Laboratory instrument alignment system and liquid handling system, and methods including same - Patents.com

Abstract

A lab instrument alignment system for use with lab instruments includes a frame and a locking system. The frame includes a seat. The locking system includes a pusher and a pusher actuator. The pusher is movable relative to the frame between an open position and a closed position. The pusher actuator includes an actuator linkage and a biasing mechanism. The actuator linkage is configured to move the pusher from the closed position toward the open position when the actuator linkage is displaced, and to allow the pusher to move toward the closed position when the actuator linkage is not displaced. The biasing mechanism functions to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align the lab instruments within the seat.

Description

[Technical field]

[0001] The present technology relates to laboratory equipment, and more particularly to devices and methods for handling laboratory equipment.

[0002] [Related Applications] This application claims the benefit of and priority to U.S. Provisional Patent Application No. 62 / 962,357, filed January 17, 2020, and U.S. Provisional Patent Application No. 62 / 964,441, filed January 22, 2020, the disclosures of which are incorporated herein by reference in their entireties. [Background technology]

[0003] Laboratory liquid handling systems are used to transfer and manipulate volumes of liquid. One or more liquid samples can be provided in labware containers (e.g., microwell plates or sample tube holders) within the liquid handling system. The liquid handling system may include one or more pipettors that are used to remove portions of samples from the labware (e.g., by aspiration) and / or add materials to the samples in the labware (e.g., by dispensing). In some cases, it may be desirable or necessary to move labware or tools within the system. It may be desirable or necessary to robotically move and place labware and / or to robotically perform procedures on labware, sometimes automatically and programmatically. It may also be desirable or necessary to attach pipette tips onto the pipettor and / or remove pipette tips from the pipettor. Summary of the Invention

[0004] According to some embodiments, a labware aligning system for use with labware comprises a frame and a fixation system. The frame comprises a seat. The fixation system comprises a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator comprises an actuator linkage and a biasing mechanism. The actuator linkage is configured to move the pusher from the closed position towards the open position when the actuator linkage is displaced and to allow the pusher to move towards the closed position when the actuator linkage is not displaced. The biasing mechanism functions to urge the pusher towards the closed position when the actuator linkage is not displaced, thereby causing the pusher to align the labware within the seat.

[0005] In some embodiments, the biasing mechanism includes a spring.

[0006] In some embodiments, the frame includes a barrier adjacent the seat and facing the pusher, and when the labware is positioned in the seat and the actuator linkage allows the pusher to move from the open position toward the closed position, the biasing mechanism urges the pusher against the barrier.

[0007] According to some embodiments, when the lab implement is positioned in the seat and the actuator linkage allows the pusher to move from the open position towards the closed position, the pusher displaces the lab implement into alignment with the seat.

[0008] In some embodiments, the pusher comprises an angled seating surface that faces laterally inwardly towards the seat and upwardly away from the seat.

[0009] According to some embodiments, the actuator linkage includes an engagement member and is configured to be displaced by an operator to displace the actuator linkage to move the pusher from the closed position toward the open position.

[0010] In some embodiments, the actuator linkage is configured to allow the pusher to move from the open position toward the closed position when the operator releases the engagement member.

[0011] In some embodiments, the engagement member is mechanically coupled to the pusher.

[0012] In some embodiments, the engagement member includes a lever member that redirects movement by an operator in a first direction into translational movement of the pusher in a second direction transverse to the first direction.

[0013] In some embodiments, the first direction is vertical and the second direction is horizontal.

[0014] According to some embodiments, the actuator linkage includes guide features that restrict movement of the pusher to linear translation along the pusher travel axis.

[0015] According to some embodiments, the lab instrument alignment system further comprises a sensing system operable to determine the position of the pusher.

[0016] In some embodiments, the detection system includes a light emitter that generates a light beam and a light detector configured to receive the light beam, the pusher prevents the light beam from reaching the light detector when the pusher is in a closed position, and the pusher allows the light beam to reach the light detector when the pusher is displaced by a lab implement within the seat.

[0017] According to some embodiments, the labware is at least one of a tip box, a pipette tip box, a well plate, a micro-well plate, and a rack configured to hold a plurality of fluid receptacles.

[0018] Methods are also disclosed, including a method of aligning lab implements comprising providing a lab implement alignment system comprising a frame and a fixation system. The frame comprises a seat. The fixation system comprises a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator comprises a biasing mechanism operable to urge the pusher from the open position towards the closed position and an actuator linkage. The method further comprises causing the actuator linkage to move the pusher from the closed position towards the open position by mechanically displacing the actuator linkage, positioning the lab implement within the seat with the pusher in the open position, and releasing the actuator linkage to allow the biasing mechanism to move the pusher towards the closed position, thereby causing the pusher to align the lab implement within the seat.

[0019] According to some embodiments, the method further includes providing a transport system operable to move the laboratory equipment, the transport system comprising a carrier configured to releasably hold the laboratory equipment, and mechanically displacing the actuator linkage includes displacing the engagement member with the carrier, and the method further includes removing the carrier from the laboratory equipment, and releasing the actuator linkage includes withdrawing the carrier from the actuator linkage.

[0020] According to some embodiments, a liquid handling system for use with a labware comprises an alignment system and a liquid handler. The alignment system comprises a frame and a clamping system. The frame comprises a seat. The clamping system comprises a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator comprises an actuator linkage and a biasing mechanism. The actuator linkage is configured to move the pusher from the closed position towards the open position when the actuator linkage is displaced and to allow the pusher to move towards the closed position when the actuator linkage is not displaced. The biasing mechanism functions to urge the pusher towards the closed position when the actuator linkage is not displaced, thereby causing the pusher to align the labware within the seat.

[0021] In some embodiments, the liquid handling system further comprises a transport system operable to move the labware, the transport system comprising a carrier configured to releasably hold the labware, the transport system configured to displace the actuator linkage to move the pusher from the closed position towards the open position and to deposit the labware into the seat.

[0022] According to some embodiments, a labware handling system for use with labware comprises a transport system and an alignment system. The transport system is operable to move the labware. The transport system comprises a carrier configured to releasably hold the labware. The alignment system comprises a frame and a clamping system. The frame comprises a seat. The clamping system comprises a pusher and a pusher actuator. The pusher is movable between an open position and a closed position relative to the frame. The pusher actuator comprises an actuator linkage and a biasing mechanism. The actuator linkage is configured to move the pusher from the closed position towards the open position when the actuator linkage is displaced by the carrier and to allow the pusher to move towards the closed position when the actuator linkage is not displaced. The biasing mechanism functions to urge the pusher towards the closed position when the actuator linkage is not displaced, thereby causing the pusher to align the labware within the seat.

[0023] According to some embodiments, the actuator linkage comprises an engagement member that is displaced by the carrier when the carrier moves towards the seat to lower the lab implement into the seat.

[0024] In some embodiments, the actuator linkage is configured to allow the pusher to move from the open position toward the closed position when the carrier moves away from the engagement member to release the engagement member.

[0025] In some embodiments, the engagement member is mechanically coupled to the pusher.

[0026] In some embodiments, the engagement member includes a lever member that redirects movement of the carrier in a first direction into translational movement of the pusher in a second direction transverse to the first direction.

[0027] In some embodiments, the first direction is vertical and the second direction is horizontal.

[0028] According to some embodiments, the carrier comprises a gripper configured to hold the labware.

[0029] In some embodiments, the carrier comprises a carrier arm, a support feature extending from the carrier arm, and a carrier actuator, the support feature configured to engage and support the lab instrument, and the carrier actuator operable to disengage the support feature from the lab instrument to release the lab instrument from the carrier and into the seat.

[0030] According to some embodiments, the transport system comprises a robotic arm and the carrier is an end effector on the robotic arm.

[0031] According to some embodiments, the labware handling system further comprises a controller configured to automatically and programmatically operate the transport system to lower the labware into the seat and to remove the labware from the seat.

[0032] The accompanying drawings, which form a part hereof, illustrate embodiments of the present technology. [Brief description of the drawings]

[0033] [Figure 1] FIG. 1 is a front view of an illustrative laboratory liquid handling system including a labware handling system. [Diagram 2] FIG. 2 is a fragmentary, upper rear perspective view of the laboratory instrument handling system according to FIG. 1; [Diagram 3] FIG. 2 is a fragmentary exploded top front perspective view of the laboratory instrument handling system according to FIG. 1; [Figure 4] FIG. 2 is a fragmentary exploded top rear perspective view of a labware holder forming part of the labware handling system according to FIG. 1; [Diagram 5]FIG. 5 is a side view of a pusher forming part of the laboratory equipment holder according to FIG. 4. [Figure 6] FIG. 2 is a fragmentary top view of the lab instrument handling system of FIG. 1 with the pusher in the open position. [Figure 7] FIG. 2 is a fragmentary side view of the lab instrument handling system according to FIG. 1, with the pusher in the open position. [Figure 8] FIG. 2 is a fragmentary bottom perspective view of the lab instrument handling system according to FIG. 1, with the pusher in the open position. [Figure 9] FIG. 2 is a fragmentary top view of the labware handling system according to FIG. 1 with the labware placed in the labware holder, the carrier arms in the open position, and the pusher in the open position. [Figure 10] FIG. 5 is a top view of the labware holder according to FIG. 4, with the labware seated in the labware holder and the pusher in a fixed position. [Figure 11] FIG. 2 is a fragmentary side view of the laboratory liquid handling system of FIG. 1 with the labware seated in the labware holder, the pusher in a fixed position, and the pipette tips removed from the labware. [Figure 12] FIG. 5 is a fragmentary side view of the laboratory liquid handling system of FIG. 1 with an alternative labware seated in the labware holder and with the pipettors aligned with the vials in the labware seated in the labware holder of FIG. [Figure 13] FIG. 2 is a schematic diagram of a controller forming part of a laboratory liquid handling system such as the system of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] The present technology will now be described in more detail hereinafter with reference to the accompanying drawings, in which illustrative embodiments of the technology are shown. In the drawings, the relative sizes of regions or features may be exaggerated for clarity. However, the present technology may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the technology to those skilled in the art.

[0035] Although terms such as "first", "second", etc. may be used herein to describe various components, components, regions, layers, and / or sections, it will be understood that these components, components, regions, layers, and / or sections should not be limited by these terms. These terms are used only to distinguish one component, component, region, layer, or section from another region, layer, or section. Thus, a first component, component, region, layer, or section discussed below may be termed a second component, component, region, layer, or section without departing from the teachings of the present technology.

[0036] Spatially relative terms such as "beneath," "below," "lower," "above," "upper," and the like may be used herein for ease of description to describe the relationship of one element or feature to another element or feature(s) shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. For example, if the device in the figures were inverted, an element described as "below" or "beneath" the other element or feature would then be oriented "above" the other element or feature. Thus, the exemplary term "below" can encompass both an "above" orientation and a "below" orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein would be interpreted accordingly.

[0037] As used herein, unless expressly stated otherwise, the singular forms "a," "an," and "the" are intended to encompass the plural. It will be further understood that the terms "includes," "comprises," and / or "including," as used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intervening elements. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0038] The term "automatically" means that an action is performed substantially, and possibly entirely, without human or manual input, and may be directed or executed programmatically.

[0039] The term "programmatically" refers to operations that are directed and / or primarily performed electronically by computer program modules, code, and / or instructions.

[0040] The term "electronically" includes both wireless and wired connections between components.

[0041] Referring to Figure 1, an exemplary labware handling system 101 is shown in accordance with certain embodiments of the present technology. The exemplary labware handling system 101 forms part of a liquid handling system 10 (Figure 1) in accordance with an exemplary embodiment of the present technology, however, it should be understood that the disclosed methods, systems, and apparatus are not limited to liquid handling systems and / or applications, and the present disclosure is applicable to other systems and applications where alignment of labware is desired. With respect to the embodiment of Figure 1, the labware handling system 101 transports and positions the labware 50 within the system 10.

[0042] As discussed in more detail below, the illustrated example labware handling system 101 includes a labware transport system 70 and a labware alignment system or labware holder 100 (hereafter referred to as labware holder 100). In some embodiments, the labware transport system 70 transports the labware 50 and places the labware 50 in the labware holder 100. In other embodiments or uses, the labware transport system 70 is not provided or is not used to transport the labware 50 and / or place the labware 50 in the labware holder 100.

[0043] With reference to FIG. 1, the exemplary system 10 includes a platform or deck 12 , a frame 14 , a controller 20 , an analytical instrument 16 , a liquid handler 30 , a pipetting module 40 , and a pipetting module positioner 49 .

[0044] For purposes of discussion, and as shown in Figures 1 and 6, the workspace is defined as having a Z-axis that corresponds to vertical, and X- and Y-axes that together define a horizontal plane.

[0045] In the illustrated embodiment, labware 50 is a container that is transportable (relative to deck 12) within the work area, although the disclosure is not limited to the type of labware. The illustrated labware includes a tray, rack, carrier, or platter 52 (FIG. 3) and a number of target units or objects 60 (FIG. 3) mounted on platter 52. In some embodiments, such as the illustrated embodiment, objects 60 are pipette tips.

[0046] However, the labware may take other forms depending on the embodiment of the present technology. In some embodiments, the labware 50 is a container configured to hold one or more liquid samples to be manipulated by the system 10. The labware 50 may include a plurality of receptacles, each configured to hold a respective liquid sample. The receptacles may be individual vials or other containers that removably seat within the platter 52 in place of the pipette tips 60. As a further example, the labware 50 may be or include a well plate or microwell plate that includes an integral recess or receptacle for directly receiving a liquid sample. However, it will be understood that the disclosed methods, systems, and devices are not limited to use with labware that holds objects (e.g., pipette tips) or liquid samples.

[0047] Labware 50 may be or may include a platter or rack of another configuration that holds pipette tips, vials, or other suitable types of liquid containers or vessels.

[0048] The example platter 52 of FIG. 3 includes carrier engagement features in the form of grooves 54 extending horizontally along both sides of the platter 52. The example platter 52 also includes a plurality of receptacles or slots 57, each accessible from the top side of the platter 52. In such a system, pipette tips 60 may be individually mounted within a respective slot 57. In some embodiments, the slots 57 are arranged in a defined XY array. For example, the example platter 52 includes an 8×12 array of slots 57 (for a total of 96 slots).

[0049] 1, liquid handler 30 may be understood as any device capable of aspirating and / or dispensing a desired amount of liquid from a container. An example liquid handler 30 may include, for example, a syringe or a pump fluidly connected to a pipetting module 40 by one or more lengths of tubing 30A. The example liquid handler 30 may be controlled by controller 20.

[0050] The exemplary pipetting module 40 can include a housing or base 42 and a number of pipettors 44 mounted on the base 42. The pipettors 44 can be arranged, for example, in a single row or in a defined XY array.

[0051] A pipetting module positioner 49 may be provided in embodiments to move the pipetting module 40 about the deck 12. The pipetting module 40 may include one or more pipette actuators 49A to selectively lower and raise (extend and retract) the pipette 44 relative to the base 42 and / or raise and lower the base 42 relative to the deck 12. The pipetting module positioner 49 and the actuator(s) 49A may be controlled by the controller 20.

[0052] With reference to FIG. 11 and with continued reference to the illustrative embodiment of FIG. 1, it can be seen that each pipettor 44 has a longitudinal axis TT and a distal end 46. Similarly, it can be seen that each pipettor 44 has an axially extending passageway 48B that terminates at an opening 48A at the distal end 46. In use in accordance with the system according to FIG. 1, each pipettor 44 can be raised and lowered along the longitudinal axis TT by a pipettor actuator(s) 49A. In some embodiments, the axis TT is substantially parallel to the vertical axis ZZ. In some embodiments, one or more of the pipettors 44 are fluidly connected to the liquid handler 30 by tubing 30A.

[0053] Each pipettor 44 may also include a pipette tip removal mechanism 47 (shown diagrammatically in FIG. 11).

[0054] 11, each exemplary pipette tip 60 is tubular and has a distal end 60A and an opposing proximal end 60B. Each pipette tip 60 includes a through passage 66 that extends completely through the pipette tip 60 and terminates at a terminal opening 64 at the distal end 60A. Each pipette tip 60 also includes a linkage base 62 on the proximal end 60B. Each pipette tip 60 seats within a respective one of the slots 57 such that the linkage base 62 faces upward.

[0055] The distal end 46 of the pipettor 44 and the coupling base 62 are cooperatively adapted or configured to releasably or removably secure each pipette tip 60 to its respective distal end 46. In some embodiments, the pipettor 44 and the pipette tip coupling base 62 are configured such that the coupling base 62 grips (e.g., by an interference fit and / or by an O-ring (e.g., an elastomeric O-ring) mounted on the distal end 46 or the coupling base 62) or interlocks with the distal end 46 when the distal end 46 is axially inserted into the coupling base 62. In some embodiments, the gripping or interlocking is sufficient to hold the pipette tip 60 on the end 46 during operations as described herein, while also allowing the pipette tip 60 to be disengaged and removed from the end 46 when intentionally acted upon during a removal operation. In some embodiments, the pipette tip removal mechanism 47 is configured to selectively and forcefully remove each pipette tip 60 from the associated pipettor 44 .

[0056] Referring to FIG. 3, in some embodiments, labware 50 is provided as a tip box or pipette tip box including a platter 52, and may have pipette tips 60 pre-installed therein, for example by the manufacturer.

[0057] An example transport system 70 (FIG. 1) includes an articulated robotic transport arm 72, a carrier 80 (provided as an end effector on the transport arm 72), and one or more transport arm actuators 74. The transport arm actuators 74 are operable to move the carrier 80 about the deck 12, including raising and lowering the carrier 80.

[0058] In some embodiments, the carrier 80 is a robotic gripper. The exemplary carrier 80 (FIG. 3) includes a carrier base 82 and a pair of opposing carrier fingers or arms 84 mounted on the base 82. The exemplary carrier arms 84 project in a cantilevered manner from the carrier base 82 and extend along a longitudinal axis AA. The exemplary arms 84 are spaced apart about the axis AA to define an open space therebetween. Each arm 84 is provided with a support feature or tab 86 that projects laterally inwardly toward the opposing arm 84. In the exemplary embodiment, the support arms 84 and tabs 86 define a carrier seat 81, although such example is provided for purposes of illustration and not limitation.

[0059] The example carrier 80 further includes a carrier actuator 83 configured to selectively displace the arms 84 laterally toward one another (in a narrowing direction DG) and laterally away from one another (in a widening direction DR) along a lateral axis LL such that the carrier actuator 83 can be used to place the carrier 80 in an open position ( FIG. 9 ) in which the arms 84 are widened a first distance, and alternatively in a closed position ( FIG. 6 ) in which the arms 84 are widened laterally a second distance that is less than the first distance.

[0060] It will be appreciated from the disclosure herein that the transport system 70 and carrier 80 can be configured differently than shown herein. For example, the transport system 70 can include a rail and gantry mechanism instead of or in addition to the transport arm 72.

[0061] It will be appreciated that the structures and functions of the liquid handler 30, pipetting module 40, pipetting module positioner 49, and labware transport system 70 are exemplary only, and that these systems and components may be constructed and operated differently depending on the embodiment of the present technology.

[0062] The illustrated labware holder 100 includes a frame 110 that defines a labware holder seat 102 and a fastening system 131, although the disclosure is not limited to such an embodiment. The labware holder 100 may further include a labware presence detection system 178 (FIG. 8).

[0063] The frame 110 of FIG. 3 includes a frame base 112 and three fixed stops 116A, 116B and 116C.

[0064] The example frame 110 has a first or major axis MM (FIG. 10), a second or lateral axis LL, and a third or height axis HH (FIG. 7). In some embodiments, the height axis HH is substantially vertical, and the major axis MM and the lateral axis LL are substantially perpendicular to each other and to the height axis HH.

[0065] 10, the example frame base 112 includes a planar, horizontally oriented support surface 114 (FIG. 3) bounded by a front side 112A, an opposing rear side 112B, a first lateral side 112C, and an opposing second lateral side 112D. A recess 118 (FIG. 4) is defined in one corner of the base 112. The support surface 114 defines a substantially horizontal holder base surface.

[0066] Stop 116A is located at an edge of rear end side 112B near the corner between sides 112B and 112D. In this embodiment, stop 116B is located at an edge of side 112D near the corner between sides 112B and 112D such that stops 116A and 116B are perpendicular to each other and collectively define corner seat 117. Stop 116C is also located at an edge of lateral side 112D and is axially spaced from stop 116B. Stops 116B and 116C collectively constitute a lateral side barrier. Stop 116A constitutes an end barrier. Other configurations of stops can be used and the disclosure is not limited to the illustrated embodiment provided for illustration and not for limitation.

[0067] 4, the example fastening system 131 includes a pusher 130, a mount assembly 150, a pusher actuator linkage 160, and a spring 156. The actuator linkage 160 and the spring 156 cooperate to form a pusher actuator.

[0068] For purposes of this disclosure, a pusher may be understood as a mechanism responsible for and / or capable of biasing a component of a laboratory instrument into a seat in a frame. The exemplary pusher 130 of Figures 4 and 5 includes a body or base 132 having a planar, horizontally oriented support surface 132A. The exemplary pusher 130 further includes an integral stop, post, or bearing feature 134 that projects upwardly from the support surface 132A and has a seat surface 136. The seat surface 136 (Figure 5) includes a lower surface 136A and a chamfered or angled upper surface 136B. As discussed below, the pusher 130 is slidably coupled to the base 112 and slides in an inward direction DC and an opposite outward direction DO along a substantially horizontal sliding or pusher travel axis PP. The pusher travel axis PP is substantially parallel to the main axis MM.

[0069] 5, the lower surface 136A of the pusher 130 is substantially planar and defines a pusher lower plane. The pusher lower plane extends substantially parallel to the vertical ZZ (i.e., substantially perpendicular to the horizontal base plane of the support surface 114). The pusher lower plane forms an oblique angle A1 (FIG. 10) with the pusher travel axis PP.

[0070] The upper surface 136B of the exemplary pusher 130 is substantially planar and defines a pusher upper plane. The pusher upper plane extends at an oblique angle A2 (FIG. 5) with respect to the vertical ZZ. The upper surface 136B forms an oblique angle A3 (FIG. 10) with the pusher travel axis PP. The upper surface 136B of the seating surface 136 faces laterally inward toward the seat 102 and upwardly away from the seat 102.

[0071] It will be appreciated that the shape and structure of pusher 130 is exemplary and that the pusher may have different configurations according to other embodiments of the technology.

[0072] A lever guide slot 140 (FIG. 4) is defined in an outer lateral side of the exemplary pusher 130. The lever guide slot 140 extends substantially vertically.

[0073] An integral linear guide rail 142 (FIGS. 5, 8) extends along an inner lateral side of the pusher 130. The guide rail 142 extends along a substantially horizontal axis.

[0074] An integral sensing tab 144 (FIGS. 5, 8) projects forwardly from the front end of pusher 130.

[0075] The mount assembly 150 (FIG. 4) includes a fixed block 152 and a guide track 154. The fixed block 152 is fixed to the base 112, and the guide track 154 is fixed to the fixed block 152. The guide track 154 defines a guide groove 154A in which the guide rail 142 is slidably received. The example guide rail 142, and thereby the pusher 130, is thereby coupled to the base 112 and slides along the pusher travel axis PP. The engagement between the guide track 154 and the guide rail 142 (FIGS. 5, 8) limits the pusher 130 to linear movement along the pusher travel axis PP.

[0076] Spring 156 can serve as a biasing mechanism, but is merely one example of a biasing mechanism. For the illustrated embodiment, spring 156 can be any suitable type of spring. In some embodiments, and as illustrated, spring 156 is a wound coil spring. One end 156A of spring 156 is secured to pusher 130 (e.g., by a spring pin). An opposing end 156B of spring 156 is secured to base 112 (e.g., by a mounting feature or fastener).

[0077] 4 and 6-8, the pusher actuator linkage 160 includes an engagement member or lever member 170, a lever holder 162, a pivot pin 164, and a guide pin 166. The lever member 170 includes an upper leg 172, a lower leg 174, a pivot hole 173, and an engagement feature 176. The lever holder 162 is rigidly mounted on the base 112. The lever member 170 is pivotally coupled to the lever holder 162 by the pivot pin 164 for rotation about a horizontal pivot axis QQ (FIG. 6). The upper leg 172 is laterally offset from the pivot axis QQ.

[0078] A guide pin 166 is secured to and extends laterally inwardly from lower leg 174. Guide pin 166 is slidably seated within guide slot 140 (FIGS. 7, 8) of pusher 130 to mechanically couple lever member 170 to pusher 130.

[0079] The engagement feature 176 is located at the top end of the upper leg 172. The engagement feature 176 includes an engagement surface on the top side and has an inner section 176A that extends toward the base 112 and an outer section 176B that extends away from the base 112.

[0080] 8, the sensing system 178 includes an engagement member or light emitter 178A and a light sensor 178B, which may be spaced apart to define a slot 179 therebetween. As discussed below, the sensing tab 144 is received in the slot 179 when the pusher 130 is slid inwardly toward the closed position, and the sensing tab 144 is disengaged from the slot 179 when the pusher 130 is slid outwardly toward the open position.

[0081] 10, the example seat 102 is bounded by a base 112, stops 116A-116C, a lever holder 162, and a pusher 130. The seat 102 has a front end 102A near the base front end 112A, a rear end 102B near the base rear end 112B, a first lateral side 102C near the base side 112C, and a second lateral side 102D near the base lateral side 112D. The example seat 102 also includes a top opening 102E (FIG. 3).

[0082] An exemplary operation of the system 10 and labware handling system 101 and use of the holder 100 in accordance with the methods of the present technology will now be described with reference to Figures 6-11. It will be appreciated that the following procedures are exemplary and may be modified as desired by the operator.

[0083] Initially, the labware holder 100 is empty, with no labware disposed within the carrier seat 81. The spring 156 holds the pusher 130 in a closed position (as shown in FIGS. 2 and 3). The front end of the pusher 130 abuts against the edge of the recess 118 (FIG. 4). In some embodiments, the spring 156 is in tension (i.e., extended from a relaxed state) when the pusher 130 is in the closed position, such that the spring 156 applies a constant load that draws the pusher 130 in a forward direction DR.

[0084] 1 , the labware 50 may be disposed on the deck 12 or elsewhere. For example, the labware 50 may be a tip box that is loaded onto one or more other tip boxes at a location accessible by the transport system 70. The transport system 70 operates to grasp the labware 50, transport the labware 50 to the holder 100, lower the labware 50 into the holder 100, and release the labware 50. These operations may be performed by the controller 20.

[0085] 2 and 3, arms 84 of carrier 80 are spread apart in direction DR by carrier actuator 83 to an open position. In the open position, arms 84 are spaced apart a predetermined distance. In the open position, the spacing between support tabs 86 is greater than the corresponding width of labware 50.

[0086] As shown in FIG. 1 for an exemplary embodiment, the transport arms 72 are then actuated by the transport arm actuators 74 to position the support tabs 86 in alignment with the labware grooves 55 (FIGS. 7 and 8). The carrier actuators 83 (FIG. 3) then displace the arms 84 inwardly to the gripping position. In the gripping position, the arms 84 are spaced apart a distance less than the first arm separation distance and the support tabs 86 are received in the grooves 55. The labware 50 is thereby gripped by the carrier 80. The support tabs 86 are positioned below a portion of the labware 50 such that the weight of the labware 50 is supported by the support tabs 86.

[0087] 1 is then actuated by a transport arm actuator 74 to position the carrier 80 and gripped labware 50 over and in general (but usually not exact) alignment with the seat 102 (e.g., as shown in FIG. 2). For example, in some embodiments, the labware 50 is substantially centered relative to the lateral side boundaries 102A-102D (FIG. 10) of the seat 102.

[0088] The transport arm 72 is then driven by the transport arm actuator 74 to lower the carrier 80 (direction D4 in FIG. 7) and the lab tool 50 it holds into the seat 102. As the carrier 80 lowers, the left arm 84 contacts the inner section 176A of the lever arm engagement feature 176 in FIG. 4. As the arm actuator 74 moves the carrier 80 further downward, the arm 84 exerts a vertically downward force on the engagement feature 176. This force mechanically displaces the lever member 170, which rotates about the pivot axis QQ (FIG. 6) in the direction D5 (FIG. 7). The rotation of the lever member 170 displaces the guide pin 166 in FIG. 4 rearward (direction DO in FIG. 7) and upward, which causes the guide pin 166 to slide upward in the guide slot 140 while pushing the pusher 130 in the rearward direction DO. Linkage 160 thereby redirects movement of carrier arm 84 in a first direction into translational movement of pusher 130 in a second direction transverse to the first direction. More specifically, linkage 160 thereby redirects or converts vertical downward translational movement of carrier arm 84 into horizontal outward translational movement of pusher 130. In some embodiments, pusher axis of travel PP (FIG. 7) is substantially perpendicular to the axis of downward movement of arm 84. Displacement of pusher 130 extends spring 156, and the return force of spring 156 maintains firm contact of lever member 170 against arm 84.

[0089] The exemplary transport arm actuator 74 of FIG. 1 lowers the carrier 80 into the seat 102 until the pusher 130 is displaced to the open position (FIGS. 6-8) and the laboratory implement 50 rests on the support surface 114 of the base 112 (FIG. 3).

[0090] The lever member 170, arm 84, and labware 50 of Figure 6 are constructed and arranged relative to one another to prevent contact between the labware 50 and the pusher 130. The arm 84 (via the linkage 160 of Figures 4 and 6-8) displaces the pusher 130 outward before the labware 50 enters the volume occupied by the pusher 130 in the closed position, and holds the pusher 130 in this more open position until the labware 50 comes to rest on the support surface 114. That is, the linkage 170 places and maintains the pusher 130 in a position that obviates contact or interference between the pusher 130 and the labware 50 as the labware 50 is lowered into the seat 102. In the open position of the pusher 130, the spring 156 is extended from its relaxed position.

[0091] The pusher 130 advances a distance L2 (FIG. 7) from the closed position (FIG. 2, ie, lever member 170 is in the upright, ready position) to the open position (FIG. 7, ie, carrier arm 84 is in its lowest position on lever member 170).

[0092] With the lab implement 50 resting on the support surface 114 (FIG. 3), the actuator 83 moves the arm 84 back and away from the carrier open position. In doing so, the left arm 84 slides outward (direction D6, FIG. 9) from the inner section 176A to the outer section 176B (FIG. 4) along the lever member engagement feature 176. The support tab 86 is thereby withdrawn from the lab implement channel 55 and positioned to the side absent the lab implement 50. The vertical position of the left arm 84 remains the same during this transition such that the position of the lever member 170 does not change, thereby maintaining the pusher 130 in the open position.

[0093] With the carrier arms 84 in the open position, the transport arm actuator 74 raises the carrier 80 vertically away from the seat 102 and the lever member 170. As the left carrier arm 84 is raised, the engagement feature 176 is not further displaced by the left carrier arm 84 and is permitted to move upward. As a result, the lever member 170 rotates in a direction opposite to direction D5. This release of the lever member 170 allows the spring 156 to slide the pusher 130 in the closing direction DC (FIG. 10) towards the closed position.

[0094] A return force of spring 156 is applied by pusher 130 to labware 50. As pusher 130 moves toward the closed position, pusher 130 engages a nearby corner of labware 50. As pusher 130 continues to move toward the closed position, the force of spring 156 causes pusher 130 to align labware 50 within seat 102. More specifically, the spring-loaded pusher 130 displaces the labware into alignment with seat 102.

[0095] As the pusher 130 is displaced in direction DC, the biased lower surface 136A distributes the force applied to the labware 50 both forward (direction DF1, FIG. 10) and sideways (direction DF2) towards the corner seat 117. The corners and sides of the labware 50 furthest from the pusher 130 are thereby pushed up and loaded against the stops 116A-116C.

[0096] As shown in Figure 11, the exemplary pusher 130 travels a distance L3 in the direction DC until it assumes a locked position where the pusher 130 is prevented from further travel by the laboratory implement 50. In the locked position (Figures 10 and 11), the lever member 170 is partially returned to an upright, ready position. The return travel distance L3 is less than the open travel distance L2 (Figure 7). The distance between the pusher 130 and the seat rear end 102B (Figure 10) in the locked position is less than the distance between the pusher 130 and the seat rear end 102B in the open position, but is greater than the distance between the pusher 130 and the seat rear end 102B in the closed position.

[0097] The spring loaded pusher 130 pinches the labware 50 between the pusher 130 and stops 116A-C, which forces the labware 50 into alignment, positioning and stacking with respect to the holder 100 and seat 102. The labware 50 is captured between the lower surface 136A (FIG. 10) of the pusher 130 and stops 116A-C. In some embodiments, the spring 156 remains extended in the locking position to continue to load the labware 50 through the pusher 130, thereby locking the labware in place within the seat 102.

[0098] The labware 50 can then be operated by the system 10 while secured within the holder 100. In some embodiments, the system 10 uses the pipetting module 40 to perform operations while the labware is secured within the seat 102.

[0099] In some embodiments, the pipetting module 40 is used to perform a pipette tip insertion operation with the labware 50 secured within the seat 102. For example, in some embodiments, as shown in FIG. 11 , the pipetting module positioner 49 moves the pipetting module 40 into vertical alignment or overlap with the labware 50. The pipette actuator 49A then lowers the pipettor distal end 46 onto each of the coupling bases 62 of the pipette tips 60. The pipette tips 60 are thereby secured to the pipettor distal end 46. The pipette actuator 49A then raises the pipettor 44, removing the secured pipette tips 60 from the slots 57. In FIG. 11, the left-most pipettor 44-1 is shown in an elevated position after being inserted into a pipette tip 60 which is seated on the distal end 46 of the pipettor 44-1 and ready for use, the next adjacent pipettor 44-2 is shown lowered into the pipette tip 60 which is still seated in the slot 57, and the remaining pipettors 44 are shown in the elevated position without retrieving the pipette tip 60.

[0100] The pipettor 44, with the pipette tip 60 installed, can then be used to perform further operations, which may include aspirating and / or dispensing liquid through the pipette tip 60 using a liquid handler 30 (e.g., as described below).

[0101] The example removal mechanism 47 of Figure 11 can then be used to remove the pipette tips 60 from the pipettor 44. For example, the pipetting module positioner 49 (Figure 1) can move the pipetting module 40 back into vertical alignment or overlap with the labware 50 as shown in Figure 11. With the pipetting module 40 so aligned, the removal mechanism 47 can push the pipette tips 60 off the pipettor 44 and into each of the slots 57.

[0102] In further embodiments, the labware 50 can be provided with an empty slot 57 (i.e., a slot 57 with no pipette tip 60 disposed therein) and the labware 50 can be placed in the holder seat 102 as described herein. The pipetting module positioner 49 and removal mechanism 47 can then be used to lower the pipette tip 60 (that was originally placed in the pipettor 44) into the slot 57. For example, the labware 50 can be an empty tray used to collect used pipette tips 60 that are to be discarded.

[0103] If it is subsequently desired to remove the labware 50 from the holder 100, the carrier 80 can be positioned by the transport arm actuator 74 (FIG. 1) above and generally aligned with the seat 102 (e.g., as shown in FIG. 2). If the carrier arm 84 is not already in the open position, the carrier actuator 83 (FIG. 3) places the arm 84 in the open position. The transport arm 72 is then driven by the transport actuator 74 to lower the carrier 80 (in direction D4) towards the seat 102. As the carrier 80 is lowered, the left arm 84 contacts the outer section 176B (FIG. 6) of the lever arm engagement feature 176. As the transport arm actuator 74 moves the carrier further downward, the arm 84 exerts a downward vertical force on the engagement feature 176. In the illustrated embodiment, this force causes lever member 170 to rotate about pivot axis QQ in direction D5 and push pusher 130 in open direction DO against the return force of spring 156, as described above. In such an embodiment, the lab implement 50 is thereby released (i.e., is no longer pinched between pusher 130 and stops 116A-116C). The transport arm actuator 74 lowers carrier 80 into the seat until pusher 130 is displaced to the fully open position (FIG. 7) and carrier support tabs 86 are aligned with lab implement grooves 55.

[0104] The actuator 83 then displaces the arm 84 inwardly to the gripping position, whereby the left arm 84 slides inwardly (direction DG, FIG. 3) from the outer section 176B to the inner section 176A along the lever member surface of the engagement feature 176. The support tab 86 is thereby inserted into the lab-tool groove 55 and the lab-tool 50 is thereby gripped by the carrier 80. The vertical position of the left arm 84 remains the same during this transition such that the position of the lever member 170 does not change, thereby maintaining the pusher 130 in the open position.

[0105] With the carrier arm 84 gripping the labware 50 and the pusher 130 in the open position, the transport arm actuator 74 raises the carrier 80 (and the labware 50) vertically away from the seat 102 and the lever member 170. When the left carrier arm 84 is raised, the engagement feature 176 is allowed to move upward and the lever member 170 rotates in a direction opposite to direction D5 (FIG. 7). This allows the spring 156 to urge the pusher 130 to slide in the closing direction DC (FIG. 10). Because the labware 50 has been removed from the seat, in the illustrated embodiment, the pusher 130 is allowed to return to the fully closed position (FIG. 2). The labware 50 can then be transported by the carrier 80 to another location.

[0106] The light sensor 178B (FIG. 8) of the sensing system 178 can be monitored by the controller 20 (FIG. 1), and the output of the light sensor can be used by the controller 20 to determine whether the holder 100 (FIG. 1) is full (i.e., labware is present or not). For example, the light emitter 178A (FIG. 8) directs a light beam towards the light sensor 178B, creating a light barrier across the slot 179. When the pusher 130 is in the closed position, the sensing tab 144 is disposed within the slot 179 and blocks light from the light emitter 178A to the light sensor 178B, thereby indicating to the controller 20 that the seat is empty. When the labware 50 is secured within the seat 102, the width of the labware 50 holds the pusher 130 in a fixed position where the sensing tab 144 is pulled out of the slot 179. In this case, the sensing tab 144 does not block light from the light emitter 178A to the light sensor 178B, thereby indicating to the controller 20 that the seat is filled.

[0107] It will thus be appreciated that the pusher actuator linkage 160 is configured to move the pusher 130 from the closed position (FIGS. 2 and 3) to the open position (FIG. 7) when the pusher actuator linkage 160 is displaced by an operator (e.g., by the carrier 80 or manually). The pusher actuator linkage 160 is also configured to allow the pusher 130 to move from the open position back to the closed position when the pusher actuator linkage 160 is not further displaced by the operator. The spring 156 functions to urge the pusher 130 towards the closed position when the pusher actuator linkage 160 is not displaced by the operator, thereby aligning the pusher 130 with the laboratory apparatus 50 within the seat 102. When the laboratory implement 50 is positioned within the seat 102 and the pusher actuator linkage 160 allows the pusher 130 to move from the open position toward the closed position, the pusher 130 displaces the laboratory implement into alignment with the seat 102 (e.g., as shown in FIG. 10 ).

[0108] 12, in a further embodiment, labware 50 may be replaced with an alternative labware 50'. Labware 50' may be constructed and used similarly to labware 50, with the following exceptions.

[0109] Labware 50' includes a platter 52' ​​corresponding to platter 52, having a slot 57' corresponding to slot 57. Labware 50' also includes vials or other containers or receptacles 68 configured to hold one or more liquid samples to be manipulated by system 10. Vials 68 each removably seat in a respective one of slots 57' in place of a pipette tip 60. Each vial 68 has an upwardly directed opening at a proximal end 68A.

[0110] Pipette tips 60 can be attached to the pipettor 44. The pipetting module positioner 49 (FIG. 1) can move the pipetting module 40 of FIG. 12 into vertical alignment or overlap with the labware 50', as shown in FIG. 12. The pipettor actuator 49A (FIG. 1) then lowers the pipettor tips 60 into each of the vials 68.

[0111] Then, in some embodiments, the system 10 aspirates liquid from the vial 68 into the inserted pipettor 44. And, in some embodiments, the system 10 dispenses liquid from the inserted pipettor 44 into the vial 68.

[0112] Aspiration and / or dispensing can be accomplished using liquid handler 30. For example, in some embodiments, liquid handler 30 generates a vacuum to aspirate a predetermined amount of liquid from each vial 68 into the corresponding pipettor 44. The aspirated liquid can be transferred through tubing 30A to another device, such as analytical instrument 16, or can subsequently be dispensed from pipettor 44. In some embodiments, the predetermined amount of liquid is delivered from liquid handler 30 through tubing 30A to pipettor 44, where it is dispensed from pipettor 44 into vial 68.

[0113] As a further example, laboratory apparatus 50' may be or may include a well plate or microwell plate that includes an integral recess or receptacle for receiving a liquid sample, in which case the liquid sample is dispensed directly into or aspirated directly from slot 57', which does not contain a separate vial.

[0114] The above examples are not exhaustive and system 10 may perform any suitable operations on fixed labware 50, 50' or other suitable labware.

[0115] The operations described herein may be performed by or via the controller 20. The actuators 49, 49A, 74, 83 and other devices of the system 10 may be electronically controlled. According to some embodiments, the controller 20 may programmatically perform some, and in some embodiments all, of the steps described. According to some embodiments, the operations of the actuators 49, 49A, 74, 83 are programmatically performed fully automatically by the controller 20. The controller 20 may be provided with an HMI 22 for receiving user commands.

[0116] In some embodiments, the controller 20 automatically performs the program steps of grasping the labware 50, 50' with the carrier 80, transporting the labware 50, 50' in the carrier 80 to the holder 100, and placing the labware 50, 50' in the seat 102 (including opening the pusher 130 via the linkage 160 as described above).

[0117] In some embodiments, the controller 20 automatically and programmatically performs the steps of positioning the pipetting module 40 over the labware 50, 50' mounted in the holder 100 and inserting the pipettor 44 into the pipette tip 60 or vial 68. In some embodiments, the controller 20 also automatically and programmatically performs the steps of aspirating liquid from or dispensing liquid into the vial 68 as described above.

[0118] In some embodiments, the controller 20 automatically performs the program steps of inserting the carrier 80 into the seat 102 (including opening the pusher 130 via the linkage 160 as described above), gripping the labware 50, 50' with the carrier 80 in the seat 102, lifting the labware 50, 50' out of the holder 100, and transporting the labware 50, 50' in the carrier 80 away from the holder 100.

[0119] In some embodiments, the labware 50, 50' is manually placed in and / or removed from the holder 100, rather than using the carrier 80 or another robotic mechanism. This can be accomplished using one of two techniques. Although the labware 50 is referred to below, the discussion applies to other labware (e.g., labware 50') as well.

[0120] According to a first technique, an operator (i.e., a human user) urges the pusher 130 into the open position by pushing the upper leg 172 of the lever member 170 downward (direction D4, FIG. 7) and / or sideways (direction D5, FIG. 7). The operator manually pushes or displaces the lever member 170 in this manner, either directly using the operator's fingers or hand, or indirectly, for example, using a hand-held instrument. The operator or user then places the lab implement 50 on the base support surface 114 within the seat 102 while maintaining the lever member 170 in the open position. Once the lab implement 50 is placed or positioned within the seat 102, the operator manually releases the lever member 170, which retracts the pusher 130 (under the force of the spring 156) and ensures that the lab implement 50 is positioned within the seat in the same manner as described herein.

[0121] According to another technique, a human operator manually places or pushes the labware 50 into the seat 102 without depressing the lever member 170. In this case, a corner of the labware 50 contacts the sloped surface 136B (FIG. 5) of the pusher 130. A load from the labware 50 directed vertically downward is redirected by the sloped surface 136B, urging the pusher 130 to slide outward (direction DO) against the return force of the spring 156 until the labware 50 clears the lower edge of the sloped surface 136. Once the labware 50 is seated on the support surface 114 and released by the operator, the pusher 130 (under the force of the spring 156) securely positions the labware 50 in the seat in the same manner as described above.

[0122] The labware 50 can be removed by simply manually lifting the labware off the seat 102, which allows the pusher 130 to return to the closed position. If desired, the lever member 170 (FIG. 7) can be manually depressed to urge the pusher 130 away from the labware 50 before lifting the labware 50 to facilitate removal.

[0123] In a system that includes a transport system such as transport system 70, labware can be loaded onto and / or removed from holder 100 both by robot and by hand.

[0124] According to further embodiments, the holder 100 may be used in systems, apparatus, or procedures that do not include or employ a transport system or carrier, in which case the labware can be placed in or removed from the holder solely by hand.

[0125] In embodiments, the holder 100 and kinematic spring-loaded locking mechanism 131 can provide several benefits and advantages. For example, the holder 100 allows for precise labware loading and positioning. Precise positioning of the labware can be important, even critical, for sequential operations, such as removing pipette tips 60 or pipetting from receiver 68 using an automatically positioned pipettor 44. High positioning accuracy may be required of the pipettor to allow precise registration of the pipettor 44 with the pipette tips 60 or receiver 68. Such precise alignment also allows for precise transfer back to a carrier when it is desired to remove the labware from the holder 100.

[0126] By pushing the pusher 130 farther out from the seat 102, the holder 100 increases the tolerance for initial placement of the labware in the seat 102. Nevertheless, as a result of the disclosed positioning system and method, the labware is subsequently accurately aligned after it is initially placed in the seat 102. In an embodiment, the labware is not subjected to external forces during transfer into or out of the holder 100, and is locked into the holder 100 as the carrier 80 moves out. This also reduces or eliminates the risk of tilting or tipping of the labware 50, 50' during transfer. By displacing the pusher 130 farther out, inaccurate or rough alignment between the labware and the seat 102 during initial placement is tolerated.

[0127] The spring-loaded locking mechanism can allow for the insertion and effective locking of different sized labware within a given holder 100 without requiring adjustment by the operator.

[0128] The spring-loaded locking mechanism 131 is passive and not electronic in operation. The example locking mechanism 131 does not include or require a separate active actuator, sensor, or switch to open or close the positioning mechanism. As a result, the operation or timing of the holder actuator actuation does not need to be coordinated with the movement of the carrier 80 or labware 50, 50'. The holder 100 may not depend on the robot or an operator manually positioning the carrier or manipulating the holder 100 precisely. There is no need to modify the robot, the robot's end effector, or the robot's typical travel path to operate the locking mechanism 131.

[0129] The labware holder 100 can accommodate labware gripped at or near the mid-section. When the robotic carrier is used to load the holder 100, the locking mechanism 131 operates without loading the labware 50, 50' until the labware is released by the carrier. Because no spring force is applied to the labware while it is being gripped, the carrier gripping force is not limited. This allows the carrier to hold the labware with a small or limited gripping force. The locking mechanism 131 can be designed to use an amount of spring force on the pusher that optimizes locking without concern of compromising the carrier's grip on the labware.

[0130] Accurate, consistent and repeatable positioning of the labware within the holder 100 ensures proper XY orientation of the holder 100, the labware 50, 50' and the pipettor 44.

[0131] Systems and holders according to embodiments of the present technology can be used, for example, in biochemistry, chemical processing, liquid handling, and analysis of samples in laboratories. The analytical instrument 16 can be any suitable device or instrument.

[0132] An embodiment of the controller 20 logic may take the form of an entirely software embodiment or an embodiment combining software and hardware aspects, all of which are generally referred to as a "circuit" or "module." In some embodiments, the circuit includes both software and hardware, with the software configured to operate with particular hardware having known physical attributes and / or configurations. Additionally, the controller logic may take the form of a computer program product on a computer-usable storage medium having computer-usable program code embodied in the medium. Any suitable computer-readable medium may be utilized, including hard disks, CD-ROMs, optical storage devices, transmission media, such as those supporting the Internet or an intranet, or other storage devices.

[0133] 13 is a schematic diagram of a circuit or data processing system 202 that can be used in the controller 20. The circuit and / or data processing system can be incorporated into a digital signal processor 210 in any suitable device or devices. The processor 210 communicates with the HMI 22 and memory 212 via an address / data bus 211. The processor 210 can be any commercially available or custom microprocessor. The memory 212 is representative of an entire system of memory devices that contain software and data used to implement the functionality of the data processing system. The memory 212 can include types of devices such as, but not limited to, cache, ROM, PROM, EPROM, EEPROM, flash memory, SRAM, and DRAM.

[0134] FIG. 13 shows that memory 212 may include several categories of software and data used in the data processing system, such as an operating system 214, application programs 216, input / output (I / O) device drivers 218, and data 220.

[0135] 13 also shows that the data 220 can include labware data 222, labware holder data 224, pipetting module data 226, and procedure data 228.

[0136] The labware data 222 may include data relating to or describing characteristics of the labware 50, 50'. This data may include, for example, a unique identifier (e.g., serial number) and / or name of the labware 50, 50', a unique identifier and / or name of the pipette tip 60, a unique identifier and / or name of each vial 68, and / or a description of the analyte or analytes contained within the labware 50, 50', or each vial 68, or slot / receptacle 57. The labware data 222 may include dimensions of the labware 50, 50', pipette tip 60, vial 68, and / or slot or receptacle 57. The labware data 222 may include location data describing the spatial or geometric layout or position of the slot 57, pipette tip 60, or vial 68 relative to the outer boundary of the labware 50, 50'.

[0137] The lab equipment holder data 224 may include an identification of the location of the seat 102 relative to the deck 12 or another reference structure of the system 10 .

[0138] The pipetting module data 226 may include pipettor location data that describes the spatial or geometric layout or position of the pipettor 44 relative to the base 42 .

[0139] Procedure data 228 may include data representing a protocol or sequence of steps for carrying out a procedure described herein. The sequence of steps may include all or some of the steps described above to be performed by controller 20. The sequence of steps may include, for example, an analysis sequence.

[0140] FIG. 13 also shows that the application program 216 may include a carrier positioning control module 230 (for controlling the actuators 74, 83), a pipette positioning control module 234 (for controlling the actuators 49, 49A), a liquid handler control module 236 for controlling the liquid handler 30, and an analytical instrument control module 238 for controlling the operation of the analytical instrument 16.

[0141] As will be appreciated by those skilled in the art, operating system 214 may be any operating system suitable for use with a data processing system. I / O device drivers 218 typically include software routines accessed by application programs 216 through operating system 214 to communicate with devices such as I / O data ports, data storage, and certain memory components. Application programs 216 are illustrative of programs that implement various functions of a data processing system and may include at least one application that supports operations in accordance with embodiments of the present technology. Finally, data 220 represents static and dynamic data used by application programs 216, operating system 214, I / O device drivers 218, and other software programs that may be present in memory 212.

[0142] As will be appreciated by those skilled in the art, other configurations may be utilized while still benefiting from the teachings of the present technology. For example, one or more of the modules may be incorporated into an operating system, an I / O device driver, or other such logical division of a data processing system. Thus, the present technology should not be construed as limited to the configuration of FIG. 13, but is intended to encompass any configuration capable of performing the operations described herein. Additionally, one or more of the modules may be in communication with other components, such as the controller 20, or may be incorporated in whole or in part into the controller 20.

[0143] Given the benefit of this disclosure, those skilled in the art may make many variations and modifications without departing from the spirit and scope of the present invention. It should therefore be understood that the illustrated embodiments are set forth for illustrative purposes only and should not be taken as limiting the invention as defined by the claims. The claims should therefore be read to include not only the literally described combinations of elements, but also all equivalent elements that perform substantially the same function in substantially the same manner to obtain substantially the same results. The claims should therefore be understood to further include those specifically shown and described above, as well as conceptual equivalents and those that incorporate the basic concepts of the present invention. In order to maintain the disclosure matters at the time of filing of the present application, the contents of claims 1 to 28 at the time of filing of the present application are added as follows. (Claim 1) A frame having a seat portion; Fastening system and 1. A lab instrument alignment system for use with a lab instrument, comprising: The fastening system comprises: a pusher movable between an open position and a closed position relative to the frame; Pusher actuator and Equipped with The pusher actuator includes: an actuator linkage configured to move the pusher from the closed position toward the open position when the actuator linkage is displaced and to allow the pusher to move toward the closed position when the actuator linkage is not displaced; a biasing mechanism that functions to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align a laboratory implement within the seat; 1. A lab instrument alignment system for use with a lab instrument, comprising: (Claim 2) The lab instrument alignment system of claim 1 , wherein the biasing mechanism comprises a spring. (Claim 3) the frame includes a barrier adjacent the seat and facing the pusher; 2. The lab instrument alignment system of claim 1, wherein when the lab instrument is positioned in the seat and the actuator linkage allows the pusher to move from the open position toward the closed position, the biasing mechanism urges the pusher against the barrier. (Claim 4) 2. The lab instrument alignment system of claim 1, wherein when the lab instrument is positioned in the seat and the actuator linkage allows the pusher to move from the open position toward the closed position, the pusher displaces the lab instrument into alignment with the seat. (Claim 5) 10. The lab instrument alignment system of claim 1, wherein the pusher comprises an angled seating surface facing laterally inward toward the seat and upwardly away from the seat. (Claim 6) 2. The laboratory instrument alignment system of claim 1, wherein the actuator linkage comprises an engagement member and is configured to be displaced by an operator to displace the actuator linkage to move the pusher from the closed position toward the open position. (Claim 7) 7. The laboratory instrument alignment system of claim 6, wherein the actuator linkage is configured to allow the pusher to move from the open position toward the closed position when the operator releases the engagement member. (Claim 8) The lab instrument alignment system of claim 6 , wherein the engagement member is mechanically coupled to the pusher. (Claim 9) 9. The laboratory instrument alignment system of claim 8, wherein the engagement member includes a lever member that redirects movement by the operator in a first direction into translational movement of the pusher in a second direction transverse to the first direction. (Claim 10) 10. The laboratory instrument alignment system of claim 9, wherein the first direction is vertical and the second direction is horizontal. (Claim 11) 10. The lab instrument alignment system of claim 1, wherein the actuator linkage comprises a guide feature that constrains the movement of the pusher to a linear translation along a pusher travel axis. (Claim 12) 10. The lab instrument alignment system of claim 1, further comprising a sensing system operative to determine a position of the pusher. (Claim 13) The detection system comprises: an optical emitter for generating a beam of light; a light detector configured to receive the light beam; It is equipped with the pusher prevents the light beam from reaching the light detector when the pusher is in the closed position; 13. The lab instrument alignment system of claim 12, wherein the pusher allows the light beam to reach the light detector when the pusher is displaced by the lab instrument within the seat. (Claim 14) 10. The labware alignment system of claim 1, wherein the labware is at least one of a tip box, a pipette tip box, a well plate, a microwell plate, and a rack configured to hold a plurality of fluid receptacles. (Claim 15) Providing a lab instrument alignment system, wherein the lab instrument alignment system comprises: A frame having a seat portion; Fastening system and Equipped with The fastening system comprises: a pusher movable between an open position and a closed position relative to the frame; Pusher actuator and Equipped with The pusher actuator includes: a biasing mechanism operable to urge the pusher from the open position toward the closed position; Actuator link mechanism providing a laboratory instrument alignment system comprising: causing the actuator linkage to move the pusher from the closed position to the open position by mechanically displacing the actuator linkage; positioning the laboratory implement within the seat with the pusher in the open position; releasing the actuator linkage and allowing the biasing mechanism to move the pusher toward the closed position, thereby causing the pusher to align the laboratory implement within the seat; 13. A method for aligning laboratory equipment, comprising: (Claim 16) The method further comprises providing a transport system operable to move the laboratory implement, the transport system comprising a carrier configured to releasably hold the laboratory implement; mechanically displacing the actuator linkage includes displacing an engagement member with the carrier; The method further comprises removing the carrier from the laboratory instrument; The method of claim 15 , wherein releasing the actuator linkage comprises withdrawing the carrier from the actuator linkage. (Claim 17) An alignment system; Liquid Handler and 1. A liquid handling system for use with laboratory equipment, comprising: The alignment system comprises: A frame having a seat portion; Fastening system and Equipped with The fastening system comprises: a pusher movable between an open position and a closed position relative to the frame; Pusher actuator and Equipped with The pusher actuator includes: an actuator linkage configured to move the pusher from the closed position toward the open position when the actuator linkage is displaced and to allow the pusher to move toward the closed position when the actuator linkage is not displaced; a biasing mechanism that functions to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align the laboratory implement within the seat; A liquid handling system comprising: (Claim 18) a transport system operable to move the laboratory equipment; the transport system comprises a carrier configured to releasably hold the laboratory instrument; 20. The liquid handling system of claim 17, wherein the transport system is configured to displace the actuator linkage to move the pusher from the closed position towards the open position and to place the labware in the seat. (Claim 19) a transport system operable to move the laboratory implement, the transport system comprising a carrier configured to releasably hold the laboratory implement; Alignment system and A laboratory implement handling system for use with laboratory implements comprising: The alignment system comprises: A frame having a seat portion; Fastening system and Equipped with The fastening system comprises: a pusher movable between an open position and a closed position relative to the frame; Pusher actuator and Equipped with The pusher actuator includes: an actuator linkage configured to move the pusher from the closed position toward the open position when the actuator linkage is displaced by the carrier and to allow the pusher to move toward the closed position when the actuator linkage is not displaced; and a biasing mechanism that functions to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align the laboratory implement within the seat; A laboratory equipment handling system comprising: (Claim 20) 20. The laboratory implement handling system of claim 19, wherein the actuator linkage comprises an engagement member that is displaced by the carrier as the carrier moves toward the seat to lower the lab implement into the seat. (Claim 21) 21. The laboratory instrument handling system of claim 20, wherein the actuator linkage is configured to allow the pusher to move from the open position towards the closed position when the carrier moves away from the engagement member to release the engagement member. (Claim 22) 21. The laboratory instrument handling system of claim 20, wherein the engagement member is mechanically coupled to the pusher. (Claim 23) 23. The laboratory instrument handling system of claim 22, wherein the engagement member comprises a lever member that redirects movement of the carrier in a first direction into translational movement of the pusher in a second direction transverse to the first direction. (Claim 24) 24. The laboratory instrument handling system of claim 23, wherein the first direction is vertical and the second direction is horizontal. (Claim 25) 20. The labware handling system of claim 19, wherein the carrier comprises a gripper configured to hold the labware. (Claim 26) the carrier comprises a carrier arm, a support feature extending from the carrier arm, and a carrier actuator; the support feature is configured to engage and support the laboratory implement; 20. The lab implement handling system of claim 19, wherein the carrier actuator is operable to disengage the support features from the lab implement to release the lab implement from the carrier and into the seat. (Claim 27) 20. The lab instrument handling system of claim 19, wherein the transport system comprises a robotic arm and the carrier is an end effector on the robotic arm. (Claim 28) 20. The lab implement handling system of claim 19, further comprising a controller configured to automatically and programmatically operate the transport system to lower the lab implement into and remove the lab implement from the seat.

Claims

1. A frame having a seat portion; Fastening system and 1. A lab instrument alignment system for use with a lab instrument, comprising: The fastening system comprises: a pusher movable between an open position and a closed position relative to the frame; Pusher actuator and Equipped with The pusher actuator includes: an actuator linkage configured to move the pusher from the closed position toward the open position when the actuator linkage is displaced and to allow the pusher to move toward the closed position when the actuator linkage is not displaced, the actuator linkage including a guide feature that limits movement of the pusher to linear translation along a pusher axis of travel; a biasing mechanism that functions to urge the pusher toward the closed position when the actuator linkage is not displaced, thereby causing the pusher to align a laboratory implement within the seat; 1. A lab instrument alignment system for use with a lab instrument, comprising:

2. The laboratory instrument alignment system of claim 1 , wherein the biasing mechanism comprises a spring.

3. the frame includes a barrier adjacent the seat and facing the pusher; 2. The laboratory instrument alignment system of claim 1, wherein when the lab instrument is positioned in the seat and the actuator linkage allows the pusher to move from the open position toward the closed position, the biasing mechanism urges the pusher against the barrier.

4. 2. The laboratory instrument alignment system of claim 1, wherein when the lab instrument is positioned in the seat and the actuator linkage allows the pusher to move from the open position toward the closed position, the pusher displaces the lab instrument into alignment with the seat.

5. 10. The laboratory instrument alignment system of claim 1, wherein the pusher comprises an angled seating surface facing laterally inward toward the seat and upwardly away from the seat.

6. 10. The laboratory instrument alignment system of claim 1, wherein the actuator linkage comprises an engagement member and is configured to be displaced by an operator to displace the actuator linkage to move the pusher from the closed position toward the open position.

7. 7. The laboratory instrument alignment system of claim 6, wherein the actuator linkage is configured to allow the pusher to move from the open position toward the closed position when the operator releases the engagement member.

8. The laboratory instrument alignment system of claim 6 , wherein the engagement member is mechanically coupled to the pusher.

9. 9. The laboratory instrument alignment system of claim 8, wherein the actuator linkage redirects displacement of the engagement member by the operator in a first direction into translational movement of the pusher in a second direction transverse to the first direction.

10. 10. The laboratory instrument alignment system of claim 9, wherein the first direction is vertical and the second direction is horizontal.

11. The lab instrument alignment system of claim 1 , further comprising a sensing system operative to determine a position of the pusher.

12. The detection system comprises: an optical emitter for generating a beam of light; a light detector configured to receive the light beam; It is equipped with the pusher prevents the light beam from reaching the light detector when the pusher is in the closed position; 12. The lab instrument alignment system of claim 11, wherein the pusher allows the light beam to reach the light detector when the pusher is displaced by the lab instrument within the seat.

13. 10. The labware alignment system of claim 1, wherein the labware is at least one of a tip box, a pipette tip box, a well plate, a microwell plate, and a rack configured to hold a plurality of fluid receptacles.

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