optical and / or physical characteristics of the label, comprising: (a) sending a command to a sensor to detect the presence of a label affixed to the tube, the sensor not generating a signal indicative of the presence of the label; (b) after step (a), selectively actuating the print head while effecting relative movement between the print head and the label to print a plurality of alternating images at a plurality of locations on the label.

[0465] Embodiment 123: A method of controlling a printing process in which a print head prints an image on a label affixed to a tube positioned adjacent the print head and adjacent a sensor configured to detect optical and / or physical characteristics of the label, comprising: (a) detecting the presence of a label affixed to a tube with a sensor; (b) after step (a), sending a command to a sensor to detect the location of a timing mark on the label, the sensor not generating a signal indicative of the location of the timing mark on the label; (c) after step (b), selectively actuating the print head while effecting relative movement between the print head and the label to print a plurality of alternating images at a plurality of locations on the label.

[0466] The subject matter of the present disclosure is directed to specific illustrative embodiments, including various combinations and subcombinations of features. While the present invention has been described and illustrated in great detail with reference to certain embodiments, those skilled in the art will readily appreciate that other embodiments and variations, and modifications thereof, are encompassed within the scope of the present invention. Moreover, the description of such embodiments, combinations, and subcombinations is not intended to convey that the subject matter requires features or combinations of features other than those expressly recited in the claims. Accordingly, the subject matter is intended to include all modifications and variations encompassed within the scope of the following appended claims.

Claims

1. A method for processing sample material in a sample processing system, the method comprising: (a) automatically reading, with a code reading device, a first machine-readable indicia on a surface of a first sample container containing a volume of sample material, wherein information related to the sample material contained in the first sample container is coded in the first machine-readable indicia; (b) automatically applying a second machine-readable indicia onto the curved surface of a second sample container; the second machine-readable indicia applied to the curved surface comprises an indicia related to the first machine-readable indicia read from the first sample vessel in step (a); Automatically applying the second machine-readable indicia onto the curved surface includes printing the second machine-readable indicia directly onto the curved surface with a printing module, the printing module comprising: (i) a print head; (ii) one or more contact elements configured to hold the second sample container against the print head so as to hold the curved surface in an operative position relative to the print head; and (iii) a first support element on which the one or more contact elements are operatively supported; and (iv) a second support element supporting the print head; (v) a common pivot shaft to which the first support element and the second support element are pivotally mounted, the first support element and the second support element being hingedly pivotable relative to one another about the pivot shaft between an open configuration and a printing configuration, the open configuration allowing the second sample container to be received into or removed from the printing module, the printing configuration placing the curved surface in the operative position relative to the print head and maintaining the curved surface in the operative position relative to the print head during relative movement of the curved surface to the print head; (vi) an extension mechanism configured to provide relative movement of the first support element and the second support element between the open configuration and the printing configuration; and (vii) a translation assembly configured to hold the second sample vessel and rotate the second sample vessel to move the curved surface relative to the print head; and and (c) automatically transferring a quantity of sample material from the first sample container to the second sample container using an automated material transfer device; A method comprising:

2. The method of claim 1, further comprising, prior to step (b), moving a second sample container from an input rack to the printing module using a robotic pick-and-place mechanism.

3. The method of claim 1 or claim 2, further comprising, after step (b) and before step (c), moving a second sample container from the printing module to a sample processing station using a robotic pick-and-place mechanism.

4. The method of claim 3, further comprising, after step (c), moving the second sample container from the sample processing station to an output rack using the robotic pick-and-place mechanism.

5. A method according to any one of claims 1 to 4, wherein the first machine-readable sign comprises a first barcode and the second machine-readable sign comprises a second barcode.

6. The method of claim 5, wherein the first barcode and the second barcode are at least partially identical.

7. The method of claim 1, wherein the second sample container initially includes a blank label, and the second machine-readable indicia is printed on the blank label.

8. The method of claim 1, wherein the print head is a thermal print head and the curved surface is provided with a heat-sensitive print medium.

9. A method according to any one of claims 1 to 8, wherein the information relating to the sample material includes sample identification information.

10. A method according to any one of claims 1 to 9, wherein the information relating to the sample material includes sample identification information, and the second machine-readable label applied to the curved surface of the second sample container is at least partially identical to the first machine-readable label on the first sample container.

11. The method of claim 10, wherein the second machine-readable marking applied to the curved surface of the second sample container includes an additional machine-readable marking different from the first machine-readable marking on the first sample container, and the additional machine-readable marking is encoded with information related to one or more of time, volume, sample type, reagents, test procedure, test result, and error.

Images