CA2862894A1 - Robotic end effector for frozen aliquotter and methods of taking a frozen aliquot from biological samples - Google Patents
Robotic end effector for frozen aliquotter and methods of taking a frozen aliquot from biological samples Download PDFInfo
- Publication number
- CA2862894A1 CA2862894A1 CA 2862894 CA2862894A CA2862894A1 CA 2862894 A1 CA2862894 A1 CA 2862894A1 CA 2862894 CA2862894 CA 2862894 CA 2862894 A CA2862894 A CA 2862894A CA 2862894 A1 CA2862894 A1 CA 2862894A1
- Authority
- CA
- Canada
- Prior art keywords
- frozen
- sample
- end effector
- frozen sample
- set forth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 239000012636 effector Substances 0.000 title claims abstract description 123
- 238000000034 method Methods 0.000 title claims description 28
- 239000012472 biological sample Substances 0.000 title description 11
- 239000012520 frozen sample Substances 0.000 claims abstract description 225
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 239000000463 material Substances 0.000 claims abstract description 21
- 238000000605 extraction Methods 0.000 claims abstract description 16
- 239000000523 sample Substances 0.000 claims description 125
- 230000033001 locomotion Effects 0.000 claims description 24
- 238000003384 imaging method Methods 0.000 claims description 21
- 239000000284 extract Substances 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 3
- 239000012611 container material Substances 0.000 claims description 2
- 238000005138 cryopreservation Methods 0.000 claims description 2
- 230000035945 sensitivity Effects 0.000 claims 1
- 238000012360 testing method Methods 0.000 description 13
- 238000005553 drilling Methods 0.000 description 7
- 239000000203 mixture Substances 0.000 description 7
- 238000003860 storage Methods 0.000 description 7
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 4
- 238000013459 approach Methods 0.000 description 4
- 210000004027 cell Anatomy 0.000 description 4
- 230000000717 retained effect Effects 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- -1 homogenates Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000010257 thawing Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000001580 bacterial effect Effects 0.000 description 2
- 239000000090 biomarker Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000007710 freezing Methods 0.000 description 2
- 230000008014 freezing Effects 0.000 description 2
- 230000002538 fungal effect Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 229910052757 nitrogen Inorganic materials 0.000 description 2
- 239000013612 plasmid Substances 0.000 description 2
- 206010003445 Ascites Diseases 0.000 description 1
- 108020004414 DNA Proteins 0.000 description 1
- 108020005196 Mitochondrial DNA Proteins 0.000 description 1
- 210000004381 amniotic fluid Anatomy 0.000 description 1
- 239000013060 biological fluid Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 239000013592 cell lysate Substances 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 210000001175 cerebrospinal fluid Anatomy 0.000 description 1
- 239000013611 chromosomal DNA Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004700 fetal blood Anatomy 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 210000001589 microsome Anatomy 0.000 description 1
- 210000003470 mitochondria Anatomy 0.000 description 1
- 210000003097 mucus Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 108020004707 nucleic acids Proteins 0.000 description 1
- 150000007523 nucleic acids Chemical class 0.000 description 1
- 102000039446 nucleic acids Human genes 0.000 description 1
- 210000003463 organelle Anatomy 0.000 description 1
- 210000002381 plasma Anatomy 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000002345 respiratory system Anatomy 0.000 description 1
- 210000003296 saliva Anatomy 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 210000000582 semen Anatomy 0.000 description 1
- 210000002966 serum Anatomy 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000004243 sweat Anatomy 0.000 description 1
- 210000001138 tear Anatomy 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000013520 translational research Methods 0.000 description 1
- 210000002700 urine Anatomy 0.000 description 1
- 239000012808 vapor phase Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000003612 virological effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/42—Low-temperature sample treatment, e.g. cryofixation
-
- 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
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- 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
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
- G01N2035/1025—Fluid level sensing
-
- 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
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/41—Tool
Landscapes
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/359,301 US9134202B2 (en) | 2012-01-26 | 2012-01-26 | Robotic end effector for frozen aliquotter and methods of taking a frozen aliquot from biological samples |
| US13/359,301 | 2012-01-26 | ||
| PCT/US2013/023453 WO2013113001A1 (en) | 2012-01-26 | 2013-01-28 | Robotic end effector for frozen aliquotter and methods of taking a frozen aliquot from biological samples |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2862894A1 true CA2862894A1 (en) | 2013-08-01 |
Family
ID=48869109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2862894 Abandoned CA2862894A1 (en) | 2012-01-26 | 2013-01-28 | Robotic end effector for frozen aliquotter and methods of taking a frozen aliquot from biological samples |
Country Status (8)
| Country | Link |
|---|---|
| US (2) | US9134202B2 (https=) |
| EP (1) | EP2807465A4 (https=) |
| JP (1) | JP2015510117A (https=) |
| CN (1) | CN104081180B (https=) |
| AU (1) | AU2013211839B2 (https=) |
| BR (1) | BR112014018057A8 (https=) |
| CA (1) | CA2862894A1 (https=) |
| WO (1) | WO2013113001A1 (https=) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2978470B1 (en) * | 2013-03-28 | 2021-04-28 | Sanofi-Aventis Deutschland GmbH | Filling device for a drug delivery device and system with a fillings device and drug delivery device |
| US20160282380A1 (en) * | 2014-01-16 | 2016-09-29 | Shimadzu Corporation | Analytical device |
| US9766473B1 (en) | 2014-02-03 | 2017-09-19 | Automation Engineering, Inc. | Automated UV calibration, motorized optical target and automatic surface finder for optical alignment and assembly robot |
| US9815063B2 (en) * | 2014-10-22 | 2017-11-14 | Siemens Medical Solutions Usa, Inc. | Radionuclide assay station |
| KR101655586B1 (ko) * | 2014-11-28 | 2016-09-07 | 현대자동차주식회사 | 검사 그리퍼 및 이를 이용한 검사 방법 |
| US10159971B2 (en) * | 2015-05-03 | 2018-12-25 | Clear Labs Inc. | Apparatus and method for economic, fast and easy sampling of food and environmental samples |
| TWD176690S (zh) * | 2015-09-24 | 2016-06-21 | 上銀科技股份有限公司 | 器械座之部分 |
| IT201600079771A1 (it) * | 2016-07-29 | 2018-01-29 | I M A Industria Macch Automatiche S P A In Sigla Ima S P A | Gruppo di pesatura |
| US11116352B2 (en) * | 2016-09-13 | 2021-09-14 | Kerry Luxembourg S.à.r.l. | Beverage preparation system |
| CN107843453B (zh) * | 2017-12-21 | 2024-01-23 | 上海泽泉科技股份有限公司 | 可调速手持低温样本分装仪 |
| JP7084135B2 (ja) * | 2017-12-26 | 2022-06-14 | 川崎重工業株式会社 | エンドエフェクタ、ロボット、及びロボットシステム |
| CN110731333B (zh) * | 2018-07-18 | 2021-11-19 | Ｓｃｌ生物科技有限公司 | 细胞分注暨储存装置及其方法 |
| JP6859992B2 (ja) * | 2018-09-28 | 2021-04-14 | セイコーエプソン株式会社 | 制御方法、ロボット及びロボットシステム |
| CN110053057B (zh) * | 2019-04-28 | 2023-08-18 | 深圳市万臣科技有限公司 | 移液组件 |
| EP4079469A4 (en) | 2019-12-16 | 2023-09-13 | FingerVision Co., Ltd. | GRIPPER, CONTROL METHOD AND PROGRAM |
| WO2021137106A1 (en) * | 2019-12-30 | 2021-07-08 | Auris Health, Inc. | Specimen collector for robotic medical system |
| CN115788339B (zh) * | 2023-02-03 | 2023-04-25 | 北京中联勘工程技术有限责任公司 | 一种岩土工程勘察破碎岩石取芯装置 |
| CN116197926B (zh) * | 2023-02-28 | 2025-07-18 | 北京理工大学 | 基于声镊的无接触核酸采集机器人 |
| CN119618784B (zh) * | 2023-09-14 | 2026-04-24 | 中国石油天然气集团有限公司 | 轴压式制作岩心的装置和轴压式制作室内岩心的方法 |
Family Cites Families (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1129346A2 (en) | 1998-10-16 | 2001-09-05 | Intelligent Automation Systems | Continuous processing automated workstation |
| US6103518A (en) * | 1999-03-05 | 2000-08-15 | Beecher Instruments | Instrument for constructing tissue arrays |
| FR2802640B1 (fr) * | 1999-12-17 | 2003-01-03 | Pasteur Sanofi Diagnostics | Dispositif et procede de prelevement d'echantillon biologique |
| US6780636B2 (en) | 2000-11-30 | 2004-08-24 | Sloan Kettering Institute For Cancer Research | Cryoarray system and uses thereof |
| US6756095B2 (en) | 2001-01-10 | 2004-06-29 | Avery Dennison Corporation | Heat-sealable laminate |
| US6534307B1 (en) | 2001-02-08 | 2003-03-18 | Clinomics Biosciences, Inc. | Frozen tissue microarrayer |
| US6468783B1 (en) | 2001-04-09 | 2002-10-22 | Beecher Instruments | Punch-changing tissue array instrument |
| CA2377213A1 (en) * | 2001-03-20 | 2002-09-20 | Ortho-Clinical Diagnostics, Inc. | Method for providing clinical diagnostic services |
| JP2002340749A (ja) * | 2001-05-11 | 2002-11-27 | Dainakomu:Kk | 生体高分子の保存および切断方法 |
| US6635414B2 (en) | 2001-05-22 | 2003-10-21 | Integrated Biosystems, Inc. | Cryopreservation system with controlled dendritic freezing front velocity |
| JP2004093440A (ja) * | 2002-09-02 | 2004-03-25 | Hitachi Instruments Service Co Ltd | 微細管を用いた試料採取装置 |
| US7753085B2 (en) | 2002-12-03 | 2010-07-13 | Forhealth Technologies, Inc. | Automated drug preparation apparatus including automated drug reconstitution |
| PL1756545T3 (pl) | 2004-06-18 | 2012-02-29 | Covance Inc | Zamrożona mikromacierz tkankowa |
| FR2878859B1 (fr) | 2004-12-02 | 2007-03-23 | Alphelys Sarl | Dispositif de prelevement de carottes pour tissue array |
| US7405056B2 (en) | 2005-03-02 | 2008-07-29 | Edward Lam | Tissue punch and tissue sample labeling methods and devices for microarray preparation, archiving and documentation |
| WO2007084483A2 (en) | 2006-01-13 | 2007-07-26 | President And Fellows Of Harvard College | Systems, methods, and devices for frozen sample distribution |
| US8616072B2 (en) | 2006-02-13 | 2013-12-31 | The Johns Hopkins University | System and methods for sampling materials |
| US10105705B2 (en) | 2006-05-03 | 2018-10-23 | Ncl New Concept Lab Gmbh | Device and method for chemical, biochemical, biological and physical analysis, re-action, assay and more |
| WO2010065145A1 (en) * | 2008-12-05 | 2010-06-10 | Leap Technologies, Inc. | System for preparing samples for analysis using a shock freezer |
| EP2646792B1 (en) | 2010-12-01 | 2019-07-10 | President and Fellows of Harvard College | Apparatus and methods for aliquotting frozen samples |
-
2012
- 2012-01-26 US US13/359,301 patent/US9134202B2/en active Active
-
2013
- 2013-01-28 CA CA 2862894 patent/CA2862894A1/en not_active Abandoned
- 2013-01-28 AU AU2013211839A patent/AU2013211839B2/en not_active Ceased
- 2013-01-28 CN CN201380006859.7A patent/CN104081180B/zh not_active Expired - Fee Related
- 2013-01-28 WO PCT/US2013/023453 patent/WO2013113001A1/en not_active Ceased
- 2013-01-28 EP EP13740576.7A patent/EP2807465A4/en not_active Withdrawn
- 2013-01-28 BR BR112014018057A patent/BR112014018057A8/pt not_active IP Right Cessation
- 2013-01-28 JP JP2014554930A patent/JP2015510117A/ja active Pending
-
2015
- 2015-08-14 US US14/826,954 patent/US9528916B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| WO2013113001A1 (en) | 2013-08-01 |
| AU2013211839A1 (en) | 2014-06-26 |
| JP2015510117A (ja) | 2015-04-02 |
| US9528916B2 (en) | 2016-12-27 |
| EP2807465A1 (en) | 2014-12-03 |
| US9134202B2 (en) | 2015-09-15 |
| US20130192391A1 (en) | 2013-08-01 |
| AU2013211839B2 (en) | 2016-10-27 |
| CN104081180B (zh) | 2016-06-29 |
| US20160041071A1 (en) | 2016-02-11 |
| EP2807465A4 (en) | 2015-12-30 |
| CN104081180A (zh) | 2014-10-01 |
| BR112014018057A2 (https=) | 2017-06-20 |
| BR112014018057A8 (pt) | 2017-07-11 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |
Effective date: 20180130 |