Systems and methods for contactless or non-contact, positive displacement dispensing

Abstract

A device may provide a dispensing assembly driven by rotation of a screw shaft, wherein the rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly. A device may provide a controller for the dispensing assembly configured to transmit a control signal for quickly accelerating the rotation of the screw shaft, to yield the linear displacement, and for subsequently quickly decelerating the rotation of the screw shaft, to stop further displacement, such that momentum of a volume of a substance causes the volume of the substance to be dispensed.

Description

[0001] SYSTEMS AND METHODS FOR CONTACTLESS OR NON-CONTACT, POSITIVE DISPLACEMENT DISPENSING

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] [1] This application is related to and claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63 / 678,326, entitled “SYSTEMS AND METHODS FOR CONTACTLESS OR NON-CONTACT, POSITIVE DISPLACEMENT DISPENSING”, filed on August 01, 2024.

[0004] [2] The entire disclosure of U.S. Non-Provisional Patent App. No. 17 / 426,235, entitled “POSITIVE DISPLACEMENT PIPETTE TIP FOR MOTORIZED CONTROL AUTOMATION OR INSTRUMENT SYSTEM,” filed on July 28, 2021, is incorporated herein by reference.

[0005] FIELD

[0006] [3] This disclosure relates to contactless or non-contact dispensing systems and related methods and, in particular, to systems and methods for contactless or non-contact, positive displacement dispensing.

[0007] BACKGROUND

[0008] [4] Various systems and methods have been developed for contactless or non-contact dispensing of a volume of a substance. These systems and methods typically demand mechanical complexity involving the use of syringes, pipettes, pumps, and / or solenoids to deliver or dispense a small volume of a substance. These systems and methods are especially important in the field of laboratory automation and fluidics. These systems and methods also typically rely on human users manually preparing a mechanical system to support the automated or semi-automated dispensing process, which can be time-consuming and prone to human error.

[0009] [5] In recent years, there has also been a growing interest in microfluidic dispensing systems and methods that eliminate the need for direct contact between the dispensing device and the receptacle (e.g., a well on a laboratory plate, a test tube, or any other structure or space) for receiving the dispensed substance. These systems and methods often utilize technologies such as acoustic or pneumatic dispensers to generate droplets of the substance without physical contact. While these non-contact dispensing systems and methods offer advantages in terms of trying to reduce contamination, they struggle to achieve precise control over the dispensed volume, especially when dealing with exceedingly small volumes in the microliter (pL) and nanoliter (nL) range.

[0010] [6] For example, EPl 344565 describes a solenoid used to create an impulse to strike a syringe plunger, which advances the position of the plunger at high enough acceleration or deceleration to produce a separated drop of liquid. In particular, a solenoid is used to “tap” the end of a piston rod and thereby advance a piston within a cylinder to dispense droplets of liquid. The solenoid accelerates a drive rod, which hits a head once the drive rod has built up speed, transferring momentum to a piston rod and subsequently to a liquid. The piston rod is connected to a striker arranged to abut an adjustable anvil (or hard stop) to arrest the movement of the piston rod or plunger of the syringe once it has built up sufficient velocity. The mechanism facilitates droplet dispensing by suddenly stopping the piston and allowing the drop of liquid to be ejected under its own momentum.

[0011] [7] There are various issues with this approach. The collision due to this type of tapping motion causes shockwaves in the liquid which can cause dispensing problems. These problems include the dispensing of satellite droplets, as well as the ingress of air into the syringe, both of which are undesirable. Moreover, the shockwaves are caused by the collision between the moving drive rod and the stationary piston rod head (as a result of the gap between the drive rod and the piston rod head). Furthermore, for this type of apparatus, it is generally desirable to use syringes that can be disassembled; however, reassembling a syringe usually demands assembly of both a barrel and piston component. This can be labor intensive and time consuming.

[0012] [8] US9352319B2 describes a mechanism that attempts to improve on EP1344565. It also uses a solenoid; however, this solenoid is coupled to the piston rod such that the piston rod moves contiguously with the driver, as opposed to being struck by it. The provision of a connected output member and rod means that the piston experiences the full acceleration from a stationary condition to the maximum speed. In other words, the piston is accelerated with the driver, as opposed to being “tapped” or struck once the driver is at speed (as with EPl 344565).

[0013] [9] There are various issues with this approach, specifically, mechanical complexity linked to the need for a solenoid. Moreover, the system and method rely on using a disposable plunger that is as short as possible. Furthermore, the effector that grips the plunger must enter deep into the disposable tip, which limits the inner diameter of the tip, which also limits the minimum droplet volume that can be dispensed. Furthermore, the hardware demanded by the disclosure is too large to fit within a 9.0 millimeter (mm) width envelope, meaning that the system cannot arrange multiple dispensing assemblies (for example, each having eight (8) independent dispensing channels) to dispense simultaneously into the wells of the column of a multi-well plate (for example, the eight (8) wells of a column of a Microtiter® ninety-six (96) well plate (Microtiter® plates or equivalent typically contain an array of 96, 384, 1536, etc. wells arranged in rows and columns).

[0014]

[0010] As such, none of the existing approaches for contactless or non-contact, positive displacement dispensing have provided a comprehensive solution that combines the features and aspects in this disclosure.

[0015] SUMMARY

[0016]

[0011] In some aspects, the techniques described herein relate to a method of contactless or non-contact dispensing, the method including: providing a positive displacement dispensing assembly driven by rotation of a screw shaft, wherein an electromotor yields the rotation of the screw shaft; and dispensing a volume of a substance via the positive displacement dispensing assembly, the dispensing including: selecting a value of linear displacement corresponding to the volume of the substance to be dispensed; and quickly accelerating, via the electromotor, the rotation of the screw shaft to yield the linear displacement, and then quickly decelerating the rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0017]

[0012] In some aspects, the techniques described herein relate to a system for contactless or non-contact dispensing of a volume of a substance, the system including: a dispensing assembly driven by rotation of a screw shaft; an electromotor configured to rotate the screw shaft; and a controller configured to determine a value of linear displacement corresponding to a volume of a substance to be dispensed, and configured to transmit a control signal for quickly accelerating, via the electromotor, the rotation of the screw shaft to yield the linear displacement, and for quickly decelerating the rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0018] BRIEF DESCRIPTION OF THE DRAWINGS

[0019]

[0013] Many aspects of the present disclosure will be better understood with reference to the following drawings. The components in the drawings are not necessarily to scale, with emphasis instead being placed upon clearly illustrating the principles of the disclosure. Moreover, in the drawings, like reference numerals designate corresponding parts throughout the several views. It should be recognized that these implementations and embodiments are merely illustrative of the principles of the present disclosure. Therefore, in the drawings:

[0020]

[0014] FIG. 1 is a flowchart of an example method of contactless or non-contact dispensing of a volume of a substance, according to the present disclosure.

[0021]

[0015] FIG. 2 is a flowchart of an example method of contactless or non-contact dispensing of a volume of a substance, according to the present disclosure.

[0022]

[0016] FIG. 3 is a flowchart of an example method of contactless or non-contact dispensing of a volume of a substance, according to the present disclosure.

[0023]

[0017] FIG. 4 is a flowchart of an example method of contactless or non-contact dispensing of a volume of a substance, according to the present disclosure.

[0024]

[0018] FIG. 5 is a flowchart of an example method of contactless or non-contact dispensing, according to the present disclosure.

[0025]

[0019] FIG. 6 is a plan view of a schematic illustration of an example dispensing assembly for a system for contactless or non-contact dispensing of a volume of a substance, according to the present disclosure.

[0026]

[0020] FIG. 7A is a perspective view of an illustration of an example dispensing assembly in a first configuration, according to the present disclosure.

[0027]

[0021] FIG. 7B is a perspective view of an illustration of the example dispensing assembly of FIG. 7A in a second configuration, according to the present disclosure.

[0028]

[0022] FIG. 8 is a plan view of a schematic illustration of an example dispensing assembly of a system for contactless or non-contact dispensing of a volume of a substance, according to the present disclosure.

[0029]

[0023] FIG. 9 is a chart of an example motion profile, according to the present disclosure.

[0030]

[0024] FIG. 10 is a chart of an example motion profile, according to the present disclosure.

[0031]

[0025] FIG. 11 is a plan view of a schematic illustration of a modified field oriented control (FOC) algorithm, according to the present disclosure.

[0032]

[0026] FIG. 12 is a chart of an example motion profile, according to the present disclosure.

[0033]

[0027] FIG. 13 is a chart of example position data, according to the present disclosure.

[0034]

[0028] FIG. 14 is a chart of example velocity data, according to the present disclosure.

[0035]

[0029] FIG. 15 is a chart of example acceleration data, according to the present disclosure.

[0036]

[0030] FIG. 16 is a front view of an illustration of an example dispensing assembly of a system for contactless or non-contact dispensing of a volume of a substance, according to the present disclosure.

[0037]

[0031] FIG. 17A is a magnified perspective view of an illustration of an example system for contactless or noncontact positive displacement dispensing in a first configuration, according to the present disclosure.

[0038]

[0032] FIG. 17B is a magnified perspective view of an illustration of the example system for contactless or noncontact positive displacement dispensing of FIG. 17A in a second configuration, according to the present disclosure.

[0039]

[0033] FIG. 17C is a magnified perspective view of an illustration of the example system for contactless or noncontact positive displacement dispensing of FIG. 17A in a third configuration, according to the present disclosure.

[0040]

[0034] FIG. 18 is a perspective exploded view of an illustration of an example positive displacement pipette tip, according to the present disclosure.

[0041]

[0035] FIG. 19 is a front, cross section view of an illustration of an example positive displacement pipette tip, according to the present disclosure.

[0042]

[0036] FIG. 20 is a magnified, cross section view of an illustration of an example top portion of a positive displacement pipette tip, according to the present disclosure.

[0043]

[0037] FIG. 21 is a magnified, perspective view of an illustration of an example collet chuck portion of a plunger of a positive displacement pipette tip, according to the present disclosure.

[0044]

[0038] FIG. 22 is a magnified, perspective view of an illustration of an example collet chuck portion of a metering rod engaged to a plunger of a positive displacement pipette tip, according to the present disclosure.

[0045] DETAILED DESCRIPTION

[0046]

[0039] The presently disclosed subject matter now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the presently disclosed subject matter are shown. Like numbers refer to like elements throughout. The presently disclosed subject matter may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. Indeed, many modifications and other embodiments of the presently disclosed subject matter set forth herein will come to mind to one skilled in the art to which the presently disclosed subject matter pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the presently disclosed subject matter is not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims.

[0040] Throughout this specification and the claims, the terms “comprise,” “comprises”, and “comprising” are used in a non-exclusive sense, except where the context requires otherwise. Likewise, the term “includes” and its grammatical variants are intended to be non-limiting, such that recitation of items in a list is not to the exclusion of other like items that can be substituted or added to the listed items.

[0047]

[0041] Moreover, throughout this specification and the claims, the term “air” is used for convenience and simplicity and not to limit the scope of the present disclosure. In one aspect, gases other than air are envisioned, such as carbon dioxide, nitrogen, etc.

[0048]

[0042] Moreover, throughout this specification and the claims, the term “liquid ” is used for convenience and simplicity and not to limit the scope of the present disclosure. In one aspect, substances other than pure liquids are envisioned, such as heterogenous or homogenous solutions or mixtures, involving solids, gases, and liquids, as well as several types of fluids.

[0049]

[0043] Moreover, systems and methods for contactless or non-contact, positive displacement dispensing according to the present disclosure typically include arrangement(s), structures, and technique(s) for making the process of dispensing effective and efficient.

[0050]

[0044] Generally, systems for dispensing (including liquid handling apparatuses, liquid handing devices, liquid handing instruments, automated liquid handling apparatuses, devices, or instruments, or mechanized or motorized apparatuses, devices, or instruments, or generally dispensing assemblies, as used herein and in the field) include aspects and features to dispense specific quantities or volumes of a substance. Such instruments are useful in a variety of applications including cell biology, genomics, forensics, and drug research. Such instruments assist humans with the repetitive task of delivering substances in a wide range of volumes by improving the speed and efficiency of the operations, and improving the precision and accuracy of the delivered volumes.

[0051]

[0045] Typically, for conventional systems, the precision and accuracy of dispensed volumes is affected by factors ranging from: properties of the substance itself, such as its viscosity or surface tension; properties of the system components, such as the hydrophobicity of the pipette tip; or even environmental conditions, such as ambient temperature and pressure. In conventional air displacement pipette tips, factors such as temperature, atmospheric pressure, specific gravity, and substance viscosity affect the performance of air displacement pipettes.

[0052]

[0046] Conventional systems for dispensing typically comprise precise control mechanisms to regulate the precise movement, displacement, or rotation of a component or structure, to regulate the volume of a substance being channeled and dispensed. Some systems also typically comprise other common components, sub-systems, or sub-assemblies.

[0053]

[0047] For example, some systems include one or more dispensing assembly(ies) having a positive displacement dispensing portion, and configured for methods described herein, and having a frame supporting a linear actuator that adjusts the height of each dispensing assembly.

[0054]

[0048] Other systems include a collision detection mechanism or system for each of the dispensing assemblies (or for each grouping of dispensing assemblies) to allow for independent movement and positioning of each of the assemblies relative to the other dispensing assemblies and / or relative to the receptacles / wells and / or relative the remainder of the system.

[0055]

[0049] Other systems include a collision detection mechanism including one or more load cells or a transducer or equivalent that can convert force (e.g., through physical displacement or deformation of a structure or component) into an electrical signal.

[0056]

[0050] Other systems include a dispensing assembly that is fixed to a vertically oriented linear actuator, or wherein the linear actuator can be fixed in other orientations, such as obliquely or diagonally to the fixed frame.

[0057]

[0051] Other systems include a dispensing assembly having a pipette tip subsystem (a pipette tip, as used herein) of any type, for example, air displacement, positive displacement, etc.

[0058]

[0052] Other systems include a dispensing assembly having a pipette tip including a pipette tip component or hollow outer part, as used herein) and a plunger (or piston, as used herein).

[0059]

[0053] Other systems include a dispensing assembly having a pipette tip attachment point including electrical contact points to conduct electrical signals between pipette tip electrical contacts (for any subsystem component or structure) and wires leading to an electronic controller(s).

[0054] Other systems include a dispensing assembly having a pipette tip attachment point configured to engage a positive displacement dispensing portion.

[0060]

[0055] Other systems include a positive displacement dispensing portion including a positive displacement pipette tip subsystem selectively and removably engaged or attached to a metering rod of the broader system.

[0061]

[0056] Other systems include a positive displacement dispensing portion that uses an independent, non-shared column of air (e.g., independent air channels) for each pipette tip of each dispensing assembly in order to mitigate the risk of contamination or cross-contamination.

[0062]

[0057] Other systems include a dispensing assembly wherein driving of certain components or structures of the positive displacement dispensing portion or the metering rod is / are controlled by an electronic controller (i.e., a microcontroller capable of, but not limited to, generating and receiving signals, processing the signals, sending motion commands, and processing data in order to perform the electronic functions described herein as well as other processes and methods).

[0063]

[0058] Other systems include an electronic controller configured for methods described herein, and for controlling components or structures according to the present disclosure

[0064]

[0059] Other systems include a dispensing assembly wherein the height of the dispensing assemblies as well as various other aspects described herein are controlled by one or more electronic controller(s) (e.g., microcontroller(s) capable of, but not limited to, generating and receiving signals, processing the signals, sending commands, and processing data in order to perform the electronic functions and processes described herein ).

[0065]

[0060] As such, although various methods and systems have been developed for attempting to achieve efficient and effective contactless or non-contact, positive displacement dispensing, these conventional approaches have limitations and drawbacks that have hindered their effectiveness and accuracy.

[0066] I. Example Use Case Scenario

[0067]

[0061] The systems and methods for dispensing according to the present disclosure present a novel approach, and one or more technical steps and / or solutions, to addressing the challenges and deficiencies in the prior art. In particular, aspects of the present disclosure are directed to contactless or non-contact, positive displacement dispensing.

[0068]

[0062] For example, in one aspect, systems and methods according to the present disclosure provide for a disposable (e.g., consumable) contactless or non-contact, positive displacement pipette tip for dispensing, or a non-disposable (or reusable) contactless or noncontact, positive displacement pipette tip for dispensing, that benefits from the other advantages and improvements described herein.

[0069]

[0063] In another aspect, systems and methods according to the present disclosure allow for precisely and accurately dispensing or aliquoting a volume of a substance. In another aspect, the volume ranges from hundreds of nanoliters up to thousands of microliters. In another aspect, the dispensing allows for a coefficient of variance (CV) of less than 5% at about 0.5 pL.

[0070]

[0064] In another aspect, systems and methods according to the present disclosure allow for both: (1) aspiration of a substance from a substance source or receptacle, such as standard labware, e.g., microplates, tubes, and vials, and (2) subsequent dispensing of a volume(s) of the substance. In another aspect, aspiration and / or dispensing may come in any order.

[0071]

[0065] In another aspect, systems and methods according to the present disclosure leverage a wide variety of labware containers typically used in liquid handling applications, including Microtiter® plates and the like containing an array of 96, 384, or 1536 sample wells, as well as larger containers, ranging from vials holding one to two milliliters (mb) of liquid, up to large tubes holding tens of milliliters or bottles holding hundreds of milliliters.

[0072]

[0066] In another aspect, systems and methods according to the present disclosure allow for dispensing multiple volumes or droplets from a single aspiration or from a single loading of a substance(s).

[0073]

[0067] In another aspect, systems and methods according to the present disclosure allow for dispensing volumes or droplets at a high frequency (e.g., in the order of tens of drops per second).

[0068] In another aspect, systems and methods according to the present disclosure allow for dispensing volumes or droplets of any substance class, ranging from aqueous solutions to highly viscous fluids or corrosive substance, to volatile liquids (e.g., class agnostic for substances having viscosity up to about 100 centipoise (cP)).

[0074]

[0069] In another aspect, systems and methods according to the present disclosure allow for dispensing volumes or droplets of any substance class without specifying source volumes; well geometries; or substance properties (e.g., without needing to define, specify, or program liquid classes).

[0075]

[0070] In another aspect, systems and methods according to the present disclosure allow for precise contactless liquid dispensing from a positive displacement dispensing portion of a dispensing assembly.

[0076]

[0071] In another aspect, systems and methods according to the present disclosure allow for the ejection of a series of volumes or droplets from a positive displacement pipette tip.

[0077]

[0072] In another aspect, systems and methods according to the present disclosure leverage a disposable positive displacement dispensing portion for a dispensing assembly having a pipette tip component or hollow outer part and a plunger.

[0078]

[0073] In another aspect, systems and methods according to the present disclosure leverage a positive displacement pipette tip having a hollow outer part and a pipette plunger configured to aspirate and / or dispense a precise volume or droplet of a substance.

[0079]

[0074] In another aspect, systems and methods according to the present disclosure leverage a positive displacement pipette tip having a hollow outer part with a cylinder barrel and a conical end with a small annular orifice, and a corresponding piston or a corresponding plunger with an end that seals against an interior surface of the hollow outer part.

[0080]

[0075] In another aspect, systems and methods according to the present disclosure leverage a positive displacement pipette tip having a minimally sized void or gap between the hollow outer part and the pipette plunger, thereby optimizing the precision of the substance volume or droplet being aspirated and / or dispensed. In another aspect, the void is between the tapered tip of the fluid channel and the tapered sidewalls the distal tip portion of the pipette plunger.

[0081]

[0076] In another aspect, systems and methods according to the present disclosure leverage an understanding that, when dispensing from a positive displacement pipette tip, forces are imparted to the substance in the tip by the movements of the tip plunger.

[0082]

[0077] In another aspect, systems and methods according to the present disclosure leverage an understanding that, to accurately and precisely non-contact dispense a small volume or droplet of a substance from an orifice (e.g., the dispensing end of a positive displacement pipette tip), it is beneficial to move the volume / substance at high acceleration and deceleration to achieve volume or droplet separation (or else the volume / droplet may not separate from the substance remaining in the orifice and / or the substance may create satellite droplets or splashes).

[0083]

[0078] In another aspect, systems and methods according to the present disclosure leverage an understanding that the move distance or linear displacement must also be precise and accurate to ensure that the resultant volume(s) or droplet(s) repeatedly match(es) the desired volume.

[0084]

[0079] In another aspect, systems and methods according to the present disclosure are configured to actuate a positive displacement portion or region, such as, for example, a positive displacement plunger of a positive displacement pipette tip, to precisely and accurately form volumes or droplets, wherein the volume(s) are as low as fractions of sub-microliters or nanoliters.

[0085]

[0080] In another aspect, in systems and methods according to the present disclosure, the volume(s) of the droplet is / are directly proportional to the linear displacement of the plunger.

[0086]

[0081] In another aspect, systems and methods according to the present disclosure leverage an electromotor to drive the plunger fast enough / precisely enough to create nano droplets or micro droplets.

[0087]

[0082] In another aspect, systems and methods according to the present disclosure are mechanically simpler, with fewer parts required to impart the forces necessary for droplet separation.

[0088]

[0083] In another aspect, systems and methods according to the present disclosure allow for streamlined and efficient form factors.

[0084] In another aspect, a positive displacement dispensing assembly according to the present disclosure has a minimal width, which allows for a grouping of multiple side-by-side dispensing assemblies for the system, or for separate groupings of dispensing assemblies in the same system.

[0089]

[0085] In another aspect, a positive displacement dispensing assembly according to the present disclosure has a width of about 18.0 millimeters (mm), which allows up to eight (8) dispensing assemblies, or four (4) per side, to simultaneously dispense into a substance receptacle (e.g., a plate with wells) with about 9.0 mm spacing (which is the standard spacing for the majority of wells in plates).

[0090]

[0086] In another aspect, systems and methods according to the present disclosure leverage a plurality or grouping of dispensing assemblies, wherein the plurality or grouping is configured to span or splay (e.g., the space between each of the dispensing assemblies can be independently and selectively increased or decreased).

[0091]

[0087] In another aspect, systems and methods according to the present disclosure leverage a plurality of dispensing assemblies, wherein each of the dispensing assemblies is configured for independent movement or displacement or rotation, and configured for independent volume control, dispensing, and / or aspiration.

[0092]

[0088] In another aspect, systems and methods according to the present disclosure leverage a plurality of dispensing assemblies, wherein each of the dispensing assemblies are configured for independent motion in the X (side to side) direction, and in any other direction.

[0093]

[0089] In another aspect, systems and methods according to the present disclosure leverage a plurality of dispensing assemblies, wherein each of the dispensing assemblies are configured for independent motion in the Y (in and out / rear to front) direction, and in any other direction.

[0094]

[0090] In another aspect, systems and methods according to the present disclosure leverage eight (8) dispensing assemblies, wherein each of the dispensing assemblies are configured for independent motion in the Z (up and down) direction, and in any other direction.

[0095]

[0091] In another aspect, systems and methods according to the present disclosure do not require a solenoid to drive the substance / volume at high velocity to generate a droplet(s).

[0096]

[0092] In another aspect, systems and methods according to the present disclosure leverage pipette tips that have undergone sterilization by ethylene oxide and / or are certified to be free of microorganism contamination.

[0097]

[0093] In another aspect, systems and methods according to the present disclosure leverage algorithms that process sensor inputs to dynamically adjust pipetting parameters to achieve reproducible volumes or droplets.

[0098]

[0094] In another aspect, systems and methods according to the present disclosure allow for guaranteed pipetting accuracy and precision without user adjustment of pipetting flow rate, equilibration time, or offsets for various liquid classes.

[0099]

[0095] In another aspect, systems and methods according to the present disclosure allow for on-the-fly droplet dispensing (and mitigate the risk of splashing or satellite droplets, which can lead to contamination or cross-contamination.

[0100]

[0096] In another aspect, systems and methods according to the present disclosure allow for miniaturization, tip and supply cost reductions, and streamlined workflows, delivering rapid and reliable results with minimal consumable use.

[0101]

[0097] In another aspect, systems and methods according to the present disclosure leverage sensors that enable dynamic liquid level tracking (resistance-based and capacitance-based) without prior definition of labware geometry.

[0102]

[0098] In another aspect, in systems and methods according to the present disclosure leverage tip touch sensors that can detect the bottom and sides of each well (or facilitate notifying of intentional or unintentional contact, or collision, or halting motions) such that the specific geometry of labware does not need to be specified or programmed.

[0103]

[0099] In another aspect, systems and methods according to the present disclosure leverage sensors that facilitate error management and safety by detecting collisions with obstructions and halting motion before causing damage or halting the workflow.

[0100] In another aspect, systems and methods according to the present disclosure leverage sensors that can detect a collision with only about 30.0 grams of force, and the position of the pipette tip is repeatable to within about 50.0 microns.

[0104]

[0101] In another aspect, systems and methods according to the present disclosure allow for the movement of substances having a wide range of viscosity.

[0105]

[0102] In another aspect, systems and methods according to the present disclosure leverage encoder systems and encoder feedback signal(s), as well as motor control systems and methods, in particular, methods of encoder closed loop motor control (such as, for example, field oriented control (FOC) and / or input shaping.

[0106]

[0103] In another aspect, systems and methods according to the present disclosure relate to a system for contactless or noncontact positive displacement dispensing providing a broad range of practical applications, e.g., Assay Development and Design of Experiment (DoE); Enzyme- Linked Immunosorbent Assays (ELISA); PCR Workflows; Cell Culture and Bead-Based Assays; NGS Library Preparation; Nucleic Acid and Protein Extraction; Screening Assays (e.g., COVID); Lipid Nanoparticle (LNP) Formulation Screening; etc.

[0107]

[0104] In another aspect, systems and methods according to the present disclosure relate to a system for contactless or noncontact positive displacement dispensing having multiple dispense channels, for example, eight (8) fully independent dispensing assemblies with independent dispense channels, for up to ten (10) SBS deck positions for labware and tips, and / or a waste tray or through-deck tip disposable system.

[0108]

[0105] In another aspect, systems and methods according to the present disclosure relate to a system for contactless or noncontact positive displacement dispensing include a user-friendly interface that allows users to select the labware(s), source(s), destination well(s), and transfer pattern(s).

[0109]

[0106] In another aspect, systems and methods according to the present disclosure relate to a system for contactless or noncontact positive displacement dispensing capable of automatically locating available tips in a tip caddy.

[0107] In another aspect, systems and methods according to the present disclosure relate to a system for contactless or noncontact positive displacement dispensing having a vision system enabling automatic tip detection and labware presence detection capabilities, wherein, prior to each run, the camera scans a deck to check for the presence of labware in each deck position, and to verify that there are sufficient tips for the protocol, and wherein the control system or controller is configured to determine the size, number, and location of tips on the deck.

[0110]

[0108] In another aspect, systems and methods according to the present disclosure relate to an automated or automatic liquid transfer system capable of low-volume sample and reagent transfer at high accuracy which is crucial when setting up minimized assay reactions.

[0111]

[0109] In another aspect, systems and methods according to the present disclosure relate to an automated or automatic liquid transfer system having zero insertion force tip attachment features (on a clamping mechanism, for example).

[0112]

[0110] In another aspect, systems and methods according to the present disclosure leverage a zero-insertion force pipette tip clamping mechanism in a dispensing assembly and wherein a feature component of the zero-insertion force pipette tip clamping mechanism is a pipette tip collet.

[0113]

[0111] In another aspect, systems and methods according to the present disclosure leverage a zero-insertion force pipette tip clamping mechanism in a dispensing assembly and wherein a feature component of the zero-insertion force pipette tip clamping mechanism is a plunger collet.

[0114]

[0112] In another aspect, systems and methods according to the present disclosure relate to an automated or automatic liquid transfer system having a vision system enabling a control system or controller to scan the tip caddy to determine the number and location of tips.

[0115]

[0113] In another aspect, systems and methods according to the present disclosure relate to an automated or automatic liquid transfer system that allows, before beginning any workflow, a control system or controller to automatically rearrange the tips according to a protocol's specifications.

[0116] II. Systems and Methods

[0117]

[0114] In one aspect, the present disclosure provides a system for contactless or non- contact dispensing of a volume of a substance, the system including: a dispensing assembly driven by a screw shaft with rotation means; and an electromotor configured to rotate the screw shaft; and a controller configured to determine a value of linear displacement corresponding to the volume of the substance to be dispensed, and configured to transmit a control signal for quickly accelerating, via the electromotor, rotation of the screw shaft to yield the linear displacement, and for quickly decelerating rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0118]

[0115] In one aspect, the present disclosure provides a system, wherein the dispensing assembly includes a positive displacement dispensing portion.

[0119]

[0116] In one aspect, the present disclosure provides a system, wherein the positive displacement dispensing portion is driven by the screw shaft with rotation means.

[0120]

[0117] In one aspect, the present disclosure provides a system, wherein the positive displacement dispensing portion includes a plunger of a positive displacement pipette tip attached to a metering rod of the broader system.

[0121]

[0118] In one aspect, the present disclosure provides a system, wherein the positive displacement pipette tip includes a hollow outer part with a cylindrical barrel and a conical end with a small annular orifice, and a corresponding piston or a corresponding plunger, with an end that seals against an interior surface of the hollow outer part.

[0122]

[0119] In one aspect, the present disclosure provides a system, wherein a pipette tip of the positive displacement pipette tip includes an interface portion and a pipette tip body. The interface portion is an open barrel type of structure leading to the pipette tip body. Accordingly, the interface portion has an inner wall. Moreover, the interface portion of the pipette tip may be fitted to, for example, a mating component of a dispensing assembly. An independent fluid channel runs along the length of the pipette tip body. There is an opening at the distal end of the fluid channel through which a substance may be aspirate and / or dispensed. Additionally, the distal end of the pipette tip body that leads to the opening has a tapered tip (the distal tip portion; the distal tip portion has tapered sidewalls that correspond to the tapered tip of the fluid channel). In another aspect, a cavity is provided at the lower portion of the interface portion of the pipette tip. In another aspect, the pipette tip may be formed, for example, of a polymeric material.

[0123]

[0120] In one aspect, the present disclosure provides a system, wherein a pipette plunger is arranged along the inside of the pipette tip. The pipette plunger includes a plunger upper portion, a plunger centering portion, and a plunger tip that includes a distal tip portion. In another aspect, the plunger upper portion is fitted to, for example, a mating component of a dispensing assembly. In another aspect, the plunger centering portion is fitted into the plunger stop cavity of the interface portion of the pipette tip, wherein the plunger stop cavity is configured to receive the plunger centering portion of the pipette plunger. In another aspect, the plunger centering portion acting as a "stopping" feature of the pipette plunger. The plunger tip and distal tip portion of the pipette plunger is fitted into the fluid channel of the pipette tip body of the pipette tip. In another aspect, the distal tip portion of the plunger tip is configured to mate and seal with the opening and the tapered tip at the distal end of the fluid channel of the pipette tip.

[0124]

[0121] In one aspect, the present disclosure provides a system, wherein a pipette tip further includes a set of inner wall features along the inner wall of the interface portion . In another aspect, the pipette tip includes any number of inner wall feature, for example, eight (8) vertical inner wall features, although the inner wall features can be of any structure or orientation. In another aspect, each of the inner wall features is a raised or protruding line feature that is formed along the inner wall of the interface portion, which assist by increasing the friction force for holding the pipette tip in place while potentially reducing the given force.

[0125]

[0122] In one aspect, the present disclosure provides a system, wherein a pipette plunger further includes a set of vertical outer wall features along the outer wall of the plunger upper portion, to assist clamping or mating the plunger upper portion of the pipette plunger to a mating component. In another aspect, the pipette plunger includes any number of outer wall features, for example, eight (8) vertical outer wall features, although the outer wall features can be of any structure or orientation. In another aspect, each of the outer wall features is a raised or protruding line feature that is formed along the outer wall of the plunger upper portion, which assist by increasing the friction force for holding the pipette plunger in place while potentially reducing the given force.

[0123] In one aspect, the present disclosure provides a system, wherein a set of standoff or spacer features are provided around the upper rim of the interface portion of the pipette tip. In another aspect, the upper rim includes any number of standoffs or spacer features, for example, eight (8) standoffs or spacer feature. In another aspect, the standoffs or spacer features can be of any structure or orientation.

[0126]

[0124] In one aspect, the present disclosure provides a system, wherein a distal tip portion of the pipette plunger has a rounded portion that is configured to seal into the opening of the fluid channel. In another aspect, the pipette plunger is formed, for example, of a polymeric material. In another aspect, the polymer used to form the pipette plunger may be the same as or different from the polymer used to form the pipette tip.

[0127]

[0125] In one aspect, the present disclosure provides a system, wherein an outer upper edge of the distal tip portion of the plunger tip is sized to slidably seal against and along the walls of the fluid channel of the pipette tip body. The outer upper edge of the distal tip portion of the plunger tip provides a "sealing" ring feature of the pipette plunger.

[0128]

[0126] In one aspect, the present disclosure provides a system, where the rotation of a screw shaft yields the linear displacement of the corresponding piston or the corresponding plunger of the positive displacement pipette tip, and wherein a measure of volume of the volume of the substance is directly proportional to the linear displacement.

[0129]

[0127] In one aspect, the present disclosure provides a system, wherein a metering rod is clamped on one end to a piston or a plunger of a positive displacement pipette tip.

[0130]

[0128] In one aspect, the present disclosure provides a system, wherein a metering rod includes a shaft portion and a collet chuck portion for fitting around a plunger upper portion of the pipette plunger. The collet chuck portion of the plunger collet is a segmented band or sleeve for fitting around the plunger upper portion of the pipette plunger. The collet chuck portion of the plunger collet is configured to expand and lock against the outside wall of the plunger upper portion of the pipette plunger. That is, when in the locked position, the collet chuck portion (or clamping chuck) clamps onto the plunger upper portion of the pipette plunger that is inside the collet chuck portion. Furthermore, in another aspect, a set of vertical outer wall features of the plunger upper portion of the pipette plunger may be used to assist clamping or mating the plunger upper portion to the collet chuck portion of the plunger collet.

[0131]

[0129] In one aspect, the present disclosure provides a system, wherein a metering rod includes a clamping mechanism having a plunger collet and a pipette plunger lock mechanism. In another aspect, the pipette plunger lock mechanism includes an upper ring plate and a hollow sleeve portion for fitting around the plunger collet including the collet chuck portion. For example, when the hollow sleeve portion is slid down around the collet chuck portion of the plunger collet, the collet chuck portion closes against (or clamps) the plunger upper portion of the pipette plunger. By contrast, when the hollow sleeve portion is withdrawn from the collet chuck portion of the plunger collet, the collet chuck portion releases the plunger upper portion of the pipette plunger.

[0132]

[0130] In one aspect, the present disclosure provides a system, wherein displacement of the metering rod is constrained by a linear guide of the dispensing assembly.

[0133]

[0131] In one aspect, the present disclosure provides a system, wherein the displacement of the metering rod is monitored by an encoder communicatively coupled to the controller.

[0134]

[0132] In one aspect, the present disclosure provides a method of contactless or noncontact dispensing, the method including: providing a positive displacement dispensing assembly driven by a screw shaft with rotation means, wherein an electromotor yields rotation of the screw shaft; and dispensing a volume of a substance via the positive displacement dispensing assembly, the dispensing including: selecting a value of linear displacement corresponding to the volume of the substance to be dispensed; and quickly accelerating, via the electromotor, rotation of the screw shaft to yield the linear displacement, and then quickly decelerating rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0135]

[0133] In one aspect, the present disclosure provides a method, wherein the rotation of the screw shaft yields the linear displacement, or substantially linear displacement, of a portion of the positive displacement dispensing assembly.

[0136]

[0134] In one aspect, the present disclosure provides a method, wherein the portion of the positive displacement dispensing assembly is a metering rod.

[0135] In one aspect, the present disclosure provides a method, further including loading the substance into the positive displacement dispensing assembly.

[0137]

[0136] In one aspect, the present disclosure provides a method, further including aspirating the substance into the positive displacement dispensing assembly.

[0138]

[0137] In one aspect, the present disclosure provides a method, wherein providing a positive displacement dispensing assembly includes providing a positive displacement portion.

[0139]

[0138] In one aspect, the present disclosure provides a method, wherein providing a positive displacement portion includes attaching a detachable positive displacement portion.

[0140]

[0139] In one aspect, the present disclosure provides a method, wherein providing a positive displacement portion includes attaching a detachable positive displacement pipette tip.

[0141]

[0140] In one aspect, the present disclosure provides a method, wherein the detachable positive displacement pipette tip is disposable.

[0142]

[0141] In one aspect, the present disclosure provides a method, wherein the linear displacement corresponds to the volume of the substance to be dispensed, and wherein the momentum of the volume of the substance causes the volume of the substance to be dispensed from the detachable positive displacement pipette tip and to separate from any remaining substance in the detachable positive displacement pipette tip.

[0143]

[0142] In one aspect, the present disclosure provides a method, wherein the positive displacement portion is actuated by the screw shaft with rotation means.

[0144]

[0143] In one aspect, the present disclosure provides a method, wherein the rotation of the screw shaft yields the linear displacement of a portion of the positive displacement portion.

[0145]

[0144] In one aspect, the present disclosure provides a method, where the rotation of the screw shaft yields the linear displacement of a plunger of the positive displacement portion.

[0146]

[0145] In one aspect, the present disclosure provides a method of contactless or noncontact dispensing of a volume of a substance, the method including: providing a dispensing assembly driven by a screw shaft with rotation means, wherein rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly; and providing a controller for the dispensing assembly configured to transmit a control signal for quickly accelerating rotation of the screw shaft, to yield the linear displacement, and for subsequently quickly decelerating rotation of the screw shaft, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0147]

[0146] In one aspect, the present disclosure provides a method of contactless or noncontact dispensing of a volume of a substance, the method including: providing a dispensing assembly driven by a screw shaft with rotation means, wherein rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly; and quickly accelerating rotation of the screw shaft to yield the linear displacement, and then quickly decelerating rotation of the screw shaft to stop further displacement such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0148]

[0147] In one aspect, the present disclosure provides a method of contactless or noncontact dispensing of a volume of a substance, the method including: providing a dispensing assembly driven by a screw shaft with rotation means, wherein an electromotor yields rotation of the screw shaft, and wherein rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly; and quickly accelerating, via the electromotor, rotation of the screw shaft to yield the linear displacement, and then quickly decelerating rotation of the screw shaft, via the electromotor, to stop further displacement; whereby momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0149]

[0148] In one aspect, the present disclosure provides a method of contactless or noncontact dispensing of a volume of a substance, the method including: providing a positive displacement dispensing assembly driven by a screw shaft with rotation means, wherein an electromotor yields rotation of the screw shaft; and providing a controller configured to determine a value of linear displacement corresponding to the volume of the substance to be dispensed, and configured to transmit a control signal for quickly accelerating, via the electromotor, rotation of the screw shaft to yield the linear displacement, and for quickly decelerating rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0150] III. With Reference to the Figures

[0151]

[0149] FIG. 1 is a flowchart of an example method of contactless or non-contact dispensing of a volume of a substance, the volume as low as on the order of hundreds of nanoliters, the method 100 including the following.

[0152]

[0150] At step 110, the method 100 includes providing a dispensing assembly driven by a screw shaft with rotation means, wherein rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly. In one aspect, the positive displacement dispensing portion is a positive displacement pipette tip. In another aspect, the positive displacement dispensing portion is selectively attachable and detachable and disposable.

[0153]

[0151] Returning generally to the method 100, and at step 120, the method 100 includes providing a controller for the dispensing assembly configured to transmit a control signal for quickly accelerating rotation of the screw shaft, to yield the linear displacement, and for subsequently quickly decelerating rotation of the screw shaft, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed. In one aspect, the linear displacement corresponds to the volume of the substance to be dispensed. In another aspect, the momentum of the volume of the substance causes the volume of the substance to be dispensed from the detachable positive displacement pipette tip, for example, and to separate from any remaining substance in the detachable positive displacement pipette tip.

[0154]

[0152] Turning now to FIG. 2, the figure is a flowchart of an example method of contactless or non-contact dispensing of a volume of a substance, the method 200 including the following.

[0155]

[0153] At step 210, the method 200 includes providing a dispensing assembly driven by a screw shaft with rotation means, wherein rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly.

[0156]

[0154] At step 220, the method 200 includes quickly accelerating rotation of the screw shaft to yield the linear displacement, and then quickly decelerating rotation of the screw shaft to stop further displacement such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0157]

[0155] FIG. 3 is a flowchart of an example method of contactless or non-contact dispensing of a volume of a substance, the method 300 including the following.

[0158]

[0156] At step 310, the method 300 includes providing a dispensing assembly driven by a screw shaft with rotation means, wherein an electromotor yields rotation of the screw shaft, and wherein rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly.

[0159]

[0157] At step 320, the method 300 includes quickly accelerating, via the electromotor, rotation of the screw shaft to yield the linear displacement, and then quickly decelerating rotation of the screw shaft, via the electromotor, to stop further displacement.

[0160]

[0158] At step 330, the method 300 whereby momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0161]

[0159] FIG. 4 is a flowchart of an example method of contactless or non-contact dispensing of a volume of a substance, the method 400 including the following.

[0162]

[0160] At step 410, the method 400 includes providing a positive displacement dispensing assembly driven by a screw shaft with rotation means, wherein an electromotor yields rotation of the screw shaft.

[0163]

[0161] At step 420, the method 400 includes providing a controller configured to determine a value of linear displacement corresponding to the volume of the substance to be dispensed, and configured to transmit a control signal for quickly accelerating, via the electromotor, rotation of the screw shaft to yield the linear displacement, and for quickly decelerating rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0164]

[0162] FIG. 5 is a flowchart of an example method of contactless or non-contact dispensing, the method 500 including the following.

[0163] At step 510, the method 500 includes providing a positive displacement dispensing assembly driven by a screw shaft with rotation means, wherein an electromotor yields rotation of the screw shaft.

[0165]

[0164] At step 520, the method 500 includes dispensing a volume of a substance via the positive displacement dispensing assembly, the dispensing comprising: selecting a value of linear displacement corresponding to the volume of the substance to be dispensed; and quickly accelerating, via the electromotor, rotation of the screw shaft to yield the linear displacement, and then quickly decelerating rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0166]

[0165] Other methods will be described herein, and will be discernible from the following detailed description of systems and components according to the present disclosure. For example, in another aspect, methods according to the present disclosure include loading the substance into the positive displacement dispensing assembly. Moreover, in another aspect, methods according to the present disclosure include aspirating the substance into the positive displacement dispensing assembly.

[0167]

[0166] FIG. 6 is a plan view of a schematic illustration of an example system for contactless or non-contact dispensing of a volume of a substance. In particular, in one aspect, a system 600 includes a dispensing assembly 601 having a linear drive 602 (best seen in FIGS. 7A and 7B), a linear guide 603 (best seen in FIGS. 7A and 7B), a motor control subsystem (not shown; best seen in FIG. 8), and a positive displacement dispensing portion 607. In this way, the dispensing assembly 601 is configured as a positive displacement dispensing assembly.

[0168]

[0167] In another aspect, as illustrated in FIG. 6, the linear drive 602 of the dispensing assembly 601 includes a linear guide 603 mechanically coupled to a screw shaft 613 and an electromotor 615 configured to rotate the screw shaft 613. The linear guide 603 includes a linear guide rail 611 (which is usually fixed but is not limited as such in this disclosure) and a cross joint structure 604 mechanically and movably coupled to the linear guide rail 611 and mechanically engaged to the screw shaft 613 and, therefore, driven by the electromotor 615 of the linear drive 602. In this way: (1) the dispensing assembly 601 is driven by the linear drive 602; (2) rotation of the screw shaft 613 yields linear displacement 617 (or yields substantially linear displacement) of at least a portion of the linear guide 603 of the dispensing assembly 601; and (3) at least a portion of the positive displacement dispensing portion 607 is actuated by the linear displacement 617 of at least a portion of the linear guide 603 (as illustrated: by the linear displacement 617 of the cross joint structure 604).

[0169]

[0168] In another aspect, as illustrated in FIG. 6, the dispensing assembly 601 also includes a metering rod 609 coupled to a positive displacement pipette tip 608. The positive displacement pipette tip 608 having a hollow outer part with a cylinder barrel and a conical end with a small annular orifice and a plunger with an end that seals against an interior surface of the hollow outer part (best seen in FIGS. 18-20). The metering rod 609 is engaged, on one end, to the cross joint structure 604 and, on the other end, to the plunger of the positive displacement pipette tip 608. As such, rotation of the screw shaft 613 yields linear displacement of the plunger of the positive displacement pipette tip 608 via displacement of the metering rod 609, and displacement of the metering rod 609 is constrained by the linear guide 603 of the dispensing assembly 601 (as illustrated: by the length of the linear guide rail 611 and / or by distance the cross joint structure 604 is allowed to move / displace along the linear guide rail 611). In this way: (1) the metering rod 609 is driven by the linear drive 602; (2) rotation of the screw shaft 613 yields linear displacement of the metering rod 609 and, consequently, yields linear displacement of the plunger of the positive displacement pipette tip 608; and (3) at least a portion of the positive displacement pipette tip 608 is actuated by rotation of the screw shaft 613.

[0170]

[0169] In another aspect, a controller of a motor control subsystem (not shown; best seen in FIG. 8) is configured to determine a value of linear displacement corresponding to the volume of the substance to be dispensed, and configured to transmit a control signal for quickly accelerating, via the electromotor, rotation of the screw shaft 613 to yield the linear displacement, and for quickly decelerating rotation of the screw shaft 613, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed. In this way, a volume measure of the substance is directly proportional to the linear displacement.

[0171]

[0170] In another aspect, displacement of the metering rod 609 is monitored by an encoder of a motor control subsystem (not shown; best seen in FIG. 8) is communicatively coupled to the controller (not shown). Moreover, methods of encoder closed loop motor control include field oriented control (FOC) and / or input shaping. Furthermore, the encoder(s) may include electrical encoders, both linear and / or rotary.

[0172]

[0171] FIG. 7A is a perspective view of an illustration of an example dispensing assembly in a first configuration, and FIG. 7B is a perspective view of an illustration of the example dispensing assembly of FIG. 7A in a second configuration, shown together to illustrate linear displacement 717 in the Z-direction. In particular, in one aspect, the system 700 includes as a positive displacement dispensing assembly 701 having a linear drive 702, a linear guide 703, a motor control subsystem (not shown; best seen in FIG. 8), and a positive displacement dispensing portion 707 having a detachable and disposable positive displacement pipette tip 708. The linear drive 702 includes a linear guide 703 mechanically coupled to a screw shaft 713 and an electromotor 715 configured to rotate the screw shaft 713. The linear guide 703 includes a linear guide rail 711 that is fixed and a cross joint structure 704 mechanically and movably coupled to the linear guide rail 711 and mechanically engaged to the screw shaft 713 and, therefore, driven by the electromotor 715 of the linear drive 702. Moreover, the positive displacement dispensing assembly 701 also includes a metering rod 709 engaged, on one end, to the cross joint structure 704 and, on the other end, to the plunger of the positive displacement pipette tip 708.

[0173]

[0172] In another aspect, as illustrated in FIGS. 7A and 7B, the cross joint structure704 has a slide / carriage end 721 and an engagement end 723, and is configured to mechanically engage with the screw shaft 713 such that rotation of the screw shaft 713 yields linear displacement of the cross joint structure 704 and, therefore, linear displacement of the metering rod 709 and, consequently, linear displacement of a plunger of the positive displacement pipette tip 708.

[0174]

[0173] In another aspect, as illustrated in FIGS. 7A and 7B, the slide / carriage end 721 of the cross joint structure 704 is configured to slide upon the linear guide rail 711, and the linear guide rail 711 (and / or the distance the slide / carriage end 721 is allowed to slide / displace along the linear guide rail 711) is configured to constrain the linear displacement 717 of the cross joint structure 704 and, therefore, the metering rod 709 and, consequently, the plunger of the positive displacement pipette tip 708. The linear guide rail 711 may incorporate ball screws and lead screws to facilitate the constraint function. Moreover, the shaft of the electromotor 715 is coupled to the screw shaft 713 of the linear drive 702, such that rotation of the electromotor 715 shaft drives rotation of the screw shaft 713 which drives the cross joint structure 704 up and down and which, ultimately, drives the plunger of the positive displacement pipette tip up and down, and to a stop.

[0175]

[0174] In another aspect, as illustrated in FIGS. 7A and 7B, the engagement end 723 of the cross joint structure 704 is configured to securely engage with the metering rod 709 such that the metering rod 79 is driven by the linear drive 702, such that rotation of the screw shaft 713 yields linear displacement of the metering rod 709 and, consequently, yields linear displacement of the plunger of the positive displacement pipette tip 708, and such that at least a portion of the positive displacement pipette tip 708 is actuated by rotation of the screw shaft 713.

[0176]

[0175] In another aspect, an outer part of a positive displacement pipette tip 708 may be made out of an injection molded thermoplastic polymer such as polypropylene or polyethylene. Moreover, an inner part of a positive displacement pipette tip 708 or plunger may be made similarly comprised.

[0177]

[0176] In another aspect, a plunger of a positive displacement pipette tip 708 may comprise a wire (electrically conductive or not) over molded to have one end with plunger head corresponding to an orifice, and a second end configured to interface with a metering rod, for example. The wire could facilitate a bike brake type system, operating in or through the metering rod, and configured to leverage the wire for more precise and accurate linear displacement of the plunger.

[0178]

[0177] In another aspect, with an end of a positive displacement pipette tip 708 dipped into a substance, a metering rod 709 is actuated by a linear drive 702, with an electromotor 715 rotating a screw shaft 713 to displace the metering rod 709 linearly upwards. A plunger of the positive displacement pipette tip 708 displaces relative to an outer part, and the substance is aspirated into the positive displacement pipette tip 708 (into the hollow outer part). An entire positive displacement dispensing assembly 701 then moves up in a Z direction such that the positive displacement pipette tip 708 is withdrawn from the substance. To create droplets, the metering rod 709 is then driven in the opposite direction to move the plunger down within the positive displacement pipette tip 708, expelling a droplet of the substance. By driving the electromotor 715 at high acceleration and deceleration, a volume or droplet of the substance is expelled at sufficient velocity to cause clean separate. A volume measure of the volume of the substance is directly proportional to the linear displacement of the plunger. By using encoder feedback of a motor control subsystem, the linear displacement can be executed with sufficient precision, accuracy, and speed to create droplets with volumes as low on the order of hundreds of nanoliters consistently and at high drop frequency (on the order of about 10.0 drops per second).

[0179]

[0178] FIG. 8 is a plan view of a schematic illustration of an example dispensing assembly of a system for contactless or non-contact dispensing of a volume of a substance. In particular, in one aspect, a system 800 includes a dispensing assembly 801 having a linear drive 802, a linear guide 803, a motor control subsystem 806, a positive displacement dispensing portion 807 having a detachable and disposable positive displacement pipette tip 808, and a metering rod 809.

[0180]

[0179] In another aspect, the linear drive 802 includes a linear guide 803 mechanically coupled to a screw shaft 813, and an electromotor 815 in the form of a stepper motor configured to rotate the screw shaft 813, as well as a magnetic strip 818. The linear guide 803 includes a linear guide rail 811 and a cross joint structure 804 mechanically and movably coupled to the linear guide rail 811 and mechanically engaged to the screw shaft 813.

[0181]

[0180] In another aspect, the metering rod 809 is engaged, on one end, to the cross joint structure 804 and, on the other end, to the plunger of the positive displacement pipette tip 808. The cross joint structure 804 has a slide / carriage end 821 and an engagement end 823, and is configured to mechanically engage with the screw shaft 813 such that rotation of the screw shaft 813 yields linear displacement of the cross joint structure 804 and, therefore, linear displacement of the metering rod 809 and, consequently, linear displacement of a plunger of the positive displacement pipette tip 808.

[0182]

[0181] In another aspect, as illustrated in FIG. 8, the motor control subsystem includes a controller 831 in the form of a microcontroller, an encoder 833 configured as an incremental optical rotary encoder, a current sensor 835, a motor driver 837 configured for a stepper motor, a magnetic encoder 839 configured as a linear magnetic encoder.

[0183]

[0182] In another aspect, to control the electromotor 815, a motor control algorithm is programmed in the controller 831. This algorithm consists of 2 main parts: a trajectory generator; and a motion controller. The trapezoidal motion profile generates the desired position, velocity, and acceleration commands. More specifically, the motion state with the trapezoidal shape is the velocity. It consists of 3 phases: acceleration, constant velocity, and deceleration. The inputs to this trajectory generator are the desired position pend, maximum velocity vmax, and maximum acceleration amax. In this case, in one aspect, this motion profile is shown more clearly in FIG. 9.

[0184]

[0183] FIG. 9 is a chart of an example motion profile. In particular, in one aspect, the motion profile provides a trapezoidal motion profile according to the present disclosure for generating desired position, velocity, and acceleration commands. However, if the desired maximum acceleration value amaxis too large, the maximum velocity vmaxmay not reach the desired input value by the time it has reached the desired end position pend. In this case, in one aspect, a triangular motion profile may be needed and is shown more clearly in FIG. 10.

[0185]

[0184] FIG. 10 is a chart of an example motion profile. In particular, in one aspect, the motion profile provides a triangular motion profile according to the present disclosure for generating desired position, velocity, and acceleration commands.

[0186]

[0185] Returning generally to FIG. 8, in one aspect, to ensure the electromotor 815 moves according to our desired trajectory, etc., a motion control algorithm based on a modified FOC algorithm is implemented. In this case, in one aspect, a modified FOC algorithm may be needed and is shown more clearly in FIG. 11.

[0187]

[0186] FIG. 11 is a plan view of a schematic illustration of a modified FOC algorithm. In particular, in one aspect, the motion controller includes two (2) main control loops: a position loop; and a current loop. The position loop ensures that the stepper motor angular position moves according to the position command. The output of this position loop is used for the current loop command.

[0188]

[0187] In another aspect, as illustrated in FIG. 11, a proportional-integral-derivative (PID) feedback controller is implemented. For position feedback, the PID feedback controller can either use position measurement from the rotary encoder or the linear encoder. These encoder measurements are then converted into units of stepper motor steps. The error between the position command and the encoder data is then fed into the PID controller. However, the PID controller response may not be fast enough to follow a trapezoidal motion profile command.

[0189]

[0188] In another aspect, as illustrated in FIG. 11, to achieve a faster response, feedforward control is also utilized. This feedforward control consists of: velocity feedforward; acceleration feedforward; and stiction impulse feedforward. The velocity and acceleration feedforward are the velocity and acceleration command multiplied by some gains (Vff and Aff, respectively). The velocity feedforward is used to compensate for the stepper motor’s damping coefficient, while the acceleration feedforward is used to compensate for the stepper motor’s moment of inertia.

[0190]

[0189] In another aspect, as illustrated in FIG. 11, when the motor transitions from rest to moving, a large amount of friction may resist the motor’s movement. This friction is called static friction (stiction). To compensate for this stiction, the stiction impulse feedforward is implemented. It consists of an impulse function where a specified amount of current is applied within a duration of microseconds.

[0191]

[0190] In another aspect, as illustrated in FIG. 11, stepper motors have some torque that resists its rotor’s motion. This resisting torque is called cogging torque which is caused by the attraction between the rotor’s permanent magnet and the stator salient portions. This cogging torque is also dependent on the rotor’s position. To compensate for this cogging torque, a mapping from the rotor’s position to the cogging current is applied. This mapping compensates for the cogging torque present at the particular rotor position by applying the mapped cogging current.

[0192]

[0191] In another aspect, as illustrated in FIG. 11, the current loop ensures that the stepper motor generates the desired torque by regulating the current flowing through the stepper motor coils. The output of this current loop is the pulse width modulation (PWM) duty cycle of the stepper motor driver.

[0193]

[0192] In another aspect, as illustrated in FIG. 11, between the output of the position loop and the current loop command, a few components are used to filter the current loop command: a cascaded biquad filters; and a I2T current limiter. The cascaded biquad filter is a type of digital filter analogous to an analog filter. In this case, a series of second-order low pass filters are implemented. This filter has the benefit of filtering out noise from the position loop output due to noise from the encoder derivative. In another aspect, the I2T current limiter limits the commanded current such that the stepper motor coil does not overheat due to overcurrent. Moreover, it estimates the energy being dissipated by the motor coil. If the estimated I2T value exceeds the setpoint defined by the peak, continuous, and time limits, then the commanded current is clamped to the continuous current limit.

[0194]

[0193] In another aspect, as illustrated in FIG. 11, at the core of the FOC algorithm are two proportional integral (PI) current loop controllers which control the d-axis and q-axis currents (Id and Iq, respectively). The measured current from each coil (la and lb) and the rotor electrical angle are transformed into the direct (d)-axis and quadrature (q)-axis currents (Id and Iq, respectively) using the Park transform. Id contributes to the magnetic field, while Iq contributes to the torque. With this transformation, the amount of current contributing to the actual torque is optimized by setting the Id setpoint to zero, while the Iq controller receives the setpoint from the position loop output. In another aspect, to control the stepper motor, the PWM duty cycle of each coil is set. On the other hand, the output duty cycle of these two PI current loop controllers are still in the d and q-axis domain and, therefore, to convert from the d and q-axis controller output into the duty cycle of each coil, the inverse Park transform is used. This transformation transforms the d and q-axis output duty cycle (Vd and Vq, respectively) and the rotor electrical angle into the equivalent A and B coil duty cycles (Va and Vb, respectively). As such, the FOC algorithm allows for control of the nonlinear coil currents (la, lb, ... ) of multi-phase motors by only controlling fewer variables (Id and Iq) through the use of simple linear PI controllers.

[0195]

[0194] In another aspect, in feedback control, measurements from the current sensor (to measure the stepper motor coils’ currents) and incremental rotary encoder (to measure the stepper motor rotor angular position) are utilized. These measurements are fed back to the commanded variable and the error between the commanded and measured variable is taken to be processed by a variant of a proportional-integral-derivative (PID) controller.

[0196]

[0195] In another aspect, in feedforward control, the trajectory obtained from the trapezoidal motion profile is fed forward to the current loop command without the need for sensor data.

[0197]

[0196] In another aspect, to dispense the desired volume, the downwards displacement that the plunger needs to move is simply the desired volume divided by the bore area of the positive displacement tip. Moreover, how fast the plunger moves is defined by the maximum velocity and acceleration of the trapezoidal motion profile. These translational motion variables are then converted into their equivalent stepper motor steps unit as the commanded trajectory for the stepper motor.

[0198]

[0197] However, in another aspect, for lower volumes (volumes < about 0.10 pL), a more complex motion profile may be required. In this case, a sequence of trapezoidal motion profiles are executed. First, a retract upwards motion profile is executed and a delay is added to ensure that the liquid oscillations reach steady state. Then a downwards drop motion profile is executed with the displacement equivalent to the retract displacement and the desired volume. After the downwards drop, a prescribed overshoot may be added to ensure that the liquid is dispensed out of the tip. In this case, in one aspect, an example of these sequential trapezoidal motion profiles is shown more clearly in FIG. 12.

[0199]

[0198] FIG. 12 is a chart of an example motion profile. In particular, in one aspect, the motion profile provides a sequential trapezoidal motion profile according to the present disclosure for generating desired position, velocity, and acceleration commands. The following, shown in Table 1, are examples of the estimated velocity, acceleration, and deceleration commands from the linear encoder, to successfully dispense various volumes.

[0200] Table 1 : Estimated velocity, acceleration, and deceleration from the linear encoder to successfully dispense various volumes In another aspect, as is illustrated in the examples of Table 1, retraction may be performed only for the lowest volume ranges. For example, in another aspect, for volumes as low as about 0.1 pL, the move distance can be so short that the velocity is difficult to reach in that distance. The purpose of the retract displacement is to increase the move distance for the dispense process (without adding to the dispensed volume), such that a velocity can be reached to lead to a preferred quality of droplet separation. In another aspect, as is illustrated in the examples of Table 1 , certain table cells are left empty as retraction may not apply for the listed volume ranges; however, retraction may nonetheless be implemented, according to the teachings presented herein for other volumes, for purposes of establishing different quality or types of droplet separation or dispensing.

[0201]

[0199] FIG. 13 is a chart of example position data. In particular, in one aspect, the position data is obtained from the linear encoder logs and their backward difference derivatives.

[0202]

[0200] FIG. 14 is a chart of example velocity data. In particular, in one aspect, the velocity data is obtained from the linear encoder logs and their backward difference derivatives. In another aspect, the drop velocity is obtained by taking the peak point as shown in FIG. 14.

[0203]

[0201] FIG. 15 is a chart of example acceleration data. In particular, in one aspect, the acceleration data is obtained from the linear encoder logs and their backward difference derivatives. In another aspect, the drop acceleration and deceleration are obtained by taking the peak and trough points as shown in FIG. 15.

[0204]

[0202] Returning generally to FIG. 11, in one aspect, motion parameter data is obtained from a Scoring PID transient log analyzer which takes the encoder data and performs the backward difference differentiation to obtain the estimated actual velocity and acceleration, instead of the commanded velocity and acceleration.

[0205]

[0203] FIG. 16 is a front view of an illustration of an example dispensing assembly of a system for contactless or non-contact dispensing of a volume of a substance in a first configuration. In particular, in one aspect, a system 1600 includes a dispensing assembly 1601 having a linear drive 1602, a linear guide 1603, a detachable and disposable positive displacement pipette tip 1608, a metering rod 1609, an encoder 1633 for a motor control subsystem, and a linear magnetic encoder 1639 for the motor control subsystem. The linear drive 1602 includes a linear guide 1603 mechanically coupled to a screw shaft 1613 and an electromotor 1615 configured to rotate the screw shaft 1613, as well as a magnetic strip 1618. The linear guide 1603 includes a linear guide rail 1611 and a cross joint structure 1604 mechanically and movably coupled to the linear guide rail 1611 and mechanically engaged to the screw shaft 1613.

[0206]

[0204] In another aspect, the metering rod 1609 is engaged on one end, to the cross joint structure 1604 and, on the other end, to the plunger of the positive displacement pipette tip 1608. The cross joint structure 1604 is configured to mechanically engage with the screw shaft 1613 such that rotation of the screw shaft 1613 yields linear displacement of the cross joint structure 1604 and, therefore, linear displacement of the metering rod 1609 and, consequently, linear displacement of a plunger of the positive displacement pipette tip 1608 to dispense a volume or droplet of a substance.

[0207]

[0205] FIG. 17A is a magnified perspective view of an illustration of an example system for contactless or noncontact positive displacement dispensing in a first configuration; FIG. 17B is a magnified perspective view of an illustration of the example system for contactless or noncontact positive displacement dispensing of FIG. 17A in a second configuration; and FIG. 17C is a magnified perspective view of an illustration of the example system for contactless or noncontact positive displacement dispensing of FIG. 17A in a third configuration. In particular, in one aspect, a system 1700 includes eight (8) individual dispensing assemblies including the dispensing assembly 1701a through the dispensing assembly 1701h. Each dispensing assembly includes a positive displacement dispensing portion (therefore: the positive displacement dispensing portion 1707a through the positive displacement dispensing portion 1707h) having a positive displacement pipette tip (therefore: the positive displacement dispensing pipette tip 1708a through the positive displacement dispensing pipette tip 1708h).

[0208]

[0206] In another aspect, as illustrated in FIGS. 17A and 17B and 17C, the system 1700 is configured transition from the first configuration through the section configuration through the third configuration, and as described herein, to efficiently and effectively dispensing volumes or droplets of a substance. In another aspect, each of the dispensing assemblies of the system 1700 is configured to dispensing ten (10) droplets per second.

[0209]

[0207] FIG. 18 is a perspective exploded view of an illustration of an example positive displacement pipette tip, according to the present disclosure. In particular, in one aspect, a positive displacement pipette tip 1808 includes a pipette tip component or hollow outer part 1861 and a plunger 1863. The hollow outer part 1861 includes an interface portion 1881, a pipette tip body 1882, and a tapered tip 1883 at the distal end (or the dispense end). The interface portion 1881 is configured as an open barrel type of structure leading to the pipette tip body 1882 and has an inner wall 1884. The interface portion 1881 is fitted to, for example, a mating component (not shown) of a dispensing assembling (best seen in FIGS. 17A-17C) according to the present disclosure. The hollow outer part 1861 is formed, for example, of polymeric material.

[0210]

[0208] In another aspect, as illustrated in FIG. 18, the plunger 1863 is configured to be inserted into hollow outer part 1861. The plunger 1863 includes a plunger upper portion 1891, a plunger centering portion 1892, and a plunger tip 1893 that includes a distal tip portion 1894. The plunger upper portion 1891 is fitted to, for example, a mating component (not shown) of a dispensing assembly (not shown) for aspirating and / or dispensing liquids using the positive displacement pipette tip 1808. The plunger 1863 is formed, for example, of polymeric material, and the polymer used to form the plunger 1863 may be the same as or different from the polymer used to form the hollow outer part 1861.

[0211]

[0209] FIG. 19 is a front, cross section view of an illustration of an example positive displacement pipette tip, according to the present disclosure. In particular, in one aspect, a positive displacement pipette tip 1908 includes a hollow outer part 1961 and a plunger 1963. The hollow outer part 1961 includes an interface portion 1981, a pipette tip body 1982, and a tapered tip 1983 at the distal end (or the dispense end). The interface portion 1981 has an inner wall 1984. A fluid channel 1985 runs along the length of the pipette tip body 1982. There is an opening 1986 at the distal end of the fluid channel 1985 through which a substance may be aspirated and / or dispensed. Additionally, the distal end of the pipette tip body 1982 that leads to the opening 1986 has a tapered tip 1983. Further, a receptacle 1987 (or cavity) is provided at the lower portion of the interface portion 1981 of the hollow outer part 1961.

[0212]

[0210] In another aspect, as illustrated in FIG. 19, the plunger 1963 includes a plunger upper portion 1991, a plunger centering portion 1992, and a plunger tip 1993 that includes a distal tip portion 1994 having a rounded end 1995. The plunger centering portion 1992 is fitted into the plunger stop receptacle 1987 (or cavity) of the interface portion 1981 of the hollow outer part 1961, wherein the plunger stop receptacle 1987 (or cavity) is configured to receive the plunger centering portion 1992 of the plunger 1963. The plunger centering portion 1992 acts as a “stopping” feature of the plunger 1963. Moreover, the plunger tip 1993 and distal tip portion 1994 of the plunger 1963 are fitted into the fluid channel 1985 of the pipette tip body 1982 of the hollow outer part 1961. Furthermore, the distal tip portion 1994 of the plunger tip 1993 is configured to mate and seal with the opening 1986 and the tapered tip 1983 at the distal end of the fluid channel 1985 of the hollow outer part 1961. Furthermore, the rounded end 1995 is configured to seal into the opening 1986 of the fluid channel 1985.

[0213]

[0211] In another aspect, as illustrated in FIG. 19, a set of vertical inner wall features 1988 are situated along the inner wall 1984 of the interface portion 1881, and are configured to increase the friction force for holding the positive displacement pipette tip 1908 in place while potentially reducing the given force.

[0214]

[0212] FIG. 20 is a magnified, cross section view of an illustration of an example top portion of a positive displacement pipette tip, according to the present disclosure. In particular, in one aspect, a positive displacement pipette tip 2008 includes a hollow outer part 2061 and a plunger 2063, wherein the hollow outer part 2061 includes an interface portion 2081 and a pipette tip body 2082. The interface portion 2081 has an inner wall 2084 with a set of vertical inner wall features 2088, in particular, in one example, eight (8) vertical inner wall features 2088 configured as a raised or protruding vertical lines. The set of vertical inner wall features 2088 is provided to assist clamping or mating the interface portion 2081 to a mating component of a broader dispensing assembly (not shown).

[0215]

[0213] In another aspect, as illustrated in FIG. 20, a fluid channel 2085 runs along the length of the pipette tip body 2082. A receptacle 2087 (or cavity) is provided at the lower portion of the interface portion 2081 of the hollow outer part 2061.

[0216]

[0214] In another aspect, as illustrated in FIG. 20, the plunger 2063 includes a plunger upper portion 2091, a plunger centering portion 2092, and a plunger tip 2093. The plunger centering portion 2092 is fitted into the plunger stop receptacle 2087 (or cavity) of the interface portion 2081 of the hollow outer part 2061.

[0215] In another aspect, as illustrated in FIG. 20, the plunger 2063 further includes a set of vertical outer wall features 2096 along the outer wall of the plunger upper portion 2091. In one example, the plunger 2063 includes eight (8) vertical outer wall features 2096 configured as raised or protruding vertical lines. The set of vertical outer wall features 2096 is provided to assist clamping or mating the plunger upper portion 2091 of the plunger 2063 to metering rod (best seen in FIGS. 21 and 22). For example, the set of vertical outer wall features 2096 are configured to increase the friction force for holding the plunger 2063 in place while potentially reducing the given force.

[0217]

[0216] FIG. 21 is a magnified, perspective view of an illustration of an example collet chuck portion of a metering rod, according to the present disclosure. In particular, in one aspect, a metering rod 2109 includes a plunger collet portion 2170 for use with a plunger (not shown; best seen in FIG. 22). The plunger collet portion 2170 includes, for example, a shaft portion 2171, and at one end of the shaft portion 2171 is defined a plunger collet mechanism 2173.

[0218]

[0217] FIG. 22 is a magnified, perspective view of an illustration of an example collet chuck portion of a metering rod engaged to a plunger of a positive displacement pipette tip, according to the present disclosure. In particular, in one aspect, a metering rod 2209 includes a plunger collet portion 2270 having a shaft portion 2271, and a collet chuck mechanism 2273 configured to fit around, and securely hold, the plunger upper portion 2291 of a plunger 2263.

[0219]

[0218] In another aspect, as illustrated in FIG. 22, the plunger collet portion 2270 is a feature component of a zero-insertion force pipette plunger clamping mechanism. The collet chuck mechanism 2273 of the plunger collet portion 2270 is designed to clamp around any member inside the chuck. For example, the collet chuck mechanism 2273 is a segmented band or sleeve for fitting around the plunger upper portion 2291 of the plunger 2263. The collet chuck mechanism 2273 is designed to expand and lock against the outside wall of the plunger upper portion 2291 of the plunger 2263. That is, when in the locked position, the collet chuck mechanism 2273 clamps onto the plunger upper portion 2291 at the set of vertical outer wall features 2296 of the plunger upper portion 2291 of the plunger 2263.

[0220] IV. Embodiments

[0219] Clause 1. A method of contactless or non-contact dispensing of a volume of a substance, the method comprising: providing a dispensing assembly driven by rotation of a screw shaft, wherein the rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly; and providing a controller for the dispensing assembly configured to transmit a control signal for quickly accelerating the rotation of the screw shaft, to yield the linear displacement, and for subsequently quickly decelerating the rotation of the screw shaft, to stop further displacement, such that momentum of a volume of a substance causes the volume of the substance to be dispensed.

[0221]

[0220] Clause 2. A method of contactless or non-contact dispensing of a volume of a substance, the method comprising: providing a dispensing assembly driven by rotation of a screw shaft, wherein the rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly; and quickly accelerating the rotation of the screw shaft to yield the linear displacement, and then quickly decelerating the rotation of the screw shaft to stop further displacement such that momentum of a volume of a substance causes the volume of the substance to be dispensed.

[0222]

[0221] Clause 3. A method of contactless or non-contact dispensing of a volume of a substance, the method comprising: providing a dispensing assembly driven by rotation of a screw shaft, wherein an electromotor yields the rotation of the screw shaft, and wherein the rotation of the screw shaft yields linear displacement of a positive displacement portion of the dispensing assembly; and quickly accelerating, via the electromotor, the rotation of the screw shaft to yield the linear displacement, and then quickly decelerating the rotation of the screw shaft, via the electromotor, to stop further displacement; whereby momentum of a volume of a substance causes the volume of the substance to be dispensed.

[0223]

[0222] Clause 4. A method of contactless or non-contact dispensing of a volume of a substance, the method comprising: providing a positive displacement dispensing assembly driven by rotation of a screw shaft, wherein an electromotor yields the rotation of the screw shaft; and providing a controller configured to determine a value of linear displacement corresponding to a volume of a substance to be dispensed, and configured to transmit a control signal for quickly accelerating, via the electromotor, the rotation of the screw shaft to yield the linear displacement, and for quickly decelerating the rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0224]

[0223] Clause 5. A method of contactless or non-contact dispensing, the method comprising: providing a positive displacement dispensing assembly driven by rotation of a screw shaft, wherein an electromotor yields the rotation of the screw shaft; and dispensing a volume of a substance via the positive displacement dispensing assembly, the dispensing comprising: selecting a value of linear displacement corresponding to the volume of the substance to be dispensed; and quickly accelerating, via the electromotor, the rotation of the screw shaft to yield the linear displacement, and then quickly decelerating the rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0225]

[0224] Clause 6. The method of clause 5, wherein the rotation of the screw shaft yields the linear displacement, or substantially linear displacement, of a portion of the positive displacement dispensing assembly.

[0226]

[0225] Clause 7. The method of clause 6, wherein the portion of the positive displacement dispensing assembly is a metering rod.

[0227]

[0226] Clause 8. The method of clause 5, further comprising loading the substance into the positive displacement dispensing assembly.

[0228]

[0227] Clause 9. The method of clause 5, further comprising aspirating the substance into the positive displacement dispensing assembly.

[0229]

[0228] Clause 10. The method of clause 5, wherein providing the positive displacement dispensing assembly comprises providing a positive displacement portion.

[0230]

[0229] Clause 11. The method of clause 10, wherein providing the positive displacement portion comprises attaching a detachable positive displacement portion.

[0231]

[0230] Clause 12. The method of clause 10, wherein providing the positive displacement portion comprises attaching a detachable positive displacement pipette tip.

[0231] Clause 13. The method of clause 12, wherein the detachable positive displacement pipette tip is disposable.

[0232]

[0232] Clause 14. The method of clause 13, wherein the linear displacement corresponds to the volume of the substance to be dispensed, and wherein the momentum of the volume of the substance causes the volume of the substance to be dispensed from the detachable positive displacement pipette tip and to separate from any remaining substance in the detachable positive displacement pipette tip.

[0233]

[0233] Clause 15. The method of clause 10, wherein the positive displacement portion is actuated by the rotation of the screw shaft.

[0234]

[0234] Clause 16. The method of clause 15, wherein the rotation of the screw shaft yields the linear displacement of a portion of the positive displacement portion.

[0235]

[0235] Clause 17. The method of clause 16, where the rotation of the screw shaft yields the linear displacement of a plunger of the positive displacement portion.

[0236]

[0236] Clause 18. A system for contactless or non-contact dispensing of a volume of a substance, the system comprising: a dispensing assembly driven by rotation of a screw shaft; an electromotor configured to rotate the screw shaft; and a controller configured to determine a value of linear displacement corresponding to a volume of a substance to be dispensed, and configured to transmit a control signal for quickly accelerating, via the electromotor, the rotation of the screw shaft to yield the linear displacement, and for quickly decelerating the rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

[0237]

[0237] Clause 19. The system of clause 18, wherein the dispensing assembly comprises a positive displacement dispensing portion.

[0238]

[0238] Clause 20. The system of clause 19, wherein the positive displacement dispensing portion is driven by the rotation of the screw shaft.

[0239]

[0239] Clause 21. The system of clause 19, wherein the positive displacement dispensing portion comprises a positive displacement pipette tip and a metering rod.

[0240] Clause 22. The system of clause 21, wherein the positive displacement pipette tip comprises a hollow outer part with a cylinder barrel and a conical end with a small annular orifice, and a corresponding piston or a corresponding plunger, with an end that seals against an interior surface of the hollow outer part.

[0240]

[0241] Clause 23. The system of clause 22, where the rotation of the screw shaft yields linear displacement of the corresponding piston or the corresponding plunger of the positive displacement pipette tip, and wherein a measure of volume of the volume of the substance is directly proportional to the linear displacement.

[0241]

[0242] Clause 24. The system of clause 21, wherein the metering rod is clamped on one end to a piston or a plunger of the positive displacement pipette tip.

[0242]

[0243] Clause 25. The system of clause 24, wherein displacement of the metering rod is constrained by a linear guide of the dispensing assembly.

[0243]

[0244] Clause 26. The system of clause 25, wherein the displacement of the metering rod is monitored by an encoder communicatively coupled to the controller.

[0244]

[0245] It should be emphasized that the above-described embodiments of the present disclosure are merely possible examples of implementations set forth for a clear understanding of the principles of the disclosure. Many variations and modifications may be made to the abovedescribed embodiment(s) without departing substantially from the spirit and principles of the disclosure. All such modifications and variations are intended to be included herein within the scope of this disclosure and protected by the following claims.

Claims

CLAIMSTherefore, the following is claimed:

1. A method of contactless or non-contact dispensing, the method comprising: providing a positive displacement dispensing assembly driven by rotation of a screw shaft, wherein an electromotor yields the rotation of the screw shaft; and dispensing a volume of a substance via the positive displacement dispensing assembly, the dispensing comprising: selecting a value of linear displacement corresponding to the volume of the substance to be dispensed; and quickly accelerating, via the electromotor, the rotation of the screw shaft to yield the linear displacement, and then quickly decelerating the rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

2. The method of claim 1, wherein the rotation of the screw shaft yields the linear displacement, or substantially linear displacement, of a portion of the positive displacement dispensing assembly.

3. The method of claim 2, wherein the portion of the positive displacement dispensing assembly is a metering rod.

4. The method of claim 1 , further comprising loading the substance into the positive displacement dispensing assembly.

5. The method of claim 1 , further comprising aspirating the substance into the positive displacement dispensing assembly.

6. The method of claim 1, wherein providing the positive displacement dispensing assembly comprises providing a positive displacement portion.

7. The method of claim 6, wherein providing the positive displacement portion comprises attaching a detachable positive displacement portion.

8. The method of claim 6, wherein providing the positive displacement portion comprises attaching a detachable positive displacement pipette tip.

9. The method of claim 8, wherein the detachable positive displacement pipette tip is disposable.

10. The method of claim 9, wherein the linear displacement corresponds to the volume of the substance to be dispensed, and wherein the momentum of the volume of the substance causes the volume of the substance to be dispensed from the detachable positive displacement pipette tip and to separate from any remaining substance in the detachable positive displacement pipette tip.

11. The method of claim 6, wherein the positive displacement portion is actuated by the rotation of the screw shaft.

12. The method of claim 11, wherein the rotation of the screw shaft yields the linear displacement of a portion of the positive displacement portion.

13. The method of claim 12, where the rotation of the screw shaft yields the linear displacement of a plunger of the positive displacement portion.

14. A system for contactless or non-contact dispensing of a volume of a substance, the system comprising: a dispensing assembly driven by rotation of a screw shaft; an electromotor configured to rotate the screw shaft; and a controller configured to determine a value of linear displacement corresponding to a volume of a substance to be dispensed, and configured to transmit a control signal for quickly accelerating, via the electromotor, the rotation of the screw shaft to yield the lineardisplacement, and for quickly decelerating the rotation of the screw shaft, via the electromotor, to stop further displacement, such that momentum of the volume of the substance causes the volume of the substance to be dispensed.

15. The system of claim 14, wherein the dispensing assembly comprises a positive displacement dispensing portion.

16. The system of claim 15, wherein the positive displacement dispensing portion is driven by the rotation of the screw shaft.

17. The system of claim 15, wherein the positive displacement dispensing portion comprises a positive displacement pipette tip and a metering rod.

18. The system of claim 17, wherein the positive displacement pipette tip comprises a hollow outer part with a cylinder barrel and a conical end with a small annular orifice, and a corresponding piston or a corresponding plunger, with an end that seals against an interior surface of the hollow outer part.

19. The system of claim 18, where the rotation of the screw shaft yields linear displacement of the corresponding piston or the corresponding plunger of the positive displacement pipette tip, and wherein a measure of volume of the volume of the substance is directly proportional to the linear displacement.

20. The system of claim 17, wherein the metering rod is clamped on one end to a piston or a plunger of the positive displacement pipette tip.

21. The system of claim 20, wherein displacement of the metering rod is constrained by a linear guide of the dispensing assembly.

22. The system of claim 21, wherein the displacement of the metering rod is monitored by an encoder communicatively coupled to the controller.

Images