US20030170910A1 - Temperature control apparatus and method for pipetting robot - Google Patents
Temperature control apparatus and method for pipetting robot Download PDFInfo
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- US20030170910A1 US20030170910A1 US10/387,477 US38747703A US2003170910A1 US 20030170910 A1 US20030170910 A1 US 20030170910A1 US 38747703 A US38747703 A US 38747703A US 2003170910 A1 US2003170910 A1 US 2003170910A1
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- plate
- temperature control
- control apparatus
- pipetting
- microtitration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/50—Containers for the purpose of retaining a material to be analysed, e.g. test tubes
- B01L3/508—Containers for the purpose of retaining a material to be analysed, e.g. test tubes rigid containers not provided for above
- B01L3/5085—Containers for the purpose of retaining a material to be analysed, e.g. test tubes rigid containers not provided for above for multiple samples, e.g. microtitration plates
- B01L3/50851—Containers for the purpose of retaining a material to be analysed, e.g. test tubes rigid containers not provided for above for multiple samples, e.g. microtitration plates specially adapted for heating or cooling samples
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L7/00—Heating or cooling apparatus; Heat insulating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L7/00—Heating or cooling apparatus; Heat insulating devices
- B01L7/02—Water baths; Sand baths; Air baths
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N2035/00346—Heating or cooling arrangements
- G01N2035/00356—Holding samples at elevated temperature (incubation)
- G01N2035/00386—Holding samples at elevated temperature (incubation) using fluid heat transfer medium
- G01N2035/00396—Holding samples at elevated temperature (incubation) using fluid heat transfer medium where the fluid is a liquid
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/028—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having reaction cells in the form of microtitration plates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1081—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane
- G01N35/109—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane with two horizontal degrees of freedom
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T436/00—Chemistry: analytical and immunological testing
- Y10T436/11—Automated chemical analysis
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T436/00—Chemistry: analytical and immunological testing
- Y10T436/25—Chemistry: analytical and immunological testing including sample preparation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T436/00—Chemistry: analytical and immunological testing
- Y10T436/25—Chemistry: analytical and immunological testing including sample preparation
- Y10T436/2575—Volumetric liquid transfer
Definitions
- the present invention relates to a temperature control apparatus for pipetting robots for holding microtitration plates.
- Temperature control apparatus for pipetting robots are known.
- Beckmann Instruments GmbH, Frankfurter Ring 116, D-80810 Kunststoff markets pipetting robots under the name BIOMEK 2000.
- Such robots are used in the pharmaceutical industry, for example, for screening unknown substances (screening tests). They comprise temperature control apparatus for containers for the unknown substances, which are arranged on microtitration plates, as well as for pipetting apparatus, which can be actuated via programming languages or program codes, for filling these containers.
- the temperature control apparatus are used to keep the unknown substances at a constant temperature during the pipetting process in the screening tests.
- the temperatures of known temperature control apparatus can be controlled by means of Peltier elements. That is, they can be heated or cooled, and they have two segments for holding microtitration plates.
- the present invention is directed to an apparatus for controlling temperature which provides advantages and obviates a number of problems in known temperature control apparatus.
- the invention includes a temperature control apparatus including a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates.
- the invention includes temperature control apparatus for pipetting robots including a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates, wherein the plate includes an upper part and a lower part, and wherein both the upper and lower parts are rectangular, the upper part resting on top of the lower part.
- the upper part includes grooves in an upper surface thereof, which is facing away from the lower part, the grooves dividing the surface into at least two segments for holding microtitration plates.
- the invention includes a temperature control apparatus including a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates, wherein the plate includes an upper part and a lower part, and wherein both the upper and lower parts are rectangular, the upper part resting on top of the lower part.
- the lower part includes a channel in an upper surface of the lower part, which is in contact with the upper part, wherein the channel forms a spiral tube in the assembled state.
- the upper part and lower part can be connected to one another by normal fastening means.
- the present invention includes a programmable pipetting robot having a temperature control apparatus including a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates, a working area containing the at least one temperature control apparatus, one microtitration plate holding containers for liquids located on each segment of the temperature control apparatus, a pipetting apparatus, and means for recognizing the position of each microtitration plate, wherein the pipetting robot is programmed such that, when the temperature-control apparatus and the microtitration plates are arranged correctly, the robot recognizes and fills each of the containers with a liquid.
- the invention includes a method of automatically pipetting fluids into wells of microtitration plates resting on a temperature control apparatus in a working area of a pipetting robot, including defining the working area of the robot to include an entire working table surface, placing microtitration plates in at least the middle of the working area, inputting a fluid source position, inputting a fluid destination position within the middle of the defined working area, moving a pipetting apparatus to the destination position, and filling a well of a microtitration plate located at the destination position.
- FIG. 1 is a perspective view of the temperature control device according to the present invention.
- FIG. 2 is a perspective view of a pipetting robot utilizing the temperature control device of FIG. 1 according to the present invention
- FIG. 3A is a top view of microtitration plates placed in a utilized working area of a pipetting robot according to the present invention
- FIG. 3B is a top view of microtitration plates placed in a utilized working area of a pipetting robot according to the prior art.
- FIG. 4 is a block diagram of a computer system in which interfaces consistent with the present invention may be implemented.
- Temperature control apparatus 1 includes an upper part 2 and a lower part 3 , each of which is formed as a rectangular plate, the plates being connectable by any common fastening element, such as a screw or a clamp 11 .
- Temperature control apparatus 1 may be made from any suitable material which will support microtitration plates 14 and which can support a temperature control medium. Examples of suitable materials are plastics and metals.
- Lower part 3 includes an upper surface 9 and a lower surface 13 .
- Upper surface 9 of lower part 3 includes a spiral channel which, in the assembled state, forms a spiral tube 5 .
- the spiral tube 5 includes an input 6 and an output 7 for receiving a heating or cooling medium, depending on the operation to be performed.
- Upper part 2 includes an upper surface 10 and a lower surface 12 .
- Grooves 4 are incorporated in upper part 2 , in upper surface 10 which is facing away from lower part 3 , such that surface 10 is divided into three segments 8 for holding microtitration plates 14 . A different division into two, or more than three, segments 8 is possible without further ramifications.
- the rectangular plates when assembled, rest one on top of the other to form the temperature control apparatus 1 .
- lower surface 12 of upper part 2 rests on top of upper surface 9 of lower part 3 .
- microtitration plates 14 fit between grooves 4 into segments 8 , and rest on upper surface 10 of upper part 3 .
- temperature of the microtitration plates 14 is monitored once they are placed on the temperature control apparatus via a thermostat 17 monitoring the temperature of a heating or cooling medium flowing in spiral channel 5 through temperature control apparatus 1 .
- the heating or cooling medium is contained in container 18 and flows from container 18 into input 6 , through temperature control apparatus 1 , out of output 7 , and returns to container 18 where the temperature of the temperature control medium is measured by thermostat 17 . Once a desired temperature is reached, the thermostat is set, and pipetting robot 16 can fill the wells of microtitration plates 14 .
- the present invention includes a pipetting robot.
- Conventional pipetting robots are restricted in their access to the available working area 15 .
- Standard programs for pipetting robots utilizing conventional temperature control devices fix positions reachable by the pipetting robot in the horizontal plane.
- a conventional pipetting robot cannot access zone 20 of working area 15 .
- each microtitration plate In a conventional working space, where there are twelve positions defined to receive microtitration plates, each microtitration plate generally containing 96 wells.
- Pipetting robot 16 as embodied herein and shown in FIG. 2, includes a working area 15 , a pipetting apparatus 16 a, a temperature control apparatus 1 (comprising elements 2 and 3 ), a controller 19 , a thermostat 17 , and a container 18 for holding a temperature control medium.
- Pipetting apparatus 16 a is moveable in three dimensions. Pipetting apparatus 16 a is moveable longitudinally along working space 15 , it is moveable horizontally across the width of temperature control apparatus 1 , and it is moveable vertically. Controller 19 includes a microprocessor, such as a computer.
- Pipetting robot 16 may access and utilize additional portions of the work space 15 when additional programming is performed.
- the working area of the pipetting robot of the present invention may hold six temperature control apparatus 1 , and therefore the working area contains a total of 18 positions defined to receive microtitration plates, each microtitration plate generally containing 96 wells.
- the present invention allows a 33% increase in the amount of working area available for use.
- Controller 19 may include the program 25 , a memory 26 , a display 27 , a secondary storage device 28 , a CPU 29 , and an input device 30 .
- This program was written in the programming language TCL, which is proposed by the Beckmann company for such applications and is accessible via the Internet. # Universal - TCL - Script for once-off outputting of volumes. # # When defining local variables, please observe upper case/lower # case !!!
Abstract
A temperature control apparatus in the form of a plate is provided for pipetting robots, the plate having a spiral tube for a temperature control medium and which apparatus is divided into at least two segments for holding microtitration plates. A pipetting robot which utilizes a maximum amount of its working space, increasing the efficiency of pipetting liquids for analysis, is also provided.
Description
- 1. Field of the Invention
- The present invention relates to a temperature control apparatus for pipetting robots for holding microtitration plates.
- 2. Description of the Prior Art
- Temperature control apparatus for pipetting robots are known. For example, Beckmann Instruments GmbH, Frankfurter Ring 116, D-80810 Munich markets pipetting robots under the name BIOMEK 2000. Such robots are used in the pharmaceutical industry, for example, for screening unknown substances (screening tests). They comprise temperature control apparatus for containers for the unknown substances, which are arranged on microtitration plates, as well as for pipetting apparatus, which can be actuated via programming languages or program codes, for filling these containers.
- The temperature control apparatus are used to keep the unknown substances at a constant temperature during the pipetting process in the screening tests. The temperatures of known temperature control apparatus can be controlled by means of Peltier elements. That is, they can be heated or cooled, and they have two segments for holding microtitration plates.
- Disadvantages of known temperature control apparatus are that they are suitable only for microtitration plates of a specific format, and that they do not fully utilize the available working area of the pipetting robot, or the full area which the pipetting apparatus can reach. For example, as shown in FIG. 3B, a
zone 20 ofworking area 15 is not utilized during a conventional pipetting process. The standard program for pipetting robots does not recognizezone 20, and therefore, thefull working area 15 of the pipetting robot is not utilized. This means thatmicrotitration plates 14, held in place bytaps 21, must be of a specific format to fit within the robot-recognized areas ofworking area 15. - Accordingly, the present invention is directed to an apparatus for controlling temperature which provides advantages and obviates a number of problems in known temperature control apparatus.
- To achieve the objects and in accordance with the purpose of the invention, as embodied and broadly described herein, the invention includes a temperature control apparatus including a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates.
- According to another aspect of the present invention, the invention includes temperature control apparatus for pipetting robots including a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates, wherein the plate includes an upper part and a lower part, and wherein both the upper and lower parts are rectangular, the upper part resting on top of the lower part. The upper part includes grooves in an upper surface thereof, which is facing away from the lower part, the grooves dividing the surface into at least two segments for holding microtitration plates.
- According to a further aspect of the present invention, the invention includes a temperature control apparatus including a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates, wherein the plate includes an upper part and a lower part, and wherein both the upper and lower parts are rectangular, the upper part resting on top of the lower part. The lower part includes a channel in an upper surface of the lower part, which is in contact with the upper part, wherein the channel forms a spiral tube in the assembled state. The upper part and lower part can be connected to one another by normal fastening means.
- According to another aspect of the present invention, the present invention includes a programmable pipetting robot having a temperature control apparatus including a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates, a working area containing the at least one temperature control apparatus, one microtitration plate holding containers for liquids located on each segment of the temperature control apparatus, a pipetting apparatus, and means for recognizing the position of each microtitration plate, wherein the pipetting robot is programmed such that, when the temperature-control apparatus and the microtitration plates are arranged correctly, the robot recognizes and fills each of the containers with a liquid.
- According to another aspect of the present invention, the invention includes a method of automatically pipetting fluids into wells of microtitration plates resting on a temperature control apparatus in a working area of a pipetting robot, including defining the working area of the robot to include an entire working table surface, placing microtitration plates in at least the middle of the working area, inputting a fluid source position, inputting a fluid destination position within the middle of the defined working area, moving a pipetting apparatus to the destination position, and filling a well of a microtitration plate located at the destination position.
- Additional objects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objects and advantages of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims.
- It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
- The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrates one embodiment of the invention and together with the description, serve to explain the principles of the invention.
- FIG. 1 is a perspective view of the temperature control device according to the present invention;
- FIG. 2 is a perspective view of a pipetting robot utilizing the temperature control device of FIG. 1 according to the present invention;
- FIG. 3A is a top view of microtitration plates placed in a utilized working area of a pipetting robot according to the present invention;
- FIG. 3B is a top view of microtitration plates placed in a utilized working area of a pipetting robot according to the prior art; and
- FIG. 4 is a block diagram of a computer system in which interfaces consistent with the present invention may be implemented.
- Reference will now be made in detail to the present preferred embodiment of the invention, an example of which is illustrated in the accompanying drawings. Whenever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.
- The preferred embodiment of the temperature control apparatus is illustrated in perspective in FIG. 1.
Temperature control apparatus 1 includes anupper part 2 and alower part 3, each of which is formed as a rectangular plate, the plates being connectable by any common fastening element, such as a screw or aclamp 11.Temperature control apparatus 1 may be made from any suitable material which will supportmicrotitration plates 14 and which can support a temperature control medium. Examples of suitable materials are plastics and metals. -
Lower part 3 includes anupper surface 9 and alower surface 13.Upper surface 9 oflower part 3 includes a spiral channel which, in the assembled state, forms aspiral tube 5. Thespiral tube 5 includes aninput 6 and anoutput 7 for receiving a heating or cooling medium, depending on the operation to be performed. -
Upper part 2 includes anupper surface 10 and alower surface 12.Grooves 4 are incorporated inupper part 2, inupper surface 10 which is facing away fromlower part 3, such thatsurface 10 is divided into threesegments 8 forholding microtitration plates 14. A different division into two, or more than three,segments 8 is possible without further ramifications. - The rectangular plates, when assembled, rest one on top of the other to form the
temperature control apparatus 1. When assembled,lower surface 12 ofupper part 2 rests on top ofupper surface 9 oflower part 3. As shown in FIG. 2,microtitration plates 14 fit betweengrooves 4 intosegments 8, and rest onupper surface 10 ofupper part 3. As shown in FIG. 3A, temperature of themicrotitration plates 14 is monitored once they are placed on the temperature control apparatus via athermostat 17 monitoring the temperature of a heating or cooling medium flowing inspiral channel 5 throughtemperature control apparatus 1. The heating or cooling medium is contained incontainer 18 and flows fromcontainer 18 intoinput 6, throughtemperature control apparatus 1, out ofoutput 7, and returns tocontainer 18 where the temperature of the temperature control medium is measured bythermostat 17. Once a desired temperature is reached, the thermostat is set, and pipettingrobot 16 can fill the wells ofmicrotitration plates 14. - According to one aspect of the invention and as embodied in FIG. 2, the present invention includes a pipetting robot. Conventional pipetting robots are restricted in their access to the
available working area 15. Standard programs for pipetting robots utilizing conventional temperature control devices fix positions reachable by the pipetting robot in the horizontal plane. For example, as shown in FIG. 3B, a conventional pipetting robot cannot accesszone 20 ofworking area 15. In a conventional working space, where there are twelve positions defined to receive microtitration plates, each microtitration plate generally containing 96 wells. - Pipetting
robot 16, as embodied herein and shown in FIG. 2, includes a workingarea 15, apipetting apparatus 16 a, a temperature control apparatus 1 (comprisingelements 2 and 3), acontroller 19, athermostat 17, and acontainer 18 for holding a temperature control medium. - Pipetting
apparatus 16 a is moveable in three dimensions.Pipetting apparatus 16 a is moveable longitudinally along workingspace 15, it is moveable horizontally across the width oftemperature control apparatus 1, and it is moveable vertically.Controller 19 includes a microprocessor, such as a computer. - Pipetting
robot 16 may access and utilize additional portions of thework space 15 when additional programming is performed. Thus, in contrast to conventional robots and as shown in FIG. 3A, the working area of the pipetting robot of the present invention may hold sixtemperature control apparatus 1, and therefore the working area contains a total of 18 positions defined to receive microtitration plates, each microtitration plate generally containing 96 wells. Thus, the present invention allows a 33% increase in the amount of working area available for use. - An example of a program for actuation of a pipetting robot according to the invention is described in the following text. This program is executable in a microprocessor such as
controller 19.Controller 19 may include theprogram 25, amemory 26, adisplay 27, asecondary storage device 28, aCPU 29, and aninput device 30. This program was written in the programming language TCL, which is proposed by the Beckmann company for such applications and is accessible via the Internet.# Universal - TCL - Script for once-off outputting of volumes. # # When defining local variables, please observe upper case/lower # case !!! # -------------------------------------------------------------- # Should a Tip_touch be made # and if yes, where ? # Only source, only destination or both # 1 = Yes / 0 = No # -------------------------------------------------------------- set source_tip_touch 1set target_tip_touch 1# -------------------------------------------------------------- # The desired volumes are used from here on # -------------------------------------------------------------- # set disp_vol 100 set bias_vol 10# # if deliver_vol then no blow_out # set deliver_vol 15# # blowout = no blowout !! # set blowout_vol 0 # # calculate volume to be accommodated if greater than m_vol # then terminate the script # if { $deliver_vol > 1 } {set blowout_vol 0} if { $blowout_vol > 1 } {set deliver_vol 0} set asp_vol [expr $disp_vol+$bias_vol+$deliver_vol+$blowout_vol] # # -------------------------------------------------------------- # Pipette parameters used from here on # -------------------------------------------------------------- # Depending on pipette used # MP200 slope: 0.0838 / offset: 0.05 / m_vol 240 set m_vol 240 set slope 0.0838 set offset 0.05 # # -------------------------------------------------------------- # The coordinates for the source container are used from here on # -------------------------------------------------------------- # # Source: MTP to Position B3 set source_x 77050 set source_y 41401 set source_certain_move 32000 set source_asp_high 30700 set source_disp_high 31000 set source_touch_x 450 set source_touch_high 31200 # # -------------------------------------------------------------- # The coordinates of the destination vessel are used from here on # -------------------------------------------------------------- # # Destination: Deep Well at Position A4 set target_x 90960 set target_y 26201 set target_sicher_move 32300 set target_disp_high 31000 set target_touch_x 450 set target_touch_high 31600 # # -------------------------------------------------------------- # No more changes may be made from this point !!! # -------------------------------------------------------------- # set certain_move [expr $source_certain_move*1 ] if {$source_certain_move < $target_certain_move} {set certain_move [expr $target_certain_move*1 ]} # # Convert to BIOMEK coordinates # set BIAS [expr int((($bias_vol*100*$slope+($offset*100))+0.5*−1)] set DISPENSE [expr int((($disp_vol*100*$slope+($offset*100))+0.5*−1)] set DELIVER 0 if {$deliver_vol > 1} {set DELIVER [expr int((($deliver_vol*100*$slope+($offset*100))+0.5*−1)]} set BLOWOUT 0 set GET_BLOWOUT 0 if {$blowout_vol > 1} {set BLOWOUT [expr int((($blowout_vol*100*$slope+($offset*100))+0.5*−1)] set GET_BLOWOUT [expr abs($BLOWOUT)]} set ASPIRATE [ expr abs($DISPENSE)+abs($BIAS)+abs($DELIVER) ] # # set speed up # SX 650 SY 650 # # move to destination labware # MA 0 0 $certain_move if {$blowout_vol > 1} {MT $GET_BLOWOUT} MA $source_x $source_y 0 MA 0 0 $source_asp_high # # get volume # MS TT 11 20 0 MT $ASPIRATE MS TT 11 20 0 MT $BIAS if {$source_tip_touch > 0} {MA 0 0 $source_touch_high MS TT 11 10 0 MV $source_touch_x 0 0 MS TT 11 20 0 MV [ expr $source_touch_x * −1 ] 0 0} MA 0 0 $certain_move # # move to source # MA $target_x $target_y 0 MS TT 11 10 0 MA 0 0 $target_disp_high MS TT 11 20 0 MT $DISPENSE if {$blowout_vol > 0} {MT $BLOWOUT} if {$target_tip_touch > 0} {MA 0 0 $target_touch_high MS TT 11 10 0 MV $target_touch_x 0 0 MS TT 11 20 0 MV [ expr $target_touch_x * −1 ] 0 0} MS TT 11 10 0 MA 0 0 $certain_move MA $source)_x $source_y 0 if {$deliver_vol > 0} {MS TT 11 10 0 MA 0 0 $source_disp_high MT $DELIVER MS TT 11 10 0 if {$source_tip_touch > 0} {MA 0 0 $source_touch_high MS TT 11 10 0 MV $source_touch_x 0 0 MS TT 11 20 0 MV [expr $source_touch_x * −1 ] 0 0 }} MA 0 0 $certain_move # # speed down # SX 500 SY 500 # # Clear all initialized variables # unset source_tip_touch unset target_tip_touch unset disp_vol unset bias_vol unset deliver_vol unset blowout_vol unset asp_vol unset m_vol unset slope unset offset unset source_x unset source_y unset source_certain_move unset source_asp_high unset source_disp_high unset source_touch__x unset source_touch_high unset target_x unset target_y unset target_certain_move unset target_disp_high unset target_touch_x unset target_touch_high unset certain_move unset BIAS unset DISPENSE unset DELIVER unset BLOWOUT unset GET_BLOWOUT unset ASPIRATE - Use of the above program, or similar programming, allows pipetting
robot 16 to access all wells in allmicrotitration plates 14 which are within pipetting robot's 16 workingspace 15. Utilizing such a program with pipettingrobot 16, which is controlled by a microprocessor, such ascomputer 19, allows more efficient processing of materials to be analyzed. - Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (13)
1. A temperature control apparatus for pipetting robots for holding microtitration plates, comprising a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates.
2. The temperature control apparatus of claim 1 , wherein the plate includes an upper part and a lower part, and wherein both the upper and lower parts are rectangular, the upper part resting on top of the lower part; and
wherein the upper part includes grooves in an upper surface thereof, which is facing away from the lower part, said grooves dividing the upper surface into at least two segments for holding microtitration plates.
3. The temperature control apparatus of claim 1 , wherein the plate includes an upper part and a lower part, and wherein both the upper and lower parts are rectangular, the upper part resting on top of the lower part; and
wherein the upper part includes grooves in an upper surface thereof, which is facing away from the lower part, said grooves dividing the upper surface into at least three segments for holding microtitration plates.
4. The temperature control apparatus of claim 1 , wherein the plate is divided into at least three segments for holding microtitration plates.
5. The temperature control apparatus of claim 1 , wherein the plate includes an upper part and a lower part, and wherein both the upper and lower parts are rectangular, the upper part resting on top of the lower part;
wherein the lower part includes a channel in an upper surface of the lower part, which is in contact with the upper part, wherein the channel forms a spiral tube in the assembled state.
6. The temperature control apparatus of claim 1 , wherein the plate includes an upper part and a lower part, and wherein both the upper and lower parts are rectangular, the upper part resting on top of the lower part;
wherein the upper part includes grooves in an upper surface thereof, which is facing away from the lower part, said grooves dividing the upper surface into at least three segments for holding microtitration plates; and
wherein the lower part includes a channel in an upper surface of the lower part, which is in contact with the upper part, wherein the channel forms a spiral tube in the assembled state.
7. A pipetting robot, comprising:
a working area;
a pipetting apparatus;
at least one microtitration plate; and
a temperature control apparatus including a plate having a spiral tube for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates.
8. A programmable pipetting robot, comprising:
at least one temperature control apparatus including a plate having a spiral tube for receiving a temperature-control medium, wherein the plate is divided into at least two segments for holding microtitration plates;
a working area containing the at least one temperature control apparatus;
one microtitration plate holding containers for liquids located on each segment of the temperature control apparatus;
a pipetting apparatus; and
a controller for recognizing the position of each microtitration plate, wherein the pipetting robot is programmed such that, when the temperature-control apparatus and the microtitration plates are arranged correctly, the robot recognizes and fills each of the containers with a liquid.
9. A method of automatically pipetting fluids into wells of microtitration plates resting on a temperature control apparatus in a working area of a pipetting robot, comprising:
defining the working area of the robot to include an entire working table surface;
placing microtitration plates in at least the middle of the working area;
inputting into a controller a fluid source position;
inputting into a controller a fluid destination position within the middle of the defined working area;
moving a pipetting apparatus to the destination position; and
filling a well of a microtitration plate located at the destination position.
10. The method of claim 9 , wherein the placing step includes filling the entire working area with microtitration plates, and the inputting step includes inputting a fluid destination position for each well of each microtitration plate located within the working area.
11. A method of automatically pipetting fluids into wells of a microtitration plate, comprising:
providing at least one temperature control apparatus to a working area of a programmable pipetting robot, the apparatus having a width and a length and including a plate having a spiral tube therein for receiving a temperature-control medium, wherein the plate is divided into at least two segments across its width for holding microtitration plates;
placing a microtitration plate on each segment of the temperature control apparatus;
moving a pipetting apparatus across the width of the temperature control apparatus; and
filling each well of each microtitration plate as the pipetting apparatus moves across the width of the temperature control apparatus.
12. The method of claim 11 , wherein the placing step includes placing at least three microtitration plates across the width of the temperature control apparatus.
13. The method of claim 11 , further including inputting into a controller a destination position to designate a well to be filled prior to moving the pipetting apparatus.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/387,477 US20030170910A1 (en) | 1997-08-08 | 2003-03-14 | Temperature control apparatus and method for pipetting robot |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29714206.2 | 1997-08-08 | ||
DE29714206U DE29714206U1 (en) | 1997-08-08 | 1997-08-08 | Pipetting robot with improved temperature control device |
DE19816424.6 | 1998-04-15 | ||
DE1998116424 DE19816424A1 (en) | 1998-04-15 | 1998-04-15 | Pipette robot |
US09/129,784 US6558627B1 (en) | 1997-08-08 | 1998-08-06 | Temperature control apparatus and method for pipetting robot |
US10/387,477 US20030170910A1 (en) | 1997-08-08 | 2003-03-14 | Temperature control apparatus and method for pipetting robot |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09/129,784 Division US6558627B1 (en) | 1997-08-08 | 1998-08-06 | Temperature control apparatus and method for pipetting robot |
Publications (1)
Publication Number | Publication Date |
---|---|
US20030170910A1 true US20030170910A1 (en) | 2003-09-11 |
Family
ID=26045458
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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US09/129,784 Expired - Fee Related US6558627B1 (en) | 1997-08-08 | 1998-08-06 | Temperature control apparatus and method for pipetting robot |
US10/387,477 Abandoned US20030170910A1 (en) | 1997-08-08 | 2003-03-14 | Temperature control apparatus and method for pipetting robot |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
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US09/129,784 Expired - Fee Related US6558627B1 (en) | 1997-08-08 | 1998-08-06 | Temperature control apparatus and method for pipetting robot |
Country Status (10)
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US (2) | US6558627B1 (en) |
EP (1) | EP0895813B1 (en) |
JP (1) | JPH11143551A (en) |
AT (1) | ATE270151T1 (en) |
AU (1) | AU7886998A (en) |
CA (1) | CA2245266C (en) |
DE (1) | DE59811623D1 (en) |
DK (1) | DK0895813T3 (en) |
ES (1) | ES2222538T3 (en) |
PT (1) | PT895813E (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020159659A1 (en) * | 2019-01-28 | 2020-08-06 | Formulatrix, Inc. | Liquid handling instrument and pipetting head for and method of aspirating and/or dispensing liquids |
CN112452374A (en) * | 2020-11-24 | 2021-03-09 | 中国人民解放军联勤保障部队第九〇一医院 | A household utensils mount for water bath oscillator |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030213906A1 (en) * | 2002-05-20 | 2003-11-20 | Large Scale Proteomics Corporation | Method and apparatus for minimizing evaporation of a volatile substance |
JP1593334S (en) * | 2017-05-02 | 2017-12-18 | ||
CN111741814A (en) * | 2018-02-19 | 2020-10-02 | 帝肯贸易股份公司 | Sample holder and sample carrier system |
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- 1998-08-06 US US09/129,784 patent/US6558627B1/en not_active Expired - Fee Related
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CN112452374A (en) * | 2020-11-24 | 2021-03-09 | 中国人民解放军联勤保障部队第九〇一医院 | A household utensils mount for water bath oscillator |
Also Published As
Publication number | Publication date |
---|---|
ES2222538T3 (en) | 2005-02-01 |
DE59811623D1 (en) | 2004-08-05 |
US6558627B1 (en) | 2003-05-06 |
JPH11143551A (en) | 1999-05-28 |
CA2245266A1 (en) | 1999-02-08 |
ATE270151T1 (en) | 2004-07-15 |
DK0895813T3 (en) | 2004-11-01 |
EP0895813B1 (en) | 2004-06-30 |
EP0895813A2 (en) | 1999-02-10 |
PT895813E (en) | 2004-11-30 |
EP0895813A3 (en) | 2000-01-05 |
AU7886998A (en) | 1999-02-18 |
CA2245266C (en) | 2007-10-23 |
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