Automated bioprocessing systems

Abstract

An engagement feature for manipulation by a robotic device in a bioprocessing system, the robotic device having concentrically movable jaws, the engagement feature comprising: at least three lobes extending radially outward from a central hub, and at least three engagement portions, each engagement portion located between an adjacent pair of lobes; wherein each engagement portion is configured to be engaged by a respective jaw of the robotic device via at least two separate contact points.

Description

[0001] AUTOMATED BIOPROCESSING SYSTEMS

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to bioprocessing systems, and in particular to automation of bioprocessing systems with robotic devices.

[0004] BACKGROUND

[0005] Bioprocessing operations such as cell therapy typically involve a large number of steps. For example, in a CAR-T process, the method may involve a sequence of steps starting with a cryopreserved leukopak, thawing, washing to remove DMSO, enrichment of T cells, activation, transduction, expansion, concentration, formulation fill-finish into an IV bag, and cryopreservation, with several intermediate washing steps. Thus, there is a need to transfer fluid and cell material between a plurality of different containers (e.g., through tubing), with different processes being carried out on fluid and cell material in different containers. To date, these processes and transfers are usually performed with labour-intensive manual processes.

[0006] There is a desire to at least partially automate bioprocessing operations to eliminate these time-consuming manual processes. However, manipulation of devices in bioprocessing systems requires precise manipulation. If there is any inaccuracy in the positioning of the devices (and any connecting tubes or containers), then there is a risk that the processing may not be carried out properly. Due to the variety in the size and shape of bioprocessing containers and consumable elements, it is particularly difficult to identify, engage and manipulate such containers and consumable elements in a consistent and repeatable way. Furthermore, some of these containers and consumables can be very heavy, with weights of more than 5kg or 10kg, so conventional robotic grippers may struggle to securely engage such elements. Therefore, there is a need for devices and systems that enable the position of a device in a bioprocessing system to be precisely controlled by a robotic device.SUMMARY OF INVENTION

[0007] According to a first aspect of the present invention there is provided an engagement feature for manipulation by a robotic device in a bioprocessing system, the robotic device having concentrically movable jaws, the engagement feature comprising: at least three lobes extending radially outward from a central hub, and at least three engagement portions, each engagement portion located between an adjacent pair of lobes; wherein each engagement portion is configured to be engaged by a respective jaw of the robotic device via at least two separate contact points.

[0008] Advantageously, by having (at least) three engagement portions that each contact a respective jaw in at least two places, the engagement feature is secured via (at least) six contact points (e.g., around its perimeter). This ensures that the engagement feature is picked up in a precisely predetermined orientation in space. The lobes and central hub are preferably formed from the same piece of material (e.g., a plate). Alternatively, the lobes may be separate pieces of material that are attached to the central hub.

[0009] As used herein, the term “robotic device” refers to any device that is configured to autonomously engage the engagement feature. The robotic device may have a robotic arm and an end effector mounted on the end of the robotic arm, where the end effector comprises the jaws for engaging the engagement feature. The term “end effector” preferably refers to any part of an automated system that is specifically configured to engage the engagement feature. However, it will be appreciated that other configurations of robotic device exist, such as x-y robots, or cable-based robots (which may have end effectors for engaging the engagement feature).

[0010] As used herein, the term “contact point” refers to a position where the jaw touches the engagement feature during use. Each of the engagement portions contacts a single one of the jaws in at least two separate locations. The separate locationsare preferably on distinct positions on the surface of the engagement portions, such as different positions around a perimeter of the engagement feature.

[0011] Preferably, the engagement feature is rotationally symmetric. The rotational symmetry may be defined relative to an axis extending through the central hub in a direction perpendicular to the radial direction. For example, the engagement feature may have three-fold rotational symmetry (e.g., where there are three lobes). Alternatively, the engagement feature may have two-fold rotational symmetry or may have a different rotational symmetry (such as four-fold, five-fold or more). Advantageously, this enables the robotic device to engage the engagement feature at a number of different angles.

[0012] The engagement feature may have only three lobes, thereby defining three engagement portions. Advantageously, the use of only three lobes minimized the number of jaws that are required on the robotic device, whilst still ensuring that the robotic device can consistently and robustly engage the engagement feature. Alternatively, the robotic device may have four or more jaws that each corresponding to an engagement portion. While this may offer redundancy and further security to the engagement of the engagement feature, it may lead to several positions where the engagement feature can be held by the robotic device, which may impact consistency of subsequent operations. Furthermore, having three lobes and three jaws reduces the number of parts and thus the manufacturing and operational complexity.

[0013] Preferably, the engagement portions comprise a curved edge corresponding to a shape of each jaw. Each engagement portion may have a concave shape. Each jaw may have a convex shape. The curved edge may be configured to contact the jaw substantially continuously along the curved edge. Advantageously, the engagement portions may contact a (continuous) plurality of points on each jaw. The continuous plurality of contact points includes the at least two contact points discussed above. This further increases the reliability of the engagement and positioning of the engagement feature by the robotic device. Additionally, by providing contact at a plurality of positions, the pressure experienced at anyindividual position is reduced, thereby decreasing wear on the engagement feature and the jaws.

[0014] The curved edge may have a substantially constant radius of curvature. For example, the engagement portion may have a shape corresponding to an arc of a circle. Advantageously, this may allow the engagement portion to remain in continuous contact with a jaw having a circular shape. Alternatively, other curved shapes may be used for the curved edge.

[0015] Preferably, the engagement feature is formed from a plate having a substantially constant thickness. Advantageously, the engagement feature may be simple to manufacture, such as by a machining operation. The lobes may be formed around the perimeter of the plate. The lobes and engagement portions may define the perimeter of the plate. The plate may be attached at or near its central position to the bioprocessing device.

[0016] Preferably, the plate has a bevelled edge along at least the engagement portions. Advantageously, this may enable the engagement portions to fit within a respective channel in a jaw with face-to-face contact. The bevels provide a smooth transition around the edges of the plate, which may reduce stress concentrations when force is applied to the engagement feature during use. Preferably, bevels are provided at the engagement portions on both sides of the plate. Preferably, bevels extend all the way around the perimeter of the plate (e.g., on the lobes as well as the engagement portions). Alternatively, the edge of the plate may be curved, radiused or rounded.

[0017] The engagement feature may further comprise a mounting element attached to the central hub. The mounting element enables the engagement feature to be connected to a bioprocessing device or apparatus. The mounting element spaces the engagement portions from the device or apparatus, thereby enabling both sides of the engagement feature (e.g., both sides of the plate) to be engaged. The mounting element may be attached to a rear surface of the plate.The central hub may have a substantially planar surface, thereby providing a reference surface for determining the position of the engagement feature in space. The central hub may have a substantially planar surface on a front surface of the engagement feature. The front surface may be the surface opposite to a surface of the engagement feature that is attached to a bioprocessing device or apparatus. The planar surface may facilitate use of an identification mark that is readable by a machine vision system.

[0018] The engagement feature may further comprise an identification mark to facilitate identification of the engagement feature by a camera or scanner or a robotic end effector. The identification mark may allow the machine vision to distinguish between several engagement features having different identification marks. The identification mark may enable the position and / or orientation of the engagement feature to be determined in 3D space. The identification mark may include any suitable kind of fiduciary marker. The identification mark may include one or more of: a barcode, QR-code, a ARToolKit marker, an ARTag marker, an AprilTag marker, and / or a Arllco marker. The identification mark may comprise a label. Alternatively, a mark may be etched onto the engagement feature. Preferably, the identification mark is provided on the central hub of the engagement feature. Preferably, the identification mark is provided on a front surface of the engagement feature. Preferably, the identification mark is provided on a substantially planar surface. The end effector may comprise a machine vision system. The machine vision system may comprise one or more cameras or scanners.

[0019] According to another aspect of the present invention, there is provided a system for automated manipulation of a bioprocessing device, the system comprising: the engagement feature as described above and herein; an end effector for a robotic device, the end effector having at least three jaws, each jaw arranged to contact a respective engagement portion via at least two separate contact points.

[0020] Preferably, the end effector is configured to move the jaws in a concentric motion towards the central hub of the engagement feature, during use. Advantageously, by clamping the engagement feature in a concentric motion, the engagementfeature (and any connected device or apparatus) is securely retained by the end effector, thereby reducing any risk of misalignment.

[0021] Preferably, the jaws have curved surface corresponding to a curved surface of the engagement portions. The curved perimeter of the plate in the engagement portions preferably corresponds to a curved tip on each of the jaws. Advantageously, a continuous plurality of contact points is provided around the perimeter of the engagement feature, which provides more consistent and secure engagement, and reduces the pressure applied.

[0022] Each jaw may comprise a backstop arm. Advantageously, the backstop arm may provide axial positioning of the engagement feature between the jaws (e.g., to prevent over insertion of the engagement feature into the end effector). For example, when the engagement feature is inserted between the jaws (in their open configuration), the plate may contact the backstop arms, which aligns the engagement portions with a respective tip of each jaw.

[0023] The backstop arm may comprise a compliant element. Advantageously, the compliant element allows the end effector to gently contact the plate when it is engaged while also positioning it consistently between the jaws. Alternatively, the backstop arm may be included without the compliant element, though this may lead to unwanted sudden collisions between the end effector and the engagement feature.

[0024] Preferably, the backstop arm is angled relative to the radial direction to position the compliant element against a respective lobe of the engagement feature. The backstop arm may be offset from a radial (e.g., concentric) direction towards the central hub of the engagement feature.

[0025] Each jaw may comprise a channel configured to retain a respective engagement portion in a predetermined position therein. Thus, when the jaws are moved to engage the engagement portions, the engagement feature is constrained to a predetermined position in the end effector. The channel may be configurated tocontact at least part of a front and back surface of the engagement portion. The channel may be configured to pinch the engagement portion therebetween. Advantageously, the channel may prevent any out-of-plane misalignment of the engagement feature in the jaws. The channel may be tapered and / or V-shaped. An angle of the taper or V-shape may correspond to an angle of the bevels of the engagement portion (e.g., when measured with respect to a radial direction). The channel may be referred to as a notch, indentation, slot and / or groove.

[0026] Preferably, each of the jaws is removable from the end effector. In this way, any of the jaws may be removed and replaced, thereby simplifying maintenance operations (e.g., cleaning) and reducing the quantity of wasted parts (i.e., a single damaged jaw can be replaced while retaining the other jaws).

[0027] Preferably, each jaw is connected to the end effector at a plurality of locations. Preferably, the jaws are connected using dowels. Alternatively, they may be fixed with bolts, screws, clips or any other suitable attachment means. By attaching the jaws to the end effector at a plurality of locations, unwanted rotation of the jaws is inhibited. Alternatively, each jaw may be attached (e.g., bolted) at only a single location.

[0028] Preferably, the at least three jaws are identical to each other. Advantageously, the jaws are interchangeable with each other, thereby simplifying assembly and maintenance processes. Furthermore, only a single type of jaw needs to be designed and produced, thereby simplifying the manufacturing process.

[0029] The system may comprise a bioprocessing device or bioprocessing consumable attached to the engagement feature (e.g., by the mounting element). It will be appreciated that the jaws can be supplied separately to the end effector and / or separately to the engagement feature. Also described herein is a system or a kit of parts comprising the engagement feature as described above and herein, and one or more of the jaws as described above and herein.The end effector may include one or more engagement sensors to detect when the engagement feature is engaged between the jaws. The one or more engagement sensors may include a conductivity, capacitance, and / or inductance sensor. The engagement feature may be made from a conductive material, such as metal. For example, the plate may be formed of stainless steel. In this way, engagement can be confirmed by detecting a conductive pathway through the engagement feature between two (or more) of the jaws. The one or more engagement sensors may include a force, strain and / or pressure sensor. The one or more engagement sensors may include an optical or infrared sensor. Each jaw may include a separate engagement sensor. Alternatively, a single engagement sensor may be used to detect engagement.

[0030] The end effector may include a camera and / or a scanner configured to detect an identification mark provided on the engagement feature. In this way, the end effector can precisely determine the position and orientation of the engagement feature relative to the jaws. This facilitates consistent and repeatable engagement of the engagement feature by the end effector.

[0031] According to another aspect of the present invention there is provided a method of using the system as described above and herein, the method comprising: arranging each of the jaws radially outward from the engagement portions of the engagement feature; moving the jaws radially inward so that each jaw contacts a respective engagement portion via at least two contact points.

[0032] Advantageously, once in this position, the end effector can manipulate the engagement feature in space while maintaining in a precisely known position relative to the end effector, without any risk of dropping the engagement feature (and any bioprocessing device or apparatus attached thereto). The jaws may be moved radially outward to release the engagement feature, thereby allowing the device or apparatus to be released following the manipulation (e.g., to install it in a particular location in the bioprocessing system).The method may further comprise, before the step of arranging each of the jaws: scanning an identification mark on the engagement feature with a camera or scanner on the end effector, and determining the position and / or orientation of the engagement feature relative to the end effector.

[0033] It will be understood by a skilled person that any apparatus feature described herein may be provided as a method feature, and vice versa. It will also be understood that particular combinations of the various features described and defined in any aspects described herein can be implemented and / or supplied and / or used independently.

[0034] Moreover, it will be understood that the present invention is described herein purely by way of example, and modifications of detail can be made within the scope of the invention.

[0035] BRIEF DESCRIPTION OF DRAWINGS

[0036] One or more embodiments will now be described, purely by way of example, with reference to the accompanying figures, in which:

[0037] Figures 1 A and 1 B show an example of a engagement feature and corresponding manipulation tool for a robotic device;

[0038] Figures 2A and 2B show an embodiment of an engagement feature having three lobes extending radially outward from a central hub;

[0039] Figures 3A and 3B show the engagement feature of Figures 2A and 2B engaged by a robotic end effector having three concentrically movable jaws;

[0040] Figures 4A and 4B show the end effector and jaws without the engagement feature; and

[0041] Figures 5A and 5B show one of the jaws of the end effector.DETAILED DESCRIPTION

[0042] Figures 1Aand 1B show one example of an engagement feature 10 that may be engaged by a manipulation tool 20 on a robotic device. The tool 20 may be held by (or may be part of) an end effector on a robotic arm. The engagement feature 10 may be attached to a bioprocessing device or bioprocessing apparatus, so that the tool 20 can be used to pick up and manipulate the bioprocessing device or apparatus in 3D space.

[0043] As shown in Figure 1A, the manipulation tool 20 comprises a first protrusion 25, a second protrusion 26, and a third protrusion 27 arranged in a triangular shape. The engagement feature includes a plate 11. The plate 11 includes a notch 15 towards a bottom edge of the plate 11, where the notch 15 is dimensioned to receive the first protrusion 25. The plate 11 also includes two side surfaces 16, 17 that taper towards said bottom edge. In this way, when the first protrusion 25 is received in the notch 15, the second and third protrusions 26, 27 abut against the two side surfaces 16, 17 (i.e., each at a single contact point) thereby retaining the engagement feature 10 via three contact points (as shown in Figure 1 B). This means that the robotic device can manipulate the manipulation tool 20 to position the engagement feature 10 (and any connected bioprocessing device or apparatus) in space.

[0044] While the engagement feature 10 allows for reliable manipulation of a bioprocessing device, it does not allow for complete flexibility in how the device may be manipulated. For example, since the engagement feature 10 is only retained within the manipulation tool 20 by gravity, the manipulation tool 20 cannot turn a bioprocessing device upside down without introducing a risk of dropping the device. Furthermore, since the engagement feature 10 is only retained with three points of contact, if there is any error, wear, or damage at one of the points of contact, the engagement feature 10 may not be engaged at a consistent position relative to the manipulation tool 20. This may lead to inconsistent positioning of the device during subsequent bioprocessing operations, which may lead to these operations not being performed correctly or optimally.In view of the above difficulties, an improved engagement feature 100 and end effector 50 will now be described.

[0045] Figures 2A and 2B show a front view and a perspective view of the engagement feature 100. The engagement feature 100 comprises a plate 110 having a substantially constant thickness. The plate 110 has a front surface (visible in Figure 2A) and a back surface. The plate 110 comprises a central hub 112 with three lobes 114a, 114b, 114c extending radially outward from the central hub 112. The lobes 114a, 114b, 114c are evenly spaced around the central hub 112 to provide a generally triangular engagement feature 100. Thus, the engagement feature 100 has three-fold rotational symmetry about an axis extending through the central hub 112. The lobes 114a, 114b, 114c are identical to each other and thus may be referred to and described collectively using reference numeral “114”.

[0046] Between each adjacent pair of lobes 114, an engagement portion is provided. In particular, a first engagement portion 120a is provided between the first lobe 114a and the second lobe 114b, a second engagement portion 120b is provided between the second lobe 114b and the third lobe 114c, and a third engagement portion 120c is provided between the third lobe 114c and the first lobe 114a. The engagement portions 120a, 120b, 120c are identical to each other and thus may be referred to and described collectively using reference numeral “120”.

[0047] The engagement portions 120 are regions with lower radial separation to the central hub 112 than the lobes 114 and may therefore be considered as indentations around a perimeter of the plate 110. By providing an engagement portion 120 between each pair of lobes 114, a jaw 220 (described later) can contact a respective engagement portion 120 in at least two positions around its perimeter. In this way, a total of at least six contact points is provided, which retains the engagement feature 100 more securely than where only three contact points are present (as discussed above in relation to Figures 1A and 1B). The engagement portions 120 have a curved edge that connects the adjacent pairs of lobes 114. In other words, the perimeter of the plate 110 is curved in the engagement portions 120. The curved edge is concave. As described later, this provides a continuous region of contact with the jaws 220 of an end effector 50.The edges of the plate 110 (i.e., on both the lobes 114 and the engagement portions 120) are bevelled.

[0048] As can be seen particularly in Figure 2B, the engagement feature 100 includes a mounting element 150 attached to the central hub 112. The mounting element 150 enables the engagement feature 100 to be connected to a bioprocessing device or apparatus so that the device or apparatus can be manipulated via the engagement feature 100. The mounting element 150 also spaces the plate 110 from the device or apparatus, so that the end effector 50 (described below) can properly engage the plate 110.

[0049] Figures 3A and 3B show a front view and a side view of the engagement feature 100 held by an end effector 50. The end effector 50 holds three jaws 220a, 220b, 220c. As shown in Figure 3A, the first jaw 220a is arranged to contact the first engagement portion 120a, the second jaw 220b is arranged to contact the second engagement portion 120b, and the third jaw 220c is arranged to contact the third engagement portion 120c. The jaws 220a, 220b, 220c are identical to each other, and thus may be referred to and described collectively using reference numeral 220 (such as in relation to Figures 5A and 5B). The jaws 220 are machined from a stainless steel material such as S316.

[0050] Each of the jaws 220 has a tip 222 with a convex shape that corresponds to the concave shape of each engagement portion 120. This means that the tips of the jaws 220 continuously contact the engagement portions 120 thereby providing a secure grip. In Figures 3Aand 3B, the jaws 220 are shown in an engaged position, where the tips 222 contact the engagement portions 120 of the engagement feature 100. The jaws 220 are movable radially away from the central hub 110 of the engagement feature 100 to a released configuration. Thus, the end effector 50 is configured to apply a concentric clamping force on the engagement feature 100 with the jaws 220. The jaws 220 move simultaneously when clamping the engagement feature 100, so that the jaws 220 engage their corresponding engagement portions 120 at the same time.As particularly shown in the side view in Figure 3B, the tip 222 of each of the jaws 220 has a channel 224 (or notch) so that the engagement portions 120 are positioned within the channel 224 when the jaws 220 are in their engaged position (though this channel 224c is only visible for the third jaw 220c in Figure 3B).

[0051] By engaging the engagement portions 120 within the channel 224, the jaws 220 engage both the front and back surface of the plate 110 to align the plate 110 within a predetermined plane (e.g., prevent out-of-plane misalignment of the engagement feature 100). The channel 224 may be V-shaped. The channel 224 may have a shape that at least partially corresponds to the shape of the bevels so that continuous contact is provided between the front and back surfaces of the plate 110. For example, the angle of the bevels on the plate 110 may be the same as the angle of the V-shaped channel 224 so that their surfaces lie flat against each other during engagement.

[0052] Figures 4A and 4B show the end effector 50 without the engagement feature 100. Each of the jaws 220 has at least one mounting hole 221 to enable attachment of the jaws 220 to the end effector 50. In particular, each jaw 220 has a first mounting hole 221-1 and a second mounting hole 221-2 radially offset from each other. By using two mounting holes 221 , rotation of the jaws relative to the end effector 50 is inhibited. Dowels are used to attach the jaws 220 to the end effector 50 through the mounting holes 221, such as 6mm diameter dowels (with h7 tolerance). In this way, the jaws 220 are attached to the end effector 50 at a precisely known position. Each of the jaws 220 includes a backstop arm 230 having a compliant member 232 arranged thereon. The backstop arm 230 extends away from the radial (concentric) direction so that the compliant member 232 aligns with a respective lobe 114 of the engagement feature 100, during use. Furthermore, this ensures that the backstop arms 230 do not collide with each other when the jaws 220 move towards each other. The compliant member 232 is a sprung plunger 232. The compliant member 232 enables a gradual pressing force to be applied by the end effector 50 against the plate 110, which helps to align it within the jaws 220 without any sudden collisions.While not shown in the Figures, the engagement feature 100 may include an identification mark to enable the engagement feature 100 to be identified by a robotic device. The identification mark is located on the central hub 112 of the plate 110. The central hub 112 has a substantially planar surface. For example, the effector 50 may have a machine vision system (not shown) including one or more cameras. The identification mark may include any suitable kind of fiduciary marker, such as a barcode, QR-code, ARToolKit, ARTag, AprilTag, or Arllco markers. Such markers both enable different engagement features 100 in the system to be distinguished, as well as enabling the end effector 50 to precisely determine the location and orientation of each of the engagement features 100. For example, the machine vision system may scan the identification mark on the central hub 112, and subsequently determine the relative positioning between the end effector 50 and the engagement feature 100. Based on this determination, the end effector 50 can move to a precise position in 3D-space to locate the jaws 220 of the end effector 50 around the engagement portions 120 of the engagement feature 100.

[0053] The engagement feature 100 and jaws 220 described above have the following advantages.

[0054] First, since each of the jaws 220 contacts a respective engagement portion 120 of the plate 100 via at least two separate contact points (i.e., contact points at different locations around the perimeter of the plate), unwanted rotational motion of the engagement feature 100 relative to the end effector 50 is inhibited. The engagement feature 100 is thus engaged at a repeatable and consistent position relative to the end effector 50. Furthermore, due to the corresponding curved edge of the engagement portions 120 and the tips 222, a continuous plurality of contact points are provided, which further ensures consistent alignment of the jaws 220 with the engagement portions 120. By increasing the contact area, the pressure applied between the jaws 220 and engagement portions 120 is also reduced, which may increase the longevity of the system. This is particularly advantageous within bioprocessing systems where many different types of devices and apparatuses need to be engaged that have different shapes, sizesand weights (e.g., up to or more than 10kg). By providing a plurality of contact points at each jaw, even very heavy objects can be securely and consistently retained.

[0055] Secondly, the jaws 220 engage the engagement feature 100 within the channels 224 on each of the tips 222. This prevents any out-of-plane misalignment between the engagement feature 100 and the end effector 50. Furthermore, the jaws 220 actively engage the engagement portions 120 with a concentric clamping force. In this way, once the engagement feature 100 is engaged by the end effector 50, it can be moved into any orientation without any possibility of it being dropped.

[0056] Thirdly, since the engagement feature 100 is rotationally symmetric (i.e., with three-fold rotational symmetry), it can be engaged by the jaws 220 in three different orientations. This may facilitate manipulation of a bioprocessing device or apparatus in a bioprocessing system, particularly where there is limited space for a robotic arm to manoeuvre.

[0057] Fourthly, the jaws 220 are identical to each other, and can be individually attached to the end effector 50. Thus, the jaws 220 can be individually replaced where required.

[0058] Fifthly, by including an identification mark on the engagement feature 100, the end effector 50 can consistently determine the position of the engagement feature 100 relative to the jaws 220, thereby ensuring consistent and repeatable engagement by the end effector 50.

[0059] While the foregoing is directed to exemplary embodiments of the present invention, it will be understood that the present invention is described herein purely by way of example, and modifications of detail can be made within the scope of the invention. For example, while the engagement feature 100 includes three lobes and three engagement portions 120 that are engaged by three jaws, it will be appreciated that there may be four or more of each of these elements (e.g., arranged in a cross-shaped configuration).Furthermore, one skilled in the art will understand that the present invention may not be limited by the embodiments disclosed herein, or to any details shown in the accompanying figures that are not described in detail herein or defined in the claims. Indeed, such superfluous features may be removed from the figures without prejudice to the present invention.

[0060] Moreover, other and further embodiments of the invention will be apparent to those skilled in the art from consideration of the specification, and may be devised without departing from the basic scope thereof, which is determined by the claims that follow.

Claims

CLAIMS1. An engagement feature for manipulation by a robotic device in a bioprocessing system, the robotic device having concentrically movable jaws, the engagement feature comprising:at least three lobes extending radially outward from a central hub, and at least three engagement portions, each engagement portion located between an adjacent pair of lobes;wherein each engagement portion is configured to be engaged by a respective jaw of the robotic device via at least two separate contact points.

2. The engagement feature of claim 1 , wherein the engagement feature is rotationally symmetric.

3. The engagement feature of claim 1 or claim 2, wherein the engagement feature has only three lobes, thereby defining three engagement portions.

4. The engagement feature of any preceding claim, where the engagement portions comprise a curved edge corresponding to a shape of each jaw.

5. The engagement feature of claim 4, wherein the curved edge has a substantially constant radius of curvature.

6. The engagement feature of any preceding claim, wherein the engagement feature is formed from a plate having a substantially constant thickness.

7. The engagement feature of claim 6, wherein the plate has a bevelled edge along at least the engagement portions.

8. The engagement feature of any preceding calm, further comprising a mounting element attached to the central hub.

9. The engagement feature of any preceding claim, wherein the central hub has a substantially planar surface, thereby providing a reference surface for determining the position of the engagement feature in space.

10. The engagement feature of any preceding claim, further comprising an identification mark to facilitate identification of the engagement feature by a camera or scanner or a robotic end effector.

11. A system for automated manipulation of a bioprocessing device, the system comprising:the engagement feature of any preceding claim;an end effector for a robotic device, the end effector having at least three jaws, each jaw arranged to contact a respective engagement portion via at least two separate contact points.

12. The system of claim 11, wherein the end effector is configured to move the jaws in a concentric motion towards the central hub of the engagement feature, during use.

13. The system of claim 11 or 12, wherein the jaws have curved surface corresponding to a curved surface of the engagement portions.

14. The system of any of claims 11 to 13, wherein each jaw comprises a backstop arm.

15. The system of claim 14, wherein the backstop arm comprises a compliant element.

16. The system of claim 15, wherein the backstop arm is angled relative to the radial direction to position the compliant element against a respective lobe of the engagement feature.

17. The system of any of claims 11 to 16, wherein each jaw comprises a channel configured to retain a respective engagement portion in a predetermined position therein.

18. The system of any of claims 11 to 17, wherein each of the jaws is removable from the end effector.

19. The system of claim 18, wherein each jaw is connected to the end effector at a plurality of locations.

20. The system of any of claim 11 to 19, wherein the at least three jaws are identical to each other.

21. The system of any of claims 11 to 20, wherein the end effector includes one or more engagement sensors to detect when the engagement feature is engaged between the jaws.

22. The system of any of claims 11 to 21 , wherein the end effector includes a camera and / or a scanner configured to detect an identification mark provided on the engagement feature.

23. A method of using the system of any of claims 11 to 22, the method comprising:arranging each of the jaws radially outward from the engagement portions of the engagement feature;moving the jaws radially inward so that each jaw contacts a respective engagement portion via at least two contact points.

24. The method of claim 23, further comprising, before the step of arranging each of the jaws:scanning an identification mark on the engagement feature with a camera or scanner on the end effector, anddetermining the position and / or orientation of the engagement feature relative to the end effector.

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