Apparatus and method for aligning components of a diagnostic laboratory system - Patent Application 20070122997

Abstract

A method of aligning a component to a structure in a diagnostic laboratory system, the method including: aligning a position sensor to the structure; sensing a position of the component using the position sensor; and calculating a position of the component relative to the structure based at least in part on the sensing. Other methods, devices, and systems are disclosed.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 63 / 148,541, filed February 11, 2021, entitled "APPARATUS AND METHODS OF ALIGNING COMPONENTS OF DIAGNOSTIC LABORATORY SYSTEMS," the disclosure of which is incorporated herein by reference in its entirety for all purposes.

[0002] SUMMARY OF THE INVENTION Embodiments of the present disclosure relate to devices, systems, and methods for aligning components within a diagnostic laboratory system. [Background technology]

[0003] Diagnostic laboratory systems perform immunoassays or clinical chemistry analyses to identify analytes or other components in biological specimens such as serum, plasma, urine, interstitial fluid, cerebrospinal fluid, etc. Reactions during the assays or clinical chemistry analyses produce various changes that can be read and / or interpreted to determine the concentration of the analyte or other component contained in the specimen, which, in some specific instances, may be indicative of a patient's disease state.

[0004] Concomitant with improvements in automated specimen testing have been corresponding advances in pre-analytical sample preparation and handling operations. Sample preparation includes centrifugation of specimen containers to separate sample components, decapping to facilitate specimen access, preparation of aliquots, and quality testing to determine specimen status (e.g., hemolysis, icterus, lipemia, or normality (HILN)). Various mechanisms can automatically transport specimens contained in specimen containers on movable carriers to one or more pre-analytical sample processing stations located on or along a track, where various pre-processing or pre-screening operations can be performed.

[0005] One or more robots positioned along the track can be configured to retrieve a specimen container from a carrier and / or move a pipette to the specimen container's location on the track. The robot or other device can initiate aspiration of a portion of the biological specimen from the specimen container. The robot can also dispense liquid into a cuvette or other container. Summary of the Invention [Means for solving the problem]

[0006] According to a first aspect, there is provided a method of registering a component to a structure in a diagnostic laboratory system, the method including: registering a position sensor to the structure; sensing a position of the component using the position sensor; calculating a position of the component relative to the position sensor based at least in part on the sensing; and registering the component relative to the position sensor based at least in part on the sensing.

[0007] According to another aspect, a method of aligning a component to a track in a diagnostic laboratory system is provided, the method including: aligning a position sensor to the track; sensing a position of the component using the position sensor; calculating a position of the component relative to the position sensor based at least in part on the sensing; and aligning the component relative to the position sensor based at least in part on the sensing.

[0008] In another aspect, a diagnostic laboratory system is provided that includes a transport system; an imaging device aligned with the transport system and configured to generate image data representative of a component; and a computer configured to identify the component in the image data; determine alignment of the component relative to the imaging device; and provide an indication of misalignment of the component relative to the transport system based on the alignment of the component relative to the imaging device.

[0009] Further aspects, configurations, and advantages of the present disclosure will become readily apparent from the following description, illustrating numerous example embodiments and implementations, including the best mode contemplated for carrying out the disclosure. The present disclosure is also capable of other different embodiments, and its several details can be modified in various respects, all without departing from the scope of the present disclosure. Accordingly, the drawings and description should be regarded as illustrative in nature, and not as restrictive. The present disclosure is intended to cover all modifications, equivalents, and alternatives that fall within the scope of the claims.

[0010] The drawings described below are for illustrative purposes only and are not necessarily drawn to scale. The drawings are not intended to limit the scope of the present disclosure in any way. Like numerals are used to refer to like elements throughout the drawings. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a top view of a diagnostic laboratory system including a track and one or more alignment systems, in accordance with one or more embodiments of the present disclosure. [Figure 2] Figure 2A is a top view of an alignment system for aligning components to a track of a diagnostic laboratory system according to one or more embodiments of the present disclosure, Figure 2B is a side elevation view of the alignment system of Figure 2A according to one or more embodiments of the present disclosure, and Figure 2C is a front elevation view of the components of Figures 2A and 2B according to one or more embodiments of the present disclosure. [Figure 3]FIG. 3A shows a captured image of the component of FIG. 2C illustrating a misaligned component, according to one or more embodiments. FIG. 3B shows edges identified by analyzing the component image of the component shown in FIG. 3A, according to one or more embodiments. FIG. 3C shows another captured image of the component of FIG. 2C illustrating a misaligned component, according to one or more embodiments. FIG. 3D shows edges identified by analyzing the component image of the component shown in FIG. 3C, according to one or more embodiments. FIG. 3E shows another captured image of the component of FIG. 2C illustrating a misaligned component, according to one or more embodiments. FIG. 3F shows edges identified by analyzing the component image of the component shown in FIG. 3E, according to one or more embodiments. [Figure 4] Figure 4A is a top view of an alignment system for aligning a component and an imaging device with respect to a track in accordance with one or more embodiments of the present disclosure, Figure 4B is a side view of the alignment system of Figure 4A in accordance with one or more embodiments of the present disclosure, and Figure 4C is a front elevation view of a fiducial marker configured to be imaged by an imaging device of the alignment system in accordance with one or more embodiments of the present disclosure. [Figure 5] Figure 5A illustrates an image including the fiducial markers of Figures 4A-4C captured by an imaging device, in accordance with one or more embodiments of the present disclosure. Figure 5B illustrates a magnified portion of the image of Figure 5A, showing a close-up of the fiducial markers, in accordance with one or more embodiments of the present disclosure. [Figure 6] FIG. 1 is a top view, partially in section, of a quality inspection module in a diagnostic laboratory system, according to one or more embodiments. [Figure 7]7A is a top plan view in partial cross section of a quality inspection module in a diagnostic laboratory system showing an alignment tool positioned on a track of the quality inspection module, according to one or more embodiments. FIG. 7B is a side elevation view of the alignment tool of FIG. 7A, according to one or more embodiments. [Figure 8] FIG. 1 is a top plan view of an alignment system configured to align a robot of a diagnostic laboratory system to a track, according to one or more embodiments. [Figure 9] 9A is a top plan view of a diagnostic laboratory system including multiple registration systems, according to one or more embodiments. FIG. 9B is a close-up view of a registration system of the diagnostic laboratory system of FIG. 9A, according to one or more embodiments. [Figure 10] FIG. 1 illustrates an alignment system implemented in an aspirating and dispensing module of a diagnostic laboratory system, according to one or more embodiments. [Figure 11] FIG. 1 illustrates an alignment system including a touch sensor implemented in an aspirating and dispensing module of a diagnostic laboratory system, according to one or more embodiments. [Figure 12] 1 is a flowchart illustrating a method for registering a component to a structure in a diagnostic laboratory system, according to one or more embodiments. [Figure 13] 1 is a flowchart illustrating a method for aligning a component to a track in a diagnostic laboratory system according to one or more embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0012] A diagnostic laboratory system (e.g., a biological specimen testing system) may include multiple components, such as pre-processing modules (including pre-screening) and analyzers, that utilize a transport system to move specimens between the components. The transport system may include trucks to transport specimens and / or specimen containers. A diagnostic laboratory system may also include one or more instruments, each of which may include one or more pre-processing modules and / or analyzers. Due to the large size and weight of these modules, a diagnostic laboratory system is typically disassembled before shipping to a customer site. The diagnostic laboratory system is then reassembled at the customer's site.

[0013] If the robot and other components are not precisely aligned during assembly and operation of the diagnostic laboratory system, the robot and other components may collide with specimen containers and other objects, which may damage the components and disrupt operation of the diagnostic laboratory system.

[0014] Some immunoassays and clinical chemistry analyses performed by analyzers are performed using optical analysis, which may include various illumination sources, lenses, and / or imaging devices. If the components of the optical analysis are not properly aligned during assembly as well as during operation of the diagnostic laboratory system, the optical analysis may produce erroneous results.

[0015] In view of the foregoing, there is a need for an apparatus, system, and method for aligning components during assembly and operation of a diagnostic laboratory system.

[0016] The diagnostic laboratory system includes at least one tube transport system. The tube transport system can include a track configured to transport specimens in specimen containers (e.g., tubes) to various components, including modules and instruments, of the diagnostic laboratory system. Assembly of the diagnostic laboratory system includes properly aligning the various components with the track. Even slight misalignment can cause problems such as failed aspiration, component damage, fluid spills, and incorrect testing.

[0017] Due to the complexity of these components and tracks, assembly defects can occur due to factors such as human error or part deformation (e.g., bending) during transportation and / or assembly. While major defects can be easily identified (e.g., parts not fitting together or not properly fastened together), many assembly defects are related to minor misalignments that are not visible to the human eye. However, these misalignments can accumulate and lead to several performance issues in the diagnostic laboratory system. For example, in the quality inspection module of a diagnostic laboratory system, if the housing or shroud is not properly aligned with the track, a specimen container may collide with the housing.

[0018] Disturbances, collisions, vibrations, and other factors associated with a diagnostic laboratory system over time can also cause its components to become misaligned. As such, inspection of one or more of the components may be necessary periodically or continuously, rather than only after assembly of the diagnostic laboratory system. Thus, according to embodiments of the present disclosure, there is provided a method of operation involving inspection that operates to identify misalignment of one or more components relative to a track or other structure of the diagnostic laboratory system.

[0019] Disclosed herein are apparatus and methods for aligning a component to a structure, such as a track or transportation system, in a diagnostic laboratory system. In some embodiments, a position sensor is aligned to the track, and then the position sensor is aligned to the component. Examples of position sensors include imaging devices and touch sensors. When the position sensor is aligned to the track, it is at a known location or position relative to the track and may, for example, share a coordinate system with the track. As such, the position sensor can be used to determine the alignment of the component relative to the position sensor. Because the position sensor is aligned to the track, the alignment of the component with the track can be easily calculated.

[0020] Further details of the registration methods, registration devices, and diagnostic laboratory systems including one or more registration devices of the present invention are described herein with reference to Figures 1-13.

[0021] Referring to Figure 1, Figure 1 illustrates an example embodiment of a diagnostic laboratory system 100 configured to pre-process and / or analyze biological specimens contained in specimen containers 102. The specimen containers 102 may be housed in one or more racks 104 located in a loading area 105. Processing may include pre-processing or pre-screening of the specimens and / or specimen containers 102 prior to analysis by one or more analyzer modules 108. The diagnostic laboratory system 100 may also include one or more instruments 109, each of which may include one or more pre-processing modules and / or one or more analyzer modules.

[0022] 1, the diagnostic laboratory system 100 may include a single instrument 109. The embodiment of the instrument 109 shown in FIG. 1 includes three modules 110, individually referred to as a first module 110A, a second module 110B, and a third module 110C. In some embodiments, the third module 110C may be, for example, a pre-processing module that processes the specimen container 102 and / or specimens located therein. The first module 110A and the second module 110B may be analyzer modules that analyze the specimens as described herein. Other embodiments of the instrument may also be included in the diagnostic laboratory system 100.

[0023] 1 includes three modules 108, referred to individually as a first module 108A, a second module 108B, and a third module 108C. Pre-processing may include processing by one of the modules 108, which may be, for example, a decapper and / or a centrifuge. In some embodiments, one or more of the modules 108 may be one or more clinical chemistry analyzers and / or one or more assay instruments, or the like, or a combination thereof. More or fewer modules 108 and instruments 109 may be used in the diagnostic laboratory system 100.

[0024] Specimen containers 102 may be moved throughout the diagnostic laboratory system 100 by tracks 112 on carriers 113. In some embodiments, the tracks 112 may move the carriers 113 between different modules 108, instruments 109, and other components of the diagnostic laboratory system 100. In other embodiments, the carriers 113 may be self-propelled, and the tracks 112 may enable the carriers 113 to move the specimen containers 102 throughout the diagnostic laboratory system 100.

[0025] The track 112 may be a railed track (e.g., a monorail track or a multi-rail track), a collection of conveyor belts, a chain, a movable platform, or other suitable transport mechanism. The track 112 may have a circular, serpentine, or other shape, and in some embodiments, may be a closed (i.e., endless) track. The track 112 may transport individual specimen containers 102 within carriers 113. In other embodiments, a single carrier may transport multiple specimen containers 102. The specimen containers 102 may be configured to move in an upright orientation by the carriers 113. In the illustrated embodiment, the carriers 113 may be configured to stop at specific locations along the track 112.

[0026] The diagnostic laboratory system 100 can include or be configured to communicate with a computer 114. The computer 114 can include a microprocessor-based central processing unit CPU, suitable memory, software, and control electronics and drivers for operating the various components of the diagnostic laboratory system 100. The computer 114 can include a processor 114A and a memory 114B, where the processor 114A is configured to execute a program 114C stored in the memory 114B. The computer 114 can be housed as part of the diagnostic laboratory system 100 or can be separate from the diagnostic laboratory system 100. The program 114C can operate the components of the diagnostic laboratory system 100 and can perform alignment procedures as described herein or enable a user to perform alignment procedures. The computer 114 can communicate with a laboratory information system (LIS) 117 regarding test orders and results in a conventional manner. The LIS 117 can receive such test orders from a Hospital Information System (HIS) 119 and communicate results to the HIS 119 .

[0027] In some embodiments, the diagnostic laboratory system 100 can include a robot 116 that, when properly calibrated and / or aligned with the track 112, can be configured to pick up a particular specimen container 102 from one or more racks 104 and place the specimen container 102 in a predetermined location on the track 112 or in a carrier 113 located in an input lane (not shown) of the track. The robot 116 can be operated via instructions generated by a computer 114, such as instructions generated by one or more programs 114C. In some cases, the robot 116 can have its own computer or workstation in communication with the computer 114.

[0028] The robot 116 can load specimen containers 102 from racks 104 onto carriers and unload specimen containers 102 from carriers 113 after processing and / or testing. The robot 116 can be configured to grasp specimen containers 102 from one or more racks 104 and place the specimen containers 102 on carriers 113 using a robotic gripper (not shown in FIG. 1 ). The robot 116 can also be configured to remove specimen containers 102 from carriers 113 when testing is complete. The robot 116 can include one or more (e.g., at least two) robotic arms or components capable of spatial motion to move specimen containers 102 as described herein. If the robot 116 is not properly aligned with the track 112, the robot 116 or specimen containers 102 may collide with components of the diagnostic laboratory system 100. In some embodiments, the collision may damage a component (e.g., the carrier 113 or track 112 or other structural component), the robot 116, and / or the specimen container 102. Alignment apparatus and methods are described herein.

[0029] After being loaded into the carrier 113, the specimen containers 102 transported by the carrier 113 can proceed to one or more pre-processing modules. For example, the carrier 113 can move the specimen containers 102 to a pre-processing module 118, which can be, for example, a centrifuge station. The centrifuge station can perform fractionation of the specimen to separate components of the specimen. The diagnostic laboratory system 100 can include a robot 122 configured to retrieve the specimen containers 102 from the track 112 and place the specimen containers 102 in the pre-processing module 118.

[0030] If the robot 122 is not properly aligned with the track 112, the specimen container 102 may not be handled properly by the robot 122. In some embodiments, if the robot 122 is not properly aligned with the track 112, the specimen container 102 and / or components of the robot 122 (e.g., arms and / or grippers) may collide with components of the diagnostic lab system 100 (e.g., carriers 113, track 112, and / or other structures), potentially damaging the specimen container 102, the robot 122, and / or the components. Other modules 108 and instruments 109 of the diagnostic lab system 100 may include robots similar to or identical to the robot 122. Other methods of moving specimen containers 102 and / or carriers 113 to the modules 108 and / or instruments 109 may also be used, such as inflow and outflow lanes. Methods and apparatus for aligning the robot 122 and other robots with the track 112 are described herein.

[0031] In some embodiments, the diagnostic laboratory system 100 can include a module, such as a quality inspection module 120, which can be located adjacent to the track 112. The quality inspection module 120 can be configured to capture one or more images of the specimen container 102 and / or specimen located therein, the one or more images including image data. The computer 114 or other computer can analyze the image data to determine (pre-screen) whether the specimen is in a suitable condition for analysis by the module 108 and / or instrument 109. The analysis (pre-screening) can further determine the type of test or analysis for which the specimen container 102 is configured, i.e., whether the correct type of specimen container 102 is being used for the ordered test.

[0032] As described above, the diagnostic laboratory system 100 may include many moving components. Many of these moving components move relative to the track 112 to access the specimen containers 102 and to move the specimen containers 102 relative to the track 112. If the moving components are not properly aligned with structures of the diagnostic laboratory system 100, such as the track 112, the components and / or specimen containers 102 may be damaged during movement.

[0033] The diagnostic laboratory system 100 may also include one or more imaging devices at various locations that capture images of the specimen containers 102 and / or other components within the diagnostic laboratory system 100. These imaging devices and other components may require precise alignment with components or modules 108 of the diagnostic laboratory system 100 in order to operate properly.

[0034] Disclosed herein are methods and apparatus for aligning a position sensor to a structure, such as a transportation system (e.g., a track 112). The aligned position sensor can then be used to align another component to the structure (e.g., the track 112). For example, when a position sensor is aligned to the track 112, the track 112 and the position sensor can share the same coordinate system. The shared coordinate system can then be used to align the component to the track 112.

[0035] Please refer to FIG. 2A. FIG. 2A shows a top plan view of a schematic block diagram of one embodiment of an alignment system 224 configured to align component 226 to a structure within diagnostic laboratory system 100 (FIG. 1). In the embodiment described herein, the structure is track 112. In some embodiments, alignment system 224 and other alignment systems described herein can be configured to align component 226 to a transport system that can include track 112 and / or components of track 112. In some embodiments, component 226 can be a fiducial marker. In some embodiments, component 226 can be part of module 108 (FIG. 1), instrument 109 (FIG. 1), another module, or can be attached to module 108 or one of instruments 109. See also FIG. 2B, which is a top view of component 226 of FIG. 2A. See also FIG. 2C, which is a front elevation view of an embodiment of component 226 and alignment system 224.

[0036] 2A and 2B, the alignment system 224 may include a position sensor, which may be an imaging device 228. In the embodiment of FIGS. 2A and 2B, the imaging device 228 may be coupled to the track 112 or other portion of the transportation system by a structural member 230. In some embodiments, both the imaging device 228 and the track 112 may be coupled to or fixed to a common structure, such as a chassis 232. In some embodiments, the chassis 232 may be part of the transportation system. In some embodiments, the chassis 232 may be a chassis member of the module 108 or the equipment 109. Thus, in the embodiment of FIGS. 2A and 2B, the imaging device 228 is maintained in a fixed position relative to the track 112. As described herein, other types of position sensors (e.g., other than an imaging device) may be used.

[0037] The imaging device 228 and other imaging devices described herein may be conventional digital cameras, such as color or monochrome cameras. In some embodiments, the imaging device 228 may be a lens system coupled with an imager. The imager may include a charge-coupled device, an array of photodetectors, a CMOS sensor, or the like.

[0038] 2A-2C, component 226 may be a reflective device configured to be imaged by imaging device 228. The term imaging includes capturing an image and generating image data representative of the captured image. In other embodiments, component 226 may be a light source, such as a light panel, configured to be imaged by imaging device 228. As described herein, component 226 may be movable relative to imaging device 228. Thus, component 226 may be movable relative to track 112. In some embodiments, component 226 may be fixed relative to track 112 after being properly aligned with track 112.

[0039] 2A and 2B, the component 226 may be movable and pivotable in three-dimensional space. The location or position of the component 226 may be referred to as the pose of the component 226. The component 226 may be movable in a Y direction toward and away from the track 112. The component 226 may also be movable in an X direction parallel to the track 112. The component 226 may also be movable in a Z direction to raise and lower the component 226 relative to the track 112.

[0040] In some embodiments, the component 226 can also pivot relative to the track 112. In some embodiments, the component 226 can pivot in a first pivot direction P1 about a first axis A1. In some embodiments, the component 226 can pivot in a second pivot direction P2 about a second axis A2. In some embodiments, the component 226 can pivot in a third pivot direction P3 ( FIG. 2B ) about a third axis A3. In other embodiments, the component 226 may not be configured to move and / or pivot in as many directions as shown in FIGS. 2A-2C . As described herein, the component 226 can be moved in at least one of the directions described above to align the component 226 with the track 112. Once aligned, the component 226 can be secured so that the component 226 does not move (is secured) relative to the track 112.

[0041] Refer to FIG. 2C, which illustrates a front elevation view of the front surface 227 of one embodiment of component 226. In the embodiment of FIG. 2C, the front surface 227 of component 226 is rectangular. However, the front surface 227 of component 226 may have other shapes. The front surface 227 may be bounded by an upper edge 230A, an opposing lower edge 230B, a left edge 230C, and an opposing right edge 230D. The front surface 227 may have a height H21 extending between the upper edge 227A and the lower edge 227B. The front surface 227 may have a width W21 extending between the left edge 230C and the right edge 230D. In some embodiments, the corners of the front surface 227 may be rounded, as shown in FIG. 2C.

[0042] 2A and 2B , the imaging device 228 may be in a fixed position relative to the track 112, and may capture an image of the front surface 227 of the component 226. Capturing the image may be referred to as imaging, such as imaging the front surface 227 of the component 226. During imaging, the imaging device 228 generates image data representative of the front surface 227 of the component 226. The image data may be processed, such as by the computer 114, to align the component 226 with the track 112, as described herein.

[0043] Referring to Figure 3A, Figure 3A shows one embodiment of an image 332 captured by imaging device 228 (Figures 2A and 2B) that includes an imaging window that includes front surface 227 of component 226. In the embodiment described herein, the background of alignment system 224 (Figures 2A and 2B) does not include any other components that reflect light, so image 332 includes the back background, and therefore only front surface 227 of component 226 is imaged. Image 332 can be analyzed by a program running on a computer, such as program 114C (Figure 1) running on computer 114.

[0044] Computer 114 (e.g., program 114C executed by computer 114) can analyze image 332 to identify edges 230A-230D of front surface 227 of component 226. Edges can be identified as lines or segments that define sharp contrasts in light intensity in image 332. See FIG. 3B, which illustrates edge lines 334 identified by analyzing image 332. In the embodiment of FIG. 3B, the following edge lines have been identified: top edge line 334A corresponding to top edge 230A of front surface 227; bottom edge line 334B corresponding to bottom edge 230B of front surface 227; left edge line 334C corresponding to left edge 230C of front surface 227; and right edge line 334D corresponding to right edge 230D of front surface 227.

[0045] In the embodiment of FIG. 3A , image 332 shows component 226 rotating relative to an XZ coordinate system. Specifically, component 226 is pivoted counterclockwise in pivot direction P2 relative to imaging device 228 ( FIGS. 2A and 2B ). Program 114C can identify edge line 334 and determine the alignment of component 226 relative to imaging device 228 ( FIGS. 2A and 2B ), such as by the X and Z axes, based on the location and orientation of axes along edge line 334. For example, in the embodiment of FIG. 3B , top edge line 334A can be identified as being parallel to bottom edge line 334B, and left edge line 334C can be identified as being parallel to right edge line 334D. In the embodiments described herein, the proper alignment of front surface 227 of component 226 is parallel to track 112 with respect to axis A3 and perpendicular or orthogonal to axis A2. In addition, proper alignment may require that the left edge 230C and the right edge 230D are perpendicular to the surface 112S of the track 112 (e.g., the top surface or other suitable surface), and that the top edge 230A and the bottom edge 230B are parallel to the track 112.

[0046] Further analysis of edge line 334 allows for the determination of height H31 between top edge 334A and bottom edge 334B. Analysis also allows for the determination of width W31 between left edge 334C and right edge 334D. If height H21 (FIG. 2C) corresponds to height H31, front surface 227 of component 226 is properly aligned with axis A3 (FIGS. 2A, 2C). If width W21 (FIG. 2C) corresponds to width W31, front surface 227 of component 226 is aligned with track 112 with respect to axis A1.

[0047] Based on the above analysis, computer 114 or program 114C running on computer 114 may determine that component 226 only needs to be rotated in direction P2 (e.g., pivoted clockwise). In some embodiments, computer 114 or another device can indicate to the user the amount of rotation of component 226 necessary for proper alignment. In some embodiments, imaging device 228 can be a video device or the like that continuously or periodically images component 226 as it is aligned. Thus, the user can receive continuous feedback of the alignment procedure. In other embodiments, computer 114 can verify the alignment of component 226, such as after manual alignment by the user, and indicate whether additional alignment should be performed. In other embodiments, computer 114 can verify the alignment at any suitable interval during use of diagnostic laboratory system 100 and provide the user with an indication of whether alignment of component 226 is necessary or whether the alignment is still adequate.

[0048] Further reference is made to FIG. 3C , which illustrates an image 336 of component 226. In this image, component 226 is tilted such that top edge 230A is closer to track 112 or imaging device 228 than bottom edge 230B. For example, component 226 may be tilted (e.g., misaligned) about axis A3. Further reference is made to FIG. 3D , which illustrates edge lines 334 identified in image 336. Analysis of edge lines 334 in FIG. 3D can identify that top edge line 334A and bottom edge line 334B are parallel. Analysis can also identify that left edge line 334C and right edge line 334D are not parallel. In the embodiment of FIGS. 3C and 3D , top edge line 334A is longer than bottom edge line 334B, indicating that top edge 230A of component 226 is closer to imaging device 228 than bottom edge 230B of component 226. Component 226 can be aligned as described above. For example, component 226 can be rotated about axis A3.

[0049] Referring further to FIG. 3E , which shows an image 338 of component 226, component 226 has rotated about axis A1 ( FIGS. 2B and 2C ) and shifted along the X-axis relative to imaging device 228. Program 114C or the like can determine that component 226 has shifted by measuring the distance between at least one of edges 334 and at least one of the edges of image 338. If the distance is not within a predetermined tolerance, component 226 may be misaligned, e.g., shifted in the X-axis and / or Z-axis, relative to imaging device 228. In the embodiment of FIGS. 3E and 3F , left edge line 334C is spaced from the left edge of image 338, and right edge line 334D is proximate to the right edge of image 338. If left edge line 334C and right edge line 334D are not in the proper location relative to the edges of image 338, component 226 may be misaligned in the X-axis direction. Program 114C can, for example, provide an indication of the misalignment to the user. In some embodiments, program 114C or other algorithms can analyze image 338 to determine the direction and distance of the misalignment and provide this information to the user. The user can then align component 226 and may capture another image of component 226 to confirm the alignment.

[0050] As described above, component 226 may be misaligned about axis A1. Such misalignment can be detected and / or analyzed by measuring width W33 between left edge line 334C and right edge line 334D. In other embodiments, the measured ratio of width W33 to height H33 may be compared to a predetermined ratio. If the measured ratio is less than the predetermined ratio, program 114C can determine that component 226 may be misaligned about axis A1. If the measured ratio is greater than the predetermined ratio, component 226 may be misaligned about axis A3 (FIGS. 2A, 2C). Program 114C can provide an indication of the misalignment to the user, for example, as described above. In some embodiments, program 114C or other algorithms can analyze image 338 to determine the direction and distance of the misalignment and provide this information to the user.

[0051] In some embodiments, different methods may be used to align component 226. For example, the pose of component 226 may be estimated using a perspective-n-point method. In some embodiments, the pose may be six-dimensional as described above, which may include x, y, and z coordinate systems in addition to pitch, yaw, and roll of axes A1, A2, and A3. Other estimation methods may also be used.

[0052] Reference is now made to FIGS. 4A-4C, which illustrate block diagrams of alignment system 224 including fiducial marker 440 positioned at a fixed position relative to track 112. Fiducial marker 440 may be positioned at a fixed position relative to other components of diagnostic laboratory system 100 (FIG. 1). Reference is now made to FIG. 4C, which illustrates a front elevation view of fiducial marker 440 showing front surface 442. Front surface 442 is configured to be imaged by imaging device 228 in a manner similar or identical to component 226 (FIG. 2C). Front surface 442 of fiducial marker 440 may be bounded by a number of edges 444 that define the shape of front surface 442. In the embodiment of FIG. 4C, front surface 442 is bounded by four edges 444, which define a rectangle and are individually referred to as top edge 444A, bottom edge 444B, left edge 444C, and right edge 444D. The front surface 442 can have a height H41 extending between an upper edge 444A and a lower edge 444B. The front surface 442 can also have a width W41 extending between a left edge 444C and a right edge 444D. The front surface 442 can have other shapes.

[0053] The fiducial marker 440 is located in a location within the diagnostic laboratory system 100 that allows the fiducial marker 440 to be imaged by the imaging device 228. The fiducial marker 440 may be at a fixed, predetermined location relative to the track 112. The imaging device 228 may be movable relative to the track 112 for an alignment procedure and then re-fixed relative to the track 112. The fiducial marker 440 may be within the field of view 446 of the imaging device 228 while the imaging device 228 is moving (e.g., during alignment) and / or when the imaging device 228 is fixed. During operation of the alignment system 224, the imaging device 228 may capture an image of the front surface 442 of the fiducial marker 440. The captured image may be analyzed to align the imaging device 228 to the track 112, as described herein.

[0054] Referring further to Figure 5A, Figure 5A illustrates one embodiment of an image 536 captured using imaging device 228 and including a marker image 538 of the front surface 442 of a fiducial marker 440. Note that image 536 may include other objects located within the field of view 446 of imaging device 228. Image 536 may be bounded by a top edge 536A, a bottom edge 536B, a left edge 536C, and a right edge 536D.

[0055] See also FIG. 5B, which shows a close-up of marker image 538 within image 536. Marker image 538 can be identified by edges 544 that correlate with edges 444 of reference marker 440. Top edge 544A can correlate with top edge 444A, bottom edge 544B can correlate with bottom edge 444B, left edge 544C can correlate with left edge 544C, and right edge 544D can correlate with right edge 444D. Marker image 538 can have a width W51 extending between left edge 544C and right edge 544D. Marker image 538 can have a height H51 extending between top edge 544A and bottom edge 544B. Height H51 and width W51 can be measured in pixels, which are the imaging elements of imaging device 228.

[0056] Aligning the imaging device 228 with respect to the track 112, which is aligned with the reference marker 440, can include determining the location of the marker image 538 within the image 536. For example, proper alignment can include adjusting the position on the imaging device 228 so that the marker image 538 is at a predetermined location within the image 536. In the embodiment of FIGS. 5A and 5B , proper alignment can include, for example, moving the imaging device 228 to a point where the right edge 544D is parallel to and a distance D51 from the right edge 536D of the image 536. Proper alignment can also include, for example, moving the imaging device 228 to a point where the bottom edge 544B is parallel to and a distance D52 from the bottom edge 536B of the image 536.

[0057] Once the alignment procedure has properly aligned the imaging device 228 with the track 112, the imaging device 228 can be secured relative to the track 112. For example, the imaging device 228 can be secured to a mounting device or similar structure that is also secured relative to the track 112. The imaging device 228 can then be used to align components with the track 112 as described herein, and the alignment of the track 112 can be reconfirmed during use.

[0058] Reference is now made to FIG. 6, which illustrates a partial cross-sectional top view of one embodiment of the quality inspection module 120 of the diagnostic laboratory system 100 (FIG. 1). The diagnostic laboratory system 100 may include other types of quality inspection modules, as described with respect to the quality inspection module 120, and other modules, including imaging systems. The quality inspection module 120 may be configured to automatically characterize the physical structure (e.g., size) of the specimen container 102. In this manner, the size (e.g., width and height) of the specimen container 102 is known for any subsequent processing. The quality inspection module 120 may also be used to quantify the specimen container 102, i.e., quantify some physical dimensional characteristics of the specimen container 102 and / or the color and / or type of cap (not shown) capping the specimen container 102.

[0059] Additionally, other detection methods may be performed on the specimen contained in the specimen container 102. For example, the quality control module 120 may be used to quantify the specimen, i.e., determine some physical dimensional characteristics of the specimen, such as the volume of the serum or plasma portion and / or the volume of the sedimented blood portion. This characterization method may be performed by the quality control module 120 before the specimen container 102 is processed by one or more of the modules 108 and / or instruments 109. As mentioned above, the quality control module 120 may also characterize whether the serum or plasma portion contains an HIL or is normal (N).

[0060] The quality inspection module 120 may include one or more imaging devices 628. The imaging devices 628 may be identical to or substantially similar to the imaging device 228 (FIGS. 2A and 2B). In the embodiment of FIG. 6, the quality inspection module 120 includes three imaging devices, referred to individually as a first imaging device 628A, a second imaging device 628B, and a third imaging device 628C. The first imaging device 628A may have a first field of view 650A, the second imaging device 628B may have a second field of view 650B, and the third imaging device 628C may have a third field of view 650C. The imaging devices 628 may be configured to capture images of the specimen containers 102, specimens disposed within the specimen containers 102, the carrier 113, and / or other components within the quality inspection module 120 from multiple viewpoints.

[0061] The quality inspection module 120 may be at least partially enclosed by a housing 652. The housing 652 may include one or more openings 654 configured to allow the track 112 and specimen containers 102 to enter and exit the housing 652. The housing 652 may be configured to prevent external light from entering the quality inspection module 120 and interfering with images being captured by the imaging device 628.

[0062] The quality inspection module 120 may include one or more illumination light sources disposed within the housing 652. In the embodiment of FIG. 6, the quality inspection module 120 may include a single illumination light source 626, which may be a reflector in the embodiment of FIG. 6. The illumination light source 626 may, by way of example, reflect light emitted from a light source (not shown) within the housing 652. It may be desirable for the illumination light source 626 to be located (e.g., aligned) at a predetermined position relative to the track 112 within the housing 652. The illumination light source 626 may be movable (adjustable) for alignment purposes in the same or similar manner as the component 226 ( FIGS. 2A and 2B ). In the embodiment of FIG. 6, the illumination light source 626 may be disposed within a first field of view 650A associated with the first imaging device 628A. Thus, an image of the illumination light source 626 may be captured by the first imaging device 628A for aligning the illumination light source 626 with the track 112, as described herein.

[0063] One or more of the imaging devices 628 may capture images of other components of the quality inspection module 120. The images may be processed as described herein and used to align these other components to the track 112.

[0064] In some embodiments, the housing 652 can have one or more fiducial markers 656 mounted therein. The fiducial markers 656 can be the same as or substantially similar to the fiducial markers 440 ( FIG. 4 ) and the component 226 ( FIGS. 2A-2C ) and can be imaged by the imaging device 628 as described herein. In the embodiment of FIG. 6 , the housing 652 has a first fiducial marker 656A and a second fiducial marker 656B mounted therein. The first fiducial marker 656A can be positioned within the second field of view 652B, and the second fiducial marker 656B can be positioned within the third field of view 652C. An image of the first fiducial marker 656A can be captured by the second imaging device 628B, and an image of the second fiducial marker 656B can be captured by the third imaging device 628C. Images of the first fiducial marker 656A and the second fiducial marker 656B can be used to align the housing 652 to the track 112 using the alignment systems and methods described herein.

[0065] Reference is now made to Figure 7A. Figure 7A illustrates the quality inspection module 120 of Figure 6 with an alignment tool 760 positioned on the track 112. The alignment tool 760 can be positioned at a predetermined location on the track 112 and thus can be used as a fiducial marker 740 (such as fiducial marker 440 of Figures 4A and 4B). For example, the alignment tool 760 can align the imaging device 628 with the track 112, as described above. The alignment tool 760 illustrated in Figure 7A is Y-shaped. The alignment tool 760 may have other shapes.

[0066] 7A includes three surfaces, and each of the imaging devices 628 is configured to capture an image of one surface. For example, the first surface 760A is within the first field of view 650A and is positioned to be imaged by the first imaging device 628A. The second surface 760B is within the second field of view 650B and is positioned to be imaged by the second imaging device 628B. The third surface 760C is within the third field of view 650C and is positioned to be imaged by the third imaging device 628C.

[0067] Reference is further made to FIG. 7B, which shows a side elevation view of a first surface 760A of alignment tool 760. First surface 760A can be configured to be captured by first imaging device 628A. In some embodiments, the edges of first surface 760A can be identified and processed in a similar or identical manner as edges 334 (FIGS. 3B, 3D, and 3F). In some embodiments, first surface 760A can include one or more patterns at known, fixed locations on alignment tool 760 that can be identified by program 114C (FIG. 1). In the embodiment of FIG. 7B, first surface 760A includes a first reference image 762A and a second reference image 762B that can be imaged by first imaging device 628A. The other surfaces of alignment tool 760 can include similar or identical reference images.

[0068] During alignment using the alignment tool 760, the alignment tool 760 can be placed or otherwise positioned at a predetermined location on the track 112. The first imaging device 628A can then capture one or more images of a first surface 760A of the alignment tool 760. Because the alignment tool 760 is positioned at a predetermined location relative to the track 112, the images captured by the first imaging device 628A can then be used to align the first imaging device 628A to the alignment tool 760, and thus the track 112. Other components of the quality inspection module 120 can then be aligned based on the alignment of the first imaging device 628A relative to the track 112. Other imaging devices can capture images of other surfaces of the alignment tool 760 in order to align their imaging devices to the track 112.

[0069] Reference is now made to FIG. 1 to describe another embodiment of alignment system 224 (FIGS. 2A and 2B). One or more position sensors or imaging devices can be positioned at one or more locations throughout diagnostic lab system 100 to align other components within diagnostic lab system 100. Reference is now made to FIG. 8, which shows an expanded portion of diagnostic lab system 100 of FIG. 1 including imaging device 828 implemented as a position sensor for alignment system 824. Alignment system 824 shown in FIG. 8 is configured to align robot 122 with track 112.

[0070] Robot 122 may include an arm 866 movable relative to track 112. Element 866A may be attached to arm 866, and element 866A may be configured to be imaged by imaging device 828. In some embodiments, element 866A may be similar to and imaged in a similar or identical manner as component 226 (FIGS. 2A-2C). Image data representing element 866A may be processed in a similar manner as component 226. In some embodiments, element 866A may have a fiducial marker 868 attached within field of view 850 of imaging device 828. Fiducial marker 868 may be identical to or substantially similar to fiducial marker 440 (FIGS. 4A-4C).

[0071] In some embodiments, imaging device 828 can be fixed at a predetermined location relative to track 112. For example, a structure, mount, or other hardware can secure imaging device 828 to a structure of track 112. Images of element 866A and / or fiducial marker 868 can be captured using imaging device 828 and processed by computer 114. Because imaging device 828 is at a predetermined location relative to track 112, the processes described herein can be used to align arm 866 and / or element 866A with track 112. For example, a coordinate system associated with imaging device 828 may be aligned with a coordinate system associated with element 866A. The position of arm 866 and / or element 866A can be moved until arm 866 and / or element 866A are at a predetermined location relative to imaging device 828 and, therefore, track 112.

[0072] In some embodiments, imaging device 828 may not be permanently fixed to track 112 and may be aligned to track 112 before using imaging device 828 to align arm 866 and / or element 866A to track 112. In such embodiments, alignment system 824 may include fiducial marker 840 attached to the track or a structure of track 112. Fiducial marker 840 may be substantially similar to or identical to fiducial marker 440 ( FIGS. 4A-4C ) and may be imaged as described with reference to FIGS. 4A-4C . Imaging device 828 may then be aligned to track 112 as described with respect to imaging device 228 ( FIGS. 4A-4C ).

[0073] In some embodiments, diagnostic lab system 100 can include multiple alignment systems configured to align various components within diagnostic lab system 100. One or more of the alignment systems can include a pocket or fixation device configured to secure an imaging device relative to track 112. See FIG. 9A, which illustrates diagnostic lab system 100 with multiple alignment systems 924. See also FIG. 9B, which illustrates a close-up view of alignment system 924A, which can be the same as or substantially similar to alignment system 924. Alignment system 924A can include fixation device 970 configured to receive and / or secure imaging device 928 relative to track 112. Imaging device 928 can be the same as or substantially similar to imaging device 228 (FIGS. 2A-2C). A coupling mechanism 972 can attach fixation device 970 to track 112 and / or a component of track 112 and / or a component of diagnostic lab system 100.

[0074] During assembly and / or operation of diagnostic laboratory system 100, one or more fixture devices 970 of alignment system 924 can receive imaging device 928. Imaging device 928 can be in a fixed location relative to track 112 by coupling of fixture device 970 to track 112 by linkage 972 or any suitable structure. Imaging device 928 can capture images as described herein that can be processed to determine the alignment of various components of diagnostic laboratory system 100 relative to track 112.

[0075] Reference is now made to Figure 10. Figure 10 shows an alignment system 1024 implemented in an aspirating and dispensing module 1008, which may be one of the modules 108 in the diagnostic laboratory system 100 (Figure 1). The aspirating and dispensing module 1008 may aspirate liquid from a specimen container 102 (Figure 1) and dispense it into a container, such as a cuvette (not shown) or a passageway. The aspirating and dispensing module 1008 may include a pipette assembly 1010 that is movable by a robot 1012. The robot may be an R-θ-Z robot, as shown. Other suitable robot types may also be used.

[0076] The pipette assembly can include a probe 1014 (pipette) that is inserted into a liquid container (e.g., specimen container 102) to aspirate and dispense liquid from and into the container or passageway. The container opening can be very small, so the probe 1014 must be precisely positioned relative to the container opening to avoid collision with the container opening. In some embodiments, the probe 1014 can house a liquid level sensor (not shown), which could be damaged during such a collision. Correct positioning of the probe 1014 also ensures that the desired liquid is aspirated, and not air from outside the liquid container.

[0077] The robot 1012 can include one or more arms configured to move the pipette assembly 1010, and thus the probe 1014. In some embodiments, the arms can be configured to move the pipette assembly 1010 in three-dimensional space, while in other embodiments, the arms can be configured to move the pipette assembly 1010 in two-dimensional space. In the embodiment of FIG. 10 , one arm 1016 of the robot 1012 is shown. The arm 1016 can be coupled to a first motor 1018 configured to move the arm 1016 within the aspirating and dispensing module 1008. The first motor 1018 can be controlled by a position controller 1020A implemented in the computer 1020. The arm 1016 can have a second motor 1022 configured to move the pipette assembly 1010, and thus the probe 1014, in the vertical or Z direction to access an opening in a liquid container. The second motor 1022 can be controlled by the position controller 1020A. The aspirating and dispensing module 1008 may also include a pump 1026 configured to aspirate and dispense liquid through the probe 1014. The pump 1026 may be controlled by an aspiration controller 1020B implemented on the computer 1020.

[0078] In the embodiment of FIG. 10 , a carrier 1013 movable on the track 112 can transport a position sensor implemented as an imaging device 1028 on the track 112. The imaging device 1028 can move to predetermined locations on the track 112, where the imaging device 1028 can capture images of one or more components of the pipette assembly 1010. In the embodiment of FIG. 10 , the aspirating and dispensing module 1008 can include a first fiducial marker 1040A fixedly coupled to the track 112. The first fiducial marker 1040A can be the same as or substantially similar to fiducial marker 440 ( FIGS. 4A-4C ) and can be configured to be imaged by the imaging device 1028. In some embodiments, the aspirating and dispensing module 1008 can include a second fiducial marker 1040B (and / or 1040B′, shown in dashed lines) that can be movable with the pipette assembly 1010 and / or the probe 1014. The second fiducial markers 1040B, 1040B' may be substantially identical to or similar to the component 226 (FIGS. 2A-2C). The second fiducial markers 1040B, 1040B' are positioned to be imaged by the imaging device 1028.

[0079] During operation of the aspirating and dispensing module 1008, the carrier 1013 can move the imaging device 1028 to a location where the imaging device 1028 can capture one or more images of the first fiducial marker 1040A and the second fiducial markers 1040B, 1040B′. The first fiducial marker 1040A can be located at a predetermined location relative to the track 112. Thus, the one or more images of the first fiducial marker 1040A can be used to establish a coordinate system for the imaging device 1028 relative to the track 112, as described herein. The imaging device 1028 can then capture one or more images of the second fiducial markers 1040B, 1040B′ and process the images in the same or substantially similar manner as the images of the component 226 ( FIGS. 2A and 2B ). Thus, the precise positions of the pipette assembly 1010 and the probe 1014 can be calculated. In some embodiments, the imaging device 1028 may capture an image of the pipette assembly 1010 or the probe 1014 instead of the second fiducial marker 1040B′. The image may be processed as described herein to align the pipette assembly 1010 or the probe 1014 with the track 112.

[0080] The processing can be performed by program 114C (FIG. 1). In some embodiments, feedback can be provided to the user to align the pipette assembly 1010 and / or probe 1014 in the correct position relative to the track 112.

[0081] Reference is now made to FIG. 11 . FIG. 11 illustrates an aspirating and dispensing module 1008 in which the position sensor of the alignment system 1024 can include a touch sensor 1130 that generates position data when contacted by the probe 1014. In the embodiment of FIG. 11 , the touch sensor 1130 can be moved to a precise location relative to the track 112, as described above. The position controller 1020A can then cause the pipette assembly 1010 to move the probe 1014 in the Z direction until the probe 1014 contacts the touch sensor 1130. The touch sensor 1130 can then generate position data indicating the location of the probe 1014 contacting the touch sensor 1130. The location of the probe 1014 contact can be determined relative to the track 112. Feedback can be provided to enable a user to align the probe 1014 with the track 112.

[0082] In some embodiments, the alignment system 1024 can include an imaging device 1028, which can function as described with reference to FIG. 10 . For example, the imaging device 1028 can image a first fiducial marker 1040A to align the touch sensor 1130 to the track or another predetermined location. The probe 1014 can then contact the touch sensor 1130. Data generated by the touch sensor 1130 can precisely determine the location of the probe 1014 relative to the track 112. The probe 1014 can then be aligned with respect to the track 112. That location can be verified by imaging a second fiducial marker 1040B′.

[0083]

[0013] Further reference is made to Figure 12. Figure 12 is a flowchart illustrating a method 1200 of aligning a component (e.g., component 226) to a structure (e.g., track 112) in a diagnostic laboratory system (e.g., diagnostic laboratory system 100). Method 1200 includes, at 1202, aligning a position sensor (e.g., imaging device 228 or touch sensor 1130) to the structure. Method 1200 includes, at 1204, sensing a position of the component using the position sensor. Method 1200 includes, at 1206, calculating a position of the component relative to the position sensor based at least in part on the sensing. Method 1200 includes, at 1208, aligning the component relative to the position sensor based at least in part on the sensing.

[0084]

[0013] Further reference is made to Figure 13, which is a flowchart illustrating a method 1300 of aligning a component (e.g., component 226) with a track (e.g., track 112) of a diagnostic laboratory system (e.g., diagnostic laboratory system 100). Method 1300 includes, at 1302, aligning a position sensor (e.g., imaging device 228 or touch sensor 1130) with the track. Method 1300 includes, at 1304, sensing a position of the component using the position sensor. Method 1300 includes, at 1306, calculating a position of the component relative to the position sensor based at least in part on the sensing. Method 1300 includes, at 1308, aligning the component with the position sensor based at least in part on the sensing.

[0085] While the disclosure is susceptible to various modifications and alternative forms, specific apparatus embodiments and methods have been shown by way of example in the drawings and are herein described in detail. It is to be understood, however, that it is not intended to limit the disclosure to the particular apparatus or methods disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives coming within the scope of the appended claims and equivalents thereof.

Claims

1. 1. A method for aligning a component to a track in a diagnostic laboratory system, comprising:

1. An alignment system configured to align a component to a track in a diagnostic laboratory system, comprising: aligning a position sensor with the track; Detecting the position of the component using a position sensor; calculating a position of the component relative to the position sensor based at least in part on the sensing; aligning the component relative to the position sensor based at least in part on the sensing; The method comprising:

2. The method of claim 1 , wherein aligning the position sensor comprises aligning the position sensor to a transportation system.

3. The method of claim 1 , wherein aligning the position sensor comprises aligning the position sensor to the track.

4. The method of claim 1 , wherein aligning the component comprises aligning the component with a position sensor and then fixing the component in a fixed location.

5. The method of claim 1 , wherein aligning the position sensor to the track comprises attaching the position sensor to the track.

6. The method of claim 1 , wherein aligning the position sensor with the track includes attaching an imaging device to the track.

7. The method of claim 6 , wherein sensing the position of the component includes capturing an image of the component using an imaging device.

8. and attaching fiducial markers to the track at predetermined locations, the position sensor being an imaging device, and aligning the position sensor to the track comprising: capturing an image of the fiducial marker using an imaging device; and analyzing the image to determine the location of the fiducial marker relative to the imaging device.

9. The method of claim 1 , wherein the position sensor is a touch sensor, and sensing the position of the component comprises contacting the component with the touch sensor.

10. 10. The method of claim 1, wherein the position sensor is a touch sensor, the component is movable by a robot, and sensing the position of the component includes moving the robot until the component contacts the touch sensor.

11. The method of claim 10 , wherein the component is configured to aspirate liquid from the container.

12. The method of claim 10 , wherein the component is configured to dispense a liquid into a container.

13. The method of claim 1 , wherein the component is at least part of a housing configured to at least partially enclose a module of a diagnostic laboratory system.

14. The method of claim 1 , wherein the components include fiducial markers.

15. Attaching fiducial markers to the component includes: Sensing the position of the component includes sensing the position of a fiducial marker using a position sensor; Calculating the position of the component includes calculating, based at least in part on the sensing, a position of the fiducial marker relative to the position sensor; The method of claim 1 , wherein aligning the component to the position sensor comprises aligning a fiducial marker to the position sensor based at least in part on the sensing.

16. The method of claim 1, comprising providing a fixing device coupled to the track, and aligning the position sensor with the track comprises fixing the position sensor to the fixing device.

17. Providing a fiducial marker attached to the track; The position sensor is an imaging device; 10. The method of claim 1, wherein aligning the position sensor includes capturing an image of a fiducial marker using an imaging device and determining a position of the imaging device based at least in part on a location of the fiducial marker in the captured image.

18. providing a fiducial marker attached to the track; The position sensor is an imaging device; Aligning the position sensor includes capturing an image of the fiducial marker using an imaging device; and determining a position of the imaging device based at least in part on a location of the fiducial marker in the captured image.

19. Detecting the position of the component includes capturing an image of the component using an imaging device. and determining a location of the component in the captured image.

20. Aligning the position sensor to the track includes aligning a touch sensor to the track; Sensing the position of the component includes sensing the position of the component using a touch sensor; Calculating the position of the component includes calculating the position of the component relative to the touch sensor based at least in part on the sensing; The method of claim 1 , wherein aligning the component comprises aligning the component to the touch sensor based at least in part on the sensing.

21. 1. A diagnostic laboratory system comprising:

1. An alignment system configured to align a component to a track in a diagnostic laboratory system, comprising: transportation systems and; an imaging device aligned with the transport system and configured to generate image data representative of the component; Identifying components within the image data; determining alignment of the component relative to the imaging device; Providing an indication of misalignment of the component relative to the transport system based on alignment of the component relative to the imaging device a computer configured to:

10. The diagnostic laboratory system comprising:

22. The transport system includes a fiducial marker coupled to the transport system, the imaging device configured to generate image data representative of the fiducial marker, and the computer: Identifying fiducial markers within the image data; 22. The diagnostic laboratory system of claim 21, configured to determine the position of the imaging device based on the position of the fiducial markers in the image data.

Images