Gripper device with reduced contamination risk

Abstract

A gripper device is configured to grip a closed receptacle having a closure affixed to the open top end of the receptacle. Opposing jaw members, movable laterally between an open position, a first closed position, and a second closed position, are configured to grip the closed receptacle when the closed receptacle is seated between the jaw members in the first closed position and to release the closed receptacle in the open position. The gripper device further includes a plurality of fingers configured to grip a sidewall of the closure directly beneath the top surface of the closure when the closure is seated between the plurality of fingers and directly beneath the base of each of the jaw members as the jaw members move laterally toward each other from the open position to the second closed position.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to U.S. Provisional Patent Application No. 63 / 014,624, filed April 23, 2020, the disclosure of which is incorporated herein by reference.

[0002] (Technical field) The present disclosure relates to a gripper apparatus for use in an automated system for transporting sample-containing receptacles within an automated sample processing system. [Background technology]

[0003] (background) Clinical laboratories are set up to analyze and / or detect various components of many different sample types, such as whole blood, serum, plasma, interstitial fluid, sputum, urine, feces, semen, mucus, pus, tissue, etc. These laboratories can be equipped with automated sample processing systems that transfer sample-containing receptacles (e.g., test tubes) between various modules (e.g., load / unload modules, capper / decappers, centrifuges, analyzers, storage modules, etc.) for preparing and processing samples. Such automated systems may include conveyor or track systems for transferring sample-containing receptacles between the various modules via carriers (e.g., pucks), and robotic handlers may be included for gripping and moving sample-containing receptacles. Pick-and-place devices may be used, for example, to insert sample-containing receptacles into carriers, remove sample-containing receptacles from carriers, deliver them to modules, and in some cases, transfer sample-containing receptacles within modules.

[0004] A sample storage unit is utilized to store closed sample-containing receptacles in a refrigerated environment for a predetermined period of time (e.g., 5 days), allowing for subsequent analysis, such as repeat testing, if the original result is inconclusive, or may perform new tests (e.g., reflex testing or testing for a different specimen) based on the results of the original test. To maximize the number of receptacles that can be stored, the sample storage unit may include several closely spaced, vertically arranged, storage tiers (each tier defined by at least one shelf or one or more pairs of support rails), each storage tier capable of supporting one or more racks, each rack capable of holding multiple receptacles. Generally, receptacles must be seated within racks that are used to insert and remove receptacles from the racks to avoid interference with the robotic handler. In some applications, head space constraints require that laterally extending jaw members of a robotic handler in a sample storage unit grip the sides of a cap (e.g., a threaded cap or stopper) associated with a sample-containing receptacle. While gripped by the jaw members, the closed sample-containing receptacle can be inserted into an individual receptacle receiving slot of a receptacle rack.

[0005] Typically, there is an insertion force associated with the receptacle receiving slot that must be overcome when inserting a closed sample-containing receptacle into the receptacle receiving slot. For example, the receptacle receiving slot may have a retaining spring to stabilize the closed sample-containing receptacle when inserted therein. As another example, the tolerance between the receptacle receiving slot and the closed sample-containing receptacle may be relatively tight such that the closed sample-containing receptacle may be stabilized within the receptacle receiving slot without the use of a separate mechanism such as a retaining spring. Under optimal conditions, there may be no insertion forces associated with these tightly toleranced receptacle receiving slots, but there may be cases where barcode indicia on the closed sample-containing receptacle may delaminate (creating a "flag" condition), thereby causing an insertion force to be associated with the receptacle receiving slot due to these flagged barcode indicia. Therefore, a properly designed robotic handler must be able to overcome the insertion forces associated with the receptacle receiving slots such that closed sample-containing receptacles can be properly seated within corresponding individual receptacle receiving slots.

[0006] When a closed sample-containing receptacle is gripped by the jaw members, the jaw members may not be able to descend past the top of a neighboring sample-containing receptacle seated in the receptacle rack. Thus, a seating device must be used to press down on the top surface of the cap of each sample-containing receptacle with sufficient force to overcome the expected insertion force associated with the receptacle receiving slot so that the sample-containing receptacle may be seated in the receptacle receiving slot. In one exemplary technique, the jaw members may release an open, partially inserted sample-containing receptacle, move vertically upward to a position directly above the cap of the sample-containing receptacle, close, creating an integrated abutment unit, and then move vertically downward to press down on the top surface of the cap against the expected insertion force associated with the receptacle receiving slot, thereby seating it in the respective receptacle receiving slot. Alternatively, a separate seating member may be used to depress the top surface of the sample containing receptacle after it has been released by the jaw members.

[0007] This approach is appropriate when the sample-containing receptacle has a new cap or the cap is removed from the sample-containing receptacle prior to extracting (e.g., pipetting) a sample for testing. However, in cases where the cap is designed to be pierced during sample extraction, contact between the jaw members and the upper surface of the cap can be a source of cross-contamination, especially if additional tests are to be performed. An example of a receptacle with a pierceable cap is the Aptima® Sample Collection Kit (Hologic, Inc.). This is particularly problematic if tests are to be performed involving nucleic acid amplification, since amplification of a single nucleic acid can result in millions of copies of the nucleic acid.

[0008] Thus, after sample extraction, it is important to avoid contacting the top surface of the pierceable cap with the associated sample-containing receptacle while it is being transported within an automated sample processing system. Avoiding contact can be difficult, especially when inserting the closed sample-containing receptacle into a receptacle rack supported by a sample storage unit, which can require applying a sufficient downward force on the closed sample-containing receptacle to overcome the insertion force of the receptacle receiving slot (conventionally by pressing down on the top surface of the closed sample-containing receptacle) to seat the closed sample-containing receptacle within the receptacle rack.

[0009] Thus, a need remains for seating a sample-containing receptacle closed with a pierceable closure (e.g., a pierceable cap) within a sample storage unit of an automated sample processing system without contacting the top surface of the closed sample receiving receptacle. Summary of the Invention [Means for solving the problem]

[0010] (summary) One embodiment of the gripper device is configured to grip a closed receptacle having a closure affixed to an open top end of the receptacle. The gripper device includes opposing jaw members capable of lateral movement between an open position, a first closed position, and a second closed position. The jaw members are configured to grip a closed receptacle (e.g., a side wall of the closure) when the closed receptacle is seated between the jaw members in the first closed position, and further configured to release the closed receptacle in the open position. Each of the jaw members may have a contoured engagement surface for gripping a side wall of the closure, where the closure and receptacle may each have a cylindrical shape. The contoured engagement surface of each of the jaw members may include a plurality of laterally oriented grooves, each adjacent pair of grooves forming a lateral edge. The contoured engagement surface of each of the jaw members may be a rounded recess. In one embodiment, the contoured engagement surface of each of the jaw members is a generally V-shaped recess. Regardless of their shape, the contoured engagement surfaces of the jaw members may be mirror images of one another. The jaw members may be capable of contacting one another in the absence of a closed receptacle mounted between the jaw members, and the contoured engagement surfaces may define an opening when the jaw members contact one another. The jaw members may not contact one another when a closed receptacle is mounted between the jaw members and the jaw members are in the first closed position.

[0011] The gripper device of this embodiment further includes a plurality of fingers. Each jaw member has at least one of the plurality of fingers depending from its base. For example, each jaw member may have two or more of the plurality of fingers depending from its base. In one embodiment, each jaw member has only two fingers depending from its base. The plurality of fingers are configured to grip a sidewall of the closure beneath a top surface of the closure as the jaw members move laterally toward one another from the open position when the closure is seated (i) between the plurality of fingers and (ii) beneath the respective bases of the jaw members in the second closed position. The plurality of fingers may have a gripping force greater than 1 pound, preferably at least 5 pounds. In another embodiment, the plurality of fingers are configured to contact or nearly contact the receptacle when the jaw members grip the sidewall of the closure in the first closed position. In this embodiment, each of the multiple fingers may be within about 0.25 mm of the receptacle when the receptacle is centered between the multiple fingers.

[0012] Each of the fingers may include an inner surface having a contact surface (which may be serrated) configured to engage a sidewall of the closure when the closure is seated (i) beneath a base of the respective jaw member and (ii) between the fingers in the second closed position. The contact surface of each of the fingers may be oriented toward an axial center of the closure when the sidewall of the closure is gripped by the fingers in the second closed position. The inner surface of each of the fingers may include a recess seated adjacent to and above the contact surface. The recess may be configured such that there is no contact between the recess and the closure in the second closed position. An upper region of the inner surface of each of the fingers may angle inwardly from the recess toward a base of one of the jaw members such that at least a portion of the upper region of the inner surface is seated directly above a top surface of the closure when the sidewall of the closure is gripped by the fingers in the second closed position. Each of the plurality of fingers may include an outer surface having a generally vertical upper region and a tapered lower region.

[0013] Another embodiment of the gripper device is configured to grip a closed receptacle. The gripper device includes a pair of opposing translatable support members and a plurality of fingers depending from the support members. Each of the support members has at least one of the plurality of fingers depending therefrom. In one embodiment, each of the support members has only two fingers depending therefrom. Each of the plurality of fingers includes an inner surface having a generally vertical lower region (which may be sawtooth) and a recess mounted between the generally vertical lower region and the corresponding support member. Each finger may include an upper region (which may be inwardly angled) mounted between the respective recess and the corresponding support member. Each of the plurality of fingers may include an outer surface having a generally vertical upper region and a tapered lower region. The plurality of fingers may be configured such that the vertical lower region of the inner surface of each of the plurality of fingers contacts a cylindrical surface of an object to be gripped by the plurality of fingers. The fingers may have a gripping force of greater than 1 pound, preferably at least 5 pounds.

[0014] Another embodiment of the gripper apparatus may include a proximity sensor mounted above the jaw members to detect the position of the closed receptacle relative to the jaw members.

[0015] The embodiment of a closed receptacle gripped by the gripper device described above includes a receptacle and a closure affixed to the open top end of the receptacle, where the closure is gripped between a plurality of fingers with a lower region of the inner surface of each finger contacting a sidewall of the closure directly below the top surface of the closure. In another embodiment, the top surface of the closure is pierceable, and in some embodiments may be pierced.

[0016] A method is presented for gripping a closed receptacle with the gripper apparatus described above, the closed receptacle including a receptacle and a closure affixed to an open top end of the receptacle. In some embodiments, the method includes positioning support members such that a lower region of an inner surface of each finger is aligned with a sidewall of the closure, and translating the support members toward each other to grip the closure between the fingers with a lower region of an inner surface of each finger contacting the sidewall of the closure directly below the top surface of the closure.

[0017] One embodiment of a robotic handler includes any of the gripper devices described above and a gantry configured to operatively support the gripper device and provide XYZ movement to the gripper device.

[0018] One embodiment of the receptacle storage module includes a housing (which may be refrigerated) defining a chamber, and a plurality of vertically spaced tiers (e.g., shelves) contained within the chamber. Each tier is configured to support one or more receptacle racks. The receptacle storage module further includes a plurality of robot handlers, each one of the robot handlers described above, each robot handler being operatively associated with one of the tiers. A front of the housing may include one or more pairs of doors for accessing the tiers. A rear of the housing may include one or more openings configured to receive receptacles therethrough.

[0019] The receptacle storage module may further include a pick-and-place device associated with each of the one or more openings for gripping a receptacle and transporting the receptacle through the respective opening into the housing. The receptacle storage module may further include a receptacle transporter associated with at least one of the openings. The receptacle transporter may be configured to receive a single receptacle from the respective pick-and-place device and transport the receptacle to a plurality of different receiving locations. Each of the receiving locations may be associated with one of a plurality of tiers of the receptacle storage module. The receptacles may be accessible at each of the receiving locations by an associated one of a plurality of robotic handlers. At least one of the tiers may support a receptacle rack that holds a plurality of receptacles in a linear row.

[0020] One embodiment of an automated sample processing system includes a receptacle storage module, as described above, an analyzer for analyzing samples contained in the receptacles, and a conveyor for transporting the receptacles between the analyzer and the receptacle storage module on a carrier for supporting the receptacles in an upright orientation. Magnetic forces between the carrier and the conveyor may be used to propel the carrier. The automated sample processing system may further include a capping module for closing a top end of the receptacle with a closure after the sample contained in the receptacle has been processed in the analyzer. The capping module may be mounted along the conveyor between the analyzer and the receptacle storage module. The automated sample processing system may further include a cap removal module for removing the closure from the receptacle prior to processing the sample in the analyzer. The cap removal module may be mounted along the conveyor in front of the analyzer. The automated sample processing system may further include a stopping feature configured to maintain the carrier in a stationary position on the conveyor adjacent to the receptacle storage module.

[0021] One method of using the robotic handler to transport a closed receptacle from a receiving location to a receptacle rack contained within a housing of a receptacle storage module, as described above, includes moving jaw members of a gripper device from an open position to a first closed position at the receiving location to grip the closed receptacle, wherein the closed receptacle is supported at the receiving location by a receptacle holder (which may be a component of a receptacle transporter). The method further includes, while the jaw members are in the first closed position, (i) removing the receptacle from the receptacle retainer; (ii) positioning the receptacle into vertical alignment with a receptacle slot formed in a receptacle rack contained within the receptacle storage module, the receptacle slot being configured to receive and support the closed receptacle in an upright orientation; and (iii) inserting the partially closed receptacle into the receptacle slot.

[0022] The method further includes the steps of (i) moving the jaw members from a first closed position to an open position, (ii) raising the jaw members until the plurality of fingers are laterally aligned with a sidewall of the closure of the closed receptacle, (iii) moving the jaw members from the open position to a second closed position until the plurality of fingers engage the sidewall of the closure, and while the jaw members are in the second closed position, (iv) lowering the gripper apparatus until the closed receptacle is seated within the receptacle slot. Each of the plurality of fingers may grip a sidewall of the closure at a position just below a rim of the closure such that there is no contact between any of the plurality of fingers and a top surface of the closure during the method.

[0023] The method may further include the steps of: (i) providing a depth insertion stop in the receptacle slot, the depth insertion stop supporting a partially inserted receptacle in the receptacle slot when the jaw members are moved from a first closed position to an open position; (ii) after moving the jaw members from the open position to the second closed position, removing the depth insertion stop from the receptacle slot while the jaw members are in the second closed position; and (iii) lowering the gripper apparatus until the closed receptacle is seated in the receptacle slot of the receptacle rack.

[0024] The method may further include, after seating the closed receptacle in a receptacle slot of the receptacle rack, (i) moving the jaw members to an open position, (ii) raising the jaw members until a plurality of fingers are seated above the closed receptacle, and (iii) moving the gripper device to a receiving location. The receptacle rack may include a plurality of rows of receptacle slots for receiving the receptacles. In this case, as the gripper device is lowered to seat the closed receptacle in the receptacle slot, the fingers may be configured such that each finger is seated between a pair of adjacent receptacles when the closed receptacle is seated in the receptacle slot. The method may further include transferring the closed receptacle, such as by a pick-and-place device, from a receptacle carrier located on a conveyor mounted outside the receptacle storage module to a receptacle holder, which may be a delivery location, mounted outside the housing of the receptacle storage module. The receptacle holder may be a component of a receptacle transporter, which may be moved within the receptacle storage module such that the closed receptacle is transported from the delivery location to a receiving location.

[0025] The method may further include transporting the closed receptacle from the analyzer to the receptacle storage module on a track connecting the analyzer and the receptacle storage module. The closed receptacle may be supported in an upright orientation by the receptacle carrier during the transporting step. The method may further include puncturing the closure with a pipettor within the analyzer and removing the sample from the closed receptacle with the pipettor.

[0026] The method for seating a closed receptacle in a receptacle slot using a gripper apparatus described above includes the steps of: using the jaw members to grip a closure of a closed receptacle between the jaw members in a first closed position; extending an insertion stop pin partially into the receptacle slot from a bottom end of the receptacle slot; lowering the jaw members and the closed receptacle gripped thereby relative to the receptacle slot until the closed receptacle is partially inserted into the receptacle slot with the bottom end of the closed receptacle seated in the receptacle slot above the bottom end of the receptacle slot; moving the jaw members from the first closed position to an open position to release the closed receptacle with the closed receptacle retained in a partially inserted position in the receptacle slot by the insertion stop pin; and, The method includes the steps of: lifting the jaw members against the partially inserted, closed receptacle until they are laterally aligned with a side wall of the closure; moving the jaw members from an open position to a second closed position to grip the closure of the closed receptacle between the fingers; withdrawing the insertion stop pin from the receptacle slot; lowering the closed receptacle gripped by the jaw members and the multiple fingers against the receptacle slot until the closed receptacle is fully inserted into the receptacle slot with a bottom end of the closed receptacle seated against a bottom end of the receptacle slot; moving the jaw members from the second closed position to the open position to release the closed receptacle; and lifting the jaw members and the multiple fingers against the receptacle slot and the closed receptacle seated therein until the jaw members and the multiple fingers are above an upper surface of the closure.

[0027] A method for removing a closed receptacle from a receptacle slot using a gripper device as described above, comprising the steps of: gripping a closure of the closed receptacle between a plurality of fingers with the jaw members in a second closed position, a bottom end of the closed receptacle seated at a bottom end of the receptacle slot and the closure of the closed receptacle seated at least partially above the receptacle slot; lifting the closed receptacle gripped by the jaw members and the plurality of fingers relative to the receptacle slot until the closed receptacle is partially removed from the receptacle slot with the bottom end of the closed receptacle seated in the receptacle slot above the bottom end of the receptacle slot; and partially engaging an insertion stop pin. the jaw members extending generally into the receptacle slot from a bottom end of the receptacle slot; moving the jaw members from the second closed position to an open position to release the closed receptacle with the closed receptacle retained in the partially removed position in the receptacle slot by the insertion stop pin; lowering the jaw members against the partially removed closed receptacle until the jaw members are laterally aligned with a side wall of the closure of the closed receptacle; moving the jaw members from the open position to the first closed position to grasp the closure of the closed receptacle between the jaw members; and raising the jaw members and the closed receptacle grasped thereby relative to the receptacle slot until the bottom end of the closed receptacle is above the receptacle slot. The present specification also provides, for example, the following: (Item 1) 1. A gripper device configured to grip a closed receptacle having a receptacle and a closure affixed to an open top end of the receptacle, the gripper device comprising: opposing jaw members that are laterally movable relative to one another between an open position and a first closed position and a second closed position, the jaw members configured to grip a side wall of a closure of the closed receptacle when the closure of the closed receptacle is seated between the jaw members in the first closed position, and the jaw members configured to release the closed receptacle in the open position; a plurality of fingers, each of the jaw members having at least one of the plurality of fingers depending from a base thereof, the plurality of fingers being configured to grip a sidewall of the closure beneath a top surface of the closure as the jaw members move laterally toward one another from an open position when the closure is seated (i) between the plurality of fingers and (ii) beneath the base of each of the jaw members, the plurality of fingers gripping the sidewall of the closure in the second closed position; A gripper device comprising: (Item 2) Item 2. The gripper apparatus of item 1, wherein the jaw members are configured to grip a side wall of the closure in the first closed position. (Item 3) 3. The gripper apparatus of claim 2, wherein the plurality of fingers are configured to contact or nearly contact the receptacle when the jaw members grip a side wall of the closure in the first closed position. (Item 4) Item 4. The gripper apparatus of item 3, wherein the plurality of fingers are configured to contact the receptacle when the jaw members grip a side wall of the closure in the first closed position. (Item 5) 4. The gripper apparatus of claim 3, wherein each of the plurality of fingers is within 0.25 mm of the receptacle when the receptacle is centered between the plurality of fingers. (Item 6) 6. The gripper apparatus of any one of claims 1-5, wherein each of the jaw members has a contoured engagement surface for gripping a side wall of the closure, and the closure and the receptacle each have a cylindrical shape. (Item 7) 7. The gripper apparatus of claim 6, wherein the contoured engagement surface of each of the jaw members is a rounded recess, the contoured engagement surfaces being mirror images of one another. (Item 8) 7. The gripper apparatus of claim 6, wherein the contoured engagement surface of each of the jaw members is a V-shaped recess, the contoured engagement surfaces being mirror images of one another. (Item 9) 9. The gripper apparatus of any one of claims 6-8, wherein the contoured engagement surface of each of the jaw members includes a plurality of laterally oriented grooves, each adjacent pair of grooves forming a lateral edge. (Item 10) 10. The gripper apparatus of any one of claims 6-9, wherein the jaw members are capable of contacting one another in the absence of the closed receptacle mounted between the jaw members, and the contoured engagement surfaces define an opening when the jaw members contact one another. (Item 11) Item 11. The gripper apparatus of item 10, wherein the jaw members do not contact one another when the closed receptacle is mounted between the jaw members and the jaw members are in the first closed position. (Item 12) Item 12. The gripper apparatus of any one of items 1-11, wherein each of the jaw members has two or more of the plurality of fingers depending from the base thereof. (Item 13) Item 13. The gripper apparatus of item 12, wherein each of the jaw members has only two of the plurality of fingers depending from the base thereof. (Item 14) Item 14. The gripper apparatus of any one of items 1-13, wherein each of the plurality of fingers comprises an inner surface having a contact surface configured to engage a side wall of the closure when the closure is seated (i) beneath the base of each of the jaw members and (ii) between the plurality of fingers in the second closed position. (Item 15) Item 15. The gripper apparatus of item 14, wherein the contact surface of each of the plurality of fingers is knurled. (Item 16) Item 16. The gripper apparatus of item 14 or 15, wherein the contact surface of each of the plurality of fingers is oriented toward an axial center of the closure when a side wall of the closure is gripped by the plurality of fingers in the second closed position. (Item 17) 17. The gripper apparatus of any one of items 14-16, wherein the inner surface of each of the plurality of fingers includes a recess mounted adjacent to and above the contact surface, the recess configured such that there is no contact between the recess and the closure in the second closed position. (Item 18) Item 18. The gripper apparatus of item 17, wherein an upper region of the inner surface of each of the plurality of fingers slopes inwardly from the recess toward the base of one of the jaw members such that when a side wall of the closure is gripped by the plurality of fingers in the second closed position, at least a portion of the upper region of the inner surface is seated directly above a top surface of the closure. (Item 19) Item 19. The gripper apparatus of any one of items 1-18, wherein each of the plurality of fingers comprises an outer surface having a generally vertical upper region and a tapered lower region. (Item 20) 20. The gripper apparatus of any one of claims 1-19, wherein the plurality of fingers have a gripping force of greater than 1 pound. (Item 21) 21. The gripper apparatus of any one of claims 1-20, further comprising a proximity sensor mounted above the jaw members for detecting the position of the closed receptacle relative to the jaw members. (Item 22) A robot handler comprising: a gripper device according to any one of items 1-21; and a gantry configured to operatively support the gripper device and provide XYZ movement to the gripper device. (Item 23) a gripper device configured to grip a closed receptacle, the gripper device comprising: A pair of opposing translatable support members; a plurality of fingers depending from the support member, each of the support members having at least one of the plurality of fingers depending therefrom, each of the plurality of fingers having an inner surface having a generally vertical lower region and a recess seated between the generally vertical lower region and a corresponding support member; A gripper device comprising: (Item 24) A receptacle storage module, comprising: a housing defining a chamber; a plurality of vertically spaced tiers contained within the chamber, each tier configured to support one or more receptacle racks; A plurality of robot handlers, each of which is operatively associated with one of the stages, each of which is the robot handler according to item 22. A receptacle storage module comprising: (Item 25) 1. An automated sample processing system comprising: 25. A receptacle storage module according to item 24; an analyzer for analyzing the sample contained in the receptacle; a conveyor for transporting the receptacle between an analyzer and the receptacle storage module on a carrier for supporting the receptacle in an upright orientation; An automated sample processing system comprising: (Item 26) 23. A method of transporting closed receptacles from a receiving location to a receptacle rack contained within an enclosure of a receptacle storage module using the robotic handler of claim 22, the method comprising: (a) moving the jaw members of the gripper device from the open position to the first closed position at the receiving location to grip the closed receptacle, the closed receptacle being supported by a receptacle holder at the receiving location; (b) while the jaw members are in the first closed position; (i) removing the receptacle from the receptacle retainer; (ii) positioning the receptacle into vertical alignment with a receptacle slot formed in a receptacle rack contained within the receptacle storage module, the receptacle slot configured to receive and support the closed receptacle in an upright orientation; (iii) partially inserting the closed receptacle into the receptacle slot; (c) after step (b)(iii), moving the jaw members from the first closed position to the open position; (d) raising the jaw members until the plurality of fingers are laterally aligned with a side wall of a closure of the closed receptacle; (e) moving the jaw members from the open position to the second closed position until the plurality of fingers engage a side wall of the closure; (f) lowering the gripper assembly while the jaw members are in the second closed position until the closed receptacle is seated within the receptacle slot. A method comprising: (Item 27) 22. A method for seating a closed receptacle in a receptacle slot using a gripper apparatus according to any one of claims 1-21, the method comprising: using the jaw members to grasp the closure of the closed receptacle between the jaw members in the first closed position; extending an insertion stop pin partially into the receptacle slot from a bottom end of the receptacle slot; lowering the jaw members and the closed receptacle grasped thereby relative to the receptacle slot until the closed receptacle is partially inserted into the receptacle slot with a bottom end of the closed receptacle seated within the receptacle slot above a bottom end of the receptacle slot; moving the jaw members from the first closed position to the open position to release the closed receptacle while the closed receptacle is retained in a partially inserted position within the receptacle slot by the insertion stop pin; lifting the jaw members relative to the partially inserted closed receptacle until the plurality of fingers are laterally aligned with a side wall of the closure of the closed receptacle; moving the jaw members from the open position to the second closed position to grasp the closure of the closed receptacle between the fingers; withdrawing the insertion stop pin from the receptacle slot; lowering the closed receptacle grasped by the jaw members and the plurality of fingers relative to the receptacle slot until the closed receptacle is fully inserted into the receptacle slot with a bottom end of the closed receptacle seated against a bottom end of the receptacle slot; moving the jaw members from the second closed position to the open position to release the closed receptacle; raising said jaw members and said plurality of fingers relative to said receptacle slot and said closed receptacle seated therein until said jaw members and said plurality of fingers are above an upper surface of said closure; A method comprising: (Item 28) 22. A method for removing a closed receptacle from a receptacle slot using a gripper device according to any one of claims 1-21, the method comprising: grasping the closure of the closed receptacle between the fingers with the jaw members in the second closed position, wherein a bottom end of the closed receptacle is seated at a bottom end of the receptacle slot and the closure of the closed receptacle is at least partially seated above the receptacle slot; lifting the closed receptacle grasped by the jaw members and the plurality of fingers relative to the receptacle slot until the closed receptacle is partially removed from the receptacle slot with a bottom end of the closed receptacle seated within the receptacle slot above a bottom end of the receptacle slot; extending an insertion stop pin partially into the receptacle slot from a bottom end of the receptacle slot; moving the jaw members from the second closed position to the open position with the closed receptacle retained in a partially removed position within the receptacle slot by the insertion stop pin to release the closed receptacle; lowering the jaw members against the partially removed closed receptacle until the jaw members are laterally aligned with a sidewall of the closure of the closed receptacle; moving the jaw members from the open position to the first closed position to grasp the closure of the closed receptacle between the jaw members; raising the jaw members and the closed receptacle grasped thereby relative to the receptacle slot until a bottom end of the closed receptacle is above the receptacle slot; A method comprising: [Brief description of the drawings]

[0028] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate various non-limiting embodiments of the present disclosure. Where appropriate, reference numbers illustrating similar structures, components, materials, and / or elements in different drawings are similarly labeled. It is understood that various combinations of structures, components, and / or elements other than those specifically shown in these drawings are also contemplated and are within the scope of the present disclosure.

[0029] For convenience and clarity of illustration, the drawings depict the general structure and / or manner of construction of the described embodiments and associated manufacturing methods. Well-known features (e.g., fasteners, electrical connections, control systems, etc.) are not shown in these drawings (and for brevity are not described in the corresponding description) to avoid obscuring other features, since these features are well-known to those skilled in the art. Features in the drawings are not necessarily drawn to scale. Dimensions of some features may be exaggerated relative to other features to improve understanding of the exemplary embodiments. Cross-sectional views are simplifications provided to help illustrate the relative positioning of various features. Those skilled in the art will understand that cross-sectional views are not drawn to scale and should not be considered to represent proportional relationships between different features. It should be noted that aspects and features described with reference to one embodiment may also be applicable to and may be used with other embodiments, even if not specifically stated.

[0030] [Figure 1] FIG. 1 is a schematic diagram of an exemplary automated sample processing system.

[0031] [Diagram 2] FIG. 2 is a schematic diagram of an exemplary receptacle storage module of the exemplary automated sample processing system of FIG. 1 and an exemplary branch line associated with the receptacle storage module.

[0032] [Figure 3A] 3A is a front view of an exemplary receptacle for transfer and processing in the automated sample processing system of FIG.

[0033] [Figure 3B] FIG. 3B is a front view of the receptacle of FIG. 3A without the cap.

[0034] [Figure 3C] 3C is a front view of another exemplary receptacle for transport and processing within the automated sample processing system of FIG.

[0035] [Figure 3D] FIG. 3D is a front view of the receptacle of FIG. 3C without the cap.

[0036] [Figure 4A] FIG. 4A is a schematic diagram of a portion of an automated conveyor system used in the automated sample processing system of FIG. 1, in which a diverter is shown in a closed state, allowing a receptacle on a main conveyor line to bypass a branch line associated with a module of the automated sample processing system.

[0037] [Figure 4B] FIG. 4B is a schematic diagram of a portion of an automated conveyor system used in an automated sample processing system, with a diverter shown in an open position to divert receptacles from a main conveyor line onto a branch line of the automated sample processing system.

[0038] [Diagram 5] FIG. 5 is a perspective view of an exemplary carrier used by the automated conveyor system of the automated sample processing system of FIG. 1 to transport the receptacles of FIGS. 3A-3D.

[0039] [Figure 6] FIG. 6 is a cross-sectional view of the carrier of FIG. 5 and a receptacle supported by the carrier.

[0040] [Figure 7] FIG. 7 is a front view of an exemplary receptacle storage module of the automated sample processing system of FIG.

[0041] [Figure 8] FIG. 8 is a partial rear view of the receptacle storage module of FIG.

[0042] [Figure 9]FIG. 9 is an interior view of the receptacle storage module of FIG. 7, specifically illustrating an example receptacle rack and an example robotic handler of the receptacle storage module.

[0043] [Figure 10] 10 is an internal view of the receptacle storage module of FIG. 7, specifically showing a portion of the receptacle rack of FIG. 9 and a portion of the gantry of the robotic handler of FIG.

[0044] [Figure 11] FIG. 11 is a partial top perspective view of the rear of the receptacle storage module of FIG. 7, illustrating, among other things, an example pick-and-place device, an example barcode reader assembly, and an example stop feature for use with the receptacle storage module.

[0045] [Figure 12] 12 is a top perspective view of the bar code reader assembly of FIG.

[0046] [Figure 13] FIG. 13 is a top view of the bar code reader assembly of FIG.

[0047] [Figure 14] FIG. 14 is a top view of the stop feature of FIG.

[0048] [Figure 15] 15 is an internal view of the receptacle storage module of FIG. 7, particularly showing the example receptacle insertion stop assembly and robot handler of FIG.

[0049] [Figure 16] 16 is a rear view of the receptacle storage module of FIG. 7, particularly showing the pick-and-place device of FIG.

[0050] [Figure 17]FIG. 17 is an interior view of the receptacle storage module of FIG. 7, specifically showing multiple tiers, an exemplary robotic handler, and an exemplary receptacle transporter associated with each shelf of the receptacle storage module.

[0051] [Figure 18] FIG. 18 is another interior view of the receptacle storage module of FIG. 7, specifically showing one of the robotic handlers and one of the receptacle transporters of FIG.

[0052] [Figure 19] 19 is a perspective view illustrating a receptacle rack used in the receptacle storage module of FIG.

[0053] [Figure 20] FIG. 20 is a block diagram of the controller and robot handler of the receptacle storage module of FIG.

[0054] [Figure 21] 21 is a perspective view of an exemplary gripper device of the robotic handler of FIG. 9, particularly illustrating its use for removing or inserting receptacles from or into receptacle slots of the receptacle rack of FIG.

[0055] [Figure 22] FIG. 22 is an enlarged perspective view of the gripper device of FIG.

[0056] [Figure 23A] 23A is a perspective view of the gripper apparatus of FIG. 21, particularly showing the jaw members of the gripper apparatus in an open position prior to or following the use of the jaw members to grip a cap of a receptacle;

[0057] [Figure 23B]23B is a top view of the gripper apparatus of FIG. 21, particularly showing the jaw members in an open position prior to gripping or following release of a cap of a receptacle with the jaw members.

[0058] [Figure 24A] 24A is a perspective view of the gripper apparatus of FIG. 21, particularly showing the jaw members gripping the cap of a receptacle in a first, closed position.

[0059] [Figure 24B] 24B is a top view of the gripper apparatus of FIG. 21, particularly showing the jaw members gripping the cap of a receptacle in the first, closed position.

[0060] [Diagram 25] FIG. 25 is a top view of the gripper apparatus of FIG. 21, particularly showing the jaw members in contact with one another.

[0061] [Figure 26A] 26A is a perspective view of the gripper apparatus of FIG. 21, particularly showing the jaw members in an open position prior to or following gripping or releasing the cap of a receptacle with the fingers of the gripper apparatus.

[0062] [Figure 26B] 26B is a bottom view of the gripper apparatus of FIG. 21, particularly showing the jaw members in an open position prior to or following gripping or releasing the cap of a receptacle with the fingers.

[0063] [Figure 27A] 27A is a perspective view of the gripper apparatus of FIG. 21, particularly showing the jaw members gripping the cap of a receptacle with the fingers in the second, closed position.

[0064] [Figure 27B]Figure 27B is a bottom view of the gripper device of FIG. 21, and in particular shows the jaw member that holds the cap of the receptacle using the fingers in the second closed position.

[0065] [Figure 28] Figure 28 is an enlarged perspective view of one of the fingers of the gripper device of FIG. 21.

[0066] [Figure 29] Figure 29 is an enlarged perspective view of the finger of FIG. 28 engaging the cap of the receptacle, and in particular shows the contact between the indentation of the finger and the cap of the receptacle when there is slippage between the finger and the cap of the receptacle.

[0067] [Figure 30A] Figure 30A is a top view of the finger of the gripper device of FIG. 21 positioned within the intervening space between the receptacles, seated within the receptacle rack when the jaw member is in the open position.

[0068] [Figure 30B] Figure 30B is a top view of the finger of the gripper device of FIG. 21 positioned within the intervening space between the receptacles, seated within the receptacle rack when the jaw member is in the second closed position.

[0069] [Diagram 31] Figure 31 is a flow diagram of one exemplary method of operating the sample processing system of FIG. 1 to process and store the receptacles.

[0070] [Diagram 32] Figure 32 is a flow diagram of one exemplary method of transferring the receptacles from the automated conveyor system of the sample processing system of FIG. 1 to the receptacle storage module of FIG. 7 for storage within the receptacle storage module.

[0071] [Diagram 33]33 is a flow diagram of an exemplary method for transferring a receptacle from a receiving location in a chamber of the receptacle storage module of FIG. 7 and seating the receptacle in a receptacle slot of a receptacle rack of the receptacle storage module of FIG.

[0072] [Diagram 34] 34 is a perspective view of the gripper apparatus of FIG. 21, particularly showing the jaw members in an open position and the cap of a receptacle between the jaw members while being held by the receptacle transporter of FIG.

[0073] [Diagram 35] 35 is a perspective view of the gripper apparatus of FIG. 21, particularly showing the jaw members gripping the cap of a receptacle in the first, closed position;

[0074] [Diagram 36] FIG. 36 is a perspective view of the gripper apparatus of FIG. 21, particularly showing the gripper apparatus with a receptacle gripped above a receptacle transporter.

[0075] [Figure 37] 37 is a perspective view of the gripper apparatus of FIG. 21, particularly showing the gripper apparatus with a receptacle grasped over a selected receptacle slot of the receptacle rack of FIG.

[0076] [Figure 38] FIG. 38 is a perspective view of the gripper apparatus of FIG. 21, particularly showing the gripper apparatus with a gripped receptacle partially inserted into a selected receptacle slot of the receptacle rack.

[0077] [Figure 39]39 is a perspective view of the gripper apparatus of FIG. 21, particularly showing the jaw members in an open position and the cap of a receptacle between the jaw members while partially inserted into a selected receptacle slot of a receptacle rack.

[0078] [Diagram 40] FIG. 40 is a perspective view of the gripper device of FIG. 21, specifically showing the gripper device in an open position with the fingers laterally aligned with the cap of a receptacle while partially inserted into a selected receptacle slot of a receptacle rack.

[0079] [Diagram 41] FIG. 41 is a perspective view of the gripper device of FIG. 21, particularly showing the jaw members gripping the cap of a receptacle with the fingers in a second closed position while the receptacle is partially inserted into a selected receptacle slot of a receptacle rack.

[0080] [Diagram 42] FIG. 42 is a perspective view of the gripper apparatus of FIG. 21, particularly showing the gripper apparatus with a gripped receptacle seated in a selected receptacle slot of the receptacle rack.

[0081] [Diagram 43] 43 is a perspective view of the gripper apparatus of FIG. 21, particularly showing the jaw members in an open position and the cap of a receptacle between the jaw members while seated within a selected receptacle slot of a receptacle rack.

[0082] [Diagram 44] FIG. 44 is a perspective view of the gripper assembly of FIG. 21, particularly showing the fingers of the gripper assembly over the cap of a receptacle while seated within a selected receptacle slot of a receptacle rack.

[0083] [Diagram 45]45 is a flow diagram of one exemplary method for transferring seated receptacles from the receptacle storage module of FIG. 9 to the automated conveyor system of the sample processing system of FIG.

[0084] [Diagram 46] FIG. 46 is a flow diagram of one exemplary method for transferring a seated receptacle from a receptacle slot of a receptacle rack of the receptacle storage module of FIG. 9 to a delivery location within a chamber of the receptacle storage module.

[0085] [Figure 47] FIG. 47 is a perspective view of another gripper device of the robotic handler of FIG. 9 gripping the cap and receptacle of a closed receptacle.

[0086] [Figure 48] FIG. 48 is a top view of the gripper apparatus of FIG. 47 showing the jaw members in an open position prior to gripping or following releasing the cap of a closed receptacle.

[0087] [Figure 49A] FIG. 49A is a top view of the gripper apparatus of FIG. 47 showing the jaw members in a first, closed position gripping the cap of a closed receptacle.

[0088] [Figure 49B] FIG. 49B is a bottom view of the gripper apparatus of FIG. 47 showing the jaw members gripping the cap of the closed receptacle and the fingers contacting the receptacle of the closed receptacle in the first, closed position.

[0089] [Figure 50] FIG. 50 is a top view of the gripper apparatus of FIG. 47 showing the jaw members in contact with one another in a closed position with no receptacle present.

[0090] [Figure 51] FIG. 51 is a bottom view of the gripper apparatus of FIG. 47 showing the jaw members in an open position prior to or following gripping or releasing the cap of a closed receptacle with the fingers.

[0091] [Figure 52] 52 is a bottom view of the gripper apparatus of FIG. 47 showing the jaw members in the second, closed position with fingers gripping the cap of a closed receptacle.

[0092] [Figure 53] 53 is a bottom perspective view of the jaw members of the gripper apparatus of FIG. 47;

[0093] [Figure 54] 54 is a side view of the jaw member of FIG. 53; FIG.

[0094] [Figure 55] FIG. 55 is a side view of the gripper apparatus of FIG. 47 showing the jaw members gripping the cap of the closed receptacle and the fingers gripping the receptacle of the closed receptacle in a first, closed position.

[0095] [Figure 56] FIG. 56 is a side view of the gripper apparatus of FIG. 47 showing the jaw members in the second, closed position with fingers gripping the cap of a closed receptacle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0096] (Detailed Description) 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.All patents, applications, published applications, and other publications referenced herein are incorporated by reference in their entirety.If the definitions set forth in this disclosure are in contrast to or otherwise contradictory with the definitions in these references, the definitions set forth in this disclosure shall prevail over the definitions incorporated herein by reference.None of the references described or referenced herein are admitted to be prior art of this disclosure.

[0097] References herein to "one embodiment," "an embodiment," "a further embodiment," "an exemplary embodiment," "some aspects," "a further aspect," "aspect," and the like indicate that the embodiment being described may include a particular feature, structure, or characteristic, but not all embodiments necessarily include the particular feature, structure, or characteristic. Moreover, such phrases do not necessarily refer to the same embodiment. Moreover, when a particular feature, structure, or characteristic is described in connection with an embodiment, such feature, structure, or characteristic is also described in connection with other embodiments, whether or not explicitly described. As used herein, "a" or "an" means "at least one" or "one or more."

[0098] The present description may use relative spatial and / or orientation terms when describing the location and / or orientation of a component, device, location, feature, or portion thereof. Unless specifically stated or otherwise dictated by the context of the description, such terms, including but not limited to top, bottom, above, below, on, above, below, left of, right of, inside of, outside of, proximal, distal, in front of, behind, next to, adjacent to, between, horizontal, vertical, diagonal, longitudinal, transverse, etc., are used in the drawings in referring to such components, devices, locations, features, or portions thereof for convenience and are not intended to be limiting. Additionally, relative terms, such as, for example, "about," "substantially," "approximately," etc., are used to indicate possible variations of ±10% within a stated numerical value or range.

[0099] 1, one embodiment of an automated sample processing system 10 configured for preparing and processing samples from a sample-containing receptacle 12 (e.g., a test tube or vial) will be described. Receptacle 12 may be any type of fluid container configured to contain a sample.

[0100] As illustrated in FIGS. 3A-3D, two non-limiting exemplary embodiments of closed receptacles 12 (12a and 12b) may be handled by the automated sample processing system 10. As illustrated in FIGS.

[0101] The receptacle 12a illustrated in Figures 3A and 3B includes a receptacle 14a and a closure 16 (in this case a pierceable cap 16a) affixed to an open top end 18a of the receptacle 14a. In the illustrated embodiment, the receptacle 14a includes a self-standing flat bottom end 20a, although in alternative embodiments the receptacle 14a may have, for example, a curved or hemispherical base. The receptacle 14a and cap 16a have a generally cylindrical shape, although other geometric shapes are contemplated. The cap 16a includes a sidewall 22a, a top surface 24a, and a rim 26a between the sidewall 22a and the top surface 24a. Further details discussing exemplary receptacles with pierceable caps are described in U.S. Patent Nos. 6,716,396, 7,691,332, and 9,545,632. Commercial embodiments of receptacles with pierceable caps may include, for example, Aptima® Sample Transport Tubes (Hologic, Inc., Marlborough, Mass.) and Abbott Multi-Collection Sample Collection Kits (Abbott Laboratories, Des Plaines, Ill.).

[0102] In contrast, the closed receptacle 12b illustrated in Figures 3C and 3D includes a receptacle 14b and a closure 16 (in this case a removable cap 16b) affixed to an open top end 18b of the receptacle 14b. In the illustrated embodiment, the receptacle 14b includes a curved or hemispherical bottom end 20b, although in alternative embodiments, the receptacle 14b may include a self-standing flat base. The receptacle 14b and cap 16b have a generally cylindrical shape, although other geometric shapes are contemplated. The cap 16b includes a sidewall 22b, a top surface 24b, and a rim 26b between the sidewall 22b and the top surface 24b. Commercial embodiments of receptacles with removable caps include the BD Vacutainer® (Becton Dickinson Company, Franklin Lakes, NJ).

[0103] Each closed receptacle 12 (either 12a or 12b) may further include a machine-readable label 28 on receptacle 14 (either 14a or 14b). The machine-readable label 28 may include encoded information related to the sample, such as the type of sample, the type of test to be performed, patient identification (e.g., age, gender, address, etc.). In some embodiments, the machine-readable label 28 may include a mark or line (e.g., barcode) formed (e.g., printed) directly on the sidewall of receptacle 12. In other embodiments, the machine-readable label 28 may be a tag or sticker where the adhesive is on one side and the pattern of the mark is formed on the opposite side.

[0104] The sample may be any substance in its original form or at any stage of processing suspected of containing at least one analyte of interest. The analyte of interest may be, for example, a nucleic acid, protein, prion, chemical, or the like. The substance may be derived from any source, including animals, industrial processes, the environment, water sources, food products, and solid surfaces (e.g., surfaces within medical facilities). Substances obtained from animals may include, for example, blood or blood products, urine, mucus, sputum, saliva, semen, tears, pus, feces, nasopharyngeal or genitourinary samples obtained using swabs or other types of collection devices, and other body fluids or materials.

[0105] Referring again to FIG. 1, the automated sample processing system 10 generally includes a plurality of modules 30 each configured to perform a set of actions defined on receptacle 12, an automated conveyor system 32 configured to transfer receptacle 12 between modules 30, and a workflow management system (WMS) software module 34 configured to generate and manage the respective workflow of receptacle 12.

[0106] In the illustrated embodiment, the modules 30 of the automated sample processing system 10 include a loading (input) module 30a, a plurality of analyzer modules 30b (three analyzer modules are illustrated, but any suitable number of analyzer modules 30b, including only one, may be employed within the automated sample processing system 10), a sample transport module 30c, a receptacle storage module 30d, a cap removal module 30e, a capping module 30f, an unloading (output) module 30g, and a receptacle carrier feed module 30h. It should be understood that the automated sample processing system 10 may include different numbers and types of modules 30, but will typically include at least one analyzer module 30b and, for purposes of this description, at least one receptacle storage module 30d.

[0107] The loading module 30a serves as an input through which trays of receptacles 12 (e.g., 50-100 receptacles 12 / each tray) containing samples can be manually loaded by an operator through a loading compartment (not shown) of the loading module 30a. Once the trays of receptacles 12 are provided to the loading compartment of the loading module 30a, the receptacles 12 may be automatically transported from the loading module 30a onto an automated conveyor system 32 and subsequently acted upon by other modules 30 according to the workflow for the receptacles 12.

[0108] Each analyzer module 30b is configured to process a sample contained in a selected receptacle 12, for example, by performing an analytical test on the sample. Such tests may include molecular tests (e.g., nucleic acid-based assays), sequencing assays, immunological assays, chemical analyses, and the like. Non-limiting examples of such analyzer modules 30b include automated analyzers, such as, for example, the Tigris®, Panther®, and Panther Fusion® systems sold by Hologic, Inc. (Marlborough, Mass.). In the illustrated embodiment, each analyzer module 30b may be configured to receive a receptacle 12 via automated loading (using an automated conveyor system 32) or for manual loading through a sample compartment (not shown). Analyzer module 30b may be specialized (i.e., the analyzer module may be unique within the automated sample processing system 10) or redundant (i.e., the analyzer module may be identical to at least one other analyzer module within the automated sample processing system 10) to allow for higher throughput of analytical tasks on samples contained within receptacles 12. Typically, analyzer module 30b extracts liquid or liquefied sample from each of receptacles 12 and combines the sample and reagents in a reaction vessel, such as a cuvette, tube, vial, microtiter plate, etc., which may then be sealed, capped, or otherwise closed. After combining the sample and reagents, the contents of the reaction vessel are exposed to a series of test conditions.

[0109] Like the loading module 30a, the sample transport module 30c serves as an input through which trays of sample-containing receptacles (e.g., 50-100 receptacles / each tray) can be manually loaded by an operator into a loading compartment (not shown) of the sample transport module 30c. However, the sample transport module 30c provides the additional functionality of transporting at least an aliquot of sample from each of the manually loaded receptacles ("parent" receptacles) to at least one empty "child" receptacle 12, which may be automatically transported from the sample transport module 30c onto an automated conveyor system 32 and subsequently acted upon by other modules 30 according to the workflow for the child receptacle 12. The child receptacle 12 may be adapted for use in one or more of the analyzer modules 30b and may have a configuration that differs from that of the parent receptacle. The sample transport module 30c may store a number of empty child receptacles 12, at least some of which may receive aliquots of sample from parent receptacles provided to the sample transport module 30c. The sample transport module 30c may include a pipettor (not shown) that aspirates a portion of the sample from a parent receptacle and dispenses the aspirated sample into an empty child receptacle 12. A non-limiting example of a sample transport module 30c is the Tomcat® instrument sold by Hologic, Inc. (Marlborough, Mass.).

[0110] The receptacle storage module 30d is configured for storing receptacles 12. In some cases, the receptacle storage module 30d may be configured for storing completed receptacles 12 (i.e., receptacles 12 containing samples for which a workflow has been completed) for subsequent manual removal from the receptacle storage module 30d by an operator. In other cases, the receptacle storage module 30d may be configured for storing uncompleted receptacles 12 (i.e., receptacles 12 containing samples for which a workflow has not been completed) in a controlled environment for subsequent processing by other modules 30. As one example, non-completed receptacles 12 may contain samples awaiting initial testing (e.g., receptacles 12 containing samples that are tested infrequently may be quarantined in the receptacle storage module 30d until a sufficient number are resident in the automated sample processing system 10, or receptacles 12 awaiting opening in the analyzer module 30b for a particular test, or awaiting loading of appropriate reagents and consumables onto the analyzer module 30b). As another example, non-completed receptacles 12 may contain samples for which reflex testing is required, or to provide a physician with sufficient time to order additional tests based on the initial test. In the illustrated embodiment, the receptacle storage module 30d includes a plurality of vertically spaced tiers (not shown in FIG. 1), each configured to support one or more receptacle racks (not shown in FIG. 1). Each rack is configured to store a plurality of closed receptacles 12. The features of the receptacle storage module 30d will be described in further detail below.

[0111] The cap removal module 30e is configured to remove caps 16b from closed, sample-containing receptacles 12b (shown in FIG. 3C ) prior to processing the sample in one or more of the analyzer modules 30b. In the illustrated embodiment, the cap removal module 30e is mounted along a conveyor of the automated conveyor system 32 (described in further detail below) before the analyzer module 30b. The cap removal module 30e may be capable of removing different types of caps 16b from closed receptacles 12b, and in some embodiments, the cap removal module 30e may be capable of removing only a single type of cap 16b from a closed receptacle 12b. In the latter case, multiple cap removal modules 30e, each capable of removing a different type of cap 16b from a closed receptacle 12b, may be mounted along a conveyor of the automated conveyor system 32. It should be understood that a receptacle 12a (shown in FIG. 3A) having a pierceable cap 16a may bypass or pass through the cap removal module 30e prior to sample processing by one or more of the analyzer modules 30b. Further details discussing exemplary cap removal modules are described in U.S. Patent Nos. 6,321,619 and 7,152,504.

[0112] The capping module 30f is configured to couple (e.g., insert or attach) a cap 16b (e.g., a replacement cap or stopper) to a non-restrictive receptacle 12 after extracting a sample from the receptacle 12 within one or more of the analyzer modules 30b, and in many cases prior to transporting the receptacle 12 to the receptacle storage module 30d or the unloading module 30g. In the illustrated embodiment, the capping module 30f is mounted along a conveyor (described in more detail below) of the automated conveyor system 32 between the analyzer module 30b and the receptacle storage module 30d and the unloading module 30g. The capping module 30f may be capable of coupling different types of caps 16b to the non-restrictive receptacle 12, and in some embodiments, the capping module 30f may be capable of coupling only a single type of cap 16b to the non-restrictive receptacle 12. In the latter case, multiple capping modules 30f may be provided between the analyzer module 30b and the receptacle storage module 30d and the unloading module 30g, each capable of coupling a different type of cap 16b to the non-restrictive receptacle 12. It should be understood that a receptacle 12 (shown in FIG. 3A) having a pierceable cap 16a may bypass or pass through the capping module 30f prior to transferring the receptacle 12 to the receptacle storage module 30d or the unloading module 30g. Further details discussing exemplary capping modules are described in U.S. Patent Nos. 6,321,619 and 7,152,504.

[0113] Unloading module 30g is configured to receive capped receptacles 12 having contents extracted and processed by one or more of the analyzer modules 30b. The capped receptacles 12 can be transported from a conveyor of the automated conveyor system 32 to a rack, contained in a compartment located within a housing of unloading module 30g. After the rack is sufficiently filled with capped receptacles 12, an operator can manually remove the rack from the compartment of unloading module 30g.

[0114] Receptacle carrier feed module 30h is configured to store and supply empty carriers that can be used to transport receptacles 12 within automated conveyor system 32, as will be explained in further detail below.

[0115] 1, the WMS software module 34 can be conceptualized as a minimal cloud database configured to coordinate workflow and high level receptacle traffic, maintaining the status of all receptacles 12 and modules 30 in the automated sample processing system 10, and controlling assay-specific workflows for the receptacles 12. In particular, the WMS software module 34 identifies the assay to be performed for the sample in any particular receptacle 12 based on encoded information on the machine-readable indicia 28 read by a scanner or reader (e.g., a barcode reader, not shown) of the loading module 30a, and generates the assay-specific workflow including pre- and post-analytical steps, such as, for example, centrifugation, uncapping, aliquoting, storage, reflex testing, capping, etc.

[0116] The automated conveyor system 32 includes a conveyor controller 42, a conveyor 44, a number of diverters 46, and a number of bar code readers 47, each of which is associated with one of the modules 30 (except for the loading module 30a and the receptacle carrier feed module 30h). As will be explained in more detail below, the receptacles 12 are transported from one location to another within the automated conveyor system 32 via a receptacle carrier 62 (shown in FIGS. 5 and 6), which supports the receptacles 12 in an upright orientation.

[0117] The conveyor controller 42 is configured to control low level functions of the automated conveyor system 32, such as transporting the receptacle carriers 62 carrying sample-containing receptacles 12 (i.e., loaded receptacle carriers 62) between the various modules 30 of the automated sample processing system 10. Thus, the conveyor controller 42 controls the modules 30 to which the loaded receptacle carriers 62 will be diverted and the modules 30 to which the loaded receptacle carriers 62 will bypass. The conveyor controller 42 may also be configured to control low level exception handling and basic display of information. The conveyor controller 42 is also configured to manage communication between the various modules 30 of the automated sample processing system 10 and the WMS software module 34.

[0118] The conveyor 44 may be any device for carrying or otherwise facilitating the transfer of loaded receptacle carriers 62 between modules 30 along a defined path. Exemplary conveyors include robots, moving belts, shuttles / carriages that move on tracks or rails, magnetic devices, gear systems, cable systems, vacuum systems, automated vehicles with wheels, etc. In the illustrated embodiment, the conveyor 44 takes the form of a track that includes a main conveyor line 48 and a number of branch lines 50 and two through lines 52a, 52b, each associated with a module 30.

[0119] The main conveyor line 48 serves as a primary line for transporting loaded receptacle carriers 62 between the different modules 30 of the automated sample processing system 10. In the illustrated embodiment, the main conveyor line 48 has a closed geometric shape (e.g., rectangular) that facilitates unidirectional movement of the loaded receptacle carriers 62. In alternative embodiments, the main conveyor line 48 may be linear and bidirectional. Each branch line 50 may provide both input and output to the associated module 30. Thus, with the possible exception of the receptacle carrier feed module 30h, each branch line 50 can serve to receive loaded receptacle carriers 62 from the main conveyor line 48 so that the associated module 30 can remove and act on the receptacle 12, and to receive receptacles 12 that have been acted on by the associated module 30 for insertion into the receptacle carrier 62 for transport on the main conveyor line 48.

[0120] The branch line 50 associated with the receptacle carrier feed module 30h may serve to receive and store empty receptacle carriers 62 fed to the main conveyor line 48 by the receptacle storage module 30d or the unloading module 30g (after removal of the receptacle 12 from its associated receptacle carrier 62), and may further serve to receive empty receptacle carriers 62 from the receptacle carrier feed module 30h for transport via the main conveyor line 48 to the loading module 30a or the sample transport module 30c (and potentially the receptacle storage module 30d), in which case the receptacle 12 may be loaded into the empty receptacle carrier 62.

[0121] Each module 30 may include or be associated with various equipment (e.g., pick-and-place devices, receptacle transporters, and / or robotic handlers) to transport receptacles 12 from the automated conveyor system 32 to the module 30, transfer and handle the receptacles 12 within the module 30 in accordance with the defined function of the module 30, and, if necessary, return the receptacles 12 to the automated conveyor system 32 for processing by other modules 30. For example, as illustrated in FIG. 2, receptacle storage module 30d may include or be associated with one or more pick-and-place devices 36 configured for transporting receptacles 12 between module 30 and main conveyor line 48, one or more receptacle transporters 38 configured for transporting receptacles 12 between one or more of the pick-and-place devices 36 and one or more locations within receptacle storage module 30d, and one or more robot handlers 40 configured for individually transporting receptacles 12 between one or more of the receptacle transporters 38 and one or more racks (shown in FIGS. 7 and 8) contained within receptacle storage module 30d (described in further detail below). The equipment (including pick-and-place devices 36, receptacle transporters 38, and robot handlers 40) used to (i) transport receptacles 12 from the automated conveyor system 32 into the receptacle storage module 30d, (ii) transfer and handle receptacles 12 within the receptacle storage module 30d for storage therein, and (iii) transport receptacles 12 from the receptacle storage module 30d back onto the automated conveyor system 32 for processing by other modules 30 will be described in further detail below.

[0122] Each branch line 50 includes various components, such as, for example, a receptacle buffer queue, a bar code reader assembly, a receptacle stop feature, a return path, etc. For example, as illustrated in FIG. 2, the branch line 50 associated with receptacle storage module 30d includes a receptacle buffer queue 54, a return path 56, a bar code reader assembly 58, and a stop feature 60.

[0123] The receptacle buffer queue 54 is configured to receive and queue all of the loaded receptacle carriers 62 diverted onto the branch line 50 from the main conveyor line 48 for subsequent action by the receptacle storage module 30d. The return path 56 is configured to return the loaded receptacle carriers 62 acted upon by the receptacle storage module 30d to the main conveyor line 48 for subsequent action by other modules 30. The barcode reader assembly 58 is installed on the branch line 50 downstream of the buffer queue 54 and is configured to read the information encoded on the barcode 28 attached to the receptacle 12, which is supported within the receptacle carrier 62 queued therein. The barcode reader assembly 58 is also configured to individually immobilize and rotate the loaded receptacle carrier 62, thereby enabling the attached barcode 28 to be read. After the loaded receptacle carrier 62 is immobilized and the barcode reader assembly 58 has read the information encoded on the barcode 28 attached to the receptacle 12, the pick-and-place device 36 sequentially removes each receptacle 12 from the associated receptacle carrier 62 and transports the receptacle 12 into the receptacle storage module 30d. The stop feature 60 is installed on the branch line 50 downstream of the barcode reader assembly 58 but upstream of the return path 56 and is configured to individually immobilize the empty receptacle carriers 62 while each receptacle 12 is inserted into the receptacle carrier 62 once acted upon by the receptacle storage module 30d, before the pick-and-place device 36 releases the newly loaded receptacle carrier 62 to the return path 56 of the branch line 50 for transfer to the main conveyor line 48.

[0124] The automated conveyor system 32 has been described as including the branch line 50, but it should be understood that the automated conveyor system 32 may alternatively include any type of line that enables loaded receptacle carriers 62 to be transferred to and / or from the module 30. For example, in some embodiments, the receptacle 12 is transferred directly from the main conveyor line 48 (i.e., the loaded receptacle carrier 62 remains positioned on the main conveyor line 48) to the module 30 (e.g., by an associated pick-and-place device) and may be transferred back directly onto the main conveyor line 48 (i.e., the loaded receptacle carrier 62 remains positioned on the main conveyor line 48) (e.g., by an associated pick-and-place device). As another example, the loaded receptacle carrier 62 may be drawn directly into the module 30 from the main conveyor line 48 or the branch line 50, thereby eliminating the need to remove the receptacle 12 from its corresponding receptacle carrier 62 (see, e.g., U.S. Patent Publication No. 2017 / 0254827).

[0125] 1, the right inner loop 53a, defined by the main conveyor line 48 and the through line 52a, allows loaded receptacle carriers 62 to circulate until space is available on the left inner loop 53b, defined by the main conveyor line 48 and the through line 52b. The left inner loop allows loaded receptacle carriers 62 transported from the right inner loop to circulate while they wait for access to one or more of the modules 30. For example, a branch line 50 may have a full queue of receptacle carriers 62 such that new loaded receptacle carriers 62 cannot be diverted from the main conveyor line 48 onto the branch line 50 until the associated modules have extracted samples from at least some of the receptacles 12 supported by the queued loaded receptacle carriers 62 and these loaded receptacle carriers 62 have been removed from the branch line 50 and reintroduced onto the main conveyor line 48.

[0126] Each diverter 46 is configured to redirect a selected loaded receptacle carrier 62 onto a portion of the conveyor 44. For example, each diverter 46 may redirect a selected receptacle carrier 62 from the main conveyor line 48 onto a corresponding branch line 50 associated with the module 30 (e.g., via a buffer queue 54). Thus, depending on the state of the diverter 46, some loaded receptacle carriers 62 may proceed along the main conveyor line 48 without being redirected onto the branch line 50 (i.e., those loaded receptacle carriers 62 that are not tagged by the WMS software module 34), as illustrated in FIG. 4A, while other loaded receptacle carriers 62 may be slowed down, limit lateral forces, and redirected via the diverter 46 onto the branch line 50, as illustrated in FIG. 4B.

[0127] In the illustrated embodiment, each module 30 is configured to control its corresponding diverter 46 according to the status of the workflow associated with the receptacle 12 to direct a loaded receptacle carrier 62 (or an empty receptacle carrier 62, in the case of receptacle carrier feed module 30h) onto its corresponding branch line 50. Each module 30 is associated with a corresponding barcode reader 47 that reads information encoded on the barcode 28 of a receptacle 12 traveling along a main conveyor line 48 such that the individual module 30 can determine whether the workflow of the receptacle 12 requires an action (i.e., analysis, uncapping, capping, sample transport, storage, etc.) and operate the corresponding diverter 46 according to the information read by the corresponding barcode reader 47.

[0128] In the illustrated embodiment, the receptacles 12 may be transported between the right inner loop 53a and the left inner loop 53b. In particular, the diverters 46a, 46b are selectively activated to recirculate a particular receptacle carrier 62 on the left inner loop 53b (e.g., if the number of times that the receptacle carrier 62 containing the uncompleted receptacle 12 has circulated around the left inner loop 53 does not exceed a certain limit), to recirculate a particular receptacle carrier 62 on the right inner loop 53a (e.g., if the analyzer module 30b required to partially or fully complete the uncompleted receptacle 12 carried by the receptacle carrier 62 is not available), or to recirculate a particular receptacle carrier 62 on the left inner loop 53b. 53b to the right inner loop 53a (e.g., when a receptacle 12 carried by a particular receptacle carrier 62 is fully completed or when the number of times that a receptacle carrier 62 containing an uncompleted receptacle 12 has circulated around the left inner loop 53b exceeds a certain limit), or a particular receptacle carrier 62 may be transported from the right inner loop 53a to the left inner loop 53b (e.g., when at least one analyzer module 30b required to partially or fully complete an uncompleted receptacle 12 carried by the receptacle carrier 62 becomes available). Each diverter 46 may take the form of, for example, a gate, a switch, or other mechanism suitable for diverting a loaded receptacle carrier 62 between selected portions of the conveyor 44.

[0129] The automated conveyor system 32 may provide motive force for transporting the receptacle carriers 62 in any one of a variety of manners. In one embodiment, a magnetic motion system (not shown) beneath the tracks (i.e., the main conveyor line 48, the branch line 50, and the through lines 52a, 52b) provides motive force to the receptacle carriers 62, for example, by using a ferrous coil mounted beneath the tracks and one or more magnets within the receptacle carriers 62 to propel the receptacle carriers 62 along the tracks. Further details discussing non-limiting exemplary embodiments of magnetic motion systems that may be used within the automated conveyor system 32 are described in U.S. Pat. Nos. 9,766,258 and 9,776,811. In another embodiment, the tracks may include a number of individually controllable rollers that may be operated to transport the receptacle carriers 62 along the tracks. In yet another embodiment, the track may mechanically constrain the receptacle 12 along a single dimension, in which case the receptacle 12 may be self-propelled. Exemplary automated conveyor systems that may be used include commercially available systems from FlexLink, Inpeco (Flexlab, Flexlab-HT, etc.), Integrated Drive Systems (e.g., IDS-CLAS-X1), Thermo Fisher Scientific, Hitachi, MagneMotion, GLP, etc.

[0130] 5 and 6, non-limiting exemplary receptacle carriers 62 for supporting receptacles 12 transported by automated conveyor system 32 will be described. In the illustrated embodiment, receptacle carriers 62 support a single receptacle 12, although in alternative embodiments, receptacle carriers 62 may support multiple receptacles 12. In the illustrated embodiment, each receptacle carrier 62 includes a base 64 configured for interfacing with automated conveyor system 32 and a retention device 66 configured for securing receptacle 12 to base 42.

[0131] The base 64 takes the form of a "puck." In the illustrated embodiment, a bottom surface of the base 64 includes a magnet 88 configured for operatively coupling with a magnet or ferrous element on the automated conveyor system 32. The base 64 may be comprised of a plastic, such as ultra-high molecular weight polyethylene (UHMWPE). In other embodiments, the base 64 is comprised of a metal, such as stainless steel. The top end 68 of the base 64 defines a recess 70 configured to receive at least a portion of the receptacle 12. In the illustrated embodiment, the recess 70 has a depth configured to receive the bottom end 20 of the receptacle 12 and a diameter equal to the diameter of the receptacle 14, although in alternative embodiments, the diameter of the recess 70 may be greater than the diameter of the receptacle 14. The base 64 and recess 70 of the receptacle carrier 62 are preferably cylindrical in nature, however, it should be understood that the base 64 and recess 70 may have any shape, provided that the receptacle carrier 62 is capable of stably supporting the receptacle 12 in a generally upright orientation.

[0132] In the embodiment illustrated in FIG. 6 , the base 64 includes a ring-shaped stopper 72 disposed within the recess 70 and abutting against an interior surface 74 of the base 64. The stopper 72 defines a bottom 76 of the recess 70 such that the bottom end 20 of the receptacle 12 contacts the stopper 72. In some embodiments, the stopper 72 includes a tapered surface 78 to encourage movement of the bottom end 20 of the receptacle 12 toward the bottom 76 of the recess 70 when the receptacle 12 is initially received within the recess 70 of the base 64. In the illustrated embodiment, the base 64 includes a plurality of spaced apart radially extending annular flanges 80. Adjacent flanges 80 define annular grooves 82 in the space therebetween. The arrangement of flanges 80 and grooves 82 can be used to transport or handle the receptacle carriers 62 by the automated conveyor system 32. For example, the bar code reader assembly or stop feature of the automated conveyor system 32 (e.g., the bar code reader assembly 58 and stop feature 60 associated with the receptacle storage module 30d shown in FIG. 2) may include a protrusion (not shown) that fits within the groove 82 and immobilizes or rotates the receptacle carrier 62. Any of the diverters 46 of the automated conveyor system 32 (shown in FIG. 1) may have a similar protrusion that fits within the groove 82 and facilitates redirecting the receptacle carrier 62 from the main conveyor line 48 to the branch line 50.

[0133] In the illustrated embodiment, the retention device 66 includes an annular support 84 and a plurality of wire fingers 86. The wire fingers 86 are preferably resilient, i.e., during normal operation, after any deflection of the fingers 86, the wire fingers 86 return to their respective original positions. The wire fingers 86 are thus configured for flexing, thereby allowing the receptacle 12 to be inserted into the recess 70 of the base 64, while applying a radially inward force to the receptacle 12 and collectively bringing a portion of the receptacle 12 together, thereby securing the receptacle 12 to the base 64 and maintaining the orientation and position of the receptacle 12 as the carrier 62 moves within the automated transport system 32. In an alternative embodiment, instead of the annular support 84 and wire fingers 86, the retention device may instead include a resilient cylindrical bore (not shown) that may resiliently grip the receptacle 12 thereby allowing the receptacle 12 to be inserted into and gripped thereby.

[0134] In alternative embodiments, each receptacle carrier may include active components, such as a processor, a motion system, a guidance system, sensors, etc. In another alternative embodiment, each receptacle carrier may include on-board intelligence that allows the receptacle carrier to be self-guided from point to point along the main conveyor line 48. Further details discussing the exemplary carrier 62 illustrated in Figures 5 and 6 are set forth in U.S. Provisional Application No. 62 / 891,728. Other exemplary carriers that may be used to transport the receptacles 12 within the automated transport system 32 are described in U.S. Patent Nos. 7,485,264, 8,147,778, and 10,041,965, and U.S. Patent Publication Nos. 2006 / 0222573, 2017 / 0153262, 2017 / 0248623, and 2018 / 0052183.

[0135] 7-18, a non-limiting exemplary embodiment of a receptacle storage module 30d will be described along with a branch line 102 (corresponding to branch line 50 in FIGS. 1 and 2), a bar code reader assembly 104, and a stop feature 106 (corresponding to branch line 50, bar code reader assembly 58, and stop feature 60 illustrated in FIG. 2).

[0136] As best shown in FIG. 7, receptacle storage module 30d includes a housing 108 defining an interior chamber 110 (see FIGS. 9, 10, 15, and 17) and a plurality of vertically spaced tiers 112 (in this case, four tiers 112) contained within chamber 110. In a preferred embodiment, chamber 110 of housing 108 is refrigerated at a suitable temperature to prevent or retard deterioration of samples contained within the stored receptacles. Accordingly, receptacle storage module 30d further includes at least one refrigeration unit (not visible), the evaporative fan 115 of which is illustrated in FIGS. 9 and 17. A front face 116 of housing 108 includes at least one door 118, in the illustrated embodiment, four pairs of doors 118, each pair of doors 118 configured to provide an operator manual access to a respective one of the tiers 112. 8, the rear surface 120 of the housing 108 includes one or more closable openings 122 through which the receptacles 12 can be transferred between the exterior of the housing 108 and the chamber 110 of the housing 108. In the illustrated embodiment, the rear surface 120 of the housing 108 includes a plurality of pairs of openings 122 (one pair of openings 122 associated with each stage 112). In the illustrated embodiment, the rear surface 120 of the housing 108 includes four pairs of openings 122, with two pairs of openings 122 (shown in FIG. 8) positioned above the branch line 102 (shown in FIG. 11) and two pairs of openings 122 (not shown) positioned directly below the branch line 102. Each pair of openings 122 includes an arrival side opening 122a for receiving a receptacle 12 into the chamber 110 of the housing 108 and an departure side opening 122b for removing a receptacle 12 from the chamber 110 of the housing 108. The pair of openings 122 may be selectively opened under the control of a controller to allow passage of a receptacle 12 therethrough. For example, the back surface 120 of the housing 108 may include one or more doors 123 (in this case a single door) associated with each opening 122.The doors 123 for each opening 122 may be individually positioned between an open position to allow passage of the receptacle 12 through the opening 122 (see arrival side opening 122a in FIG. 11) and a closed position to prevent passage of the receptacle 12 through the opening 122 (see departure side opening 122b in FIG. 11).

[0137] In the illustrated embodiment, as shown in Figures 7 and 8, each stage 112 supports at least one receptacle rack 114 (in this case, four racks 114) for receiving and holding a plurality of closed receptacles 12, preferably in a linear row. As best shown in Figure 19, each receptacle rack 114, in one embodiment, includes a pair of spaced apart support plates 124 (124a and 124b) having aligned arrays of openings 128 (128a and 128b), and a base plate 124c having a tapered opening 128c that is aligned with the array of openings 128a, 128b in the support plate 124. The openings 128a, 128b in the support plates 124a, 124b are sized to allow passage of the receptacle body 14 of the receptacle 12 therethrough, while the tapered opening 128c in the base plate 124c is sized to prevent passage of the receptacle body 14 therethrough. The tapered opening 128c is also sized to allow vertical movement of a pin 160 of a receptacle insertion stop assembly (described in further detail below) therethrough. The combination of the openings 128a, 128b in the support plates 124a, 124b and the tapered opening 128c in the base plate 124c form a slot 130 for receiving and supporting the receptacle 12 in a generally vertical orientation. The receptacle 12 is seated within the slot 130 when the bottom end 20 of the receptacle 12 contacts the tapered opening 128c in the base plate 124c. In the illustrated embodiment, the opening 128 is circular. However, the opening 128 may be any suitable shape capable of receiving and supporting the receptacle 12 in a generally vertical orientation.

[0138] As discussed above, the receptacle storage module 30d is configured to automatically receive, store, and return closed receptacles 12 to the conveyor 44. In particular, a loaded receptacle carrier 62 tagged by the WMS software module 34 for storage in the receptacle storage module 30d is diverted from the main conveyor line 48 onto a branch line 102 by actuation of a diverter 46 associated with the receptacle storage module 30d (shown in FIGS. 1 and 2), where the loaded receptacle carrier 62 is queued in a buffer queue 132 of the branch line 102, as illustrated in FIG. 12. A bar code reader assembly 104 reads information encoded on the bar code 28 of the queued receptacle 12 prior to loading and storage of the receptacle 12 individually into the receptacle storage module 30d. Any receptacle 12 previously stored in the receptacle storage module 30d that is tagged by the WMS software module 34 for testing by at least one of the analyzer modules 30b is individually removed from the receptacle storage module 30d and inserted into an empty receptacle carrier 62 immobilized by a stop feature 106, which subsequently releases the loaded receptacle carrier 62 onto the return path 134 of the branch line 102, as shown in Figures 13 and 14.

[0139] 11-13, the bar code reader assembly 104 includes a gate mechanism 136, a rotational alignment mechanism 138, and a bar code reader 140. The gate mechanism 136 controls the release of the first loaded receptacle carrier 62 into the buffer queue 132 of the branch line 102 where it proceeds to the rotational alignment mechanism 138. The rotational alignment mechanism 138 engages and rotates the loaded receptacle carrier 62, thereby positioning the receptacle 12 such that the associated bar code 28 may be read by the bar code reader 140. In the illustrated embodiment, the rotational alignment mechanism 138 includes three wheels 142a-142c that may be moved inwardly toward one another to frictionally engage the loaded receptacle carrier 62. The loaded receptacle carrier 62 is then rotated back and forth so that there is at least one time point where the barcode 28 associated on the receptacle 12 faces and is read by the barcode reader 140. The three wheels 142a-142c can also be used to immobilize the loaded receptacle carrier 62 while the arrival side pick-and-place device 150a extracts the receptacle 12 from the receptacle carrier 62 for storage in the receptacle storage module 30d.

[0140] As best shown in FIG. 14 , the stop feature 106 includes a fixed abutment surface 141 and a movable abutment surface 143 which may alternately (i) move toward the fixed abutment surface 141, thereby immobilizing an empty receptacle carrier 62 while a stored receptacle 12 is retrieved from the receptacle storage module 30d and inserted into the immobilized receptacle carrier 62 using the outgoing pick-and-place device 150a, and (ii) move away from the fixed abutment surface 141, thereby releasing a loaded receptacle carrier 62 onto the return line 134 of the branch line 102. Preferably, the fixed abutment surface 141 and the movable abutment surface 143 are concave and have a radius of curvature equal to the radius of the receptacle carrier 62, thereby maximizing frictional engagement between the stop feature 106 and the receptacle carrier 62.

[0141] The receptacle storage module 30d further includes one or more receptacle insertion stop assemblies 148 (only one is shown in FIG. 15), one or more external pick-and-place devices 150 (in this case a pair of pick-and-place devices 150a, 150b as shown in FIGs. 11 and 16), one or more receptacle transporters 152 (see FIGs. 9 and 17), one or more robot handlers 154 (see FIGs. 9, 10, 15, 17, and 18) for controlling the operation of the components of the receptacle storage module 30d, and a controller 156 (shown in FIG. 20).

[0142] 15, each receptacle insertion stop assembly 148 is operatively associated with one of the stages 112 to provide a depth insertion stop when a receptacle 12 is being inserted into an empty receptacle slot 130 of a rack of receptacles 114 by a robot handler 154 associated with the same stage 112 in a two-stage receptacle insertion process (described in further detail below). In particular, each receptacle insertion stop assembly 148 includes a carriage 158 capable of XY movement (i.e., orthogonal along the XY plane, mounted beneath the receptacle rack 114 of the stage 112 operatively associated with the receptacle insertion stop assembly 148) via an orthogonal rail assembly 146 and associated motor 151, and a pin 160 capable of vertical movement. Carriage 158 resides beneath receptacle rack 114 in the step 112 associated with receptacle insertion stop assembly 148 and moves pin 160 to position directly beneath a selected, empty receptacle slot 130 of receptacle rack 114 into which a receptacle 12 is to be inserted. Pin 160 is configured for vertical movement, via screw mechanism 153 and associated motor 155, between a first position within the selected, empty receptacle slot 130 and a second, retracted position beneath the selected, empty receptacle slot 130 to facilitate controlled insertion and removal of receptacles 12 into and from the receptacle slot 130. When pin 160 is in a first position within a selected empty receptacle slot 130, it provides a depth insertion stop for the empty receptacle slot 130 of receptacle rack 114 when a receptacle 12 is being inserted into the empty receptacle slot 130 during a first stage of the two-stage receptacle insertion process. When pin 160 is in a second, retracted position directly below the selected empty receptacle slot 130, the depth insertion stop has been removed from the selected empty receptacle slot 130 prior to seating of a receptacle 12 into the selected empty receptacle slot 130 during a second stage of the two-stage receptacle insertion process.In an alternative embodiment, rather than being retracted from the receptacle slot 130, the pin 160 may be pushed into (or towards) the second position by the downward force of the receptacle 12 onto the pin 160 during the second stage of the receptacle insertion process.

[0143] 8, 11, and 16, the pair of pick-and-place devices 150a, 150b are located on the exterior of the housing 108 and include an arrival side pick-and-place device 150a used to deliver a receptacle 12 to a position adjacent one of the arrival side openings 122a on the right rear side of the housing 108, and an departure side pick-and-place device 150b used to remove a receptacle 12 from a corresponding position adjacent one of the departure side openings 122b on the left rear side of the housing 108. The arrival side pick-and-place device 150a is configured to grasp and remove a single closed receptacle 12 from the receptacle carrier 62, which is immobilized by the barcode reader assembly 104. After removing the closed receptacle 12 from the receptacle carrier 62, the arrival side pick and place device 150a transfers the closed receptacle 12 to a selected one of the arrival side openings 122a, which is associated with one of the tiers 112 of the receptacle storage module 30d. The departure side pick and place device 150b is configured to pick up a single closed receptacle 12 from a selected one of the departure side openings 122b, which is associated with one of the tiers 112 of the receptacle storage module 30d. After picking up the receptacle 12, the departure side pick and place device 150b transfers the receptacle 12 to an empty receptacle carrier 62 immobilized by the stop feature 106. After the receptacle 12 is inserted into the receptacle carrier 62 by the outbound pick-and-place device 150 b , the receptacle carrier 62 is released onto the return line 134 of the branch line 102 by the stop feature 106 .

[0144] Each pick-and-place device 150 includes a carriage 166 that is vertically movable between the various stages 112 and the branch line 102, parallel to the rear surface 120 of the housing 108, via a vertical rail 169, a pulley belt 171, and an associated motor (not shown). A gripper 168 is mechanically coupled to the carriage 166 by a swivel arm 167 and configured for alternately gripping and releasing a single receptacle 12. The swivel arm 167 is configured for rotating the gripper 168 approximately 90 degrees about an axis, via operation of an associated motor 173, between a first position adjacent the rear surface 120 of the housing 108 and a second position offset from the rear surface 120 of the housing 108. Rotation of each gripper 168 facilitates removal or insertion of a receptacle 12 from or into a branch line 102 of a receptacle storage module 30d that is offset from the vertical path along which the respective carriage 166 moves.

[0145] When the gripper 168 of the arrival side pick and place device 150a is in a second rotated outward position that is in a stage corresponding to the branch line 102 and offset from the rear surface 120 of the housing 108, the gripper 168 will be adjacent to the barcode reader assembly 104 on the branch line 102 such that the gripper 168 may receive a receptacle 12 from an immobilized loaded receptacle carrier 62 held by the barcode reader assembly 104. In contrast, when the gripper 168 of the arrival side pick and place device 150a is positioned in one of the vertical stages 112 and the gripper 168 is in a first rotated inward position, the gripper 168 will be mounted adjacent to the arrival side window 122a such that the gripper 168 may transport a receptacle 12 to a receptacle transporter 152 associated with that stage 112. In the illustrated embodiment, the gripper 168 grips the receptacle 14 of the closed receptacle 12 at a location directly below the cap 16 (as best shown in FIG. 11 ), thereby limiting the possibility of cross-contamination between receptacles 12 caused by the gripper 168.

[0146] As shown in FIGS. 17 and 18, each receptacle transporter 152 is contained within the housing 108 of the receptacle storage module 30d in a stage 112 (e.g., a shelf), and is thus operatively associated with one of the associated pair of openings 122a, 122b. Each receptacle transporter 152 is configured to receive a single receptacle 12 from the arrival-side pick-and-place device 150a at an arrival-side receiving location (see FIGS. 11 and 16) adjacent to the arrival-side opening 122a and mounted outside the housing 108, and to deliver the receptacle 12 to a departure-side delivery location (see FIGS. 11 and 16) adjacent to the departure-side opening 122b and mounted outside the housing 108 for receipt by the departure-side pick-and-place device 150b. The receptacle transporter 152 is further configured to receive a single receptacle 12 from the robot handler 154 at an arrival-side delivery location mounted inside the chamber 110 of the housing 108 for receipt by the robot handler 154, and to deliver the receptacle 12 to a departure-side receiving location (see FIG. 18) mounted inside the chamber 110 of the housing 108.

[0147] Each receptacle transporter 152 takes the form of a shuttle including a slide 170 that is laterally bidirectionally movable along a horizontal plane above the stage 112 operatively associated with that receptacle transporter 152 via rails 175, a drive screw 177, and an associated motor 179. The slide 170 may move between a first location proximate the openings 122a, 122b and a second location contained within the housing 108 of the receptacle storage module 30d and spaced from the openings 122a, 122b. As best shown in FIG. 18, each receptacle transporter 152 further includes a pair of holders 172 (an arrival-side holder 172a and a departure-side holder 172b) operatively associated with the slide 170. The holders 177a, 172b each have a well 181 sized to receive and stably support a single receptacle 12.

[0148] When the receptacle transporter 152 is in the first location, the arrival side holder 172a extends through the arrival side opening 122a at the arrival side receiving location outside the housing 108 so that the arrival side pick-and-place device 150a can transfer the receptacle 12 from the receptacle carrier 62 onto the branch line 102 of the receptacle storage module 30d and insert the receptacle 12 into the well 181 of the arrival side holder 172a. Similarly, when the receptacle transporter 152 is at a first location, the departure holder 172b extends through the departure opening 122b to a departure transfer location outside the housing 108 so that the departure pick-and-place device 150b can remove the receptacle 12 from the well 181 of the departure holder 172b and transfer the receptacle 12 to an empty receptacle carrier 62 on the branch line 102 of the receptacle storage module 30d. When the receptacle transporter 152 is at a second location, the arrival holder 172a is contained entirely within the chamber 110 of the housing 108 at the arrival transfer location so that the robot handler 154 can remove the receptacle 12 from the well 172 of the arrival holder 172a and transfer the receptacle 12 to a selected slot 130 of the receptacle rack 114. Similarly, when the receptacle transporter 152 is at the second location, the starting holder 172b is completely contained within the chamber 110 of the housing 108 at the starting receiving location so that the robot handler 154 can transfer the receptacle 12 from a selected slot 130 of the rack 114 and insert the receptacle 12 into the well 181 of the starting holder 172b.

[0149] In the illustrated embodiment, the holders 172a, 172b are independently capable of vertical bidirectional movement along a horizontal plane between a first, lower elevation when extending through the openings 122a, 122b to facilitate insertion and / or removal of receptacles 12 into and / or from the wells 181 of the arrival side holder 172a and the departure side holder 172b by the first and second pick-and-place devices 150a, 150b, respectively, and a second, higher elevation when fully positioned within the chamber 110 of the housing 108 to facilitate removal and / or insertion of receptacles 12 from and / or into the wells 181 of the arrival side holder 172a and the departure side holder 172b, respectively, by the robot handler 154.

[0150] Although the receptacle transporter 152 has been described as having a single slide 170 operatively associated with both the arrival and departure retainers 172a and 172b, in an alternative embodiment, the receptacle storage module 30d may include a pair of receptacle transporters 152 (i.e., a dedicated arrival receptacle transporter and a dedicated departure receptacle transporter). In this embodiment, the arrival receptacle transporter includes a first slide with which the arrival retainer 172a is operatively associated, and the departure receptacle transporter includes a second slide with which the departure retainer 172b is associated. The arrival and departure receptacle transporters of this alternative embodiment each include distinct drive screws and associated motors, thereby allowing the receptacle transporters to operate independently of one another within the receptacle storage module 30d.

[0151] As shown in Figures 9, 15, 17, and 18, each robot handler 154 is operatively associated with one of the stages 112 of the receptacle storage module 30d such that the arrival side holder 172a of the associated receptacle transporter 152 is accessible by the associated robot handler 154 at the departure side transfer location in the corresponding stage 112, and the departure side holder 172b of the associated receptacle transporter 152 is accessible by the associated robot handler 154. Thus, each robot handler 154 is configured to remove a receptacle 12 from the arrival side holder 172a of the associated receptacle transporter 152 and then insert the receptacle 12 into a pre-selected empty receptacle slot 130 of a receptacle rack 114 supported on the corresponding stage 112, and in the reverse manner, each robot handler 154 is also configured to remove a receptacle 12 from a pre-selected receptacle slot 130 of one of the receptacle racks 114 in the associated stage 112 and then insert the receptacle 12 into the departure side holder 172b of the associated receptacle transporter 152.

[0152] As briefly discussed above, each robot handler 154 is configured to fully seat a receptacle 12 within a selected slot 130 of the receptacle rack 114 using a two-stage receptacle insertion process. In particular, during a first stage of the receptacle insertion process, the robot handler 154 is configured to first grasp and partially insert the receptacle 12 into the slot 130 (i.e., until the bottom end 20 of the receptacle 12 contacts the tip 164 of the pin 160, which provides an insertion stop between the second support plate 124b and the base plate 124c, as illustrated in FIG. 18 ). During a second stage of the receptacle insertion process, the robot handler 154 releases the partially inserted receptacle 12 (while the pins 160 support the weight of the receptacle 12 preventing it from dropping further and contacting the tapered opening 128c of the base plate 124c), re-gripped the receptacle 12, and the pins 160 are retracted to a position just below the base plate 124c, after which the robot handler 154 is configured to insert the receptacle 12 until the bottom end 20 of the receptacle 12 contacts the tapered opening 128c of the base plate 124c, as illustrated in FIG. 19. Further details discussing the two-stage receptacle insertion process will be discussed below with respect to FIG. 33.

[0153] The robot handler 154 is also configured to remove a receptacle 12 seated in a preselected receptacle slot 130 of the receptacle rack 114 using a two-stage receptacle removal process. In a first step, the pins 160 are moved upwardly during a first stage of the two-stage receptacle removal process to push against the receptacle 12, thereby partially removing the receptacle 12 from the preselected receptacle slot 130. Alternatively, the robot handler 154 partially removes the receptacle 12 from the preselected receptacle slot 130, and the pins 160 are then moved upwardly to support the receptacle 12 prior to a second stage of the removal process. The robotic handler 154 may then grasp and completely remove the receptacle 12 from the preselected receptacle slot 130 during a second stage of the receptacle removal process. Further details discussing the receptacle removal process will be discussed below with respect to FIG.

[0154] Each robotic handler 154 includes a gantry 174 capable of XYZ movement and a gripper device 176 mechanically coupled to the gantry 174 and configured for selectively gripping and releasing a single closed receptacle 12. The gantry 174 includes a framework of tracks, slides, rails, and carriages, some of which are illustrated in FIG. 10. The gantry 174 may be moved using any number of conventional motion producing mechanisms (e.g., electric motors, stepper motors, servo motors, pneumatic or hydraulic motors, etc.) and drive mechanisms (e.g., chain and sprockets, guides, pulley and belt arrangements, gear or worm drives, or other conventional drive components). In the illustrated embodiment, the gantry 174 includes an orthogonal rail assembly 183 affixed to the wall of the chamber 110 for orthogonal horizontal movement of the gripper device 176, as illustrated in FIGS. 9, 10, 15, 17, and 18. The gantry 174 further includes a pair of guide posts 185 along which the gripper apparatus 176 moves vertically, and a pulley assembly including pulley wheels 187 and belts 189 that move the gripper apparatus 176 vertically along the guide posts 185, as shown in Figures 9, 10, and 15.

[0155] Thus, the gantry 174 rotates (i) laterally to vertically align the gripper device 176 with the arrival side retainer 172a (i.e., one above the other, as used herein), (ii) downwardly to grip a receptacle 12, (iii) upwardly to remove a gripped receptacle 12 from the receptacle transporter 152, (iv) laterally to vertically align the gripper device 176 with a preselected receptacle slot 130 of the receptacle rack 114, and (v) configured to transfer the closed receptacle 12 from the arrival side holder 172a of the associated receptacle transporter 152 to a preselected receptacle slot 130 in a receptacle rack 114 supported on an associated stage 112 of the receptacle storage module 30d by moving the gripper device 176 downward to position the receptacle 12 in the preselected receptacle slot 130 using a two-stage receptacle insertion process.

[0156] The gantry 174 is also configured to transfer a stored receptacle 12 from a pre-selected receptacle slot 130 in one of the receptacle racks 114 to an associated receptacle transporter 152 by moving the gripper device 176 (i) laterally to vertically align the gripper device 176 with a pre-selected receptacle slot 130 of the receptacle rack 114, (ii) downwardly to grip the receptacle 12, (iii) upwardly to remove the gripped receptacle 12 from the pre-selected receptacle slot 130 using a two-stage receptacle removal process, (iv) laterally to vertically align a departure holder 172b of the receptacle transporter 152 associated with the gripper device 176, and (v) downwardly to place the receptacle 12 within the departure holder 172b.

[0157] Although each robot handler 154 has been described as including a gantry 174 capable of imparting XYZ movement to the gripper device 176, any suitable type of robot handler for moving the gripper device 176 in at least one direction may be used. For example, in one embodiment, the robot handler 154 may be capable of imparting only linear bidirectional movement to the gripper device 176. Additionally, instead of performing linear X and / or Y movement (or performing only such movement), the robot handler 154 may be capable of imparting rotational movement to the gripper device 176.

[0158] As best shown in FIG. 15, each robot handler 154 includes a proximity sensor 191 configured to sense the proximity of the top surface 24 of the closure 16 of the closed receptacle 12 to the gripper device 176 and ensure that the gripper device 176 is laterally aligned with the closed receptacle 12 prior to gripping the closed receptacle 12, as described in further detail below.

[0159] 20, the gripper devices 176 will be described in further detail along with the gantry 174 and the controller 156. The controller 156 is configured to control the movements of each of the robotic handlers 154. To this end, the controller 156 includes (i) a position control subsystem 178 configured to control the XYZ movements (x-movement indicated along a horizontal axis, y-movement indicated along an axis perpendicular to the horizontal axis, and z-movement indicated along a vertical axis) of the gantry 174 and thus the XYZ positioning of each of the corresponding gripper devices 176, and (ii) a gripper control subsystem 180 configured to control the gripping movements of the gripper devices 176. The controller 156 may control the movement of each gantry 174 and gripper device 176 according to a preprogrammed routine, and sensors (not shown) or other feedback mechanisms may provide electrical signals to the controller 156 indicative of the current position and gripping state of each gripper device 176. The controller 156 may take the form of any suitable computer, processor, or equivalent.

[0160] In one embodiment, the robotic handler 154 is designed such that the gripper device 176 does not contact any neighboring receptacles 12 seated in the rack 114 when a closed receptacle 12 is inserted into or removed from the receptacle slot 130. By avoiding contact with neighboring receptacles 12 during insertion and removal of the receptacles 12, a potential source of cross-contamination between the receptacles 12 in the receptacle storage module 30d is essentially eliminated. As discussed above, this is more important when the closures 30 are pre-pierced puncturable closures 30a (see FIG. 3A).

[0161] 21, the gripper device 176 of each robotic handler 154 is configured to grasp a closed receptacle 12 and fully seat it within a selected receptacle slot 130 of a rack 114 supported in a tier 112 of the receptacle storage module 30d, and similarly to grasp and remove a seated receptacle 12 from a selected receptacle slot 130 of the same or a different receptacle rack 114 supported in the same tier 112 of the receptacle storage module 30d (shown in FIG. 17). To accomplish this, each gripper device 176 includes a pair of opposing translatable support members, which in the illustrated embodiment are a pair of opposing jaw members 200a, 200b. Jaw members 200a, 200b are capable of lateral movement between (i) an extended, open position (see FIGS. 23A and 23B) where there may be no contact between jaw members 200a, 200b and a closed receptacle 12 mounted therebetween, and (ii) a first, closed position (see FIGS. 24A and 24B) where jaw members 200a, 200b may grasp a closed receptacle 12 mounted therebetween. As described in further detail below, jaw members 200a, 200b may be used to grasp and partially insert a closed receptacle 12 into a selected receptacle slot 130 of a rack 114 supported by a stage 112 of receptacle storage module 30d (shown in FIG. 17). The jaw members 200a, 200b may preferably be made from a rigid or semi-rigid material such as stainless steel or polycarbonate.

[0162] In the illustrated embodiment, the jaw members 200a, 200b grip the side wall 22 of the closure 16 of the closed receptacle 12 when the jaw members 200a, 200b are in the first closed position. While the jaw members 200a, 200b are in the first closed position, the receptacle 12 can be partially inserted into a selected receptacle slot 130. The downward descent of the robot handler 154 is limited to prevent contact between the gripper apparatus 176 and any adjacently seated receptacles 12 in the receptacle rack 114.

[0163] 22, each of the jaw members 200a, 200b includes an upper horizontal flange 202 extending in a first direction that may be directly or indirectly coupled to the gantry 174 of the robot handler 154, a lower horizontal flange 206 extending in a second direction opposite the first direction, and a vertical member 204 joining the upper and lower horizontal flanges 202, 206. The upper horizontal flange 202 may be coupled to the gantry 174 of the robot handler 154 via fasteners (not shown). For example, each of the illustrated jaw members 200a, 200b includes two holes 208 extending through the upper horizontal flange 202 to facilitate coupling the gripper device 176 to the gantry 174 by means such as rivets, a bolt and nut arrangement, or other similar fasteners. In the illustrated embodiment, each upper horizontal flange 202 further includes an upwardly extending ridge 210 that may be used to slidably engage a corresponding groove (not shown) in the gantry 174 to promote and maintain alignment of the jaw members 200 a, 200 b relative to the gantry 174.

[0164] The two lower horizontal flanges 206 serve to engage the closed receptacle 12, and to facilitate this engagement, the lower horizontal flanges 206 include opposing contoured engagement surfaces 212 for gripping the sidewall 22 of the closure 16 associated with the closed receptacle 12, as illustrated in FIGS. 24A and 24B. In the illustrated embodiment, the contoured engagement surfaces 212 take the form of generally rounded recesses that are mirror images of one another, such that the contoured engagement surfaces 212 generally conform to the cylindrical sidewall 22 of the closure 16. Preferably, the radius of the closure 16 corresponds to the radius of curvature of the contoured engagement surfaces 212, thereby maximizing the area of ​​each contoured engagement surface 212 that comes into contact with the sidewall 22 of the closure 16 when the jaw members 200a, 200b are in the first closed position. 25, the lower horizontal flanges 206 are capable of contacting one another when the closed receptacle 12 is not disposed between the jaw members 200a, 200b such that when the lower horizontal flanges 206 contact one another, the contoured engagement surfaces 212 define an opening. In an alternative embodiment, the contoured engagement surfaces 212 may each be generally V-shaped such that four contact points exist between the jaw members 200a, 200b and the side wall 22 of the closure 16. The advantages of a V-shaped contoured engagement surface will be discussed in more detail below with respect to alternative embodiments of the gripper device 176. In the illustrated embodiment, the contoured engagement surfaces 212 are knurled and preferably include a series of laterally oriented grooves 211 that facilitate gripping the cylindrical side wall 22 of the closure 16.

[0165] It should be understood that the jaw members 200a, 200b are not limited to the structure shown, but may include any pair of support members whose coordinated movement is capable of gripping and releasing the side wall 22 of the closure 16 secured to the receptacle 14.

[0166] Each gripper device 176 further includes a plurality of fingers 214a - 214d, which respectively hang down from one of the bases 219 of the jaw members 200a, 200b (in this case, the bottom surface of the lower horizontal flange 206), as shown in FIGS. 21, 22, 26B, and 27B. The fingers 214a - 214d are configured to grip the side walls 22 of the closure 16 directly below the upper surface 24 of the closure 16 and directly below the lower horizontal flange 206 as the jaw members 200a, 200b move from the open position (see FIGS. 26A and 26B) where they are open laterally towards each other to the first closed position (see FIGS. 27A and 27B) when the closure 16 is disposed between the fingers 214a - 214d. As will be described in more detail below, the fingers 214a - 214d are used to grip the closed receptacle 12 and seat it within the selected receptacle slot 130 of the rack 114 when the jaw members 200a, 200b are in the second closed position. The fingers 214a - 214d may preferably be made of a rigid or semi - rigid material such as stainless steel or polycarbonate, and may be integrally formed as an integral structure with the individual jaw members 200a, 200b from which they hang, or they may be coupled to the individual jaw members 200a, 200b using fasteners 217, such as screws or bolts, as shown in FIG. 22.

[0167] 22, gripper apparatus 176 includes four fingers 214a-214d, with jaw members 200a, 200b each having two fingers 214a-214d depending from a base 219 of one of jaw members 200a, 200b, in this case, from a bottom surface of lower horizontal flange 206. In the illustrated embodiment, two fingers 214a, 214b depend from base 219 of jaw member 200a and the other two fingers 214c, 214d depend from base 219 of the second jaw member 200b. Although fingers 214a-214d in the illustrated embodiment extend perpendicular (i.e., vertically) to base 219 of lower horizontal flange 206, in alternative embodiments, fingers 214 may extend at a non-perpendicular angle from base 219 of jaw member 200. In the illustrated embodiment, the four fingers 214a-214d are circumferentially spaced 90 degrees from one another when the jaw members 200a, 200b are in the second, closed position, although other circumferential spacings are contemplated.

[0168] Gripper device 176 may have any number of fingers 214 that enable the fingers 214 to securely grip closure 16. In an alternative embodiment, gripper device 176 may include three fingers (one finger 214 depending from a base 219 of one of the jaw members 200 and two fingers 214 depending from a base 219 of one of the other jaw members 200). In this embodiment, the three fingers 214 may be circumferentially spaced apart from each other by approximately 120 degrees when jaw members 200a, 200b are in the second closed position. In another embodiment, gripper device 176 may include six fingers (three fingers depending from a base 219 of each of the two jaw members 200). In this case, the six fingers 214 may be circumferentially spaced apart from each other by approximately 60 degrees when jaw members 200a, 200b are in the second closed position.

[0169] With further reference to FIG. 28, each of the fingers 214a-214d includes an inner surface 216 that is divided between a lower region 218 (or contact surface 218), an upper region 220 adjacent the base 219 (e.g., lower horizontal flange 206) of the respective jaw member 200a, 200b, and a recess 222 between the lower region 218 and the upper region 220 (i.e., adjacent to and directly above the contact surface).

[0170] The contact surface 218 of each of the fingers 214a-214d is configured to engage the side wall 22 of the closure 16 when the closure 16 is seated beneath the base 219 of each of the jaw members 200a, 200b and between the contact surfaces 218 of the fingers 214a-214d. In the illustrated embodiment, the combination of the fingers 214a-214d has a gripping force of at least 1 pound, and more preferably at least 5 pounds. In the illustrated embodiment, the contact surface 218 of each of the fingers 214a-214d is serrated to prevent the fingers 214a-214d from sliding on the side wall 22 of the closure 16 when the gripper device 176 applies a downward force against any opposing force in the receptacle slot 130. As illustrated in FIG. 27B, the contact surface 218 of each of the fingers 214a-214d may be oriented toward the axial center of the closure 16 when the side wall 22 of the closure 16 is gripped by the fingers 214a-214d in the second, closed position.

[0171] As shown in FIG. 29, the recesses 222 are configured such that when the jaw members 200a, 200b are in the second closed position, there is no contact between the contact surfaces 218 of the fingers 214a-214d and the upper surface 24 of the closure 16 (when the jaw members 200a, 200b are in the second closed position, the contact surfaces 218 of the fingers 214a-214d grip the side wall 22 of the closure 16 below the rim 26 of the closure 16), thereby ensuring that contact between the gripper device 176 and the upper surface 24 of the closure 16 is avoided.

[0172] When the contact surface 218 of each finger 214a-214d contacts the sidewall 22 of the closure 16, an upper region 220 of the contact surface 218 of each finger 214a-214d is configured to be disposed above, but without contacting, the top surface 24 of the closure 16. In the illustrated embodiment, the upper region 220 of the contact surface 218 of each finger 214a-214d angles inwardly from the recess 222 toward the base 219 of the respective jaw member 200 (or toward the engagement surface 212 of the lower flange 206) such that at least a portion of the upper region 220 of the contact surface 218 is seated directly above the top surface 24 of the closure 16 when the sidewall 22 of the closure 16 is gripped by the fingers 214a-214d in the second closed position. Thus, if there is any slippage between the contact surface 218 of the fingers 214 and the sidewall 22 of the closure 16, the upper region 220 of the inner surface 216 will contact the rim 26 of the closure 16, as illustrated in FIG. 29, thereby preventing contact between the base 219 of the jaw members 200a, 200b and the top surface 24 of the closure 16. Additionally, angling the upper region 220 of the inner surface 216 toward the base 219 of the individual jaw members 200 serves to stiffen the individual fingers 214a-214d, thereby increasing the gripping force of the fingers 214a-214d. The upper region 220 of the inner surface 216 may have another orientation, such as vertical, for example, if slippage between the closure 16 and the fingers 214a-214d is not a significant concern.

[0173] 28, fingers 214a-214d each include an outer surface 224 having a generally vertical upper region 226 having a rounded end surface 227 and an inwardly tapered lower region 228 having a rounded end surface 229. Tapered lower region 228 can assist in positioning fingers 214a-214d within a space defined by a closure 16 of an adjacent receptacle 12 supported by receptacle rack 114 when jaw members 200a, 200b are in the second, closed position. In a situation where the fingers 214a-214d contact a closure 16 of a receptacle 12 seated in an adjacent receptacle slot 130 of the receptacle rack 114, the outer surfaces 224 of the fingers 214a-214d are shaped to slidably contact the rim 26 (rather than the upper surface 24) of the contacted closure 16, thereby enabling sustained downward movement of the gripped receptacle 12 into the selected receptacle slot 130.

[0174] Furthermore, the fingers 214a-214d of the gripper device 176 are sized and arranged so that they fit within the intervening space 230 defined by the contours of the closures 16 of adjacent receptacles 12 seated within their respective slots 130 of the receptacle rack 114 when the jaw members 200a, 200b are in: (i) a second closed position (see FIG. 30B) in which the gripped receptacle 12 is seated within the slot 130 of the receptacle rack 114; (ii) an open position (see FIG. 30A) immediately prior to gripping the receptacle 12 for removal from the slot 130 of the receptacle rack 114; and (iii) an open position (see FIG. 30A) immediately prior to releasing the receptacle 12 inserted into the slot 130 of the receptacle rack 114. As shown, the dimensions of the interstitial spaces are greatest in an area that is seated at approximately 45 degrees to the rows and columns of seated receptacles 12. Thus, fingers 214a-214d are likewise oriented at approximately 45 degrees to the rows and columns of seated receptacles 12.

[0175] 47, an alternative gripper apparatus 176' is illustrated which modifies the positioning of the fingers 214a'-214d'. In this embodiment, the fingers 214a'-214d' are positioned directly beneath the jaw members 200a', 200b' such that they may facilitate gripping and proper alignment of the closed receptacle 12. Similar features of the two embodiments of gripper apparatus 176, 176' are identified in the figures with similar reference numbers (reference numbers associated with features of the second embodiment of gripper apparatus 176' followed by a prime symbol).

[0176] 49A and 49B, the contoured engagement surface 212' of this embodiment is specifically configured to resist vertical slippage between the closed receptacle 12 and the jaw members 200a', 200b', the occurrence of which could lead to contamination of or damage to the gripper apparatus 176'. For example, if the closed receptacle 12 is misaligned when the sidewall 22 of the closure 16 is grasped between the jaw members 200a', 200b', the closed receptacle 12 may not be laterally aligned with the selected receptacle slot 130, potentially causing the bottom end 20 of the receptacle 12 to contact the upper surface of the support plate 124a of the receptacle rack 114 when attempting to partially insert the closed receptacle 12 into the selected receptacle slot 130 (shown in FIG. 19). As a result, the closed receptacle 12 may be vertically displaced within the jaw members 200a', 200b' as the gantry 174, along with a proximity sensor 191 (shown in Figures 15, 23A, and 24A) mounted above the jaw members 200a', 200b', potentially forcing the upper surface 24 of the closure 16 of the closed receptacle 12 into contact with the proximity sensor 191.

[0177] In particular, as best shown in Figures 48, 49A, 49B, and 50, contoured engagement surfaces 212' take the form of generally V-shaped recesses that are mirror images of one another. In particular, contoured engagement surface 212' of each jaw member 200a', 200b' includes two generally straight surfaces 213a', 213b' that are joined to one another by a rounded section 213c' of contoured engagement surface 212', from which they diverge from one another, as best shown in Figures 49A and 49B. With this configuration, contoured engagement surface 212' of jaw members 200a', 200b' contacts side wall 22 of closure 16 at only four points 215a'-215d' when jaw members 200a', 200b' are in the first closed position. By concentrating the gripping force (or contact pressure) applied by jaw members 200a', 200b' onto only four contact points 215a'-215d' (as opposed to the essentially constant contact surface with the circularly contoured engagement surface 212 of gripper apparatus 176 illustrated in FIG. 24B above), vertical slippage is less likely to occur. Vertical slippage is considered a possibility when a bottom end 20 of a misaligned receptacle 12 contacts an upper surface of support plate 124a of receptacle rack 114 when attempting to partially insert a closed receptacle 12 into a selected receptacle slot 130 (shown in FIG. 19).

[0178] As shown in FIG. 50, the lower horizontal flanges 206' are capable of contacting each other when the closed receptacle 12 is not disposed between the jaw members 200a', 200b' such that when the lower horizontal flanges 206' contact each other, the contoured engagement surfaces 212' define an opening.

[0179] As best illustrated in FIGS. 53 and 54, the contoured engagement surface 212′ is knurled or wavy such that each straight surface 213a′, 213b′ of the contoured engagement surface 212′ includes a plurality of laterally oriented grooves 211′. The laterally oriented grooves 211′ are mounted between and adjacent the top and bottom surfaces of the horizontal flange 206′ such that lateral edges 215′ are formed between adjacent lateral grooves 211′ and between the lateral grooves 211′ and the top and bottom surfaces of the horizontal flange 206′. The lateral edges 215′ are designed to at least partially embed themselves within the side walls 22 of the closure 16 (which in a preferred embodiment are comprised of a soft plastic material, e.g., high density polyethylene (HDPE)) when the jaw members 200a′, 200b′ are in the first closed position, thereby further reducing the possibility of vertical slippage between the closure 16 and the jaw members 200a′, 200b′. In the illustrated embodiment, each groove 211' has an arcuate cross-section, for example with a preferred radius of 1 mm. Although three lateral grooves 211' and four lateral edges 215' are illustrated, it should be understood that each straight side 213a', 213b' of the contoured engagement surface 212' may have any number of lateral grooves 211' and at least one corresponding lateral edge 215'. Two straight sides 213a', 213b' of the same or opposing contoured engagement surface 212' may have the same or different numbers of lateral grooves 211'.

[0180] Each gripper device 176' further includes a plurality of fingers 214a'-214d' depending from a base 219' (in this case, the bottom surface of lower horizontal flange 206') of one of jaw members 200a', 200b', as illustrated in Figures 47 and 53, respectively. When jaw members 200a', 200b' are in the first, closed position, fingers 214a'-214d' are configured to contact or nearly contact receptacle 14 of closed receptacle 12 as jaw members 200a', 200b' grip side wall 22 of closure 16 of closed receptacle 12, best illustrated in Figures 49B and 55. In this manner, a generally vertical orientation of the closed receptacle 12 is promoted (i.e., fingers 214a'-214d' prevent vertical misalignment and potentially rotation of the receptacle 14 while jaw members 200a', 200b' grip side wall 22 of closure 16). The spacing of fingers 214a'-214d' from receptacle 14 of the closed receptacle 12 in the first closed position is preferably within the range of 0 (i.e., indicating contact with receptacle 14) to 0.25 mm (when receptacle 14 is centered between fingers 214a'-214d'). To the extent that the fingers 214a'-214d' contact the receptacle 14 of the closed receptacle 12 while the jaw members 200a', 200b' grip the side wall 22 of the closure 16, it may be preferable for the gripping force of the jaw members 200a', 200b' to exceed the gripping force of the fingers 214a'-214d' because the jaw members 200a', 200b' are generally less compliant (i.e., more laterally stiff) than the fingers 214a'-214d'.

[0181] In the embodiment illustrated in FIG. 47, the gripper apparatus 176' includes four fingers 214a'-214d', two of which depend from a base 219' of each of the jaw members 200a', 200b'. As best shown in FIG. 55, the fingers 214a'-214d' in the illustrated embodiment extend diagonally inwardly from the base 219' of the lower horizontal flange 206' to position the fingers 214a'-214d' in contact or near contact with the receptacle 14 of the closed receptacle 12 when the jaw members 200a', 200b' grip the side wall 22 of the associated closure 16 of the closed receptacle 12 in the first, closed position. In the illustrated embodiment, the four fingers 214a'-214d' are circumferentially spaced approximately 90 degrees apart from one another when the jaw members 200a', 200b' are in the first, closed position, although other circumferential spacings are contemplated.

[0182] As best shown in FIG. 55, the fingers 214a'-214d' are further configured to grip the side wall 22 of the closure 16 beneath its upper surface 24 as the jaw members 200a', 200b' move laterally toward one another from the open position (see FIG. 51) to the second closed position (see FIG. 52) when the closure 16 is disposed between the fingers 214a'-214d' and beneath the lower horizontal flange 206'. The fingers 214a'-214d' are used to grip the closure 16 and seat the closed receptacle 12 within a selected receptacle slot 130 of the rack 114 while the jaw members 200a', 200b' are in the second closed position.

[0183] Gripper device 176' may have any number of fingers 214' that enable fingers 214' to securely grip closure 16. In an alternative embodiment, gripper device 176' may include three fingers (one finger 214' depending from base 219' of one jaw member 200' and two fingers 214' depending from the bottom surface of the other jaw member 200'). In this embodiment, the three fingers 214' may be circumferentially spaced about 120 degrees apart from one another when jaw members 200a', 200b' are in the second, closed position. In another embodiment, gripper device 176' may include six fingers (three fingers depending from base 219' of each jaw member 200'). In this case, the six fingers 214' may be circumferentially spaced approximately 60 degrees apart from one another when the jaw members 200a', 200b' are in the second, closed position.

[0184] 53, 54, and 56, fingers 214a'-214d' each have an inner surface 216' that includes a lower region 218' (or contact surface 218') and a recessed upper region 220' adjacent the bottom surface (e.g., lower horizontal flange 206') of the respective jaw member 200a', 200b'.

[0185] The contact surface 218' of each of the fingers 214a'-214d' is configured to engage the side wall 22 of the closure 16 when the closure 16 is seated beneath the base 219' of the jaw members 200a', 200b' and between the contact surfaces 218' of the fingers 214a'-214d'. In the illustrated embodiment, the fingers 214a'-214d' have a combined gripping force of at least 1 pound, and more preferably at least 5 pounds. In the illustrated embodiment, the contact surface 218' of each of the fingers 214a'-214d' is knurled or wavy to prevent the fingers 214a'-214d' from sliding on the side wall 22 of the closure 16 when an opposing force is encountered as the gripper device 176' seats the closed receptacle 12 within the receptacle slot 130. As shown in FIG. 52, the contact surface 218' of each of the fingers 214a'-214d' may be oriented toward the axial center of the closure 16 when the side wall 22 of the closure 16 is gripped by the fingers 214a'-214d' in the second closed position.

[0186] 56, the substantially vertical recesses 220' are configured such that when the contact surfaces 218' collectively grip the sidewall 22 below the rim of the closure 16 in the second closed position, there is no contact between the inner surfaces 216' of the fingers 214a'-214d' and the top surface 24 of the closure 16. This configuration ensures that contact between the gripper device 176' and the top surface 24' of the closure 16 is avoided.

[0187] Additionally, as illustrated in FIG. 52, contact surfaces 218' of fingers 214a'-214d' are positioned relative to contoured engagement surfaces 212' of jaw members 200a', 200b' such that when jaw members 200a', 200b' are in the second closed position, if there is some degree of slippage between fingers 214a'-214d' and the grasped closure 16, there is sufficient space for the closure 16 to extend, at least partially, into the opening defined by contoured engagement surfaces 212' of jaw members 200a', 200b' without any contact between the top surface of rim 26 of closure 16 and base 219' of jaw members 200a', 200b'.

[0188] As shown in FIG. 54, fingers 214a'-214d' each include an outer surface 224' having a generally vertical upper region 226' and an inwardly tapered lower region 228'. Tapered lower region 228' positions contact surfaces 218' of fingers 214a'-214d' in contact or near contact with receptacle 14 of closed receptacle 12 while jaw members 200a', 200b' grip side wall 22 of closure 16 in the first, closed position, as best shown in FIG. Further, as discussed above with respect to fingers 214a-214d of gripper device 176, fingers 214a'-214d' of gripper device 176' can be sized and arranged to position fingers 214a'-214d' within interstitial spaces defined by closures 16 of adjacent receptacles 12 supported by receptacle rack 114 as the closed receptacle 12 is seated within slot 130 of receptacle rack 114 when jaw members 200a', 200b' are in the second closed position, and after seating the closed receptacle 12 within receptacle slot 130 when jaw members 200a', 200b' are moved from the second closed position to the open position. The same advantages apply when the fingers 214a'-214d' are lowered to grip and remove a closed receptacle 12 from the receptacle slot 130. In situations where there is some misalignment of the fingers 214a'-214d' such that the fingers 214a', 214b' contact the closures 16 of neighboring receptacles 12 seated in adjacent receptacle slots 130, the outer surfaces 224' of the fingers 214a'-214d' are shaped to slidably contact the rims 26 (but not the top surfaces 24) of those neighboring closures 16, thereby allowing sustained downward movement of the gripped receptacle 12 into the selected receptacle slot 130. In this manner, potentially contaminating contact between the fingers 214a'-214d' and the neighboring closures 16 can be minimized or avoided.

[0189] The fingers 214a'-214d' of the gripper apparatus 176' may be preferably comprised of a rigid or semi-rigid material such as stainless steel or polycarbonate and may be integrally formed as a unitary structure with the individual jaw members 200a', 200b' from which they depend, or they may be coupled to the individual jaw members 200a', 200b' using fasteners.

[0190] Having described the structure and functionality of the automated sample processing system 10, one exemplary method 300 for operating the sample processing system 10 to process and store receptacles 12 will now be described with reference to Figure 31. For simplicity, the method 300 described below is for a single receptacle 12, while the automated sample processing system 10 is capable of processing multiple receptacles 12 simultaneously.

[0191] First, a receptacle 12 containing an unprocessed sample may be loaded (along with other receptacles) via a rack into the loading (input) module 30a (step 302). The receptacle 12 containing the unprocessed sample is transported from the loading module 30a onto the right inner loop 53a of the main conveyor line 48 (step 304). For example, a pick-and-place device (not shown) may remove the receptacle 12 from the loading module 30a and insert the receptacle 12 into an empty receptacle carrier 62 immobilized on the branch line 50 (previously fed onto the main conveyor line 48 by the receptacle carrier feed module 30h and routed to the loading module 30a), from where it is transferred onto the main conveyor line 48 and continues onto the left inner loop 53b or is redirected onto the right inner loop 53a until space is available on the left inner loop 53a.

[0192] While an unprocessed receptacle 12 is being placed on the branch line 50 of the loading module 30a, the WMS software module 34 identifies the assay to be performed with the sample contained in the receptacle 12 based on encoded information read by a barcode reader (not shown) associated with the loading module 30a, and generates an assay-specific workflow for that receptacle 12 (step 306), including pre-analytical and post-analytical steps, such as centrifugation, uncapping, aliquoting, capping, storage, etc. The specific workflow for the receptacle 12 is communicated from the WMS software module 34 to a conveyor controller 42, which controls the movement of the receptacle 12 between modules 30 according to that workflow via the automated conveyor system 32.

[0193] If the receptacle 12 is closed with a non-puncturable closure (e.g., a non-puncturable cap) 16b (see FIG. 3B), the receptacle 12 is first routed, under the control of the conveyor controller 42, to a cap removal module 30e which removes the non-puncturable closure 16b from the receptacle 12 (i.e., removes the cap from the receptacle 12) (step 308). For example, the receptacle 12 (along with the receptacle carrier 62) may be diverted from the main conveyor line 48 onto a branch line 50 associated with the cap removal module 30e via operation of the diverter 46 and removed from the receptacle carrier 62, while the receptacle carrier 62 is immobilized on the branch line 50 and transferred via a pick-and-place device (not shown) into the cap removal module 30e, the cap is removed, and then inserted via the pick-and-place device (not shown) back into the receptacle carrier 62 immobilized on the branch line 50 for transfer back onto the main conveyor line 48. Alternatively, the cap removal module 30e may remove the cap from the receptacle 12 directly on the main conveyor line 48 without having to remove the receptacle 12 from the receptacle carrier 62. If the receptacle 12 is closed with a puncturable closure 16a (see FIG. 3A) or has no closure (e.g., the receptacle 12 is provided to the main conveyor line 48 without a closure or the receptacle has previously been decapped), then the receptacle 12 uninterruptedly bypasses the cap removal module 30e under the control of the conveyor controller 42 (step 308).

[0194] Next, WMS software module 34 determines whether there is at least one task in the workflow for receptacle 12 that can be completed (step 310). If there are no workflow tasks for the receptacle 12 that can be completed (e.g., if any of the analyzer modules 30b required to complete the workflow tasks are unavailable (e.g., if all buffer queues (not shown) of the required analyzer modules 30b are full or if the analyzer modules 30b lack the necessary reagents and consumables to perform the task)), the receptacle 12 is recirculated on the right inner loop 53a of the main conveyor line 48 under the control of the conveyor controller 42 (e.g., by diverting the receptacle 12 through the through line 52a via operation of the diverter 46b) and loops persistently around the right inner loop 53a until at least one remaining task of the workflow for the receptacle 12 can be completed (e.g., one of the previously unavailable analyzer modules 30b becomes available) (step 312). If at least one of the workflow tasks for the receptacle 12 can be completed (e.g., if at least one of the analyzer modules 30b required to complete the workflow task is available), the receptacle 12 is routed from the right inner loop 53a to the left inner loop 53b of the main conveyor line 48 (e.g., by bypassing the through line 52a via operation of the diverter 46b) (step 314).

[0195] Rather than loading the receptacle 12 into the loading module 30a in step 302, the parent receptacle containing the unprocessed sample may be manually loaded via a rack (along with other parent receptacles) into the sample transport module 30c (step 303). In this case, the sample transport module 30c transports an aliquot of the sample contained in the parent receptacle to at least one child receptacle 12 (step 305). After transporting the sample from the parent receptacle to the child receptacle 12, the child receptacle 12 may be capped with a closure (e.g., puncturable closure 16a). The child receptacle 12 is then removed from the sample transport module 30c and placed into a receptacle carrier 62 that is mounted on a branch line 50 associated with the sample transport module 30c for movement of the receptacle carrier 62 onto the main conveyor line 48 (step 307). The receptacle 12 may be removed from the sample transport module 30c and placed into the receptacle carrier 62 (previously fed by the receptacle carrier feed module 30h onto the main conveyor line 48 and routed to the sample transport module 30c) using a pick-and-place device (not shown).

[0196] While the unprocessed receptacle 12 is directed onto the branch line 50 of the sample transport module 30c, the WMS software module 34 identifies the assay to be performed with the sample contained in the child receptacle 12 based on encoded information read by a barcode reader (not shown) associated with the sample transport module 30c, and generates an assay-specific workflow (step 307) including pre-analytical and post-analytical steps, such as centrifugation, aliquoting, storage, reflex testing, capping, etc., for that receptacle 12. The specific workflow for the receptacle 12 is communicated from the WMS software module 34 to a conveyor controller 42, which controls the transport of the child receptacle 12 between modules 30 according to that workflow via the automated conveyor system 32.

[0197] Regardless of whether the receptacle 12 is placed on the right inner loop 53a of the main conveyor line 48 from the loading module 30a and routed to the left inner loop 53b of the main conveyor line 48, or whether the receptacle 12 is placed directly from the sample transport module 30c to the left inner loop 53b, the receptacle 12 is routed under the control of the conveyor controller 42 to at least one available analyzer module 30b (which may complete a pending work order associated with the receptacle 12), which analyzes the sample contained within the receptacle 12 (e.g., a nucleic acid-based assay, a sequencing reaction, an immunological assay, a chemical analysis, etc.) (step 316). For example, the receptacle 12 (together with the receptacle carrier 62) may be diverted, via operation of the diverter 46, from the left inner loop 53b of the main conveyor line 48 onto the branch line 50 associated with the available analyzer module 30b, removed from the receptacle carrier 62 immobilized on the branch line 50, transferred via a pick-and-place device (not shown) into the available analyzer module 30b, the sample is analyzed, and inserted back into the receptacle carrier 62 immobilized on the branch line 50 via the pick-and-place device (not shown) for transfer of the receptacle 12 back to the left inner loop 53b of the main conveyor line 48. At each analyzer module 30b available to complete a workflow task for the receptacle 12, at least a portion of the sample from the receptacle 12 is removed and analyzed by the analyzer module 30b. When the receptacle 12 is closed with a puncturable closure 16a, each analyzer module 30b includes a fluid extraction device (e.g., a robotic pipetter) (not shown) configured to puncture the closure 16a (or penetrate a pre-punctured closure 16a) and remove an aliquot of the sample from the receptacle 12.

[0198] The conveyor controller 42 then determines whether the workflow for the receptacle 12 is complete or, if not, whether the number of times the receptacle 12 has circulated around the left inner loop 53b exceeds a predetermined limit (step 318). If the workflow for the receptacle 12 is not complete and the number of times the receptacle 12 has circulated around the left inner loop 53b does not exceed a predetermined limit, the receptacle 12 is recirculated on the left inner loop 53b of the main conveyor line 48 under the control of the conveyor controller 42 (e.g., by diverting the receptacle 12 through the through line 52b by operation of the diverter 46a) and repeatedly loops around the left inner loop 53b until the previously unavailable analyzer module 30b becomes available (e.g., the analyzer module 30b is loaded with the appropriate reagents and / or consumables) (step 320).

[0199] If the workflow for the receptacle 12 has been completed or the number of times the receptacle 12 has circulated around the left inner loop 53b has exceeded a predetermined limit, the receptacle 12 may be routed by the conveyor controller 42 to the capping module 30f if it has been opened (e.g., the receptacle 12 may be provided to the automated conveyor system 32 without a closure 16b or the closure 16b has been removed from the receptacle 12 by the cap removal module 30e), which caps the open end of the receptacle 12 (e.g., inserts or screws a new closure 16b into or onto the open end of the receptacle 12) (step 322). For example, the receptacle 12 (together with the receptacle carrier 62) may be diverted from the left inner loop 53b of the main conveyor line 48 onto the branch line 50 associated with the capping module 30f via the action of the diverter 46, removed from the receptacle carrier 62 immobilized on the branch line 50 via a pick-and-place device (not shown), transferred into the capping module 30f, capped, and inserted back into the receptacle carrier 62 immobilized on the branch line 50 via a pick-and-place device (not shown) for transfer back onto the left inner loop 53b of the main conveyor line 48. If the capping module 30f could cap the receptacle 12 directly on the main conveyor line 48, the receptacle 12 would not need to be removed from the receptacle carrier 62 and transferred into the capping module 30f. If the receptacle 12 is closed with a pierceable closure 16a (see FIG. 3A), the receptacle 12, under the control of the conveyor controller 42, uninterruptedly bypasses the capping module 30f (step 322).

[0200] If the workflow for the receptacle 12 is not complete (or otherwise requires further testing at a future time), the receptacle 12 may be routed, under control of the conveyor controller 42, to the receptacle storage module 30d, which stores the receptacle 12 in a refrigerated environment for a period of time (step 326). The receptacle carrier 62 that previously transported the receptacle 12 may then be routed from the unloading module 30g to the receptacle carrier feed module 30h for storage therein, or may be used to receive the receptacle 12 from the receptacle storage module 30d. If it is determined that the sample contained within the receptacle 12 should be exposed to further testing (e.g., for retesting, reflex testing, or testing for new specimens based on the results of the initial test if the associated work order has not been completed) prior to expiration of the predetermined storage period (e.g., 5 days), the receptacle 12 is transported from the receptacle storage module 30d to the left inner loop 53b of the main conveyor line 48, which is recirculated and routed to at least one available analyzer module 30b for analysis of the sample (step 320). Additional details regarding the transfer of receptacles 12 between the main conveyor line 48 and the receptacle storage module 30d will be described in further detail below with respect to method 400 of FIG. 32 and method 600 of FIG. 33. Once the predetermined storage cycle is completed, the receptacle racks 114 supporting the receptacles 12 may be manually removed from the front 116 of the receptacle storage module 30d using the door 118 (step 330).

[0201] If the workflow for the receptacle 12 is complete (or otherwise does not require further testing at a future time), the receptacle 12 may be routed (e.g., by bypassing the through line 52a via operation of the diverter 46) from the left inner loop 53b to the unloading (output) module 30g on the right inner loop 53a of the main conveyor line 48 under the control of the conveyor controller 42 (step 328). The receptacle 12 (along with the receptacle carrier 62) may be diverted from the right inner loop 53a of the main conveyor line 48 onto the branch line 50 associated with the unloading module 30g via operation of the diverter 46, removed from the receptacle carrier 62 immobilized on the branch line 50, and transferred via a pick-and-place device (not shown) into the unloading module 30g for insertion into a receptacle rack (not shown). The receptacle rack supporting the receptacles 12 may then be manually removed from the unloading module 30g (step 330). The empty receptacle carrier 62, which previously carried the receptacle 12, may then be routed from the unloading module 30g to the loading module 30a or the receptacle carrier feed module 30h for storage therein.

[0202] 32, an exemplary method 400 for transferring a closed receptacle 12 from a branch line 102 of the automated conveyor system 32 into a receptacle storage module 30d associated with one of the tiers 112 for storage in a selected receptacle slot 130 of a receptacle rack 114 will now be described. Although the method 400 is described below with respect to only one closed receptacle 12, it should be understood that multiple closed receptacles 12 can be individually transferred into the receptacle storage module 30d for storage. Thus, the described method 400 can be repeated for each closed receptacle 12 transferred into and stored in the receptacle storage module 30d. The exemplary method 400 assumes that initially, the barcode reader assembly 104 stops the receptacle carrier 62, rotates the receptacle carrier 62, and immobilizes the receptacle carrier 62 to facilitate removal of the associated closed receptacle 12 so that the barcode 28 associated with the closed receptacle 12 may be read (see Figures 11 and 12).

[0203] The arrival side pick-and-place device 150a (see Figures 8, 11, and 16) transports the closed receptacle 12 from a receptacle carrier 62 immobilized on the branch line 102 of the automated conveyor system 32 to an arrival side receiving location associated with the selected stage 112 (step 402). In the illustrated embodiment, this step includes (i) vertically moving the carriage 166 of the arrival pick and place device 150a to a position adjacent to the branch line 104 (this step is not performed if the arrival pick and place device 150a is in a home position adjacent to the branch line 104), (ii) rotating the gripper 168 of the arrival pick and place device 150a outwardly to a second position offset from the rear surface 120 of the housing 108, thereby vertically aligning the gripper 168 with the immobilized receptacle carrier 62 held by the barcode reader assembly 104, (iii) lowering the carriage 166 of the arrival pick and place device 150a until the gripper 168 is adjacent to the receptacle 14 of the receptacle 12 held by the immobilized receptacle carrier 62, and (iv) rotating the receptacle 14 to the home position of the arrival pick and place device 150a. (v) raising the carriage 166 of the arrival side pick and place device 150a until the receptacle 12 clears the immobilized receptacle carrier 62; (vi) rotating the gripper 168 of the arrival side pick and place device 150a inwardly to a first position adjacent the rear surface 120 of the housing 108; and (vii) seating the gripper 168 above the arrival side opening 122a associated with the selected tier 112. (viii) raising the carriage 166 of the arrival side pick and place device 150a to the selected stage 112 (downward if the selected stage 112 is directly below the branch line 104, or upward if the selected stage 112 is above the branch line 104); (ix) opening the door 123 associated with the arrival side opening 122a of the selected stage 112; and (ix) so that the arrival side retainer 172a extends through the arrival side opening 122a at the arrival side receiving location.This is accomplished by (x) moving the slide 170 of the receptacle transporter 152 laterally to a first location adjacent the arrival side opening 122a, (x) moving the gripper 168 of the arrival side pick-and-place device 150a downward until the gripped receptacle is fully inserted into the arrival side retainer 172a at the arrival side receiving location, and (xi) releasing the receptacle 12 from the grip of the gripper 168 of the arrival side pick-and-place device 150a.

[0204] Next, the receptacle transporter 152 (see FIGS. 17 and 18) moves the closed receptacle 12 from the arrival receiving location to a location located in the chamber 110 of the receptacle storage module 30d (step 404). In the illustrated embodiment, this step is accomplished by (i) moving the slide 170 of the receptacle transporter 152 laterally from a first location adjacent the arrival opening 122a to a second location spaced apart from the arrival opening 122a until the arrival retainer 172a is directly beneath the arrival receiving location, (ii) moving the arrival retainer 172a upward from the initial stage to the delivery location at the second, higher stage, and (iii) closing the door 123 associated with the arrival opening 122a.

[0205] The robot handler 154 (see FIGS. 15, 17, and 18), associated with stage 112, in conjunction with receptacle insertion stop assembly 148, then transfers the closed receptacle 12 from the arrival delivery location to the selected receptacle slot 130 of the receptacle rack 114 and performs a two-stage receptacle insertion process to seat the closed receptacle 12 within the selected receptacle slot 130 of the receptacle rack 114 (step 406). Further details discussing the transfer of the closed receptacle 12 from the arrival delivery location to the selected receptacle slot 130 of the receptacle rack 114 and the subsequent two-stage receptacle insertion process employed by the receptacle insertion stop assembly 148 and the robot handler 154 will now be described.

[0206] Referring now to FIG. 33, one exemplary method 500 will be described that is performed by a robot handler 154 to transfer a closed receptacle 12 from a receiving location to a selected receptacle slot 130 and to fully seat the closed receptacle 12 within the selected receptacle slot 130 for temporary storage within a receptacle storage module 30d. The method 500 will be described using the gripper device 176 of the robot handler 154, but it should be understood that the method 500 may use a gripper device 176' in the same manner. The exemplary method 500 assumes that when the robot handler 154 is in its home position, the gripper device 176 is vertically aligned with the arrival-side delivery location while the jaw members 200a, 200b of the gripper device 176 are in the open position (see FIGS. 23A and 23B). (In this case, when the arrival-side holder 172a of the receptacle transporter 152 is fully contained within the chamber 110 of the receptacle storage module 30d and positioned on a second, higher tier). The exemplary method 500 also assumes that the pin 160 of the receptacle insertion stop assembly 148, which is associated with the vertical tier 112 of the selected receptacle slot 130 of the receptacle rack 114, is in a second position directly below the base plate 124c of the receptacle rack 114. As briefly discussed above, the position control subsystem 178 (see FIG. 20) of the controller 156 controls the XYZ movement of the gripper device 176 via the gantry 174, and the gripper control subsystem 180 (see FIG. 20) of the controller 156 controls the movement of the jaw members 200a, 200b of the gripper device 176 between the open position (see FIGS. 23A, 23B, 26A, and 26B), a first closed position (see FIGS. 24A and 24B), and a second closed position (see FIGS. 27A and 27B).

[0207] The carriage 158 of the receptacle insertion stop assembly 148 is moved laterally to vertically align the pin 160 of the receptacle insertion stop assembly 148 with the selected receptacle slot 130 (step 502), and the pin 160 is raised to a first position within the selected empty receptacle slot 130, which is preferably between the base plate 124c and the second support plate 124b of the receptacle rack 114 (see FIG. 19), thereby providing a depth insertion stop for the selected receptacle slot 130 (step 504).

[0208] The gripper device 176 of the robot handler 154 is lowered (step 506) until the jaw members 200a, 200b, in the open position, are laterally aligned (i.e., side-by-side, as used herein) with the side wall 22 of the closure 16 of the receptacle 12 within the arrival side retainer 172a of the receptacle transporter 152, as shown in FIG 34. The jaw members 200a, 200b are then moved from the open position to a first closed position, as shown in FIG 35, to grip the side wall 22 of the closure 16 of the receptacle 12 with the jaw members 200a, 200b (step 508). In the illustrated embodiment, the jaw members 200a, 200b grip the side wall 22 of the closure 16 of the closed receptacle 12 with contoured engagement surfaces 212 of the respective jaw members 200a, 200b (see FIGS. 24A and 24B). If a gripper device 176' is used, the fingers 214a'-214d' will contact or nearly contact the receptacle 14 of the closed receptacle 12 and assist in vertically aligning the closed receptacle 12 (see FIGS. 47, 49A, and 49B).

[0209] Next, while the jaw members 200a, 200b are in the first closed position, the gripper device 176 (i) raises and removes the gripped receptacle 12 from the arrival side retainer 172a of the receptacle transporter 152 (step 510), as shown in FIG. 36, and (ii) moves laterally and positions the gripped receptacle 12 into vertical alignment with the selected receptacle slot 130 of the receptacle rack 114 (step 512), as shown in FIG. 37, and lowers and inserts the gripped receptacle 12 partially into the selected receptacle slot 130, i.e., until the bottom end 20 of the receptacle 12 contacts the tip 164 of the pin 160 of the receptacle insertion stop assembly 148 (step 514), as shown in FIG. 38. It should be understood that the jaw members 200a, 200b always remain seated above the receptacle plane defined by the top surface 24 of the receptacle 12 seated in the adjacent receptacle slot of the receptacle rack 114 (as shown in FIG. 21).

[0210] Next, the jaw members 200a, 200b are moved from the first closed position to the open position, as shown in FIGURE 39, to release the partially inserted receptacle 12 (step 516), and the gripper device 176 is then raised (step 518) until the fingers 214a-214d are laterally aligned with the sidewall 22 of the closure 16 of the partially inserted receptacle 12 (as indicated by the proximity sensor 191), as shown in FIGURE 40. Notably, the pin 160 of the receptacle insertion stop assembly 148 supports the partially inserted receptacle 12 within the receptacle slot 130 as the jaw members 200a, 200b are moved from the first closed position to the open position. The jaw members 200a, 200b are then moved from the open position to a second closed position (step 520) such that the fingers 214a-214d grip the side wall 22 of the closure 16 with the fingers 214a-214d, as illustrated in Figure 41. In the illustrated embodiment, the fingers 214a-214d grip the side wall 22 of the closure 16 of the closed receptacle 12 with the contact surfaces 218 of the respective fingers 214a-214d (see Figures 27A and 27B). Although method 500 has been described in steps 502-504 as providing a depth insertion stop in a selected receptacle slot 130 prior to removal of a receptacle 12, it should be understood that either depth insertion stop step 502 or 504 may be performed at any time prior to releasing a partially inserted receptacle 12 in step 516.

[0211] While jaw members 200a, 200b are in the second, closed position, pin 160 of receptacle insertion stop assembly 148 is lowered to a second position directly below base plate 124c of receptacle rack 114, thereby removing the depth insertion stop from the selected receptacle slot 130 (step 522). Gripper device 176 is then lowered until the gripped receptacle 12 is seated within the selected receptacle slot 130, i.e., until bottom end 20 of receptacle 12 contacts tapered opening 128c of base plate 124c of receptacle rack 114 (step 524), as illustrated in FIG. In the illustrated embodiment, the fingers 214a-214d are configured (i.e., sized and arranged) such that each of the fingers 214a-214d is seated at least partially within an interstitial space 230 defined by a pair of neighboring receptacles 12 when the gripped receptacle 12 is in a seated position, as illustrated in FIG. 30B. To avoid cross-contamination between the receptacles 12, it is preferred that the fingers 214a-214d do not contact the closure 16 of the neighboring receptacle 12, and in particular the top surface 24 of the closure 16, during steps 514-524. Although the method 500 has been described as removing a depth insertion stop from a selected receptacle slot 130 in step 522, it should be understood that either depth insertion stop step 502 or 504 may be performed at any time prior to releasing the partially inserted receptacle 12 in step 516.

[0212] Once the closed receptacle 12 is seated within the selected receptacle slot 130, the gripper device 176 can be moved back to the home position. During this process, (i) the jaw members 200a, 200b are moved from the second closed position to the open position, thereby releasing the seated receptacle 12 (step 526), ​​as illustrated in FIG. 43, (ii) the gripper device 176 is raised until the fingers 214a-214d are seated above the closure 16 of the seated receptacle 12 (step 528), as illustrated in FIG. 44, and (iii) the gripper device 176 is moved laterally until the gripper device 176 is vertically aligned with the arrival side transfer location (step 530).

[0213] 45, an exemplary method 600 for returning a closed and seated receptacle 12 to a branch line 102 of an automated conveyor system 32 associated with a receptacle storage module 30d will now be described. Although the method 600 described below is with respect to one closed receptacle 12, it should be understood that multiple closed receptacles 12 can be transferred individually from the receptacle storage module 30 to the branch line 102, and thus the method 600 can be repeated for each of several closed and seated receptacles 12 to be transferred from the receptacle storage module 30d to the branch line 102. The exemplary method 600 initially assumes that the stop feature 106 is immobilized in an empty receptacle carrier 62 (see FIGS. 11 and 14) into which a closed receptacle 12 will be placed.

[0214] Using a two-stage receptacle removal process, a robot handler 154 (see FIGS. 15, 17, and 18), associated with stage 112, removes the closed receptacle 12 from a selected receptacle slot 130 in a receptacle rack 114 and transfers the closed receptacle from the selected receptacle slot 130 to an originating receiving location (step 602). Further details discussing the two-stage receptacle removal process employed by the robot handler 154 and the subsequent transfer of the closed receptacle 12 from the selected receptacle slot 130 in the receptacle rack 114 to an originating receiving location will be described in further detail below with respect to method 700 of FIG.

[0215] Next, the receptacle transporter 152 (see FIGS. 17 and 18) moves the closed receptacle 12 from the originating receiving location to the originating delivery location (step 604). In the illustrated embodiment, this step is accomplished by (i) moving the starting side holder 172b of the receptacle transporter 152 upward from the initial stage to a second higher stage at the starting side receiving location, (ii) receiving the closed receptacle 12 from the robot handler 154, (iii) moving the starting side holder 172b second higher stage downward from the initial stage, (iv) opening the door 123 associated with the starting side opening 122b, and (v) moving the sliding portion 170 of the receptacle transporter 152 laterally from a second location spaced away from the starting side opening 122b to a first location close to the starting side opening 122b so that the starting side holder 172b extends through the starting side opening 122b at the starting side transfer location.

[0216] Next, the starting pick-and-place device 150b (see Figures 11 and 16) transfers the closed receptacle 12 from the starting transfer location to the main conveyor 44 of the automated conveyor system 32 (in this case to the immobilized receptacle carrier 62 on the branch line 102) (step 606).In the illustrated embodiment, this step includes (i) gripping the receptacle 14 of the closed receptacle 12 supported by the start retainer 172b with the gripper 168 of the start pick-and-place device 150b, (ii) moving the carriage 166 of the start pick-and-place device 150b upward, thereby removing the gripped receptacle 12 from the start retainer 172b of the receptacle transporter 152, and (iii) removing the gripped receptacle 12 from the start retainer 172b of the receptacle transporter 152 when the slide 170 is in the second location. (iv) moving the sliding portion 104 of the receptacle transporter 152 laterally from a first location proximate the arrival side opening 122a to a second location spaced apart from the departure side opening 122b so that the receptacle 172b is fully retracted from the departure side opening 122b; (iv) closing the door 123 associated with the departure side opening 122b; and (v) moving the carriage 166 of the departure side pick-and-place device 150b laterally to a step adjacent to the branch line 104 (or downwards if the departure side opening 122b is above the branch line 104, so that the departure side opening 122b is fully retracted from the departure side opening 122b). If it is below the line 104, then upwards), (vi) rotate the gripper 168 of the starting pick and place device 150b outwardly to a second position offset from the rear surface 120 of the housing 108 so that the gripper 168 is seated directly above the immobilized, empty receptacle carrier 62 held by the stop feature 106, (vii) move the carriage 166 of the starting pick and place device 150b downwardly, thereby inserting the gripped receptacle 12 into the immobilized receptacle carrier 62, (vii This is accomplished by (i) releasing the receptacle 12 from the grip of the gripper 168 of the starting pick and place device 150b, (ix) raising the carriage 166 of the starting pick and place device 150b so that the gripper 168 is positioned above the released receptacle 12, and (x) returning the starting pick and place device 150b to its home position by rotating the carriage 166 of the starting pick and place device 150b inwardly toward a position adjacent the rear surface 120 of the housing 108.

[0217] 44, one exemplary method 700 implemented by the robot handler 154 to transfer a closed and seated receptacle 12 from a selected receptacle slot 130 in the receptacle rack 114 to a delivery position will be described. The exemplary method 700 assumes that the robot handler 154 is in a home position (described above with respect to method 500). As briefly discussed above, a position control subsystem 178 (see FIG. 20) of the controller 156 controls the XYZ movement of the gripper assembly 176 via the gantry 174, and a gripper control subsystem 180 (see FIG. 20) of the controller 156 controls the movement of the jaw members 200a, 200b of the gripper assembly 176 between an open position (see FIGS. 23A, 23B, 26A, and 26B), a first closed position (see FIGS. 24A and 24B), and a second closed position (see FIGS. 27A and 27B).

[0218] The carriage 158 of the receptacle insertion stop assembly 148 is moved laterally to vertically align the pin 160 of the receptacle insertion stop assembly 148 with the selected receptacle slot 130 (step 702). The gripper device 176 is moved laterally so that the fingers 214a-214d are positioned above the closed and seated receptacle 12 as shown in FIG. 44, to position the fingers 214a-214d in vertical alignment with the selected receptacle slot 130 of the receptacle rack 114 (step 704). With jaw members 200a, 200b in the open position, gripper apparatus 176 is then lowered (step 706) until fingers 214a-214d are laterally aligned (as indicated by proximity sensor 191) with sidewall 22 of closure 16 of closed and seated receptacle 12, as illustrated in Figure 43. In the illustrated embodiment, fingers 214a-214d are configured (i.e., sized and arranged) such that each of fingers 214a-214d is seated at least partially within interstitial space 230 defined by a pair of neighboring receptacles 12 when the gripped receptacle 12 is in the seated position, as illustrated in Figure 30B.

[0219] Next, the jaw members 200a, 200b are moved from the open position to a second closed position such that the sidewall 22 of the closure 16 of the seated receptacle 12 is gripped by the fingers 214a-214d (step 708), as illustrated in FIG. 42. In the illustrated embodiment, the fingers 214a-214d grip the sidewall 22 of the closure 16 of the closed receptacle 12 with the contact surfaces 218 of the respective fingers 214a-214d (see FIGS. 27A and 27B). The gripper device 176 is raised to unseat and partially remove the gripped receptacle 12 from the selected receptacle slot 130 (step 710), as illustrated in FIG. The pin 160 of the receptacle insertion stop assembly 148 is raised to a first position in the selected vacant receptacle slot 130 between the base plate 124c and the second support plate 124b of the receptacle rack 114 (see FIG. 19), thereby supporting the partially removed receptacle 12 in the selected receptacle slot 130 (step 712). The jaw members 200a, 200b are then moved from the second closed position to an open position, as illustrated in FIG. 40, to release the partially removed receptacle 12 (step 714). In an alternative embodiment, instead of steps 704-714, the pin 160 is raised to a first position in the selected receptacle slot 130 between the base plate 124c and the second support plate 124b, urging the fully seated receptacle 12 upwardly within the selected receptacle slot 130, thereby partially removing the receptacle 12 from the selected receptacle slot 130.

[0220] In any of the embodiments, the gripper apparatus 176 is lowered (step 716) until the jaw members 200a, 200b are laterally aligned (as indicated by the proximity sensor 191) with the sidewall 22 of the closure 16 of the partially removed receptacle 12, as illustrated in FIG. 39. The jaw members 200a, 200b are then moved from the open position to a first closed position (step 718) to grip the sidewall 22 of the closure 16 of the closed receptacle 12, as illustrated in FIG. 38. In the illustrated embodiment, the jaw members 200a, 200b grip the sidewall 22 of the closure 16 of the closed receptacle 12 with the contoured engagement surfaces 212 of the respective jaw members 200a, 200b (see FIGS. 24A and 24B). If gripper device 176' is used, fingers 214a'-214d' will contact or nearly contact receptacle 14 of closed receptacle 12 and assist in vertically aligning closed receptacle 12 (see FIGS. 47, 49A and 49B). While jaw members 200a, 200b are in the first closed position (or after removal of receptacle 12), pin 160 of receptacle insertion stop assembly 148 may be lowered to a second position just below base plate 124c of receptacle rack 114 (step 720). Gripper device 176 is then raised to completely remove gripped receptacle 12 from selected receptacle slot 130 (step 722), as illustrated in FIG.

[0221] Next, the gripper device 176 is moved laterally to position the gripped receptacle 12 into vertical alignment with the starting retainer 172b of the receptacle transporter 152 (step 724), as shown in FIG. 36. The gripper device is then lowered to insert the gripped receptacle 12 into the starting retainer 172b of the receptacle transporter 152 (step 726), as shown in FIG. 35. Finally, the jaw members 200a, 200b are moved from the first closed position to the open position, as shown in FIG. 34, to release the inserted receptacle 12 (step 728).

[0222] After releasing the inserted receptacle 12, the gripper device 176 may then move rearward to a home position. During this process, (i) as illustrated in FIG. 44, the gripper device 176 is raised until the fingers 214a-214d are seated above the closure 16 of the seated receptacle 12 (step 730), and (ii) the gripper device 176 is moved laterally until the gripper device 176 is vertically aligned with the arrival side transfer location (step 732).

[0223] Embodiment

[0224] One or more of the following features and advantages may be included in or attained by the embodiments described herein.

[0225] Embodiment 1. A gripper device configured to grip a closed receptacle having a receptacle and a closure affixed to an open top end of the receptacle, the gripper device having opposing jaw members that are laterally movable relative to one another between an open position, a first closed position, and a second closed position, the jaw members configured to grip a side wall of the closure of the closed receptacle when the closure of the closed receptacle is seated between the jaw members in the first closed position, and the jaw members are configured to grip the side wall of the closure of the closed receptacle when the closure of the closed receptacle is seated between the jaw members in the first closed position, and the jaw members are configured to grip the side wall of the closure of the closed receptacle when the closure of the closed receptacle is seated between the jaw members in the open position. and a plurality of fingers, each of the jaw members having at least one of the plurality of fingers depending from a base thereof, the plurality of fingers being configured to grip a sidewall of the closure beneath an upper surface of the closure as the jaw members move laterally toward one another from the open position when the closure is mounted (i) between the plurality of fingers and (ii) beneath the base of each of the jaw members, the plurality of fingers gripping the sidewall of the closure in the second, closed position.

[0226] Embodiment 2. A gripper device as described in embodiment 1, wherein the jaw members are configured to grip a side wall of the closure in the first closed position.

[0227] Embodiment 3. A gripper device as described in embodiment 2, wherein the plurality of fingers are configured to contact or near contact the receptacle when the jaw members grip the side wall of the closure in the first closed position.

[0228] Embodiment 4. A gripper device as described in embodiment 3, wherein the plurality of fingers are configured to contact the receptacle when the jaw members grip the side wall of the closure in the first closed position.

[0229] Embodiment 5. A gripper apparatus as described in embodiment 3, wherein each of the multiple fingers is within 0.25 mm of the receptacle when the receptacle is centered between the multiple fingers.

[0230] Embodiment 6. A gripper device as described in any one of embodiments 1-5, wherein each of the jaw members has a contoured engagement surface for gripping a side wall of the closure, and the closure and receptacle each have a cylindrical shape.

[0231] Embodiment 7. A gripper apparatus as described in embodiment 6, wherein the contoured engagement surface of each of the jaw members is a rounded recess, and the contoured engagement surfaces are mirror images of one another.

[0232] Embodiment 8. A gripper apparatus as described in embodiment 6, wherein the contoured engagement surface of each of the jaw members is a V-shaped recess, and the contoured engagement surfaces are mirror images of one another.

[0233] Embodiment 9. A gripper device as described in any one of embodiments 6-8, wherein the contoured engagement surface of each of the jaw members is provided with a plurality of laterally oriented grooves, each adjacent pair of grooves forming a lateral edge.

[0234] Embodiment 10. A gripper device as described in any one of embodiments 6-9, wherein the jaw members are capable of contacting each other in the absence of a closed receptacle mounted between the jaw members, and the contoured engagement surfaces define an opening when the jaw members contact each other.

[0235] Embodiment 11. A gripper apparatus as described in embodiment 10, wherein the jaw members do not contact each other when in the first closed position, with a closed receptacle mounted between the jaw members.

[0236] Embodiment 12. A gripper device as described in any one of embodiments 1-11, wherein each of the jaw members has two or more of a plurality of fingers depending from its base.

[0237] Embodiment 13. A gripper apparatus as described in embodiment 12, wherein each of the jaw members has only two of the plurality of fingers depending from its base.

[0238] Embodiment 14. A gripper device as described in any one of embodiments 1-13, wherein each of the plurality of fingers has an inner surface having a contact surface configured to engage a side wall of the closure when the closure is seated (i) directly below the base of each of the jaw members and (ii) between the plurality of fingers in the second closed position.

[0239] Embodiment 15. A gripper device as described in embodiment 14, wherein the contact surface of each of the multiple fingers is knurled.

[0240] Embodiment 16. A gripper device as described in embodiment 14 or 15, wherein the contact surface of each of the multiple fingers is oriented toward the axial center of the closure when the side wall of the closure is gripped by the multiple fingers in the second closed position.

[0241] Embodiment 17. A gripper device as described in any one of embodiments 14-16, wherein the inner surface of each of the multiple fingers includes a recess mounted adjacent to and above the contact surface, and the recess is configured such that there is no contact between the recess and the closure in the second closed position.

[0242] Embodiment 18. A gripper device as described in embodiment 17, wherein an upper region of the inner surface of each of the multiple fingers slopes inwardly from the recess toward the base of one of the jaw members so that when the side wall of the closure is gripped by the multiple fingers in the second closed position, at least a portion of the upper region of the inner surface is mounted directly above the top surface of the closure.

[0243] Embodiment 19. A gripper device as described in any one of embodiments 1-18, wherein each of the multiple fingers has an outer surface having a generally vertical upper region and a tapered lower region.

[0244] Embodiment 20. A gripper device as described in any one of embodiments 1-19, wherein the multiple fingers have a gripping force of greater than 1 pound.

[0245] Embodiment 21. A gripper apparatus as described in any one of embodiments 1-20, further comprising a proximity sensor mounted above the jaw members for detecting the position of a closed receptacle relative to the jaw members.

[0246] Embodiment 22. A robot handler comprising a gripper device as described in any one of embodiments 1-21, and a gantry configured to operatively support the gripper device and provide XYZ movement to the gripper device.

[0247] Embodiment 23. A gripper device configured to grip a closed receptacle, the gripper device comprising a pair of opposing translatable support members and a plurality of fingers depending from the support members, each of the support members having at least one of the plurality of fingers depending therefrom, each of the plurality of fingers having an inner surface having a generally vertical lower region and a recess mounted between the generally vertical lower region and a corresponding support member.

[0248] Embodiment 24. A gripper device as described in embodiment 23, further comprising an upper region mounted between each recess and a corresponding support member, the upper region being inclined inwardly.

[0249] Embodiment 25. A gripper device as described in embodiment 24, wherein each support member has two or more of the plurality of fingers depending therefrom.

[0250] Embodiment 26. A gripper device as described in embodiment 25, wherein each support member has only two of the multiple fingers depending therefrom.

[0251] Embodiment 27. A gripper device described in any one of embodiments 23-26, wherein the approximately vertical lower region of the inner surface of each of the multiple fingers is knurled.

[0252] Embodiment 28. A gripper device as described in any one of embodiments 23-27, wherein each of the multiple fingers has an outer surface having a generally vertical upper region and a tapered lower region.

[0253] Embodiment 29. A gripper device as described in any one of embodiments 23-28, wherein the multiple fingers are configured such that a vertical lower region of the inner surface of each of the multiple fingers contacts a cylindrical surface of an object to be gripped by the multiple fingers.

[0254] Embodiment 30. A gripper device described in any one of embodiments 23-29, wherein the multiple fingers have a gripping force of greater than 1 pound.

[0255] Embodiment 31. A closed receptacle gripped by a gripper device described in any one of embodiments 23-30, the closed receptacle including a receptacle and a closure affixed to the open top end of the receptacle, the closure being gripped between a plurality of fingers with a lower region of the inner surface of each finger contacting a side wall of the closure directly below the top surface of the closure.

[0256] Embodiment 32. A closure receptacle as described in embodiment 31, wherein the top surface of the closure is puncturable.

[0257] Embodiment 33. A closure receptacle as described in embodiment 32, wherein the upper surface of the closure is punctured.

[0258] Embodiment 34. A method for gripping a closed receptacle using a gripper device described in any one of embodiments 23-30, the closed receptacle including a receptacle and a closure affixed to the open top end of the receptacle, the method comprising the steps of positioning support members so that a lower region of the inner surface of each finger is aligned with a side wall of the closure, and translating the support members toward each other to grip the closure between the multiple fingers with the lower region of the inner surface of each finger in contact with the side wall of the closure directly below the top surface of the closure.

[0259] Embodiment 35. A robot handler comprising a gripper device described in any one of embodiments 23-30, and a gantry configured to operatively support the gripper device and provide XYZ movement to the gripper device.

[0260] Embodiment 36. A receptacle storage module comprising: a housing defining a chamber; a plurality of vertically spaced tiers contained within the chamber, each of the tiers configured to support one or more receptacle racks; and a plurality of robot handlers, each of the robot handlers operatively associated with one of the tiers, each of the robot handlers being a robot handler described in embodiment 22 or 35.

[0261] Embodiment 37. A receptacle storage module as described in embodiment 36, wherein the front of the housing is provided with one or more pairs of doors for accessing the tiers.

[0262] Embodiment 38. A receptacle storage module as described in embodiment 36 or 37, wherein the rear surface of the housing has one or more openings configured to receive a receptacle therethrough.

[0263] Embodiment 39. A receptacle storage module as described in embodiment 38, further comprising a pick-and-place device associated with each of the one or more openings for grasping a receptacle and transferring the receptacle through the respective opening into the housing.

[0264] Embodiment 40. A receptacle storage module as described in embodiment 39, further comprising a receptacle transporter associated with at least one of the openings, the receptacle transporter configured to receive a single receptacle from an individual pick-and-place device and transport the receptacle to a plurality of different receiving locations, each of the receiving locations being associated with one of a plurality of tiers of the receptacle storage module, and the receptacle being accessible at each of the receiving locations by an associated one of a plurality of robot handlers.

[0265] Embodiment 41. A receptacle as described in any one of embodiments 36-40, wherein at least one of the storage module stages supports a receptacle rack that holds a plurality of receptacles in a linear row.

[0266] Embodiment 42. A receptacle storage module described in any one of embodiments 36-41, wherein the chamber is refrigerated.

[0267] Embodiment 43. An automated sample processing system comprising a receptacle storage module described in any one of embodiments 36-42, an analyzer for analyzing a sample contained in the receptacle, and a conveyor for transporting the receptacle between the analyzer and the receptacle storage module on a carrier for supporting the receptacle in an upright orientation.

[0268] Embodiment 44. An automated sample processing system as described in embodiment 43, further comprising a capping module for closing an upper end of the receptacle with a closure after the sample contained in the receptacle has been processed in the analyzer, the capping module being mounted along the conveyor between the analyzer and the receptacle storage module.

[0269] Embodiment 45. An automated sample processing system as described in embodiment 44, further comprising a cap removal module for removing closures from receptacles prior to processing the sample in the analyzer, the cap removal module being mounted along the conveyor in front of the analyzer.

[0270] Embodiment 46. An automated sample processing system as described in any one of embodiments 43-45, further comprising a stop feature configured to maintain the carrier in a stationary position on the conveyor adjacent to the receptacle storage module.

[0271] Embodiment 47. An automated sample processing system as described in any one of embodiments 43-46, wherein magnetic forces between the carrier and the conveyor are used to propel the carrier.

[0272] Embodiment 48. A method for transporting a closed receptacle from a receiving location to a receptacle rack contained within a housing of a receptacle storage module using the robot handler described in embodiment 22, the method comprising the steps of: (a) moving jaw members of a gripper device from an open position to a first closed position at the receiving location to grip the closed receptacle, the closed receptacle being supported by a receptacle holder at the receiving location; and (b) while the jaw members are in the first closed position, (i) removing the receptacle from the receptacle holder; and (ii) positioning the receptacle so that it is vertically aligned with a receptacle slot formed in a receptacle rack contained within the receptacle storage module. (iii) inserting the partially closed receptacle into the receptacle slot; (c) after step (b)(iii), moving the jaw members from a first closed position to an open position; (d) raising the jaw members until the plurality of fingers are laterally aligned with a sidewall of a closure of the closed receptacle; (e) moving the jaw members from the open position to a second closed position until the plurality of fingers engage the sidewall of the closure; and (f) lowering the gripper apparatus while the jaw members are in the second closed position until the closed receptacle is seated within the receptacle slot.

[0273] Embodiment 49. The method of embodiment 48, further comprising the steps of (g) moving the jaw members to an open position after seating the closed receptacle in a receptacle slot of the receptacle rack, (h) raising the jaw members until a plurality of fingers are seated above the closed receptacle, and (i) moving the gripper device to a receiving location.

[0274] Embodiment 50. The method of embodiment 48 or 49, wherein the receptacle rack includes multiple rows of receptacle slots for receiving receptacles, and during step (f), the fingers are configured such that each of the multiple fingers is seated in an interstitial space between a pair of adjacent receptacles when a closed receptacle is seated in the receptacle slot.

[0275] Embodiment 51. The method of any one of embodiments 48-50, wherein the receptacle holder is a component of the receptacle transporter.

[0276] Embodiment 52. The method of embodiment 51, further comprising, prior to step (a), transferring the closed receptacle from a receptacle carrier positioned on a conveyor mounted outside the receptacle storage module to a receptacle holder, the receptacle holder being mounted at a transfer location mounted outside the housing of the receptacle storage module.

[0277] Embodiment 53. The method of embodiment 52, wherein the closed receptacle is transferred from the receptacle carrier to the receptacle holder using a pick-and-place device.

[0278] Embodiment 54. The method of embodiment 52 or 53, further comprising, prior to step (a), moving a receptacle transporter within the receptacle storage module so that the closed receptacle is transported from the delivery location to the receiving location.

[0279] Embodiment 55. A method according to any one of embodiments 48-54, wherein each of the plurality of fingers grips a side wall of the closure at a position directly below the rim of the closure such that there is no contact between any of the plurality of fingers and the top surface of the closure during the method.

[0280] Embodiment 56. A method according to any one of embodiments 48-55, further comprising transporting the closed receptacle from the analyzer to the receptacle storage module on a track connecting the analyzer and the receptacle storage module, the closed receptacle being supported in an upright orientation by the receptacle carrier during the transport step.

[0281] Embodiment 57. The method of embodiment 56, further comprising the steps of puncturing the closure with a pipettor within the analyzer, and removing the sample from the closed receptacle with the pipettor.

[0282] Embodiment 58. The method of any one of embodiments 48-56, further comprising the step of providing a depth insertion stop in the receptacle slot during step (c), such that the depth insertion stop supports the partially inserted receptacle within the receptacle slot.

[0283] Embodiment 59. The method of embodiment 58, further comprising the step of removing the insertion stop from the receptacle slot between steps (e) and (f).

[0284] Embodiment 60. A method for seating a closed receptacle in a receptacle slot using a gripper device described in any one of embodiments 1-21, the method including the steps of: using jaw members to grip a closure of the closed receptacle between the jaw members in a first closed position; extending an insertion stop pin partially into the receptacle slot from a bottom end of the receptacle slot; lowering the jaw members and the closed receptacle gripped thereby relative to the receptacle slot until the closed receptacle is partially inserted into the receptacle slot with the bottom end of the closed receptacle seated in the receptacle slot above the bottom end of the receptacle slot; moving the jaw members from the first closed position to an open position and releasing the closed receptacle with the closed receptacle held by the insertion stop pin in a position partially inserted in the receptacle slot; and a plurality of fingers closing the jaw members. lifting the jaw members against the partially inserted, closed receptacle until the jaw members are laterally aligned with a side wall of the closure of the partially inserted receptacle; moving the jaw members from an open position to a second closed position to grip the closure of the closed receptacle between the fingers; withdrawing the insertion stop pin from the receptacle slot; lowering the closed receptacle gripped by the jaw members and the multiple fingers against the receptacle slot until the closed receptacle is fully inserted into the receptacle slot with a bottom end of the closed receptacle seated against a bottom end of the receptacle slot; moving the jaw members from the second closed position to the open position to release the closed receptacle; and lifting the jaw members and the multiple fingers against the receptacle slot and the closed receptacle seated therein until the jaw members and the multiple fingers are above a top surface of the closure.

[0285] Embodiment 61. A method for removing a closed receptacle from a receptacle slot using a gripper device described in any one of embodiments 1-21, the method comprising the steps of: gripping a closure of the closed receptacle between multiple fingers with the jaw members in a second closed position, wherein a bottom end of the closed receptacle is seated at a bottom end of the receptacle slot and the closure of the closed receptacle is at least partially seated above the receptacle slot; and raising the closed receptacle gripped by the jaw members and multiple fingers relative to the receptacle slot until the closed receptacle is partially removed from the receptacle slot, with the bottom end of the closed receptacle seated in the receptacle slot above the bottom end of the receptacle slot. the steps of: extending an insertion stop pin partially into the receptacle slot from a bottom end of the receptacle slot; with the closed receptacle retained in the partially removed position in the receptacle slot by the insertion stop pin, moving the jaw members from a second closed position to an open position to release the closed receptacle; lowering the jaw members against the partially removed closed receptacle until the jaw members are laterally aligned with a side wall of the closure of the closed receptacle; moving the jaw members from the open position to a first closed position to grasp a closure of the closed receptacle between the jaw members; and raising the jaw members and the closed receptacle grasped thereby against the receptacle slot until the bottom end of the closed receptacle is above the receptacle slot.

[0286] The present disclosure has been described and illustrated in great detail with reference to certain illustrative embodiments. Those skilled in the art will readily appreciate that other embodiments and variations and modifications of the disclosed embodiments are encompassed within the scope of the present disclosure. The description of the disclosed embodiments, combinations, and subcombinations is not intended to convey that the present disclosure requires any feature or combination of features other than those expressly recited in the claims. Therefore, the present disclosure is deemed to include all modifications and variations encompassed within the spirit and scope of the following appended claims.

Claims

1. 1. A gripper device configured to grip a closed receptacle having a receptacle and a closure affixed to an open top end of the receptacle, the gripper device comprising: opposing jaw members that are laterally movable relative to one another between an open position and a first closed position and a second closed position, the opposing jaw members configured to grip a side wall of a closure of the closed receptacle when the closure of the closed receptacle is seated between the opposing jaw members in the first closed position, and the opposing jaw members configured to release the closed receptacle in the open position; a plurality of fingers, each of the opposing jaw members having at least one of the plurality of fingers depending from a base thereof, the plurality of fingers being configured to grip a sidewall of the closure beneath a top surface of the closure as the opposing jaw members move laterally toward one another from the open position when the closure is seated (i) between the plurality of fingers and (ii) beneath the base of each of the opposing jaw members, the plurality of fingers gripping the sidewall of the closure in the second closed position; A gripper device comprising:

2. The gripper apparatus of claim 1 , wherein the opposing jaw members are configured to grip a side wall of the closure in the first closed position.

3. The gripper apparatus of claim 2 , wherein the plurality of fingers are configured to contact or nearly contact the receptacle when the opposing jaw members grip a side wall of the closure in the first closed position.

4. The gripper apparatus of claim 3 , wherein the plurality of fingers are configured to contact the receptacle when the opposing jaw members grip a side wall of the closure in the first closed position.

5. The gripper apparatus of claim 3 , wherein each of said plurality of fingers is within 0.25 mm of said receptacle when said receptacle is centered between said plurality of fingers.

6. A gripper apparatus according to any preceding claim, wherein each of the opposing jaw members has a contoured engagement surface for gripping a side wall of the closure, and wherein the closure and the receptacle each have a cylindrical shape.

7. 7. The gripper apparatus of claim 6, wherein the contoured engagement surface of each of the opposing jaw members is a rounded recess, and the contoured engagement surfaces are mirror images of one another.

8. 7. The gripper apparatus of claim 6, wherein the contoured engagement surface of each of the opposing jaw members is a V-shaped recess, and the contoured engagement surfaces are mirror images of one another.

9. A gripper apparatus according to any one of claims 6 to 8, wherein the contoured engagement surface of each of the opposing jaw members comprises a plurality of laterally oriented grooves, each adjacent pair of grooves forming a lateral edge.

10. A gripper apparatus as claimed in any one of claims 6-9, wherein the opposing jaw members are capable of contacting each other in the absence of the closed receptacle mounted between the opposing jaw members, and the contoured engagement surfaces define an opening when the opposing jaw members contact each other.

11. The gripper apparatus of claim 10 , wherein the opposing jaw members do not contact one another when the closed receptacle is mounted between the opposing jaw members and the opposing jaw members are in the first closed position.

12. A gripper apparatus according to any preceding claim, wherein each of the opposing jaw members has two or more of the plurality of fingers depending from the base thereof.

13. The gripper apparatus of claim 12 , wherein each of the opposing jaw members has only two of the plurality of fingers depending from the base thereof.

14. A gripper apparatus as described in any one of claims 1-13, wherein each of the plurality of fingers comprises an inner surface having a contact surface configured to engage a side wall of the closure when the closure is seated (i) beneath the base of each of the opposing jaw members and (ii) between the plurality of fingers in the second closed position.

15. The gripper apparatus of claim 14 , wherein the contact surface of each of the plurality of fingers is knurled.

16. The gripper device of claim 14 or 15, wherein the contact surface of each of the plurality of fingers is oriented towards an axial centre of the closure when a side wall of the closure is gripped by the plurality of fingers in the second closed position.

17. A gripper apparatus as claimed in any one of claims 14-16, wherein the inner surface of each of the plurality of fingers includes a recess mounted adjacent to and above the contact surface, the recess being configured such that there is no contact between the recess and the closure in the second closed position.

18. 18. The gripper apparatus of claim 17, wherein an upper region of the inner surface of each of the plurality of fingers slopes inwardly from the recess toward the base of one of the opposing jaw members such that when a side wall of the closure is gripped by the plurality of fingers in the second closed position, at least a portion of the upper region of the inner surface is seated directly above a top surface of the closure.

19. A gripper apparatus according to any preceding claim, wherein each of the plurality of fingers comprises an outer surface having a generally vertical upper region and a tapered lower region.

20. The gripper apparatus of any one of claims 1-19, wherein the plurality of fingers have a gripping force greater than 4.448 Newtons.

21. A gripper apparatus according to any preceding claim, further comprising a proximity sensor mounted above the opposing jaw member for detecting the position of the closed receptacle relative to the opposing jaw member.

22. A robot handler comprising a gripper apparatus according to any one of claims 1 to 21 and a gantry configured to operatively support the gripper apparatus and provide XYZ movement to the gripper apparatus.

23. A receptacle storage module, comprising: a housing defining a chamber; a plurality of vertically spaced tiers contained within the chamber, each tier configured to support one or more receptacle racks; a plurality of robot handlers, each of the robot handlers being operatively associated with one of the stages, each of the robot handlers being the robot handler of claim 22; A receptacle storage module comprising:

24. 1. An automated sample processing system comprising:

24. The receptacle storage module of claim 23; an analyzer for analyzing the sample contained in the receptacle; a conveyor for transporting the receptacle between the analyzer and the receptacle storage module on a carrier for supporting the receptacle in an upright orientation; An automated sample processing system comprising:

25. 23. A method of transporting closed receptacles from a receiving location to a receptacle rack contained within an enclosure of a receptacle storage module using a robotic handler as described in claim 22, the method comprising: (a) moving the opposing jaw members of the gripper apparatus from the open position to the first closed position at the receiving location to grip the closed receptacle, the closed receptacle being supported by a receptacle holder at the receiving location; (b) while said opposing jaw members are in said first closed position; (i) removing the receptacle from the receptacle retainer; (ii) positioning the receptacle into vertical alignment with a receptacle slot formed in a receptacle rack contained within the receptacle storage module, the receptacle slot configured to receive and support the closed receptacle in an upright orientation; (iii) partially inserting the closed receptacle into the receptacle slot; (c) after step (b)(iii), moving the opposing jaw members from the first closed position to the open position; (d) raising the opposing jaw member until the plurality of fingers are laterally aligned with a side wall of a closure of the closed receptacle; (e) moving the opposing jaw members from the open position to the second closed position until the plurality of fingers engage a side wall of the closure; (f) lowering the gripper assembly while the opposing jaw members are in the second closed position until the closed receptacle is seated within the receptacle slot. A method comprising:

26. A method for seating a closed receptacle in a receptacle slot using a gripper apparatus according to any one of claims 1 to 21, said method comprising: using the opposing jaw members to grasp the closure of the closed receptacle between the opposing jaw members in the first closed position; extending an insertion stop pin partially into the receptacle slot from a bottom end of the receptacle slot; lowering the opposing jaw members and the closed receptacle grasped thereby relative to the receptacle slot until the closed receptacle is partially inserted into the receptacle slot with a bottom end of the closed receptacle seated within the receptacle slot above a bottom end of the receptacle slot; moving the opposing jaw members from the first closed position to the open position to release the closed receptacle while the closed receptacle is retained in a partially inserted position within the receptacle slot by the insertion stop pin; lifting the opposing jaw member against the partially inserted closed receptacle until the plurality of fingers are laterally aligned with a side wall of the closure of the closed receptacle; moving the opposing jaw members from the open position to the second closed position to grasp the closure of the closed receptacle between the fingers; withdrawing the insertion stop pin from the receptacle slot; lowering the closed receptacle grasped by the opposing jaw members and the plurality of fingers relative to the receptacle slot until the closed receptacle is fully inserted into the receptacle slot with a bottom end of the closed receptacle seated against a bottom end of the receptacle slot; moving the opposing jaw members from the second closed position to the open position to release the closed receptacle; raising said opposing jaw member and said plurality of fingers relative to said receptacle slot and said closed receptacle seated therein until said opposing jaw member and said plurality of fingers are above an upper surface of said closure; A method comprising:

27. A method for removing a closed receptacle from a receptacle slot using a gripper device according to any one of claims 1 to 21, said method comprising: grasping the closure of the closed receptacle between the fingers with the opposing jaw members in the second closed position, a bottom end of the closed receptacle seated at a bottom end of the receptacle slot and the closure of the closed receptacle seated at least partially above the receptacle slot; lifting the closed receptacle grasped by the opposing jaw members and the plurality of fingers relative to the receptacle slot until the closed receptacle is partially removed from the receptacle slot with a bottom end of the closed receptacle seated within the receptacle slot above a bottom end of the receptacle slot; extending an insertion stop pin partially into the receptacle slot from a bottom end of the receptacle slot; moving the opposing jaw members from the second closed position to the open position with the closed receptacle retained in a partially removed position within the receptacle slot by the insertion stop pin to release the closed receptacle; lowering the opposing jaw member against the partially removed closed receptacle until the opposing jaw member is laterally aligned with a sidewall of the closure of the closed receptacle; moving the opposing jaw members from the open position to the first closed position to grasp the closure of the closed receptacle between the opposing jaw members; raising the opposing jaw members and the closed receptacle grasped thereby relative to the receptacle slot until a bottom end of the closed receptacle is above the receptacle slot; A method comprising:

Images