Apparatus and method for picking biological sample
Inventors
Christey, Peter • Hallock, Alexander
Assignees
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Publication Number
US-12123888-B2
Publication Date
2024-10-22
Expiration Date
Abstract
A picking instrument for picking biological samples, such as microbial samples, includes a picking pin having a distal tip and three degrees-of-freedom and configured to move in x, y, and z directions. The picking instrument also includes a loading platform comprising a first area and a second area, the first area configured to accommodate and secure a microfabricated chip including a plurality of microwells. The picking pin is programmatically controlled to pick a sample contained in one or more selected microwells of the microfabricated chip and then transfer the sample to a predetermined location at the destination sample holder. Methods of operating the picking instrument, including calibrating the coordinates of the selected microwell(s) relative to a location of the picking pin, are also provided.
Core Innovation
A picking instrument includes a picking pin with a distal tip and three degrees-of-freedom configured to move in x, y, and z directions, where the x and y directions define an x-y plane. The picking instrument is operably connected to a computer that determines the coordinates of at least one selected microwell on a microfabricated chip relative to a position of the picking pin on the x-y plane by calibration of the microfabricated chip position relative to the picking pin.
The loading platform includes a first area configured to accommodate and secure a microfabricated chip having a plurality of microwells, and a second area configured to hold a destination sample holder. Using the determined microwell x-y coordinates, the picking pin moves to a position above the selected microwell, picks a sample contained in the microwell, moves to a predetermined location at the destination sample holder, and transfers the picked sample to the predetermined location.
The system supports calibration and positioning approaches based on image capture and image-based coordinate recognition, as well as optical alignment using x- and y-directed light beams, with alternatives such as touchscreen-based alignment. Picking includes controlled dipping or insertion into microwells and optional contact verification via distance traveled or via a pressure sensor that senses opposition force at microwell contact, and optional sample-release behaviors in destination wells.
Claims Coverage
The document includes one independent claim, which covers coordinate-based picking from selected microwells on a microfabricated chip to predetermined locations in a destination sample holder using calibration-based coordinate determination. Dependent claims refine additional components and sensing or alignment behaviors, including sterilization, movement actuation, destination holder sizing, contact sensing, and optical alignment details.
Three degrees-of-freedom picking pin for x-y plane coordinate positioning
A picking pin having a distal tip and three degrees-of-freedom and configured to move in x, y, and z directions, the x, y directions constituting an x-y plane.
Loading platform with secured microfabricated chip microwells
A loading platform comprising a first area and a second area, the first area configured to accommodate and secure a microfabricated chip including a plurality of microwells.
Calibration-based determination of selected microwell coordinates relative to the pin
The picking pin is operably connected to a computer, the computer including a computer program product that enables the determination of the coordinates of at least one selected microwell of the microfabricated chip on the x-y plane relative to a position of the picking pin based on a calibration of the position of the microfabricated chip relative to a position of the picking pin.
Programmed motion to pick from a selected microwell and transfer to a predetermined destination location
The computer program product enables the picking pin to move to a position above the at least one selected microwell in the plurality of the microwells of the microfabricated chip, pick a sample contained in the at least one selected microwell, move to a predetermined location at a destination sample holder, and transfer the picked sample to the predetermined location at the destination sample holder.
Sterilization device for the distal tip
A picking instrument including a sterilization device capable of sterilizing the distal tip of the picking pin.
Three programmatically controlled motors driving x-y-z motion
The picking instrument includes three programmatically controlled motors, each independently moving the picking pin along the x, y, and z directions.
Destination holder with wells larger than the chip microwells
The second area is configured to hold a destination sample holder with wells larger than the microwells of the microfabricated chip.
Pressure sensing of opposition force at distal-tip contact
A pressure sensor coupled to a picking pin to sense the opposition force experienced by the pin when its distal tip contacts an object.
Optical aligner using paired x- and y-directed light beams
An optical aligner in the picking instrument includes two light-source/detector pairs arranged so one light beam runs along the y direction and the other runs along the x direction.
Overall, the claims concentrate on coordinate-based picking from selected microwells on a microfabricated chip by calibrating chip-to-pin positions and computing selected microwell x-y coordinates, followed by controlled movement to pick and transfer to a predetermined location in a destination sample holder. Dependent refinements add sterilization of the distal tip, three independently driven motors for x/y/z motion, destination holder well sizing relative to chip microwells, pressure sensing of opposition force at contact, and an optical aligner with paired x- and y-directed light beams.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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