DE102006027680A1 - Gripper unit for handling vessel used for receiving biological fluid has lid holder and recesses adapted to hold lid in defined position that is open position of lid in relation to vessel - Google Patents

Abstract

A vessel (160) has a lid (166) that assumes an open position and a closed position. A gripper (410) is adapted to grip and release the vessel. A lid holder (414) and recesses (417a,417b) are adapted to hold the lid in a defined position that is the open position of lid in relation to the vessel. The gripper unit is movable in a direction perpendicular to the plane or along the plane of working platform. Independent claims are the following: (1) an apparatus for processing biological material; (2) a process for transporting a vessel into a vessel holder or from a vessel holder; (3) a process for transferring a vessel from a primary vessel holder to a secondary vessel holder by a gripper unit; (4) a vessel holder for a vessel for receiving biological material; (5) a process for placing a vessel into a vessel holder in a centrifuge rotor by a gripper; (6) a process for removing a vessel by a gripper from a vessel holder in a centrifuge rotor; (7) a process for positioning a centrifuge rotor of a centrifuge at an angle of rotation about a rotation axis of centrifuge rotor; (8) a process for positioning a deflection angle of a vessel holder for a vessel; (9) a process for detecting the presence or absence of a vessel; (10) a process for recognizing the nature of a vessel; and (11) a process for checking the occupancy of a centrifuge.

Description

The The present application relates to an apparatus for processing of material, preferably of biological material. It refers also on a centrifuge, especially on a centrifuge or an apparatus for centrifuging biological material and on a method of centrifuging biological material in one Centrifuge or for processing biological material in one Centrifuge unit. It also refers to a device for automatic processing of biomolecules, in particular of biomolecules Sample liquids.

The The present application also relates to a gripper unit for handling a vessel, in particular a vessel to Inclusion of biological material; on a gripper for gripping and / or releasing such a vessel; and on a vessel holder for a such vessel. It relates also relates to a method for gripping a vessel, in particular a vessel to Intake of biological material, preferably by a gripper; and to a method for releasing such a vessel, preferably through a gripper.

The The present application also relates to a method of transportation a vessel, preferably for transporting in a vessel holder or from a vessel holder. In particular, it relates to a method for removing the Vessel out a vessel holder in particular by a gripper unit, and preferably one tube holders in a centrifuge rotor, on an analogous method for setting of the vessel in one Tube holders. It also relates to a method for transferring a Vessel, in particular for transferring a vessel from a first vessel holder by a second vessel holder a gripper unit or for transferring a vessel a gripper from a first holding position of a vessel holder in a centrifuge rotor to a second holding position of a vessel holder in the centrifuge rotor.

The The present application also relates to a method for positioning a centrifuge rotor of a centrifuge, especially for positioning in a rotation angle about an axis of rotation of the centrifuge rotor. It also refers to a method for positioning a Swing angle of a vessel holder, in particular a vessel holder for a Receptacle of biological material The present application relates also on a method for cooling a centrifuge.

The The present application also relates to a method of recognition the presence or absence of a vessel, in particular a vessel for Inclusion of biological material, in a holder for the vessel. It relates also refers to a method for determining the height of a surface of a Stoffes in a jar, and on a method for detecting the type of a vessel, in particular a vessel for Recording of biological material, and especially for recognizing the Kind of a vessel in one Container station for the Vessel. It relates also refers to a method for testing the placement of a Centrifuge, and a method for testing the assembly of a Apparatus for processing samples.

On many technical fields such as chemistry, biology, medicine or environmental technology, it is necessary to biological Materials (e.g., liquids) analyze, process or react with each other. For this purpose, the liquids or Materials filtered, cooled, heated, disassembled, washed, pipetted or otherwise Treated procedures. Often It is necessary to have a long and complex sequence of processing steps to go through to prepare the biological material.

Farther have to in many cases size Compilations of different materials according to the same sequence be processed, or there must be rows of the same materials in parallel be processed. This can be time consuming, limiting throughput and is prone to failure.

The Processing of biological materials is e.g. in the area Extracting and / or purifying biomolecules such as nucleic acids or proteins applied. For example, a widely known Method of purifying the biomolecules on the accessing steps the content of a biological sample ("lysis"), of selectively binding the components of the content of the biological Sample to a solid support or carrier material ("Binding"), eliminating undesirable Components from the solid support or carrier material ("Washing"), and the release of the desired Component ("elution").

In order to allow a desired absorption and desorption during the purification of the biomolecules, special filter elements have been developed, which are formed for example of silica gel, and which are on the one hand porous or matrix-like, to allow a liquid to pass through the filter element, and on the other hand, have a surface to which the biomolecules bind in a specific or nonspecific process. In other purification processes, biomolecules on filter elements are simply affected by the size Exclusion restrained. In any event, when a liquid containing a biomolecule, such as a nucleic acid, passes through the filter element, the biomokes or part thereof remains in the filter element while the remainder passes through the filter element.

Of Further becomes the biomolecule to recover from the filter element, an elution liquid, e.g. Nuclease-free water, to desorb the biomolecule on the Led filter element. In this way, the desired biomolecule detached from the filter element (eluted), and collected in a container. Such filter elements become common designed as membranes arranged either in individual vessels which are an entrance opening and an exit port have or are arranged in multiwell plates. The filter elements are either with centrifuges ("spin format "), or with processed on vacuum technology based apparatuses. Separate Vessels with one entrance opening and an exit port, which have a membrane and which are used in a centrifuge can, are also called pillars, Zentifugensäul (ch) s, Filter vessels, chromatography columns, columns, spin columns or single spin columns known.

in the In general, the advantages of the centrifuge method over the Vacuum-based methods a higher Purity, a higher concentration and a lower risk of cross-contamination. In general can the best results for the purification of biomolecules in terms of quality and the concentration achieved with the centrifuge columns (single spin tubes) which are processed under a high gravity field (> 10,000 × g), since thus minimal cross-contamination and maximum recovery the desired Substance from the membrane is possible. One disadvantage, however, is the labor-intensive manual treatment the centrifuge columns, which increases the risk of error and the processing time, in particular when different samples are treated or processed simultaneously should be. A higher degree standardization and automation, as well as higher throughput can be achieved by using multiwell plate formats. However, you have to compromise on quality and / or quantity be taken.

QIAGEN offers a wide range of purification protocols and products for different biomolecules from a variety of biological samples based on the principle of the bind-wash-elute protocol, using a variety of filter materials and devices, such as for example, described in WO 03/040364 or US 6,277,648 , For example, the commercially available product "QIAGEN QIAprep Spin Miniprep Kit" discloses a typical purification sequence and provides standardized QIAprep columns and 2 ml collection containers for use in a centrifuge and some reagents and buffers.

There are some publications on the topic of processing biological materials. For example disclosed US 6,060,022 an automated sample processing system incorporating an automated centrifuge apparatus. US 5,166,889 describes a collection system for blood in which a plurality of collection containers are positioned for direct access in a carrier wheel. US 2004/0002415 describes an automated centrifuge system for automatically centrifuging liquids containing biological material, such as nucleic acids, in a general centrifuge. WO 2005/019836 describes an apparatus for processing liquid samples. WO 00138046 describes an automated apparatus for loading a centrifuge in which columns of the centrifuge are presented via an automated routing system. EP 122,772 describes a chemical manipulator for use with reaction vessels. GB 2 235 639 describes a centrifuge with a surrounding the surrounding boiler protective jacket.

One Disadvantage of the existing automation systems is that they supported Process does not meet the high quality standard the centrifuge columns ensure and at the same time without or with little manual Intervention work.

The The present invention attempts at least some of the above To solve problems. The Task is solved by a gripper unit according to claim 1, by methods for transporting and transferring a A vessel according to claims 5 and 10, by a vessel holder according to claims 16 and 56, by a biological material processing apparatus according to claims 19, 20, 21, 22, 40, 51, 60, 69 and 76, by a method of setting, Extracting and transferring a vessel according to claims 31 to 33 by a method for positioning according to claims 47 and 55, by a method of detecting presence or absence a vessel according to claim 67, by a method for detecting the type of vessel according to claim 87, and by a method for checking the assembly of a Centrifuge according to claim 89th

Further Advantages, features, aspects and details of the invention as well as preferred Executions and Particular aspects of the invention will become apparent from the dependent claims, the Description and the figures.

In In one aspect of the invention, a gripper unit is to be handled a receptacle proposed by biological material. The vessel has a lid which an open position and a closed position can take. The gripper unit includes a gripper for gripping and releasing of the vessel, and a lid holder to a lid in a defined position to hold in relation to the vessel. The defined position is an open position of the lid.

It also becomes an apparatus for processing biological material proposed, which comprises the gripper unit and a centrifuge. The gripper of the gripper unit is suitable to the vessel in the centrifuge or remove it from the centrifuge.

It is also a method for transporting a vessel in one tube holders or from a vessel holder proposed, wherein the vessel a having attached thereto lid for closing an opening of the vessel. The method includes the steps of grasping or holding the vessel a gripper unit; Holding the lid in a defined position in relation to the vessel, and moving of the vessel in the tube holders or from the vessel holder by the gripper unit, wherein the defined position of the lid maintained relative to the vessel becomes.

It is also a method for removing a vessel from a vessel holder proposed by a gripper unit, wherein the vessel a having attached thereto lid for closing an opening of the vessel. The method comprises the steps of grasping the vessel the gripper unit; Holding the lid in a defined position in relation to the vessel, and removing the seized vessel the vessel holder by the gripper, wherein the defined position of the lid relative to the vessel becomes.

It is also a method for setting a vessel in a vessel holder proposed by a gripper unit, wherein the vessel a having attached thereto lid for closing an opening of the vessel. The method comprises the steps of holding the vessel a gripper unit; Holding the lid in a defined position in relation to the vessel, and setting or insertion of the held vessel into the vessel holder the gripper, wherein the defined position of the lid relative to Retain vessel becomes. Optionally, the method includes the further step of letting go through the vessel the gripper.

It is also a method for transferring a vessel of a first holding position of a first container holder after a second Holding position of a second vessel holder proposed by a gripper unit, wherein the vessel a having attached thereto lid for closing an opening of the vessel. The method comprises the steps of grasping the vessel, the is in the first stop position by the gripper unit; Holding the lid in a defined position relative to Vessel; Remove of the seized vessel the first vessel holder or the first holding position by the gripper; Inserting the seized Vessel in the second vessel holder or in the second holding position by the gripper. In the steps Removing and inserting the defined position of the lid maintained relative to the vessel. optional the method comprises the further step of letting the vessel through the gripper.

It also becomes a vessel holder for a Receptacle of biological material with a lid attached to it close an opening proposed the vessel. The vessel holder is suitable for use in a centrifuge and comprises at least a holding piece to hold the vessel and at least one lid receptor for holding the container connected to the vessel Lid that is shaped to allow access to the lid to allow a lid holder of a gripper unit for the vessel.

It also becomes an apparatus for processing biological material suggested that the vessel holder and a centrifuge, wherein the vessel holder is for use in the Centrifuge is.

It also becomes an apparatus for processing biological material proposed, comprising: a centrifuge with a rotatable centrifuge rotor with at least one vessel holder for holding a biological material vessel, and a gripper for inserting a vessel into the vessel holder.

It also becomes an apparatus for processing biological material proposed, comprising: a centrifuge with a rotatable centrifuge rotor with at least one vessel holder for holding a biological material vessel, and a gripper for removing a vessel from the vessel holder.

It also becomes an apparatus for processing biological material proposed, comprising: a centrifuge with a rotatable centrifuge rotor with at least one vessel holder for holding a biological material vessel, and a gripper for transferring a vessel from a first stop position a container holder to a second holding position of a vessel holder.

It is also a method for setting a vessel by a gripper in a vessel holder proposed in a centrifuge rotor, wherein the vessel holder a stop position for having the vessel. The method comprises the following steps: the gripper is in Relative to the holding position in position; the gripper becomes moved to the vessel in the To stop position; the vessel is going through released the gripper.

It Also, a method for removing a vessel by a gripper a vessel holder proposed in a centrifuge rotor, wherein the vessel holder a stop position for having the vessel. The method comprises the following steps: the gripper is in Relative to the holding position in position; the vessel is going through gripped the gripper; The gripper is moved to the vessel out of the To remove holding position.

It Also, there is a method of transferring a vessel a gripper from a first holding position of a vessel holder in a centrifuge rotor to a second holding position of a vessel holder proposed in the centrifuge rotor. The method comprises the following steps: the gripper is relative to the first stop position positioned the vessel is going through gripped the gripper; The gripper is moved to the vessel out of the to remove the first stop position; The gripper is related to the second holding position is brought into position; the gripper becomes moved to the vessel in the to set second stop position; the vessel is released by the gripper.

It also becomes an apparatus for processing biological material proposed, comprising the following parts: one about a rotor axis rotatable centrifuge rotor, a drive for the centrifuge rotor, and a positioning member not rotatable with the rotor for positioning an angular position of the centrifuge rotor by interaction with a mitrotierbaren with the rotor positioning counter.

It is also a method for positioning a centrifuge rotor a centrifuge in a rotation angle about an axis of rotation of the Centrifugal rotor proposed. The method includes the following Steps: a co-rotating with the centrifuge rotor positioning counter is not in an area of effect to interact with one brought with the centrifuge rotor co-rotating positioning, and the centrifuge rotor is interacted with by the positioning member positioned the positioning counter element.

It also becomes an apparatus for processing biological material proposed, comprising the following parts: one about a rotor axis rotatable centrifuge rotor for pivotal mounting of a vessel holder for a Vessel for receiving biological material, a first stop for the pivoting movement the vessel holder, and a positioning member adapted to the vessel holder by interaction with a positioning counter-element of the vessel holder hold in a swing angle to the stop.

It is also a method for positioning a swing angle a vessel holder for a receptacle of biological material that pivots in a centrifuge rotor is stored, proposed. The method includes the following Steps: a positioning element interacts with a Positioning counter-element of the vessel holder brought; the vessel holder touches one Stop for the pivoting movement of the vessel holder, and the swing-out angle of the vessel holder is due to the interaction of positioning and positioning counter-element positioned on the stop.

It also becomes a vessel holder for a Receptacle proposed by biological material. The vessel holder is for use in a centrifuge and includes a holding piece for holding of a vessel, and a positioning counter-element that is shaped to engage with a positioning element to be engaged. The engagement is an angular position and / or a swing angle of the vessel holder in the centrifuge positionable.

As a general rule: The actual stop is attached to the centrifuge cup, in the vessel holder is used. Is that covered?

It also becomes an apparatus for processing biological material proposed, comprising the following parts: a holder for a vessel for receiving of biological material, the vessel having at least one vessel part increased Recognizability; a radiation source for irradiating a Registration area in the holder, the registration area the vessel part with increased Recognizability is assigned; a sensor for measuring an intensity of radiation, which comes from the registration area; and an evaluation unit, which is equipped to be compared by a comparison intensity and a defined threshold, an absence or a presence to register the vessel.

A method is also proposed for detecting the presence or absence of a vessel for receiving biological material in a holder for the vessel. The method comprises the following steps: a registration area in the holder is irradiated, the registration area being raised to a vessel part of the vessel is assigned visibility; the intensity of radiation coming from the registration area is measured; by comparison between the measured intensity and a defined threshold, an absence or presence of the vessel is registered.

It also becomes an apparatus for processing biological material proposed, comprising the following parts: a vessel holder for receiving a vessel for the biological Material; a sensor unit having an ultrasonic source and an ultrasonic sensor; and an evaluation unit for determining, depending on sensor data of the ultrasonic sensor, an opening state of the vessel, and for determining, depending on of sensor data of the ultrasonic sensor and with open Vessel, one potential Presence of a substance in the vessel.

It also becomes an apparatus for processing biological material proposed comprising the following parts: a container station for holding vessels; a Marking at the container station, which provides information about the Contains type of vessels; and a radiation sensor for reading the mark.

It is also a method for detecting the type of a vessel for Picking up biological material in a container station for the vessel. The method comprises the following steps: a first marker at the container station, which contains information about the type of vessel is irradiated; and a first intensity of radiation coming from the first mark comes is measured; depending on the measured first intensity the type of vessel is registered.

It will also be a method of testing the equipment a centrifuge having a plurality of vessel holding positions for each a vessel for biological Material has. The method comprises the following steps: for the Vessel holding positions is registered, whether a vessel in it is present; the total number of present in the vessel holding positions is registered vessels saved; dependent on the total number in the vessel holding positions as present registered vessels becomes at least one condition for the distribution of the vessels in the Vessel holding positions determined; it checks if the Distribution of in the vessel holding positions as present registered vessels of the condition enough.

The The invention also relates to an apparatus for carrying out the disclosed methods and also includes device parts for executing each individual process steps. These process steps can by Hardware components, by means of an appropriate software programmed computer, by a combination of both, or be executed in any other way. The invention is further directed to methods according to which each described Devices work. It contains procedural steps to perform each Function of the devices.

embodiments The invention are illustrated in the figures and will be described in more detail below. Show it:

1a Fig. 5c shows a plan view of the worktop with pipette dispensing station and without gripper unit, an enlarged view of the pipette dispensing station and a view of the worktop with gripper unit and opened centrifuge lid of an embodiment;

2a , b shows a perspective view of an embodiment with the worktop of 1c and a housing;

3a -c show a perspective view of the centrifuge unit of a closed-lid embodiment; with lid open; with the cover flap of the lid removed;

4 shows a side cross-section of the centrifuge unit of 3a ;

5a c show a suspension of a vessel holder in the centrifuge rotor of the centrifuge and a stop for a maximum pivoting angle of the vessel holder;

6 shows a perspective view of the gripper carriage of an embodiment with gripper and pipette unit;

7 shows a perspective view of the pipetting of 6 ;

8th shows a perspective view of the gripper unit of 6 ;

9 shows a perspective view of the gripper of the gripper unit of 8th ;

10 shows a perspective view of a vessel holder of an embodiment;

11a Figure-d show a side view of a vessel holder of an embodiment;

12 shows a perspective view of a consumable consumables station of an embodiment;

13 shows a perspective view of a unit for heating and shaking an embodiment;

14a Figures 3 b show a side and a top view, respectively, of a unit for heating and shaking an embodiment;

15 shows a simple diagrammatic representation of the sensory functions and control functions of one embodiment;

16 shows a detailed diagrammatic representation of the sensory functions and control functions of one embodiment;

17a , b show screens for user guidance of one embodiment

18a , b show screens of an embodiment for user guidance for selecting, preparing and performing a protocol

basic concept

The in the following described apparatuses for processing biological Allow or support materials the efficient execution of process or protocol steps for processing biological Material. The apparatuses preferably implement one or more the following useful Aspects.

One more useful Aspect is to view some of the process steps within a centrifuge perform, not only the centrifuging of the material itself, but also also other process steps that do not involve centrifuging. Performing such process steps in the centrifuge has the advantage that devices of the centrifuge, about a holder for a vessel for the material, in an efficient way also for the further protocol steps can be used. At the same time can under circumstances dispensed with appropriate devices outside the centrifuge become. At the same time, a transfer of material in and out the centrifuge can be reduced. At the same time, transport routes can be shortened. This can save time and the risk of cross-contamination be minimized.

In order to perform the protocol steps in the centrifuge, it is further useful to withdraw material from a position of the centrifuge, to introduce it into a position of the centrifuge, or to transfer it between different positions within the centrifuge. Among other things, two methods for material transport are available for this purpose:
First, if liquid, the material can be pipetted. For this purpose, the apparatus may have a pipette unit (see, eg 7 ). Second, a vessel containing the material can be transported. Such a vessel can be arbitrary. Preferably, it is a column, such as a centrifuge column, ie single spin column, or a reaction or

Collecting vessel, e.g. an Eppendorf tube or similar Vessel, i. a plastic container with or lidless. To such a vessel e.g. from a first position within the centrifuge to a second position inside or outside To implement the centrifuge, the apparatus can be a movable gripper for the Have vessel.

These and similar Methods for material transport can also without using a Centrifuge can be implemented.

Independent of the embodiments shown some aspects of a gripper are suggested. This is how it is Gripper proposed for gripping and releasing a receptacle for receptacle of biological material is suitable. Such a gripper comprises a gripping element which is movable for gripping and releasing a vessel, a tensioning element which is suitable for tensioning the gripping element, a lifting element, and a drive for the lifting element, the suitable is to drive a lifting movement of the lifting element, which is the gripping element emotional.

optional if the clamping element is suitable, the gripping element in the opening direction to stretch. As another option moves the lifting movement of the lifting element the gripping element in the closing direction. Alternatively, the clamping element suitable to tension the gripping element in the closing direction. When Another option moves the lifting movement of the lifting element, the gripping element in the opening direction.

The Clamping element is also optionally suitable, the gripping element for Let go of the vessel to tension. As a further option, the lifting movement of the lifting element moves the gripping element for gripping the vessel. alternative the clamping element is adapted to tension the gripping element for gripping the vessel. As a further option, the lifting movement of the lifting element moves the gripping element to Let go of the vessel.

Typically, the gripping member has a notch adapted to engage a collar of the vessel. The gripping member is optionally a first gripping member, and the gripper then further comprises a second gripping member having analogous properties to the first gripping member. It is also possible that the gripper is mounted pivotably about a pivot axis. In this Case typically defines the gripping member a central axis for the vessel, and the pivot axis is different from the central axis.

It is also a method for grasping a vessel for receiving biological Material proposed by a gripper. The method comprises the following steps: generating a lifting movement of a lifting element; Converting the lifting movement of the lifting element into a movement of the gripping element in the closing direction or for gripping the vessel, wherein the movement against a Force is directed, which exerts a clamping element on the gripping member; and Grasping the vessel through the Gripping element. Alternatively, the lifting movement of the lifting element also in a movement of the gripping element in the opening direction for gripping of the vessel converted For example, when the gripper attaches the vessel to an interior of the vessel Vessel down directed vessel surface attacks.

It is also a method for releasing a vessel for receiving biological Material proposed by a gripper This method includes the following steps: generating a lifting movement of a lifting element, wherein the lifting movement is a movement of the gripping element in the opening direction allows generating a movement of the gripping element in the opening direction to let go of the vessel a tensioning element, and releasing the vessel by the gripping element. Alternatively, the lifting movement of the lifting element and a movement allow the gripping element in the closing direction, and by the Clamping element can be a movement of the gripping element in the closing direction generated to let go of the vessel become.

It is also a gripper unit for handling a vessel for Inclusion of biological material proposed. The gripper unit comprises the following parts: a gripper body, which is in a z-direction is movable, and a gripper for gripping the vessel, the relative to the gripper body from a first position to a second position, and a drive for moving the gripper from the first position to the second position.

optional The gripper unit is equipped to insert the vessel into another vessel. optional the drive is an electric drive. Optionally, the movement is done of the gripper from the first position to the second position in one Direction different from the z direction. Optionally, this is done Moving the gripper from the first position to the second position in a direction perpendicular to the z-direction. optional is the movement of the gripper from the first position to the second Position a pivoting movement about a pivot axis. Optional extends the pivot axis parallel to the z-direction.

Also discloses a device for automatically processing biomolecules Sample material, preferably proposed sample liquid, the The following elements are included: First, a centrifuge that has a rotor for holding and rotating a plurality of containers, each of which has at least one first opening to remove a filter vessel to take up and keep; and at least one second opening, to removably receive another, optionally closed, vessel and to keep contains; and second, a handling unit comprising: removal means of the said filter vessel said first opening; Funds for merging of the said filter vessel with said other vessel, so that both vessels together can rotate with the centrifuge, and so that a fluid connection between the volume of the filter vessel and the other vessel to disposal is provided.

The Handling unit contains optional means for bringing said filter vessel from said first opening said another vessel, that on said second opening is connected. The handling unit contains furthermore optional funds for turning said filter vessel or said further Vessel around a vessel centreline, with the respective said filter vessel or said closed Vessel coaxial is. The funds for the removal of said filter vessel from said first opening optionally concludes a first motor for separating said filter vessel from said closed vessel in a coaxial direction one. The funds for bringing said filter vessel to said further vessel optionally conclude at least one second engine for bringing the said filter vessel to said further vessel.

Also is a gripper unit for handling a vessel for receiving biological material proposed. The vessel points a lid on, which has an open position and a closed Position can take. The gripper unit comprises a gripper for gripping and releasing the vessel, and a lid holder, to hold a lid in a defined position in relation to the vessel. The defined position is an open position of the lid.

Also a system with said gripper unit is proposed. The system further comprises a centrifuge and the gripper is suitable to place the vessel in the Insert centrifuge or remove it from the centrifuge.

The vessel is optionally made of plastic. The lid is optionally attached to the vessel. Optional is the gripper unit being movable in a z-direction perpendicular to a worktop plane or movable in an xy direction along a worktop plane. Optionally, the vessel has a circular cross-section, preferably a diameter of less than 2cm, 1cm. The lid is optionally suitable for closing an opening of the vessel. Optionally, the lid is connected via a connecting piece with the vessel. Optionally, the gripper has a gripping element with a recess through which the connecting piece of the lid can be performed when the vessel is gripped by the gripper. Optionally, the lid holder comprises a mechanical stop for the lid. Optionally, the lid is pressed against the mechanical stop by the connecting piece. Optionally, the gripping element is movable for gripping and releasing the vessel. Optionally, the vessel holder is a device for processing liquids. Optionally, the lid holder is designed such that when the container is received by the gripping element, the lid holder slides or is guided along the lid. Optionally, the handling includes placing the vessel in a vessel holder, the vessel holder having a lid receptor; and the lid holder is then suitable for placing the lid in the lid receptor during setting. Optionally, the handling includes removing the vessel from a vessel holder, the vessel holder having a lid receptor; and the lid holder is then suitable for removing the lid from the lid receptor during removal. Optionally, the lid receptor and lid holder define the same position of the lid relative to the vessel.

Also discloses a method for transporting a vessel into a vessel holder or from a vessel holder proposed, wherein the vessel has a thereto having fixed lid for closing an opening of the vessel. The method includes the steps of grasping or holding the vessel a gripper unit; Holding the lid in a defined position in relation to the vessel, and moving of the vessel in the tube holders or from the vessel holder by the gripper unit, wherein the defined position of the lid maintained relative to the vessel becomes.

The Method for transporting a vessel is optionally a method to remove the vessel a vessel holder by the gripper unit, wherein the step of moving the vessel in the or from the vessel holder a removal of the vessel the vessel holder through the gripper. Optionally, the step includes removing the Vessel out the vessel holder removing the lid from a lid receptor of the vessel holder. optional owns the vessel holder a lid receptor for the lid of the vessel, and the step of removing the vessel the vessel holder then includes removing the lid from the lid receptor, wherein maintain the defined position of the lid relative to the vessel becomes.

optional For example, the method of transporting a vessel is a method of placement of the vessel in one tube holders by the gripper unit, wherein the step of moving the vessel into or from the vessel holder a placement or insertion of the vessel into the vessel holder is. Optionally, the step includes setting or inserting the vessel in the tube holders the insertion of the lid in a lid receptor of the vessel holder. Optionally, in the step of holding the lid, the lid is replaced by a lid Lid holder of the gripper unit in a defined position in Held relation to the vessel. Optionally, the setting of the vessel Vessel through the Gripper unit released. The vessel optionally has a circular cross section, preferably a diameter of less than 2cm or 1cm.

optional owns the vessel holder a lid receptor for the lid of the vessel, and the step inserting the vessel in the Includes vessel holder then inserting the lid into the lid receptor, the defined position of the lid is maintained relative to the vessel.

Also discloses a method for transferring a vessel from a first vessel holder after a second vessel holder proposed by a gripper unit comprising the steps Remove the vessel the first vessel holder or from a first holding position of the first container holder as in the preceding paragraphs and inserting the vessel into the second vessel holder or in a second holding position of the second vessel holder as in the previous paragraphs described. In particular, the vessel is moved from a first stop position of the first vessel holder transferred to a second holding position of the second vessel holder. The first and second stop positions are usually different. The first stop position and the second stop position can in same vessel holder or in different containers.

Also becomes a vessel holder for a Receptacle of biological material with a lid attached to it close an opening proposed the vessel. The vessel holder is suitable for use in a centrifuge and comprises at least a holding piece to hold the vessel and at least one lid receptor for holding the container connected to the vessel Lid that is shaped to allow access to the lid to allow a lid holder of a gripper unit for the vessel.

Optionally, the vessel holder or are the Vessel holder arranged in a centrifuge. Optionally, the vessel holder or the vessel holders are pivotally mounted in the centrifuge, for example, pivotably mounted in the centrifuge rotor. The lid is optionally open, ie in an open position of the lid.

Also an apparatus for processing biological material is proposed, the following parts comprise: a vessel holder which is suitable a receptacle of biological material with a lid attached to it Closing an opening of the To hold the vessel and a lid holder of a gripper unit for the vessel to the lid in a defined Position to hold in relation to the vessel the vessel holder a lid receptor for holding the lid connected to the vessel, which allows access of the lid holder on the lid. Of the Apparatus further optionally includes a centrifuge, wherein the vessel holder is suitable for use in the centrifuge.

at the vessel holder or in the apparatus of the two immediately preceding sections the access of the lid holder to the lid is optional a mechanical touch of the Lids through the lid holder. A recess of the lid receptor Optionally allows access of the lid holder to the lid. The apparatus is optionally designed so that the access of the lid holder on the lid when grasping the vessel by a gripper of the Apparatus takes place.

The Vessel is optional made of plastic. The lid is optionally attached to the vessel. Optionally, that has Vessel one circular Cross section, preferably a diameter of less than 2cm, 1cm. The lid is optionally suitable for closing an opening of the vessel.

Also an apparatus for processing biological material is proposed, the following parts comprise: a centrifuge with a rotatable centrifuge rotor with at least one vessel holder for Holding a jar for biological Material, and a gripper for inserting a vessel in the Tube holders.

Also an apparatus for processing biological material is proposed, the following parts comprise: a centrifuge with a rotatable centrifuge rotor with at least one vessel holder for Holding a jar for biological Material, and a gripper for removing a vessel the vessel holder.

Also an apparatus for processing biological material is proposed, the following parts comprise: a centrifuge with a rotatable centrifuge rotor with at least one vessel holder for Holding a jar for biological Material, and a gripper for transferring a vessel of a first holding position of a vessel holder to a second holding position a container holder. Optionally, the first and second stop positions are different. The first and second holding position can in the same vessel holder or in different container holders be.

In In these apparatuses, the gripper is optionally designed to pass through the vessel To engage with a protruding vessel piece. The gripper is optional for a vessel with an opening or main opening and a protruding vessel piece, and The gripper is then designed to hold the vessel on one side of the protruding To grab the container piece, the one from the opening the vessel is turned away. Optionally, the gripping element has a notch which is suitable is to intervene in a collar of the vessel and which is preferably suitable in one of an opening of the Facing away from the vessel Side of the collar. The vessel is optional for admission of biological material. The vessel holder is optionally pivotable stored in the centrifuge rotor. The gripper optionally includes a Positioning element for positioning an angular position or a Swinging position of the vessel holder. Optionally, the positioning is carried out by interaction of the positioning element with a positioning counter element. The positioning element for positioning A swing-out position is optionally designed to work with a stop for the tube holders to cooperate, for example, with a stop that with the Centrifuge rotor is mitrotierbar. Optionally, the gripper includes following parts: a gripping element, which is to grasp and release a vessel is movable, a tensioning element which is suitable for tensioning the gripping element, a lifting element, and a drive for the lifting element, the suitable is to drive a lifting movement of the lifting element, which is the gripping element emotional. The transfer optionally includes a rotational movement of the vessel. Of the Vessel holder is optionally removable from the centrifuge.

The tensioning element is optionally suitable for tensioning the gripping element in the opening direction. The lifting movement of the lifting element moves the gripping element optionally in the closing direction. The tensioning element is optionally suitable for tensioning the gripping element in the closing direction. The lifting movement of the lifting element moves the gripping element optionally in the opening direction. The tensioning element is optionally suitable for tensioning the gripping element for releasing the vessel. The lifting movement of the lifting element moves the gripping element optionally for gripping the vessel. The tensioning element is optionally suitable for tensioning the gripping element for gripping the vessel. The lifting movement of the lifting element moves the gripping element optionally to release the Vessel.

Of the tube holders is optionally movably mounted in the centrifuge rotor. In this Case, the positioning means are optionally suitable for movement of the vessel holder while of inserting / removing / transferring to prevent or restrict. Optional the transfer directly, i. The gripper holds the vessel during the entire time span between removal from the first stop position and insertion in the second stop position. There are also optional transfers a third holding position, and the apparatus can then additionally the vessel between the third stop position and the first or second stop position transfer. The gripping element optionally has at least one notch on, which is suitable to engage in a collar of the vessel. The gripping element is optionally a first gripping element, and the gripper continues to point a second gripping element, the analogous properties to the first Gripping element has. The gripper is optional about a pivot axis pivoted. The gripping element optionally defines a central axis for the Vessel, and the Pivot axis is then different from the central axis

Also is a method for setting a vessel by a gripper in a vessel holder proposed in a centrifuge rotor, wherein the vessel holder a stop position for having the vessel. The method comprises the following steps: the gripper is in Relative to the holding position in position; the gripper becomes moved to the vessel in the To stop position; the vessel is going through released the gripper.

Also For example, there is a method of removing a vessel by a gripper a vessel holder proposed in a centrifuge rotor, wherein the vessel holder a stop position for having the vessel. The method comprises the following steps: the gripper is in Relative to the holding position in position; the vessel is going through gripped the gripper; The gripper is moved to the vessel out of the To remove holding position.

Also discloses a method of transferring a vessel by a gripper of a first holding position of a vessel holder in a centrifuge rotor to a second holding position of a vessel holder in the centrifuge rotor proposed. The method comprises the following steps: the Gripper is brought into position with respect to the first stop position; the vessel is going through gripped the gripper; The gripper is moved to the vessel out of the to remove the first stop position; The gripper is related to the second holding position is brought into position; the gripper becomes moved to the vessel in the second To stop position; the vessel is through the Gripper released.

optional For example, the respective methods mentioned above include the step of a predetermined angle of rotation of the vessel holder about the axis of rotation of the centrifuge rotor is adjusted. When removing and / or when inserted, the gripper and a gripper body become optional moved together along a z-direction, and while in position relate the vessel in relation on the second stop position, the gripper is optional relative to the gripper body emotional. Furthermore, the methods optionally include the step of fixing the angular position or a swing-out angle. For example, can the swing-out angle of the vessel holder be fixed by a positioning of the gripper interact is brought with a positioning counter-element of the vessel holder; of the tube holders a stop for the pivoting movement of the vessel holder touched, and the swing-out angle of the vessel holder by the interaction of positioning element and positioning counter-element is fixed to the stop. The stop for the pivoting movement of the vessel holder is optionally rotatable with the centrifuge rotor. The holding position is optional in a container holder removable from the centrifuge.

Of the Step gripping the vessel includes Optionally, the following sub-steps: Generating a stroke movement a lifting element; Converting the lifting movement of the lifting element in a movement of the gripping element, in the closing direction or in the opening direction, for gripping the vessel, wherein the movement is directed against a force that is a tensioning element exerts on the gripping element; and thus grasping the vessel the gripping element.

Of the Step letting go of the vessel includes optional the following sub-steps: generating a lifting movement of a lifting element, wherein the lifting movement is a movement of the gripping element in the opening direction allows generating a movement of the gripping element in the opening direction or in the closing direction for releasing the vessel by a tensioning element, and thus letting go of the vessel the gripping element.

Of the Step gripping the vessel includes optionally grasping the vessel at one Side of a protruding vessel piece of the Vessel that from an opening or a main opening turned away from the vessel is.

With the vessel in position relative to the second holding position, the gripper is optionally moved relative to the gripper body in a direction different from the z-direction. With the vessel in position relative to the second holding position, optionally, the gripper is moved relative to the gripper body in a plane that is perpendicular to the z-direction. At the in Positioning the vessel with respect to the second holding position, the gripper is optionally pivoted relative to the gripper body about an axis which extends parallel to the z-direction. Optionally, the first and second stop positions are different. They can be in the same vessel holder or in different vessel holders. The gripper optionally engages in a projecting vessel piece of the vessel.

For the next above-mentioned method of material handling it is useful to fix the centrifuge and a vessel holder mounted therein and / or to position, for a targeted transfer of liquids to enable and unwanted Movements e.g. in the automated transfer of vessels in the To avoid centrifuge. Such movements can include a rotation of the centrifuge rotor about its rotor axis or a pivoting of a vessel holder in the centrifuge rotor about its pivot axis.

It is therefore an apparatus for processing biological material proposed, comprising the following parts: one about a rotor axis rotatable centrifuge rotor, a drive for the centrifuge rotor, and a positioning member not rotatable with the rotor for positioning an angular position of the centrifuge rotor by interaction with a mitrotierbaren with the rotor positioning counter.

The Positioning of the angular position is optionally by mechanical Intervention between positioning and positioning counter-element. The centrifuge rotor is optional for holding a vessel holder for a Receptacle suitable for biological material. The positioning counter element is optional on the vessel holder or arranged on the centrifuge rotor. Optionally, the apparatus contains Means for detecting an angular position of the centrifuge or the Centrifuge rotor. The positioning element can then be dependent the detected angular position are aligned so that the Positioning element in an area of action of the positioning counter-element located. The positioning element is optionally further suitable, a swing angle of the vessel holder to position, as described below. The centrifuge rotor is optional for the pivotal mounting of a vessel holder for a vessel for receiving biological Material suitable and has a stop for the pivotal movement of the vessel holder.

The Positioning element is then suitable, the vessel holder by interaction with the Positioniergegenelement in a swing angle at the To hold the stop.

The Positioning element can on a gripper body of a gripper unit for Gripping the vessel attached be. He may alternatively also e.g. attached to a pipetting unit be. The positioning optionally permits an accuracy of the angular position of 0.1 degrees. The apparatus optionally further comprises means for Rough positioning of the centrifuge rotor, the accuracy of the Allow angular position of 1.5 degrees. The apparatus continues to include optional means for detecting the angular position of the centrifuge rotor, For example, those that detect the angular position of the Allow centrifuge rotor with an accuracy of 1 degree. The drive is optionally an electric drive, preferably an induction motor, i.e. an asynchronous motor. The positioning element includes optional a mandrel, the positioning counter-element then comprises a recess for the Mandrel. The positioning element is optionally attached to the gripper body, the positioning upon access of the gripper to a vessel holding position of the vessel holder possible is. The positioning element is optionally sprung on the gripper body stored in the z-direction. The suspension optionally allows a stroke of the positioning element that is greater than a length the vessel is. The vessel is optional a circular one Cross-section and is preferably made of plastic. The positioning element is optionally in a fixed angular relation to a holding position of the vessel holder arranged. The apparatus optionally comprises a plurality of positioning counter-elements, preferably more than 3, more than 6 or more than 10 positioning counter-elements.

It is also a method for positioning a centrifuge rotor a centrifuge in a rotation angle about an axis of rotation of the Centrifugal rotor proposed. The method includes the following Steps: a co-rotating with the centrifuge rotor positioning counter is not in an area of effect to interact with one brought with the centrifuge rotor co-rotating positioning, and the centrifuge rotor is replaced by interaction of the positioning element positioned with the positioning counter element.

The Positioning counter element is optionally in the sphere of action for Interaction with the positioning brought by a Angular position of the centrifuge rotor about its axis of rotation in selected an angular interval is so that the positioning counter-element is in the sphere of action.

The Positioning counter element is optional by following steps in the sphere of action for interaction with the positioning element brought: an angular position of the centrifuge rotor about its axis of rotation is detected and the positioning element becomes dependent aligned by the detected angular position, so that the Positioning element is located in the sphere of action.

By The positioning of the centrifuge rotor is optionally a rotation angle a stop position for a Vessel in the Centrifuge rotor set around a rotor axis of the centrifuge rotor. The interaction is optionally a mechanical intervention or a magnetic one Interaction. Due to the positioning, an angle of rotation is optional of the centrifuge rotor around its rotor axis. Together with the Positioning the angle of rotation of the vessel holder in the centrifuge Optionally, a swing-out angle of the vessel holder is positioned or fixed.

It also becomes an apparatus for processing biological material proposed, comprising the following parts: one about a rotor axis rotatable centrifuge rotor for pivotal mounting of a vessel holder for a Vessel for receiving biological material, a first stop for the pivoting movement the vessel holder, and a positioning member adapted to the vessel holder by interaction with a positioning counter-element of the vessel holder hold in a swing angle to the stop.

The Pivoting movement of the vessel holder can Generally also referred to as oscillatory motion or swing-out as this movement usually defines the swing-out angle.

The Positioning is optionally carried out by the positioning element described above for angular positioning. The centrifuge rotor optionally further includes a second stop for one Pivoting motion caused by a centrifugal force of the centrifuge rotor is caused. The first and / or the second stop is optional attached to the centrifuge rotor or mitrotierbar with it. The Positioning is optionally carried out by pressing the vessel holder the stop. The stop restricts optionally a pivoting movement of the vessel holder, the opposite is to a reference pivoting movement by a centrifugal force of the centrifuge rotor is caused. The pivoting movement takes place optionally a substantially horizontal axis.

It also becomes an apparatus for processing biological material proposed, comprising the following elements: one rotatable about a rotor axis Centrifuge rotor for pivotal mounting of a vessel holder for a Receptacle of biological material, the vessel holder a positioning counter-element, a stop for the pivoting movement the vessel holder, and a positioning element that is suitable by interaction with a positioning counter - element, the vessel holder in contact with the To bring stop, wherein the touch a swing angle of the vessel holder is positioned or fixed.

It is also a method for positioning a swing angle a vessel holder for a receptacle proposed by biological material, which pivots in a centrifuge rotor is stored. The method includes the following steps: a Positioning element is interacting with a positioning counter of the vessel holder brought; the vessel holder touches one Stop for the pivoting movement of the vessel holder, and the swing-out angle of the vessel holder is due to the interaction of positioning and positioning counter-element positioned on the stop. The swing-out angle can also be called Swivel position can be designated.

The Positioning is optionally carried out by the positioning element for angular positioning, which is described above. Positioning is optional To press of the vessel holder to a stop attached to the centrifuge rotor.

It also becomes a vessel holder for a Receptacle proposed by biological material. The vessel holder is for use in a centrifuge and includes a holding piece for holding of a vessel, and a positioning counter-element that is shaped to engage with a positioning element to be engaged. The engagement is an angular position and / or a swing angle of the vessel holder in the centrifuge positionable.

Of the tube holders Optionally, further comprises a connector suitable for holding the vessel holder to connect with the centrifuge. The connector defines optionally a swivel axis. The distance between the positioning counter element and a center of the vessel holder is optionally greater than the distance between the positioning counter-element and an edge of the vessel holder. The Positioning counter element optionally comprises a cavity for receiving the positioning element. The engagement between positioning counter element and positioning is optionally suitable, a relative movement between positioning counter-element and positioning element along the directions of at least one plane to prevent. A cross-section of the cavity is optionally reduced towards the interior of the cavity. A distance between two opposite ones Points of an edge of the cavity is optionally less than a depth or stroke depth to which the Positioning element in the cavity insertable is. The vessel holder is optional a device for processing liquids.

There is also proposed an apparatus for processing biological material comprising: a centrifuge; a vessel holder in the centrifuge, which is a holding piece to the Hal th a vessel for receiving biological material has; and a positioning element. The vessel holder has a positioning counter-element which is shaped to position an angular position and / or a deflection angle of the vessel holder in the centrifuge by engagement with the positioning element.

Farther is it useful if the device is easy to use. For example it is useful, a front section or another easily accessible Section of the apparatus for the equipment with consumables and for to provide for the removal of consumed consumables. Especially is it useful the section as a removable or removable section provide, for example, as a drawer or as multiple drawers.

Farther is it useful if the device typical operating or assembly errors already in advance can recognize. For example, it is useful to have user input Consistency with each other and with a selected protocol. Also is it useful the equipment with consumables (e.g., with processing fluid, with vessels and / or with pipette tips) to consistency with each other and with a selected Check protocol.

Furthermore, it is useful to make the user guide as uncomplicated as possible, so that the processing of as few and as intuitive as possible input steps can be started. For this purpose, it is useful, for example, to provide a structured menu navigation via a graphical display. It is also useful _; to design the menu so that rarely editable input fields can be reached via optional submenus, which can normally be skipped. It is also useful if the device stores recent or frequently used settings and provides for quick access.

It is still useful The device can be flexibly adapted to several different protocols to design. In particular, it is useful if a wide range by "bind-wash-elute" - and supported by other protocols can, as offered for example by the company QIAGEN. It is also useful if more protocols for processing biological material added through software updates or if existing protocols can be changed. Also is it useful if the apparatus has a variable number of samples to be tested (Batch size) recognize and / or support them flexibly can.

It is still useful to influence the temperature of a centrifuge, in particular the centrifuge to cool. For this purpose, a centrifuge for centrifuging biological Proposed material comprising the following parts: a centrifuge vessel, a lid for the centrifuge bowl, one inside the centrifuge bowl Centrifuge rotor, a drive for the centrifuge rotor, a first cooling device for cooling of the lid, and a second cooling device for Cool of the centrifuge bowl.

The first cooling device is optional a cooling device for cooling of the centrifuge bowl by a cooling gas. It includes optional a flow device to thrill of the centrifuge vessel by the cooling gas. The cooling gas of first cooling device is optional ambient air.

The second cooling device optionally includes a flow device to thrill an outer surface of the Centrifuge boiler by a cooling gas. The cooling gas the second cooling device is optional ambient air. Optionally, the second cooling device is independent of the drive for the centrifuge rotor controllable, and / or the second cooling device is also for cooling equipped with a drive.

optional are the first and second cooling device different. Optionally, the first and / or second cooling device comprises Cooling fins. Optional are the cooling fins arranged horizontally and / or vertically. Optionally, the first one and / or the second cooling device an active cooling device. Optionally, the flow device (s) comprises or include the first and / or the second cooling device one fan each. Optionally, the lid is suitable to a Inside of the centrifuge vessel, preferably from an exterior of the Close centrifuge bowl. Optionally, the centrifuge bowl is designed so that when closed Cover the cooling gas can not flow into the interior of the centrifuge bowl or the cooling gas of the first and / or the second cooling device not can flow into the interior of the centrifuge bowl.

It will continue a method for centrifuging biological Suggested material in a centrifuge. The method comprises the following steps: loading a centrifuge rotor with the biological material; Closing one Centrifuge bowl of the centrifuge through a lid; Rotating the Centrifuge rotor about a rotor axis by a drive; Cooling the Centrifuge bowls, and cooling of the lid.

Optionally, the cooling of the centrifuge vessel is performed by flowing an outer surface of the centrifuge vessel with a cooling gas through a flow device. Optionally, an in nere surface of the centrifuge vessel or an interior of the centrifuge vessel is not flown with the cooling gas. Optionally, the flow device is independent of the drive. Optionally, the centrifuge rotor is disposed within the centrifuge bowl.

Of Further, a centrifuge is proposed, the following parts comprising: a centrifuge kettle; one in an interior of the centrifuge bowl arranged centrifuge rotor, a lid for the centrifuge bowl, and a device for cooling of the lid by ambient air. The device defines one flow path for the Ambient air separated from the interior of the centrifuge bowl is.

optional has the device for cooling the Cover a flow device to thrill of the lid with the ambient air. Optionally, the lid shows an inner area, and the flow path passes through the inner Area of the lid. Optional are in one area of the Lids, with the flow path is in thermal contact, cooling fins arranged. Optional are the cooling fins along a flow direction of the flow path aligned. Optionally, the lid comprises means for discharging Heat off the interior of the centrifuge. Optionally, the ambient air has the temperature the environment. Optionally, the apparatus for cooling the Deckels means of equalizing the Speed profile of sucked ambient air, preferably at an angle trimmed and differently offset to the rear cooling rib edges.

Also an apparatus for processing biological material is proposed, comprising one of the described centrifuges, i. a centrifuge, which is equipped to influence its temperature, in particular to cool the centrifuge.

It is also a method of cooling a centrifuge proposed. The centrifuge has a centrifuge bowl, a rotatable arranged in an interior of the centrifuge bowl Centrifuge rotor, and a lid for the centrifuge bowl. The Method comprises the following steps: aspiration of ambient air, and directing the ambient air along the lid on a flow path, which is separate from the interior of the centrifuge bowl. optional If the process is carried out in one of the described centrifuges, i. in a centrifuge equipped to influence its temperature.

It is also a process for centrifuging biological material proposed in a centrifuge, which includes the following steps: equip the centrifuge with the biological material; Rotate the rotor wheel inside a centrifuge bowl of the centrifuge by a drive around a rotor axis; purged through of the drive and an outer surface of the Centrifuge vessel with a coolant.

Independent of the described embodiment Other aspects of a centrifuge are also proposed. It will in particular a centrifuge for centrifuging biological Suggested material that includes the following parts: one by one Rotor axis rotatable rotor wheel for receiving at least one vessel for the biological Material; a centrifuge bowl, and one rotatable about the rotor axis Aperture, which is located between the rotor wheel and the centrifuge bowl is, being the height an outer boundary of the rotor wheel is smaller than the height of a position that the upper edge of the vessel or a container holder for the vessel during the Centrifugation takes.

• – ein erster Winkel zwischen einer Normalen zur Oberfläche des Stoffes und einem ersten Strahl, der von der Strahlungsquelle zu der Oberfläche des Stoffes geht, im Wesentlichen gleich
• – einem zweiten Winkel zwischen der Normalen zur Oberfläche des Stoffes und einem von dem ersten Strahl reflektierten Strahl ist, der von der Oberfläche des Stoffes zu dem Strahlungsmesser geht; und die Höhe der Oberfläche des Stoffes wird in Abhängigkeit der räumlichen Relation von Strahlungsquelle, Strahlungsmesser und Gefäß bestimmt.

A method is also proposed for determining the height of a surface of a substance in a vessel. The substance is optionally a liquid, but may also be another substance, for example a powder. The method comprises the following steps: the surface of the substance in the vessel is irradiated by a radiation source; the radiation coming from the surface of the substance is measured by a radiometer; Depending on the radiation measured by the radiation meter, the radiation source, the radiation meter and the vessel are brought into spatial relation to one another, so that

• A first angle between a normal to the surface of the substance and a first ray going from the radiation source to the surface of the substance are substantially equal
• A second angle between the normal to the surface of the substance and a ray reflected from the first ray, which passes from the surface of the substance to the radiation meter; and the height of the surface of the substance is determined as a function of the spatial relationship between radiation source, radiometer and vessel.

Optionally, the irradiation is carried out by a collimated beam with a bundle diameter in a range between 0.3 mm and 3 cm, preferably between 1 mm and 6 mm, for example of about 3 mm. Optionally, the surface is an interface between air and liquid. Optionally, the radiation source and the radiation meter are in a common housing. Optionally, the radiation source and the radiation meter are in a light scanner. Optionally, bringing the radiation source, radiometer and vessel into a spatial relationship with each other includes inclining the radiation source. Optionally, a by adhesion forces caused curvature of the surface of the liquid are taken into account. Optionally, the height of the surface of the fabric is determined using equality of the first and second angles.

An apparatus for processing biological material is also proposed. The apparatus comprises a vessel holder for a vessel for receiving a substance, and a filling altimeter for determining the height of a surface of the substance in the vessel. The filling altimeter further comprises a radiation source for irradiating the surface of the substance; a radiation sensor for measuring radiation coming from the surface of the substance; a positioning device; and a control unit. The control unit is equipped to bring the radiation source, the radiation meter and the vessel in a spatial relation to each other in dependence on the radiation measured by the radiation meter, so that
a first angle between a normal to the surface of the substance and a first ray going from the radiation source to the surface of the substance are substantially equal
a second angle between the normal to the surface of the substance and a ray reflected from the first ray going from the surface of the substance to the radiation meter; and around
determine the height of the surface of the substance as a function of the spatial relation of radiation source, radiometer and vessel.

optional is the optical sensor or the light sensor of the filling height meter also suitable for positioning a movable sensor unit or for determining the presence of a vessel, as in this application is described.

Further an apparatus for processing biological material is proposed. The apparatus comprises a movable unit on which an optical Sensor and an ultrasonic sensor is attached; Means for detecting the presence or absence of a liquid container in a holder for the liquid container dependent on of sensor data of the optical sensor; and means for determining the Filling height one in the liquid container located liquid dependent on of sensor data of the ultrasonic sensor.

Independent of the described embodiment Other aspects of the sensor technology are also proposed. So will proposed an apparatus for processing biological material, the following parts comprise: a holder for a vessel for receiving biological Material, wherein the vessel at least a vessel part with increased Recognizability; a radiation source for irradiating a Registration area in the holder, the registration area the vessel part with increased Recognizability is assigned; a sensor for measuring an intensity of radiation, which comes from the registration area; and an evaluation unit, which is equipped to be compared by a comparison intensity and a defined threshold, an absence or a presence to register the vessel.

The Vessel is optional a centrifuge vessel, a filter vessel, a collection vessel or a Pipette tip. The centrifuge tube and the collection vessel, for example a so-called spin tube or Eppendorf tube, as a rule a main opening to Pipetting material into or out of the vessel and optionally a lid on. The centrifuge vessel has usually in addition an outlet opening on the one to the main opening opposite side of the centrifuge vessel is arranged. The vessel part with increased Recognition is optionally a membrane, a filter, a filter membrane, a lid hinge, and / or a lid of the vessel.

Of the Sensor is optional movable. The apparatus can then be suitable a position of the sensor by irradiating an alignment mark of Apparatus and by measuring a coming from the alignment mark To determine radiation. The movement of the sensor is then optional in at least one direction, preferably in two directions to the Movement of a gripper for the vessel or one Pipette unit coupled to receive the pipette tip.

Of the Sensor is optionally suitable for the presence or the level of a To determine substance in the vessel as described below. The radiation coming from the holding area comes is optionally reflected radiation from the radiation source. The radiation is typically electromagnetic radiation and is preferably in the visible or in the infrared spectral range. The evaluation unit is optionally equipped to measure for a measured Intensity, which is below the threshold to register an absence, and around for a measured intensity, which is above the threshold to register a presence.

optional the irradiation takes place with a spot which has a diameter, which is between 0.3 times and 1.3 times an extent of the vessel part with increased Recognizability is. The radiation source and the sensor are optionally movable together. The apparatus then further comprises positioning means for positioning Radiation source and sensor with respect to the holding area.

The radiation of the radiation source has op tional a spot diameter of about 3 mm. The vessel part with increased visibility optionally has an area of at least 3 mm × 3 mm. The vessel part with increased visibility is generally a vessel part with increased signal difference or intensity difference between a presence and an absence of the vessel.

Also is a method for detecting the presence or absence of a vessel for Inclusion of biological material proposed in a holder for the vessel. The method comprises the following steps: a registration area in the holder is irradiated, the registration area a Vessel part of the Vessel of increased recognizability assigned; the intensity radiation coming from the registration area is measured; by a comparison between the measured intensity and a defined threshold is an absence or a presence of the vessel registered.

The Irradiation and measurement is optionally done by a movable Sensor unit, and the method optionally includes next to the above These steps continue with the following step: Positioning the sensor unit with respect to the vessel holder. Optionally, a Position of the sensor unit by irradiating an alignment mark of the Apparatus and by measuring a coming from the alignment mark Radiation determined.

Also an apparatus for processing biological material is proposed, comprising the following parts: a vessel holder for receiving a Vessel for the biological Material; a sensor unit having an ultrasonic source and an ultrasonic sensor; and an evaluation unit for determining, depending on sensor data of the ultrasonic sensor, an opening state of the vessel, and for determining, depending on of sensor data of the ultrasonic sensor and, with open Vessel, one potential Presence of a substance in the vessel.

Of the Fabric is optionally a liquid. The evaluation unit is optionally suitable or furnished, a Filling level of the substance, depending on Sensor data of the ultrasonic sensor to determine. The evaluation unit is optionally suitable or furnished, a filling level of the substance by measurement the transit time between a given ultrasonic signal and a from a surface to determine the ultrasound signal reflected by the substance. The sensor unit is optionally movable and also points to a radiation sensor, and positioning means for positioning the sensor unit in relation depending on the vessel of sensor data of the radiation sensor. The radiation sensor is optional suitable to determine a presence of the vessel. For determination can for example, those described elsewhere in this application Methods used to determine the presence of a vessel (see for example the following page).

It Optionally, it is also proposed that the vessel has at least one vessel part increased Recognizability; and that the sensor unit is a radiation source for irradiating a registration area in the holder, wherein the registration area the vessel part with increased visibility assigned. The radiation sensor is then for measuring an intensity of radiation suitable, which comes from the registration area, and the evaluation unit is then equipped to compare by a comparison intensity and a defined threshold, an absence or a presence to register the vessel.

Also an apparatus for processing biological material is proposed, comprising the following parts: a container station for keeping ready of vessels; a Marking at the container station, which provides information about the Contains type of vessels; and a radiation sensor for reading the mark.

The Marker is optional over an edge of the container station protruding element. The marking optionally comprises at least one integral with the Container station shaped marking element. The marker comprises optionally at least two marking elements, each containing binary information, i.e. a yes / no information, code. The container station is optionally designed to fit in different orientations can be provided in relation to the apparatus or in the Apparatus is settable. The marker is optionally designed so that reading the mark independently from an orientation chosen from the different orientations is.

The Container station contains optionally a plurality of holding positions for each one vessel, and the optical sensor is then suitable for the presence of a vessel in each holding position determine the plurality of holding positions. For the determination can For example, the method described in the following sections to be used.

Optionally, the container station contains a radiation source. The radiation source may be used for one or more of the following functions: irradiation of a registration area; Irradiating a marking element. Optionally, the container station also includes a plurality of holding positions for each one vessel, wherein the respective vessel is at least one vessel part with increased visibility has; and the radiation source is suitable for irradiating a registration area, wherein the registration area is assigned to the respective vessel part with increased recognizability. The radiation sensor is further optionally suitable for measuring an intensity of radiation coming from the registration area; and the evaluation unit is then equipped to register an absence or presence of the vessel by comparison between the measured intensity and a defined threshold.

The Are vessels optional pipetting tips. The type of each vessel can For example, a volume of the pipette tip or a material the pipetting tip, or a material that is in the pipette tip is included. The optical sensor is optionally a light sensor. It is optionally part of a light sensor together with the radiation source. The radiation source is optional for irradiating a marking element suitable for marking, and the apparatus is suitable for reading the marking a marking element by the radiation source to irradiate; an intensity of radiation coming from the marker, through the sensor and the measured intensity with a predetermined threshold for the intensity to compare.

Also is a method for detecting the type of a vessel for Inclusion of biological material proposed in a container station for the vessel. The method comprises the following steps: a first marker at the container station, which contains information about the type of vessel is irradiated; and a first intensity of radiation coming from the first mark comes is measured; depending on the measured first intensity the type of vessel is registered.

optional a second mark is irradiated at the container station, the an information about the Type of vessel contains; and a second intensity radiation coming from the second mark is measured; and the type of vessel will be in dependence the measured first and second intensity registered.

Also will be a method of testing the equipment a centrifuge having a plurality of vessel holding positions for each a vessel for biological Material has. The method comprises the following steps: for the Vessel holding positions is registered, whether a vessel in it is present; the total number of present in the vessel holding positions is registered vessels saved; dependent on the total number in the vessel holding positions as present registered vessels becomes at least one condition for the distribution of the vessels in the Vessel holding positions determined; it checks if the Distribution of in the vessel holding positions as present registered vessels of the condition enough. The sample vessel position is optional in a shaker and / or a heater for arranged the sample vessel.

It will also be a method of testing the equipment a centrifuge proposed, which has a plurality of vessel holders having. The vessel holders is at least one vessel holding position for each at least one vessel for biological Material assigned. For each of the vessel holders is an empty state defined in which no vessel in one associated vessel holding position is present, and it defines a full state in which at least a vessel in any one associated vessel holding position is present. The procedure comprises the following steps: For the vessel holders is registered, whether it is empty or full; the distribution and the total number of full vessel holders will be saved; dependent on the stored total number will at least be a condition for proper distribution the full vessel holders determined; and it checks if the stored distribution of condition full vessel holders enough. Optionally, the total number of present in the vessel holding positions Stored vessels.

In These methods are the vessel holding positions optionally rotatable with the centrifuge rotor.

In the method is optionally registered by a sensor, whether a Vessel in the Vessel holding positions is present; and the method then further comprises the step of: Register, by the sensor, the number of sample vessels in sample vessel positions. The methods further optionally include the step of checking whether the number of sample vessels with the total number of vessels registered as present is, i. that both agree or that the number of sample vessels with the number of groups corresponds to vessel holding positions.

The methods further optionally include the step of creating an association that associates a vial holding position with each vial. In this case, the assignment optionally assigns a vessel holding position to a sample vessel in which a vessel is registered as present, or it assigns a group of vessel holding positions to a sample vessel, wherein a vessel is registered as present in at least one vessel holding position from the group. The mapping is typically created by issuing instructions to place the sample vessel in a sample vessel position associated with the vessel holding position. The sample vessel position is the vessel holding position optionally assigned by a common identifier. The sample vessel position is optionally associated with the vessel holding position by the arrangement of sample vessel positions in a sample vessel station corresponding to the arrangement of vessel holding positions in the centrifuge. The mapping is optionally created by outputting a table which associates a sample vessel position of the sample vessel with the respective vessel holding position.

Also will be a method of testing the equipment an apparatus for processing samples proposed. The procedure includes the following steps: The number of sample tubes provided with to be processed samples is registered; dependent on the number of sample vessels provided becomes a required Quantity and / or quantity of a consumable used to process the goods Samples determined; the number present in the apparatus and / or Quantity of the consumer goods is determined; and those in the apparatus existing number and / or quantity of the commodity is with the required number and / or quantity of the consumer goods compared.

optional are the vessel holding positions mitrotierbar with the centrifuge rotor. Optionally, the required Quantity and / or quantity of consumables determined as a function of the protocol. optional is the consumable selected from the set consisting of vessels, in particular Pipetting tips, filter vessels, e.g. Spin tubes, and collection vessels, e.g. so-called Eppendorff tubes. Optionally includes the consumable also biological substances, e.g. biological fluids, enzymes and / or Buffer liquids. Optionally, from the determination of the actual state of the consumer goods Hints for generates the user to generate the desired state.

It is also a centrifuge with a rotor for holding a plurality of vessel holders or of devices proposed for processing liquids. Each of the vessel holders can a first vessel during the Centrifuging, i. while of rotating the rotor about the rotor axis. The centrifuge Also includes a handling unit that is suitable, the first Vessel of that respective vessel holder to remove. In particular, this can happen while the Vessel holder in the centrifuge is. Furthermore, the handling unit may be the first Vessel with one connect the second vessel or at least in a second vessel partially insert, with the second vessel in the vessel holder is held. Optionally, the gripper can move in the x and y directions moved, a movement in the x and in the y direction in common with a pipette unit, and / or moved in the z direction. The movement in z direction is usually independent from the pipette unit. The gripper can be turned, and he can transpose vessels in the vessel holder. The conversion usually involves turning the gripper.

Also is a process for processing biological material in proposed a centrifuge unit. The centrifuge unit comprises a centrifuge with a rotatable centrifuge rotor, a vessel holder, which is arranged in the centrifuge rotor and a first stop position in which a vessel for receiving held by biological material, and a gripper unit with a gripper. The method comprises the following steps for Remove the vessel the first stop position: positioning the gripper for access to the first stop position; Grasping the vessel by the gripper; and Move the gripper so that the jar is out of the gripper tube holders is removed.

The Method optionally includes the further step: positioning a Rotation position or obstruction of a rotational movement of the centrifuge rotor. optional is the vessel holder pivotally mounted in the centrifuge rotor, and the method comprises the Another step: preventing a pivoting movement of the vessel holder in the centrifuge rotor.

In the preceding as well as in the following parts of the description Individual elements and procedures are described in an apparatus can be used for processing biological material. The Description of the individual elements and methods shown is basically if not explicitly differently noted, independently from the apparatus for processing biological material. The single ones Thus, described elements and methods can also be applied to others As combined in the apparatus shown or on others Way independently or used by the apparatus.

Description of individual aspects

Overview parts of the overall system

• – Eine Zentrifugeneinheit 200 zum Zentrifugieren von biologischem Material (s. 3a-5);
• – eine Abwurfstation 740 für Abfall, beispielsweise für benutzte Pipettierspitzen;
• – eine Verbrauchsgüterstation 700 für verschiedene Verbrauchsmaterialien zum Durchführen von Protokollschritten für biologische Substanzen (s. 12); die Verbrauchsgüterstation umfasst u.a. eine Containerstation 710 zum Halten von Containern mit Pufferflüssigkeit zum Durchführen von Protokollschritten. Die Verbrauchsgüterstation 700 für Verbrauchsmaterialien umfasst weiterhin eine Pipettierspitzenstation 720 zur Aufnahme von Pipettierspitzen durch eine Pipettiereinheit, und weitere Behälter für weitere Flüssigkeiten zum Durchführen von Protokollschritten.
• – ein Erhitzer/Schüttler 600 zum Erhitzen und/oder Schütteln von biologischem Material und/oder von sonstigen Flüssigkeiten (s. 13 und 14). Der Erhitzer/Schüttler kann beispielsweise zum Durchführen von Lyseschritten eingesetzt werden.
• – ein Display 910, das zur Benutzerführung und zur Ein- und Ausgabe von weiteren Informationen dient.

1a shows a plan view of the worktop 2 an embodiment of the invention. It presents some modules that are useful in performing protocol steps for processing biological substances. The following modules are in 1a shown:

• - One centrifuge unit 200 for centrifuging biological material (s. 3a - 5 );
• - a discharge station 740 for waste, for example for used pipetting tips;
• - a consumer goods station 700 for various consumables to perform Protocol steps for biological substances (s. 12 ); The consumer goods station includes, inter alia, a container station 710 for holding containers with buffer liquid for performing protocol steps. The consumer goods station 700 for consumables also includes a pipetting tip station 720 for receiving pipetting tips by a pipetting unit, and further containers for further liquids for carrying out protocol steps.
• - a heater / shaker 600 for heating and / or shaking biological material and / or other liquids (s. 13 and 14 ). The heater / shaker can be used for example for performing lysis steps.
• - a display 910 , which is used for the user guidance and for the input and output of further information.

The individual elements shown are, as far as possible, designed as modules. They are individually mounted on the countertop and disassembled, preferably they are plugged. Additional connections, for example to the power supply or to control the individual modules are realized via connectors. In order for the individual modules to be easily interchangeable, it is preferable for the modules below the worktop to occupy a space which approximately corresponds to their cross section shown on the worktop, so that they can be inserted vertically. For reasons of space, however, it may also be advantageous for individual modules to occupy more or less space below the worktop than corresponds to the cross section shown on the worktop. The modular construction of the worktop suggests alternative embodiments which differ in the arrangement of the individual modules. This allows special room requirements to be taken into account. Furthermore, alternative embodiments are possible in which individual modules are omitted, as in 1a is shown. For example, an embodiment is possible in which the heater / shaker 600 is omitted for the execution of Lyseschritten if the implementation of such steps is not needed. Likewise, alternative modules can be added to perform further process steps or to better carry out already supported process steps. For example, as further modules are conceivable: a UV lamp; an active cooling for the heater / shaker; a device for automatic placement of consumables such as vessel holders, vessels, buffer and other processing liquid; Analyzing modules for analyzing the processed liquid, a device for removing used consumables; and other modules.

Another top view of a worktop of an apparatus for processing biological material is in FIG 1c shown. In contrast to 1a is in the supervision of 1c the centrifuge lid 240 the centrifuge 200 removed for illustration purposes. This is the centrifuge rotor 212 and a vessel holder disposed therein 120 visible, noticeable. Furthermore, there is an air inlet 253 and an air outlet duct 255 visible for a cooling system of the centrifuge lid. Furthermore, there is a mechanism 260 for opening and closing the centrifuge lid and an element 268 for fixing the centrifuge lid in the closed position visible. These elements are with 3b and 5 further described.

Furthermore, a gripper unit 400 , a pipetting unit 500 and a sled system 300 to move the gripper and the pipette unit shown.

The sled system 300 (see also 6 ) comprises a fixed to the apparatus, for example, attached to the rear wall of the apparatus X-rail 312 (ie a rail whose direction defines an X-direction of a coordinate system) and a Y-rail 314 , One end of the Y-rail is through a sliding element 318 attached to the X-rail so that the Y-rail slides by sliding the slider 318 in the X-rail 312 along the X direction can be moved. The Y-rail is held by the slider in the horizontal. Although not shown in the figure, it is alternatively possible to provide a second sliding element at the other end of the Y-rail, along a second one on the worktop 2 mounted X-rail, so that the Y-rail is held by a respective sliding member at each of its two ends.

Along the Y-rail can be a carriage body 320 to be moved in the Y direction, which is the gripper unit 400 and the pipetting unit 500 contains. The gripper unit and the pipette unit can each independently along the carriage body 320 in the Z direction (ie in the direction of the height, ie perpendicular to the plane of 1c ) are moved. In this way, the gripper unit 400 and the pipetting unit 500 be moved in all directions, with their movement in the Z direction is independent.

Depending on the complexity of the protocol used and the arrangement of the modules, alternative embodiments for moving the gripper and the pipette unit are possible. For example, an embodiment is possible in which the gripper unit 400 and the pipetting unit 500 can only be moved along one direction (eg the Z-direction) or in which they can only be moved along two directions (eg the X- and the Z-direction) NEN. In this case, for example, on the Y-rail 314 be dispensed with and the carriage body 320 could be attached directly to a fixed rail. Also, one or both of the rails could be replaced, for example, by one or more curved motion generating elements, for example by a pivotal arm on which the carriage body 320 is attached. It is also conceivable that the gripper or the pipette unit are omitted if they are not needed to carry out the desired protocol steps.

Casing, cover

2a shows an apparatus according to the invention in a perspective view. The apparatus is in a housing 4 arranged. The apparatus additionally includes a cover on the front of the housing. The cover is in 2a closed. The housing 4 can be made of metal or plastic, for example, or of another robust material. The cover 10 has a handle 12 to open manually. The cover 10 is transparent, so that during operation, the interior of the apparatus can be optically controlled.

It is beneficial to the cover 10 and the case 4 soundproofing. For this example, the housing 4 be provided with a sound absorbing inner lining. Also, vibrating parts may be suspended suspended in the housing damped. Also, a seal for the cover 10 be provided.

Furthermore, in 2a the display 910 shown. Furthermore, a drawer element of a waste container 750 shown for consumer goods. The drawer element is by means of a handle 752 pulled out of the front of the apparatus. Furthermore, a speaker opening 902 for a speaker and an on / off switch 6 shown. The use of the waste container is described in more detail below.

In 2 B is the apparatus of 2a shown, with the cover 10 is removed. This is inside the case 4 in the 1a and 1c shown worktop 2 with centrifuge lid 240 , Heater / shaker 600 , Forked light barrier 852 , Container Station 710 and Y-rail 314 visible, noticeable. Furthermore, holders are 14 for holding the cover 10 shown. The brackets 14 can be swiveled upwards so that the cover can be opened manually upwards.

The Centrifuge and the rest Components are so in the device platform integrated that stability and extensive oppression from shaking and by influencing adjacent modules is possible.

centrifuge

3a shows a perspective view of the centrifuge 200 , In this view is the centrifuge lid 240 closed, leaving the rotor 212 the centrifuge is not visible. The centrifuge lid 240 includes a cover hood 244 , More parts of the lid 240 are in connection with 3c described. In 3a is still a centrifuge kettle 220 visible, which surrounds the centrifuge rotor. The centrifuge bowl is used to aerodynamically shield the centrifuge rotor from the environment, to protect against noise and to protect it in the event of parts becoming detached at high rotor speeds. Also visible is the centrifuge drive 218 which is realized by an asynchronous electric motor. Other forms of drive such as a belt or a chain are also possible. The drive shown is designed for a speed of about 0-15000 rpm.

In 3b is the centrifuge 200 with the centrifuge lid open 240 shown. Herein is the centrifuge rotor 212 shown around a centrifuge axis 214 is rotatable. Furthermore, an aperture or rotor bowl 216 shown in common with the centrifuge rotor 212 around the centrifuge axis 214 is rotatable. The centrifuge rotor 212 includes means for suspending a vessel holder 120 , Such a vessel holder 120 is in 11 shown. In principle, several of the positions provided for this purpose can be filled with a vessel holder, it preferably being necessary to ensure that the vessel holders are distributed uniformly over the centrifuge rotor, so that an imbalance is minimized. Furthermore, an inner wall 222 of the centrifuge bowl, which is not visible to the centrifuge rotor 212 with rotates. For opening and closing the centrifuge lid 240 is a transmission rod 262 shown, which is driven by a drive, not shown. Also is a closure piece 267 the lid shown in a corresponding counterpart 268 can be guided and by a locking mechanism 269 can be held so that the lid, if it is closed, securely held in the closed position. Also is a seal 228 for the centrifuge lid, showing the inside of the centrifuge bowl 220 at least partially seals when the centrifuge lid 240 closed is.

When processing biological samples, it can improve the results if the temperature in the centrifuge can be maintained within a predetermined temperature range. In particular, it may improve the results of frictional heat generated during centrifugation minimize or dissipate to the outside.

In the 3a . 3b and 3c shown centrifuge is equipped with a cooling system that partially meets these requirements. The cooling system shown allows the removal of heat from the centrifuge out. The cooling system shown also allows to favorably influence the air flow inside the centrifuge.

One element of centrifuge cooling is external cooling 230 of the centrifuge bowl 220 , The external cooling 230 is in 3a shown. The external cooling includes cooling fins 232 that provides efficient heat output of the centrifuge bowl 220 or allow its outer wall to the ambient air. Also a different form of the cooling surface than the cooling fins shown 232 is conceivable. For example, in any other way designed cooling fins, a coating with a particularly heat-conductive material, or any other surface that allows efficient delivery of heat to the ambient air, conceivable. Regardless of the embodiment shown, a surface or arrangement with a heat transfer coefficient of more than 50 W / (m ² K) is preferred, of more than 100 W / (m ² K) being particularly preferred, and more than 150 W / (m ² K ) is particularly preferred.

Furthermore, the fan shown serves 234 an external cooling of the centrifuge bowl 220 , It flows the outer wall of the centrifuge bowl with air. This allows a more efficient heat transfer to the outside air. Alternatively, the fan could 234 however, may also be omitted, or replaced by another device, such as a device for flowing with an alternative cooling gas such as nitrogen, or with a liquid coolant (eg, water cooling).

To exhaust the air flow to the outside are holes 205 in the bottom of the centrifuge 204 intended. Side air discharge slots are also possible if the centrifuge is at one edge of the apparatus 1 is arranged or if suitable air discharges such as hoses are provided. The ventilator 234 has in the embodiment shown the advantage that not only the cooling fins 232 or the exterior of the boiler wall 222 but at the same time also the drive 218 of the centrifuge rotor 212 can be flowed with a cooling gas.

The in the 3a c centrifugal cooling shown avoids that air or other coolant enters the interior of the centrifuge tank. Continue to wear the seals 228 . 229 and the guard ring 215a and the nature of the boiler wall 222 to prevent the ingress of refrigerant gas. Regardless of the embodiment shown, it is favorable that the cooling gas is not the interior of the centrifuge vessel 220 flow-type. In other words, cooling air or another cooling gas does not enter the interior of the centrifuge vessel, ie the interior of the centrifuge vessel is shielded from the cooling gas or the cooling gas flow.

Another device for cooling the centrifuge or for removing heat from the interior of the centrifuge is a lid cooling 250 for cooling the centrifuge lid 240 , A cooling of the centrifuge lid 240 has the advantage that the heated inside the centrifuge air rises and thus tends to move towards the lid. This allows the heat to be dissipated through the lid in a particularly efficient way. For this purpose, various embodiments of a cooling 250 of the centrifuge lid 240 conceivable.

Such an embodiment is in the 3a to 3c shown. It includes a fan 251 which is used to cool the centrifuge lid 240 Aspirates ambient air, and to the centrifuge lid 240 blows. The air is through an air inlet duct 252 to the centrifuge lid 240 guided. For introducing the air into the centrifuge lid is an insertion device, which has an air inlet 253 and a corresponding air inlet opening 258 in the lid 240 includes. The air passes through an interior of the centrifuge lid 240 passed through, receiving heat of the centrifuge lid, and then discharged. In this way, the air can dissipate the heat from the centrifuge lid. For discharging the air is an air outlet 254 The heated air passing through the lid can pass through the air outlet 254 exit from the lid and is through an air outlet duct 255 to the bottom of the apparatus and then out of the apparatus out.

In 3c is the centrifuge lid 240 with removed cover hood 244 (S. 3a and 3b ). In it you can see that the lid bottom 242 of the centrifuge lid cooling fins 256 has, the channels 257 define for the airflow. Through the cooling fins 256 and the enlarged surface of the lid becomes an efficient heat release from the centrifuge lid 240 allows for the air flowing through the lid. Analogous to the cooling fins of the boiler 232 Here are alternative forms of the design of the surface inside the lid possible.

Alternative embodiments, which differ in the type of lid cooling, are also possible. For example, the cover hood 244 the centrifuge lid and / or on the fan 251 be waived. In the second case results in a passive cooling of Centrifuge lid in the surrounding air. Furthermore, a cooling of the lid with a cooling fluid such as water is possible. In this case, a supply and discharge of the cooling liquid to the lid surface with flexible hoses is advantageous, so that the lid can be opened and closed easily despite the hoses. Regardless of the embodiment shown, a surface or arrangement with a heat transfer coefficient of more than 50 W / (m ² K) is preferred, of more than 100 W / (m ² K) being particularly preferred, and more than 150 W / (m ² K ) is particularly preferred.

As another element of the centrifuge is in 3b the rotor bowl or aperture 216 shown. As related to 4 described in more detail, affects the rotor bowl 216 the heat development and the air flow inside the boiler of the centrifuge (see 4 ). Regardless of the embodiment shown, there are no holes or other openings outside the centrifuge axis 214 in the rotor bowl 216 intended.

Furthermore, in 3b the rotor 212 the centrifuge shown. The rotor has twelve receiving positions for receiving vessel holders 120 on. The recording positions are marked with numbers. The first receiving position marked with the number "1" can furthermore optionally be marked with an easily recognizable marking, for example a color-striking marking (not shown).

The rotor has brackets for a suspension 110 for the vessel holder 120 on. Will the suspension 110 with the vessel holder 120 hung in the brackets, so they are about a horizontal axis relative to the rotor 212 pivotable. 3b shows, for example, a vessel holder 120 that about the suspension 110 in the rotor 212 is suspended and pivoted outwardly about the horizontal pivot axis. The suspension 110 Can be integral with the vessel holder 120 be shaped or it can be shaped separately from it. In the second case, the vessel holder 120 in the suspension 110 be designed pluggable. In a preferred embodiment, the vessel holder is made of plastic, and the suspension is made of metal, for example aluminum.

The rotor also provides a stop for a maximum pivotal position about the horizontal pivot axis of the vessel holder 120 or its suspension 110 to disposal. The stop defines a maximum swing angle of the vessel by reaching a portion of the rotor upon reaching the maximum swing angle 212 touched. Preferably, the maximum pivot angle in a pivoting direction to the outside, that is, in a pivoting direction by a upon rotation of the rotor 212 around his axis 214 generated centrifugal force is caused.

By using different suspensions 110 or different species, the vascular holder 120 in a suspension 110 to install - for example, different orientations of the vessel holder 120 in the suspension 110 - Different stops can be defined for different maximum swing angles. For example, swing angles of 90 °, 60 °, 45 °, 30 ° and 15 ° can be supported.

Furthermore, a stop for a pivoting of the vessel holder 120 be made available inside. Both stops can be on the centrifuge rotor 212 or at another part of the centrifuge 200 to be appropriate. Further details about the stop and the centrifuge rotor 212 are on page 39, line 11 to page 43, line 6, in the 17 and 18 , and in claims 61 to 68 of the patent application EP 05020948.5 describes which parts are hereby included in the description of the present application.

4 shows a side cross-section through the centrifuge rotor along a cross-sectional plane, the rotor axis 214 contains. Around the rotor axis 214 rotatably mounted are a departure of the motor shaft 215 , a rotor wheel 212 , an attached vessel holder 120 , and a rotor bowl 216 , The motor 218 serves to drive the rotor about its rotor axis. Illustrated elements that are not rotatable about the rotor axis include the vessel wall 222 of the centrifuge bowl 220 , a kettle carrier 226 for carrying the boiler wall, stationary parts of the engine 218 and a sealing element 229 between the outer wall of the engine 218 and the boiler wall 222 , as well as a sealing ring 228 for sealing the gap between boiler wall 222 and a lid of the centrifuge (in 4 not shown). Furthermore, a guard ring is used 215a the output of the motor shaft 215 to the interior of the engine 218 and the inside of the centrifuge bowl 220 shield each other.

The departure of the motor shaft 215 , the rotor wheel 212 and the rotor bowl 216 are connected. The rotor wheel 212 is interchangeable by the user. This is due to a screw of the output of the motor shaft 215 (top element of the output of the motor shaft 215 ) screwed to the output of the motor shaft and additionally connected by a pin for transmitting a rotary motion with the departure of the motor shaft. To attach the pen is a recess 212a in the rotor wheel 212 intended. So through the recess 212a no imbalance is caused, is also a compensation hole 212b vorgese hen.

The cross section of 4 further shows a vessel holder 120 , The vessel holder is in 10 shown in more detail. The vessel holder is in a suspension 110 , For example, an aluminum suspension plugged

As in 5 is shown, the suspension can 110 into the centrifuge rotor 212 be hung up. The suspension 110 has intercepts for this purpose 112a on which are suitable, the suspension in designated suspension elements 112b of the centrifuge rotor 212 to stick. If the suspension 110 in the centrifuge rotor 212 is suspended, she and the tube holder inserted into it 120 around a horizontal axis 113 pivotable.

In 4 the vessel holder is shown in its rest position with respect to the horizontal pivot axis. By the centrifugal forces occurring during centrifugation, the vessel holder is pivoted outwards, that is, a lower part of the vessel holder moves away from the centrifuge axis 214 , To limit the panning outwards, as in 5 shown a stop provided. The stop is by an edge 114a the suspension formed a counter edge 114b touches the centrifuge rotor when a maximum pivot angle α _{s is} reached, as in 5c is shown. Further details of the attack are on page 42, line 7 to page 43, line 6 of the patent application EP 05020948.5 describes which parts are hereby included in the description of the present application.

The vessel holder can not pivot inwardly relative to its rest position. This is prevented by a stop 212m (S. 4 ) and / or a stop 116b of the centrifuge rotor 212 a corresponding counter-attack 110m respectively. 116a the suspension 110 touches, as in 4 or in 5 is shown.

When centrifuging the biological material, it is not necessary that in the vessel holder 120 held containers for the biological material have a closed lid. Rather, they can have no or an open lid. In the 4 For example, shown vessels have an open lid, which in a cover garage of the vessel holder 120 is held.

In the 3b and 4 shown centrifuge bowl 216 has a bottom area that extends inward to the centrifuge axis 214 extends. It also has an outer edge area that is bent upwards. Due to the bend, the outer edge of the centrifuge bowl points 216 a height that is between a lower edge and an upper edge of a vessel holder 120 when this is at rest in the centrifuge rotor 212 is used.

The centrifuge bowl 216 further defines an interior, that is, an area that extends approximately to a height of its outer edge. At the same time defines the outside and bottom of the centrifuge bowl 216 that is, to the centrifuge kettle 220 turned side, a relatively smooth surface, so that the air friction during rotation can be minimized. In that the centrifuge bowl 216 not to the top of the centrifuge bowl 220 is pulled up at the same time, however, also an exchange of air with the wall of the centrifuge bowl 220 possible, by the heat to the outer wall 222 of the centrifuge vessel can be discharged. Thus, a more efficient cooling is possible.

In 10 is a vessel holder 120 to hold a vessel 160 (S. 11b ). The vessel holder has three holding positions 130 . 140 . 150 for vessels on. The holding positions can each be provided for the same vessel or for different vessels. For example, in the in 10 shown vessel holder the holding position 140 for a vessel with a larger diameter than that of the holding positions 130 and 150 intended.

The vessel holder also has a volume 122 on, which serves to absorb liquid. The holding positions 130 . 140 . 150 can either have an opening for the exit of the liquid in the volume 122 or not. Also referring to 11a have the holding positions 130 and 140 an opening through, through the liquid passing through a lower opening one in the holding position 130 When the vessel is withdrawn, it enters the volume 122 can get. In the holding position 150 on the other hand, liquid leaking from the held vessels can not enter the volume 122 arrive, because these holding positions is surrounded by a solid, closed wall. Thus, the holding position 150 even serve as a vessel.

As in 11a to d, the diameter A2 is the holding position 140 greater than the diameter A3 = A1 of the stop positions 130 and 150 of the vessel holder 120 , This makes it possible to have a first vessel 170 in the stop position 140 to use, which has an outer diameter A2, which allows insertion into this holding position, and which has an inner diameter which corresponds to the diameter A3 = A1 of the two remaining holding positions. Thus, in this vessel 170 the container 160 be used for which the holding positions 130 and 150 are provided.

In particular, this arrangement allows the vessel 160 from the stop position 130 in the in the holding position 140 held vessel 170 by a gripper such as the gripper 400 to transfer. Similar methods for transferring vessels are on page 28, line 26 to page 31, line 8 of the patent application EP 05020948.5 describes which parts are hereby included in the description of the present application. These methods can be done by the gripper 410 (S. 9 ) or by a similar gripper.

The from the vessel holder 120 To be held vessels may have lids. Such a vessel 160 with lid 166 is for example in 9 shown. For the lid stand on the vessel holder 120 cover garages 132 . 142 . 144 available as in 10 is shown. The lid garages are designed to hold the lid in a safe position during centrifugation. The lid garages are designed to give access to the lid 166 through the lid holder 414 (S. 9 ) allow. For this purpose, the cover garages openings 133 . 143 . 145 through, through which the lid holder 414 can touch the lid and provide a stop for him, so that when removing or inserting the vessel from or into the vessel holder 120 the lid can be removed from the cover garage or inserted into it, wherein the lid holder 414 defined position is maintained.

For the stop position 140 There are two cover garages 142 . 144 available for each lid of two vessels 160 . 170 are provided, as in 11d shown used together.

The vessel holder also has support struts 136 . 146 on, to stabilize the holding positions 130 . 140 serve. For further stabilization, these holding positions are with an outer wall of the vessel holder 120 connected. Thus, the holding positions against the forces occurring during centrifugation can be kept stable.

The vessel holder furthermore has a positioning opening or a positioning counter-element 124 on. The positioning counter element 124 is shaped to with the in 8th shown positioning mandrel or positioning 452 the positioning device 450 to be engaged. How to 8th can be fixed or positioned by the intervention of an angular position. This also allows a swing-out angle of the vessel holder to be positioned or fixed in the centrifuge. The positioning counter element 124 includes a cavity for receiving the positioning element.

The engagement between positioning counter element 124 and positioning element 450 is suitable, a relative movement between positioning counter-element 124 and positioning element 450 along the directions of a plane, namely the horizontal plane, to prevent.

The distance between the positioning counter-element and the center of the vessel holder is greater than the distance between the positioning counter-element and an edge of the vessel holder. The middle of the vessel's hold is usually through the in 5c shown pivot axis 113 Are defined. The cavity becomes narrower towards the bottom, ie the cross-section of the cavity decreases towards the interior of the cavity. A distance between two opposite points of an edge of the cavity is smaller than a depth or a stroke depth, by which the positioning element is insertable into the cavity.

Other aspects of the vessel holder 120 are in the patent application EP 05020948.5 described, which is hereby incorporated in the description of the present application.

It is advantageous to load the centrifuge as evenly as possible, so that an imbalance can be avoided or reduced. For this purpose, the centrifuge comprises means to ensure as uniform a loading of the centrifuge as possible. The means include rules that contribute to an approximately uniform loading, even if the centrifuge rotor 212 not fully occupied.

In one embodiment, the rules for automated loading of the centrifuge rotor 212 be used. In an alternative embodiment, the rules for verifying manual loading may be used. If, in this case, the loading does not comply with the rules or does not have a sufficiently favorable distribution with regard to imbalance, then a warning or an error message can be output. At the same time indications for an improved loading can be issued.

For example, the rules may require that the center of gravity of the vessels loading the centrifuge be with the rotor axis 214 matches. For this purpose, each vessel can be assigned a vector whose direction is the angle about the rotor axis 214 corresponds, in which the vessel is arranged in the centrifuge rotor. Then the rules may require that the sum of the vectors be zero or below a predetermined limit. If the vessels are of different weights, the vector length may be proportional to the weight of the vessels.

For automatic loading further rules can be provided. For example, you can The rules for automatic loading of P positions with B tube holders or vessels require an equally distributed cast. In this case, exactly every (P / B) -th position of the centrifuge rotor is occupied, if P is divisible by B. If P is not divisible by B and if B 'is the next larger divisor of P compared to B, then in addition (B'-B) empty vessels or vessel holders can be loaded, so that the B' vessels are evenly distributed.

Furthermore, the control of the drive can detect an imbalance from the data of an acceleration sensor, which is part of the drive 218 the centrifuge is allowed. In this case, an error message can be generated and the centrifuging aborted if the imbalance or a time average of the imbalance exceeds a predetermined threshold.

If it is anticipated that material should be loaded into or unloaded from or transferred to the centrifuge, or steps should be taken to process or analyze the material in the centrifuge, it is advantageous if the rotor of the centrifuge can be positioned and / or if his position can be determined. Here, the position of the rotor is a rotation angle of a point of the centrifuge rotor (for example, a defined with the centrifuge rotor 212 mitrotierbaren element, such as a holder or holding position for a vessel or marking) relative to a non-rotatable reference angle. The positioning is the recognition of the position or bringing in the position or holding or fixing in position.

The Control of centrifuge rotor can be used for positioning become. If the controller is given a desired position, so the controller ensures that the position is at a given Accuracy is achieved and if necessary held. To this Way you can for example individual process steps needed vessel holder or vessels in one Position for interaction with a respective suitable processing agent, such as a pipetting unit or a gripper or an analyzer become.

The drive 218 the centrifuge can be an asynchronous motor. This typically has the advantage that an asynchronous motor can be made robust and inexpensive and is suitable for high speeds and quiet running. However, compared with a servomotor, an asynchronous motor has the disadvantage that it is difficult to position, since the control data necessary for this purpose are not immediately available.

Of the However, asynchronous motor can be equipped with a vector control become. A vector control is in the art, for example in the publication by A. Fitzgerald et al. entitled "Electric Machinery" (McGraw-Hill, 2003) described. The vector control allows one with a servomotor comparable controllability of the asynchronous motor provided become. This can be both an advantageous behavior at high Reached speeds and positioning of the centrifuge rotor become.

Therefore becomes independent from the described embodiment proposed a centrifuge for biological material, preferably a laboratory centrifuge available put that as drive for a rotor of the centrifuge an asynchronous motor with vector control having. The asynchronous motor is further equipped with means for positioning of the rotor in a predetermined angle of rotation about the axis of rotation of Rotor equipped. Preferably, the means comprise a sensor for determining the angle of rotation of the rotor.

It can also be a regulation of positioning by an asynchronous motor with speed feedback. A method with modified V / f characteristic control is proposed. In this Method is tapped an actual current value and a speed controller fed. The positioning is then controlled by means of impressed sinusoidal currents.

Mechanical positioning the centrifuge with spike

Farther can not be co-rotatable with the centrifuge rotor for positioning Positioning element used to interact with at least one co-rotatable with the centrifuge rotor positioning counter suitable is. The interaction can be a mechanical Intervention, a magnetic interaction, or reading around to act a mark. For the interaction, it is advantageous if in a first step already a rough positioning, for example by the control of the centrifuge rotor takes place, so that the positioning counter element and the positioning element in an interaction region to each other. Furthermore is it is advantageous to have several positioning counter-elements available put. For example, it is beneficial for all positions in which the centrifuge rotor is to be positioned, a respective corresponding to provide arranged positioning counter element.

An example of a positioning element 450 and a corresponding positioning counter element 124 is in the description of the gripper (see 8th ) described in more detail; the person skilled in the art will know how to implement other positioning elements and counter-elements described here in an analogous manner, in particular those which are not in operation fer, but for example on the centrifuge vessel 222 or on the worktop 2 of the apparatus 1 are attached.

Carriage for grapple and pipetting unit

6 shows a perspective view of the carriage system 300 for moving the gripper unit 400 and the pipetting unit 500 , The sled system 300 includes a fixedly mounted X-rail 312 and a Y-rail 314 , The Y-rail 314 is with a sliding element 318 connected to the X-rail. The sliding element 318 can along the X-rail 312 slide in the X direction and thus the Y-rail 314 move in X direction.

To move the Y-rail 314 in the X direction is a drive 316 and a drive belt provided. The drive belt is suspended on two rollers. The drive can drive the rotation of one of the rollers; the rotation is converted into a movement of the drive belt. For this purpose, the rollers and the drive belt are preferably shaped so that an engagement takes place between them, ie the drive belt is a toothed belt. The drive belt is firmly connected via a fastening with the Y-rail. As a result of the attachment, the movement of the drive belt produces a movement of the Y-rail along the X-rail, ie in the X-direction.

The sled system 300 further comprises a carriage body 320 (S. 1c ). The carriage body 320 is movable along the Y-rail in Y-direction. For this purpose, the carriage body with a sliding element 328 (S. 1c ) connected along the Y-rail 314 slide and thus can move the carriage body in the Y direction. A drive 326 is provided to power this movement. The sliding element 328 and the drive 326 are analogous to the drive 316 designed the Y-rail along the X-direction. The drive 326 is connected to the Y-rail and not to the carriage body 320 with movable. The drives 316 and 326 are realized by stepper motors, allowing accurate positioning of the carriage body 320 in the XY direction is possible. The control of the stepper motors is included 16 described in more detail. A ribbon cable 309 connects the carriage system 300 with a control unit; it corresponds to the in 16 shown connection cable between the interfaces 871a and 871b ,

The carriage body 320 has a suspension 340 for the gripper 400 on. The suspension allows movement of the gripper 400 in the Z direction. This includes the suspension 340 a gripper rail 345 , along the gripper 400 in Z-direction can be moved (see 8th ). Furthermore, there is a drive 348 provided for this movement, which is analogous to the drive of the drive belt of the Y-rail 314 a lifting belt 342 drives. The lifting belt 342 will have two roles 346a , b deflected and is movable by the drive. On the lifting belt 342 is the gripper 400 with a clamp attachment 443 fastened so that it is moved in the Z direction when the lifting belt moves.

Furthermore, the gripper carriage comprises a suspension 350 for the pipetting unit 500 , The suspension 350 allows a movement of the pipetting unit in the Z direction analogous to the suspension 340 of the gripper 400 , In particular, the suspension contains 350 a lifting belt 352 , a rail 355 (S. 7 ), along which the pipetting unit can be moved in the Z direction, rolls 356a , b, around which the lifting belt is deflected, and a lifting drive 358 for driving a lifting movement of the pipetting unit in the Z direction. These elements are analogous to the corresponding elements for the gripper unit 400 ,

By this construction, the gripper unit 400 and the pipetting unit 500 together in the horizontal plane, ie movable in the X and Y directions. In addition, the gripper unit 400 and the pipetting unit 500 independently movable in the vertical direction, ie in the Z direction.

The drives 316 . 326 Y-rail and carriage body and drives 348 . 358 the gripper and the pipette unit are designed as stepper motors. Home-Sensors 319 (S. 1c ) 329 (S. 6 ) are provided (also for the drives 348 . 358 ; not shown) to determine the achievement of a calibration position of each driven unit. The stepper motors and home sensors are analogous to their description for the gripper ( 8th . 9 ) and from 16 designed.

pipetting

7 shows a perspective view of the pipetting unit 500 , The pipette unit comprises a pipetting body 501 who, as well as in connection with 6 is shown along the rail 355 is movable in the Z direction. For this purpose, the pipetting body comprises 501 a carriage or a sliding or rolling element 545 that along the rail 355 can slide in the Z direction, and a suspension 350 for the movement of the pipetting body 501 in the Z direction. The suspension 350 includes a lifting belt 352 , the roles 356a , b and a drive 358 for driving the lifting belt 352 , The lifting belt is with a fastening 543 at the pipetting body 501 attached. The drive 358 is analogous to the drive 316 designed the Y-rail. The drive 358 can be a movement of the sliding element 545 along the rail 355 and thus of the pipetting body 501 drive in Z direction.

The pipetting unit 500 includes a pipette tip holder 520 for pipetting tips 730 , In 7 is a pipette tip 730 on the pipette tip holder 520 attached. The pipetting tips are removable plugged, ie they can from the pipette tip holder 520 be removed or attached to this. Further details on the design of the pipette tip holder are in the patent application EP 06010976.6 described, which is hereby incorporated by reference in the present description. Therein a device for holding pipetting tips with a coupling element with a longitudinal axis extending in the axial direction is proposed.

Above the pipette tip holder 520 is a piston tube 518 arranged. The pipette tip holder 520 is designed so that between the inside of the pipette tip 730 and that of the piston tube 518 a gas or a pressure exchange is possible. The interior of piston tube 518 and pipette tip 730 is sealed against the outer space so that a gas exchange between the inside and the outside only via the pipetting 732 the pipette tip 730 is possible. A negative pressure in the piston tube 518 relative to the exterior is transferred to the pipetting tip and causes gas or liquid to pass through the pipetting orifice 732 into the interior of the pipette tip 730 is sucked in. An overpressure in the piston tube 518 analogously causes gas or liquid to pass through the pipetting port 732 from the inside of the pipette tip 730 is ejected.

For generating underpressure or overpressure, the pipetting unit comprises 500 a piston system 510 , The piston system comprises a drive 512 and a piston slide 515a that goes along a piston rail 515b is movable in the Z direction. The piston system further comprises a transmission system 514 for transmitting a rotary motion of the drive 512 in a lifting movement of the piston slide 515a , The transmission system 514 is designed as a worm gear. The piston system further comprises a piston 516 that with a fixture 517 on the piston slide 515a is attached. The piston 516 is so in the piston tube 518 arranged that he completes this gas-tight.

The piston system further includes a home sensor 513 to determine a calibration position of the piston slide and thus of the piston. The home sensor is analogous to the home sensor described below 428 of the gripper (s. 9 ) designed. In a preferred embodiment, the drive 512 the lifting element is a stepper motor. If a calibration open state can be detected in this embodiment, each stroke state of the piston can be detected by counting the steps of the stepping motor from the calibration open state. There is a fixed relation between the stroke of the piston and the volume of liquid drawn in or out: is the pipetting opening 732 immersed in a liquid and becomes the piston 516 lifted, so generates the increase in volume of the gas volume in the piston tube 518 a.

Negative pressure in the interior of the piston tube 518 and the pipette tip 730 , The negative pressure causes the liquid to pass through the opening 732 into the pipette tip 730 moved in. The volume of the drawn-in liquid corresponds to the increase in volume of the gas volume in the piston tube 518 ,

Contains the pipette tip 730 a liquid and becomes the piston 516 held at a fixed level, the liquid is held in the pipetting tip.

Contains the pipette tip 730 a liquid and becomes the piston 516 lowered, so generates the volume reduction of the gas volume in the piston tube 518 an overpressure in the interior of the piston tube 518 and the pipette tip 730 , The overpressure causes the liquid to pass through the opening 732 out of the pipette tip. The volume of liquid carried out corresponds to the volume reduction of the gas volume in the piston tube 518 ,

For receiving a pipette tip of the pipetting 501 with the pipette tip holder 520 via a suitable pipette tip 730 be moved, located in the pipetting tip station 720 located (see 1 and 12 ). The pipetting body 501 , is moved down, leaving the pipette tip holder 520 is pressed into the pipette tip with a force of about 10-50 N. The pipetting tip is then, for example, by pinching a seal on the outer circumferential surface of the pipette tip holder 520 kept in this. Such a seal is described in EP application 06010976.6, to which reference is again made here.

To eject the pipette tip 730 can be a dropping system 740 be provided for waste, as it is in supervision in 1b is shown. The dropping system 740 includes an opening 742 with an area 744 with large cross-section and an area 746 with a small cross section. The big cross section of the area 744 is chosen so that the pipette tip 730 can be inserted through it. The small cross section of the area 746 is chosen so that the pipette tip 730 can not be put through, but the pipette tip holder 520 can be inserted through it.

To throw off the pipette unit 500 so moved that the pipette tip holder 520 with the pipette tip 730 over the area 744 with a large cross section. The pipette tip holder 520 with the pipette tip 730 is then lowered and the pipette tip into the opening 742 put in it. Subsequently, the pipette tip holder 520 with the pipette tip 730 in the area 746 moved with a small cross section and the pipette tip holder 520 out of the opening 742 pulled out. The pipette tip 730 is eg at its upper edge by an edge of the opening area 744 held and thus remains below the opening 742 , Is the pipette tip holder 520 completely pulled out of the opening, so the pipette tip dissolves 730 from her and falls into a container for used pipetting tips, the below the opening 742 is arranged.

The following describes the entire sequence of movements for pipetting. For pipetting, the pipetting unit first picks up a pipetting tip as described above. The recorded pipette tip 730 Now with the pipetting body 501 moved over the container with the liquid to be absorbed and lowered into this.

It is advantageous in pipetting, when the filling level is known in the container or before the sinking of the pipette tip 730 is determined. For this purpose, one of the methods described below for level measurement, for example by an ultrasonic unit 830 , are used. Then, in general and independently of the described embodiment, the pipetting tip 730 be lowered depending on the filling level in the vessel. This has the advantage, for example, that the dependence can be selected so that droplet formation at the pipetting tip can be largely avoided.

Subsequently, a desired amount of liquid in the pipette tip 730 sucked in, the pipette tip 730 moved over the target vessel and added a desired amount of liquid from the pipette tip into the target vessel. If contamination of the pipette tip with the liquid in the target vessel is to be avoided, it is advantageous if the pipette tip is at a height above the target vessel which avoids contact with the liquid in the target vessel or with the wall or border of the target vessel.

In principle, it is advantageous to avoid contamination, the pipette tip 730 if there is a risk of contamination or cross-contamination of the samples. For this, the pipetting tip is in the waste disposal station 740 discarded as described above, and a new pipette tip is picked up as described above.

gripper unit

8th shows a perspective view of the gripper 400 , The gripper comprises a gripper body 401 who, as in 6 is shown along the rail 345 is movable in the Z direction. For this purpose, the gripper body comprises 401 a sled 445 for a rail 345 , and a suspension 340 with lifting strap 342 , Roll 346a , b and a drive 348 analogous to corresponding elements of the pipetting unit 500 (see description of 7 ).

The gripper unit 400 includes a gripper 410 for gripping the vessel 160 , A detail view of the gripper is in 9 shown. The gripper comprises a rigid gripper housing. The gripper further comprises two gripping arms 416a . 416b , The gripping arms are on one axis 426a . 426b in the gripper housing 412 suspended and can be pivoted about the respective axis. When the gripper arms are pivoted in a locking direction, the two arms approach 416a . 416b in a gripping area for the vessel to each other and thus can the vessel 160 at his collar 168 to grab. To the vessel at his collar 168 to grab, are to the collar 168 matching recesses 417a , b in the respective gripping area of the gripping arms 416a , b provided.

To grasp the vessel 160 is a drive 420 intended. The drive drives a stroke of a lifting element 422 at. By the stroke of the lifting element two upper legs of the gripping element are pressed apart, so that the lower legs, that is, the legs, on the other side of the axes 426a , b as the upper legs lie, are compressed. The lower legs contain the gripping area for the vessel. Thus, the described movement is a movement in the closing direction, and by compressing the lower legs, the vessel 160 be grasped.

To let go of the vessel 160 can the drive 420 the lifting element 422 move in an opposite direction, that is in the 9 move upwards. This will cause the two upper legs of the arms 416a . 416b through the lifting element 422 less widely pushed apart. As a result, the spring or the elastic element 424 Continue to squeeze the two upper legs and thus move the two lower legs further apart. As a result, the gripper is moved in the opening direction, and the vessel is released.

In the picture is the elastic element 424 as a compression spring in a lower leg portion of the gripping arms 416a . 416b shown. Alternative embodiments are possible, however, in which For example, the spring is realized by an elastic tension element in an upper leg area. It is important to ensure that the elastic tension element not with the lifting element 422 collided in an undesirable manner. This is for example possible because the tension element is realized as an elastic ring spanning around the two upper legs.

To detect the opening state of the gripper, the gripper comprises 410 continue a home sensor 428 which provides a sensor signal containing information as to whether the gripper is open or closed. For this purpose, the home sensor 428 For example, contain a light barrier, the optical path is interrupted depending on the gripper state by a leg of the gripper or not. Thereby, a calibration opening state can be determined, in which the home sensor changes its state, ie in which, for example, the optical path of the light barrier between the transmissive and the interrupted state changes. In one possible embodiment, the calibration opening state is, for example, that opening state in which the gripper is open to the maximum.

In a preferred embodiment, the drive 420 the lifting element is a stepper motor. If a calibration open state can be detected in this embodiment, each opening state of the gripper can be detected by counting the steps of the stepping motor from the calibration open state. Other home sensors, such as those in 16 have an analogous function.

The gripper 410 further comprises a lid holder 414 , The lid holder 414 is rigid with the gripper housing 412 connected, The lid holder 414 represents a stop for a lid 166 of the vessel available. The lid 166 is due to an elastic force of a connecting element 164 that the lid 166 with the vessel 160 connects, pressed against the stop and thus positioned or held in a fixed position. The gripper arm 416a further comprises a recess which is designed so that the connecting piece 164 can pass through this recess. Through this recess and through the lid holder 414 becomes an orientation of the vessel 160 relative to the gripper 410 specified. However, the gripper can also be a vessel 160 grab that, no lid 166 contains. In this case, such an orientation is not specified.

Again referring to 8th is the gripper 410 rotatable about an axis 436a arranged. Around the axis 436a can the gripper 410 through the turning device 430 to be turned around. The turning device 430 includes a rotary drive 431 , a drive gear 434 , another gear 436 and a home sensor 438 , The rotary drive 431 is arranged so that it drives the gear 434 drives. The drive gear 434 stands with the other gear 436 engaged. The gripper 410 is with the other gear 436 firmly connected and together with this around the axis of rotation 326a rotatable.

The rotary drive 431 is preferably designed as a stepping motor, so that a desired angle of the gripper 410 around the axis of rotation 436a can be controlled. The home sensor 438 provides information on whether the gripper 410 is rotated in an original or calibration position and thus provides a calibration point for the control of the stepping motor 431 to disposal. The function of the calibration point is analogous to the function of the calibration opening state of the gripper arms described above 416a , b.

The gripper 400 is preferably designed so that a rotation by the rotating device 430 of the gripper 410 at least 120 degrees is possible.

The gripper 400 further comprises a positioning device 450 for a vessel holder 120 the centrifuge 200 , The positioning device 450 includes a positioning mandrel 452 , The positioning mandrel is designed so that it fits into a corresponding positioning opening 124 a container holder 120 can intervene. More general is a positioning element 452 designed so that it is in a positioning counter element 124 of the vessel holder 120 intervene or interact with it, eg by electromagnetic force. Such a vessel holder with positioning opening for a positioning mandrel is, for example, in 10 shown. Through the intervention can be ensured that the gripper body 401 in relation to the vessel holder 120 is in a defined position.

The positioning device further comprises a positioning body 451 that with the positioning mandrel 452 connected is. The positioning body 451 is along a positioning rail 456 independent of the gripper body 401 movable in Z-direction. For this purpose, the positioning body 451 with a positioning carriage 457 connected along the positioning rail 456 can slide in the Z direction. Furthermore, the positioning body is by a positioning spring 458 with the gripper body 401 about fortifications 458a , b connected. The positioning spring 458 represents a restoring force for the movement of the positioning body 451 relative to the gripper body 401 to disposal. The positioning spring ensures that when gripping the vessel sufficient force from the positioning mandrel 452 on the positioning counter element 124 pushes so that the engagement between these two elements is ensured. Preferred is the force between 1 and 10 N, preferably between 1 and 5 N.

Regardless of the embodiment shown, the stroke range of the spring (ie the height interval of the gripper body 401 in the z-direction relative to the vessel holder 120 in which the positioning spring 458 the positioning element 452 on the positioning counter element 124 presses) chosen so that it meets the requirements when removing or inserting a vessel 160 from or into a vessel holder 120 is adjusted. For example, it is advantageous that the stroke range is selected such that an engagement between the positioning element 452 and positioning counter element 124 during the entire phase of removal or insertion of a vessel 160 can take place from or to a holding position during which the vessel touches the vessel holder or not completely removed from the vessel holder or is only partially inserted.

• – Spin Tube 160, Eppendorf Tube 170, oder ähnliche Gefäße ohne Deckel: Diese Gefäße werden von außen durch die Greifarme 416a, 416b gegriffen. Optional greifen eine oder mehrere Aussparungen 417a, 417b in einen Kragen der Gefäße ein.
• – Spin Tube 160, Eppendorf Tube 170 mit Deckel 166, 176: Analog zu den Gefäßen ohne Deckel, zusätzlich fixiert der optionale Deckelhalter 414 den Deckel 166, 176 wie oben beschrieben.

The gripper 410 is suitable, for example, to grip the following vessels for biological fluids:

• - Spin Tube 160 , Eppendorf Tube 170 , or similar vessels without lid: These vessels are from the outside by the gripping arms 416a . 416b resorted. Optionally, access one or more recesses 417a . 417b into a collar of the vessels.
• - Spin Tube 160 , Eppendorf Tube 170 with lid 166 . 176 : Similar to the vessels without lid, additionally fixed the optional lid holder 414 the lid 166 . 176 as described above.

One Vessel for biological liquids is here as a piece for picking up such a liquid defined that with this liquid in touch comes.

In addition, the gripper can 410 and a vessel holder 120 be designed so that the gripper can grip the vessel holder. For this purpose, a portion of the vessel holder is designed to grip by the gripper. For example, different from the one in 10 shown vessel holder a holding position 150 be equipped with a collar so that the gripper can grasp it analogous to a vessel. In this case, the vessel holder is preferably designed such that an optional lid holder 414 does not interfere with grasping. The lid holder can also be used with an appropriate design of the Gefäßhaters to an orientation of the Gefäßhaters, eg a rotation angle about one by the holding position 150 defined axis, to define.

The gripper is suitable, a vessel 160 into another vessel 170 use. The insertion is analogous to the insertion of the vessel 160 in a holding position 130 . 150 , Preferably, the other vessel is located 170 in a stop position 140 of the vessel's hater 120 , Preferably, the vessel holder is located 120 in a centrifuge 200 ,

The gripper is suitable, a vessel 160 from another vessel 170 refer to. The removal takes place analogously to the removal of the vessel 160 from a stop position 130 , 150. Preferably, the further vessel is located 170 in a stop position 140 of the vessel holder 120 , Preferably, the vessel holder is located 120 in a centrifuge 200 , In addition, it is advantageous, a device for fixing the other vessel 170 in the stop position 140 during harvesting. Such a device can be realized for example by a pressing element (not shown), which is the other vessel 170 touched on an upper side or on an edge of the vessel and pressed down. Such a pressing element can, for example, analogous to the positioning element 452 be biased by a spring or integral with the positioning element 452 be shaped.

The drives 420 . 431 . 441 of the gripper are designed as stepping motors, as described above. Home-Sensors 428 . 438 . 448 are provided to determine the achievement of a calibration position of each driven unit. By counting the steps of the stepping motor, each position of the respective driven unit can thus be determined starting from the calibration position. The home sensors 428 . 438 . 448 are designed as photocells. When the calibration position is reached, the optical path of the light barrier is interrupted.

The Home sensors can Alternatively, be designed as a light barrier, where at Reaching the calibration position of the optical path of the light barrier open or as touch sensors or other sensors.

Heater / shaker

13 and 14 show an illustration of a unit 600 for heating and shaking samples or liquids. Such a unit may be used, for example, to perform the lysis steps of a protocol. It can also be used for other protocol steps where the sample is to be heated and / or shaken. At the same time, the unit provides defined holding positions for the biological material. Thus, the unit 600 for heating and shaking also serve as a sample receptacle of the apparatus.

The unit 600 for heating and shaking is as in 13 shown is with an insert 602 equipped for the worktop, which is intended for the height of the worktop. The unit 600 further includes a vascular carrier 610 with 12 vessel neck tepositionen 612 , The vascular carrier is adapted to the vessel to be held and is in the unit 600 insertable by hand. If several different types of vessels are used, different types of vessel carriers may be provided. The appropriate for a given protocol vascular carrier can then in the unit 600 be plugged in. For easier allocation, the vascular carrier is provided with a numbering in this case (see 14b , there carries the vessel carrier number "2").

The vessel carrier shown 610 is designed for 12 reaction tubes (eg Eppendorf Tubes or other tubes) with optional lid, arranged in two rows of 6 tubes each. As in the cross section of 14a As can be seen, one row, ie 6 of the holding positions, is designed for a 1.5 ml format and the other row for a 2 ml format. The vascular carrier 610 has lid holding positions 616 for receiving the lid of the reaction vessels. The lid holding positions 616 can also be designed, for example, as slots, grooves or pockets.

The vascular carrier 610 Can be used and removed together with the held vessels or the samples contained therein. This allows the vascular carrier 610 be equipped outside the apparatus. The vessel carrier can be designed so that the vessels can be used and removed with bare hands. Alternatively, it can be designed so that the vessels can be used and removed using two laboratory gloves pulled over one another. Also, it may be designed so that the vessels are mechanically usable or removable. In this case, it is advantageous to the lid holding positions 616 , if available, to be designed so that an optionally existing lid holder 414 of the gripper 410 (S. 9 ) can access the lids.

The vascular carrier 610 with 12 stops allows parallel processing of up to 12 different samples. If different samples are processed in parallel, it is advantageous to avoid misalignment if the vascular carrier can be uniquely positioned. A device for unique positioning is, for example, in 13 shown. In it are in the vessel carrier 610 an orientation element 618 For example, a rail, a recess or a slot, and in the swing frame 634 a corresponding counter element 619 so attached that the vascular carrier 610 only in one orientation in the swing frame 634 can be used. Also, it is beneficial to the holding positions 612 to mark to avoid mapping errors, for example by numbering 613 , as in 14b is shown.

Furthermore, in 13 a heating system shown, which is a heating element 622 and a heat transfer element 626 includes. It increases the efficiency of the heating system when the heat transfer element 626 and the vascular carrier 610 are designed so that the heat transfer element 626 directly into the vessel carrier 610 inserted vessel touched, as in the embodiment of 13 shown. Preferably, the heat transfer element 626 a thermal conductivity of λ> 30 W / (m × K), more preferably of λ> 100 W / (m × K).

The heat transfer element 626 is for example by a screw connection to the heater 600 connected. When changing the vessel format, it can be replaced. The heat transfer element 626 Alternatively, it can also act as a part of the vascular carrier 610 be designed. This part of the vessel carrier may then comprise a thermally conductive material, for example a thermally conductive metal. As a result, when changing the vessel format, only the vessel carrier 610 be replaced.

In the illustrated embodiment, the samples may be heated up to a temperature of 70 ° C. The heating time for the range from room temperature to 55 ° C is about 5 minutes. The required temperature accuracy for a liquid in a vessel, that in the vessel carrier 610 is used is +/- 3 K (at 55 ° C). The temperature accuracy refers to various deviations from the target temperature of the liquid, eg by deviation of the heater from the target temperature or by a temperature difference within the heater.

The heating element 626 is an electric heating element with a capacity of about 100 W. There are two separate heating circuits. An advantageous distribution of the power of the heating circuits is 70 W for the first heating circuit and 30 W for the second heating circuit.

The Temperature control is able to use a temperature sensor, for example Type PT 1000, read out. The heating is dimensioned so that the above specifications regarding heating time and Temperature accuracy can be achieved. Located in the power circuit a temperature fuse is connected in series. This is not self-resetting. An active cooling is in the embodiment shown not included.

The vascular carrier 610 Can also be used as hand protection and as thermal insulation against the heating system 620 be interpreted. The risk of burning the user can be avoided or reduced. For this purpose, for example, the vessel carrier may have a gripping part which has a thermal conductivity of λ <5 W / (m × K), particularly preferably λ <2 W / (m × K). Furthermore, the vessel carrier 610 be made of a thermally insulating material, such as ceramic or plastic. This has the additional advantage that the insulating properties insulate the heat loss. As plastic, for example, an autoclavable plastic, which tolerates autoclaving for 20 minutes at 121 ° C, can be used.

The lysis step of some protocols requires mechanical shaking of the samples. The embodiment of 13 shows a shaking system for this purpose 630 that in the shaker / heater 600 is integrated. The shaking system 630 includes a drive block 636 who is attached to the apparatus 1 is attached, and a swinging platform 632 which is movable and by the drive block 636 in a shaking motion relative to the worktop 2 can be offset. On the oscillating platform is the heating system described above 620 and the vascular carrier 610 attached so that these elements are moved with the vibrating platform shaking.

The drive block 636 is for example in document EP 1 201 297 described. It contains an electric drive for generating the shaking motion, which comprises a cross-shaped arrangement of 4 discrete coils. They are controlled as a stepper motor. The drive could also be any other electrical drive. The shaking movement is understood to mean a reciprocating motion or a rotating center of gravity movement or a combination of such or similar movements.

In the present embodiment, the shaking system 630 designed as a rotary shaker. It allows amplitude of the shaking movement of about 2 mm (peak to peak) and a maximum shaking period or speed of over 2000 rpm. The shaking motion is designed so that splashes and thus also cross contamination between the samples can be avoided as far as possible. For this purpose, the shaking movement takes place in a plane and has only a small or no vertical component. In the shaking system are the drive block 636 and the use 602 stationary for the worktop relative to the worktop; the rest in 13 shown elements are shaken.

It is advantageous to provide a shield for the sample vessels so that any spatters that might occur during the shaking movements are trapped and do not lead to cross-contamination. Shielding can be achieved by suitable design of the vessel carrier 610 be realized with separating elements, such as partitions. Such separators are not in 13 and 14 shown. You can as in the vessel holder 610 integrated partitions between adjacent vessel holding positions 612 will be realized. The partitions may have a height at least equal to the height of an upper edge of the one for the vessel holding positions 612 provided vessel when the vessel is inserted into one of the vessel holding positions. Preferably, the height of the partition is 3 to 7 mm higher than the height of the upper edge of the vessel. Alternatively, a shield can be realized by a further attachment, which on the vessel carrier 610 can be placed and the separating elements provides. Preferably, the separating elements are designed so that access to the vessels through the pipetting unit 500 and / or by the gripper 400 is possible.

Farther it is appropriate that the oscillating platform stopped in a defined rest position can be. For this purpose, for example, an electromagnet in the Shakers be arranged, which is suitable, the oscillating platform to a To bring stop and at this in the defined rest position to position. Alternatively, for example, the drive block equipped with means for positioning in the defined rest position, for example, with stepper motors with home sensors analogous to that Drive of the gripper.

Further alternative embodiments for the heater / shaker 600 are possible. For example, only the heating element without shaking system or only the shaking system without heating element can be used, if the other system is not required. Also, additional functions can be added. For example, a cooling can be used, for example, an air, water, or thermoelectric cooling. The cooling can also be used for cooling 230 . 250 the centrifuge (see 3 ) be combined.

Furthermore, the arrangement of the holding positions 612 be varied. In 13 and 14 a matrix of 6 x 2 hold positions is shown, but other arrangements with n x m hold positions are possible. Other possible alternative arrangements are, for example, a circular or a hexagonal arrangement.

It is particularly advantageous the holding positions 612 of the vascular carrier 610 Arrange so that they are the arrangement of holding positions in the centrifuge 200 equivalent. This has the advantage of having an association between the holding positions 612 of the vascular carrier 610 and the holding positions in the centrifuge is particularly easy. Especially if the vascular carrier 610 serves as a sample receptacle for samples to be processed and, if the centrifuge provides the processed samples, can thereby reduce the risk of mating errors become.

The arrangement of the holding positions 612 is in the in 13 and 14 shown embodiment by the heat transfer element 626 specified. However, an alternative heating system, for example, by a liquid bath or with a heat transfer element integrated in the vessel support can also provide greater flexibility for the arrangement of the holding positions 612 enable.

Consumables station

12 shows a perspective view of the consumer goods station for consumer goods 700 , The consumer goods station comprises a container station 710 for processing fluids, a pipette tip station 720 for pipetting tips 730 and other holders for vessels 714 . 716 with processing fluid.

The container station for processing fluid 710 includes six stop positions for containers 712 with processing fluid. Depending on the protocol, different processing fluids can be used. Examples of processing fluids used are buffer liquids for performing bind wash elute steps. The container station 710 also includes a handle 718 to remove the station 710 from the consumer goods station 700 , By the handle 718 In addition, a clear orientation is given in which the container station 710 in the station 700 can be used.

The consumer goods station 700 also has stop positions for containers 716 . 714 on, which also contain processing fluid. These containers are analogous to the containers 712 However, they are intended for processing liquid, which is needed only in small quantities. The stations 714 and 716 differ in that the station 714 Have lid holder for a lid of the vessel. Thus, for example Eppendorf Tubes can be used as vessels therein. In contrast, the station points 716 No lid holder and can thus be used only for vessels that have no or a screw cap.

Furthermore, in 12 the pipette tip station 720 shown. It can be removed from the consumer goods consumer goods station. The pipetting tip station 720 includes several holding positions for pipetting tips 730 , The picture shows two pipette tip stations 720 shown, which may differ, for example, in the nature of the pipette tips held in them. For example, the pipetting volume of the pipetting tips may be different in both shown pipetting tip stations.

To enable detection of the type of pipette tips, the Pipettierspitzenstation 720 marks 721 . 722 on. These markings are designed as protruding elements, which can be detected, for example, by means of an optical sensor. Each tag can carry 1 bit of information, depending on whether the protruding element is present (1) or not (0). Thus, the elements transport 721 . 722 two bits of information, that is, information corresponding to a number between 1 and 4. Thus, in the embodiment shown, four different readable states can be distinguished. Three of these states are associated with different pipette tip types; the fourth state stands for "no pipetting tips present".

An alternative form of markers 721 . 722 is conceivable. For example, the mark could be implemented by coating parts of the container with a surface having different light absorption or reflection. The type of marking can be replaced, for example, by a color coding or by a magnetically readable coding. Also, the number of coded bits in the shown 12 variable. For example, one, three, four or any other number of markers to be read out could alternatively be made available.

The Elements 721 . 722 are point-symmetrical on both narrow sides of the pipetting tip stations. As a result, the mark is mounted against rotation, that is, it can be read regardless of which of the two possible orientations the pipetting tip station 720 into the consumer goods station 700 is used. In 12 the mark type corresponding to bit sequence 1-1 is shown, that is, both marks are present.

The pipetting tip station 720 also includes recesses 724 and footbridges 725 , The bridges 725 are designed to fit in the recesses 724 can be inserted and thus two adjacent pipetting tip station 720 can connect as in 12 is shown.

The pipetting tip station 720 further comprises two opposing handle elements 726 in which they are used for manual insertion and removal in / from the consumer goods station 700 can be grasped. When inserting latches below the handle elements 726 arranged hook pieces in the consumer goods station 700 one. To remove the hook elements by pressing the handle elements against each other 726 disengaged again become.

The consumer goods station 700 also has brackets 708 on, which allow to remove the station in a simple manner from the countertop or insert into this.

waste station

Below the in 1 shown waste disposal system 740 there is a receptacle for waste, eg used pipetting tips or columns or other vessels. Furthermore, a receptacle for waste liquids is optionally provided, which can be achieved via a separate opening in the worktop (not shown).

The delivery of pipette tips is related to 7 described. For dispensing of remaining waste this can through the opening 748 be thrown into the receptacle. For example, liquid used for processing that is no longer needed can pass through the orifice 748 dispensed, for example, be pipetted off. Also no longer needed vessels, such as filter vessels, through the opening 748 be delivered.

Various receptacles are preferably disposed together in a waste receptacle, either as separate receptacles or as a common receptacle. The receiving device can be designed so that it can be removed as a whole. For example, it can be designed as a drawer below the display 910 can be removed, as for the waste station 750 in 2a is shown.

Control and sensor technology

15 shows in a highly simplified schematic drawing the control of the apparatus for processing biological material. The control includes on a circuit board 870 ' or on several boards distributed a calculator 870a ' , an input and output unit 870b ' , Interfaces 870c ' for communication with external devices, and interfaces 862 ' for controlling parts of the apparatus 1 , for example, motors, stepper motors, photoelectric sensors.

The computer 870a ' includes a processor, memory, an operating system, preferably an embedded OS, and programs for performing various control functions. Among other things, one or more protocols and parameters for performing the protocols are stored in the main memory.

The input and output unit or user interface 870b ' includes a graphics controller for driving a display 910 and an input interface, for example to accept input via buttons and / or the graphic display, which may be implemented as a touch screen. the interface 870c ' For example, it can be an Ethernet interface, a USB interface, an RS232 interface, or any other common interface. the interface 870c ' can also include a web server.

The interfaces 862 ' include suitable drive interfaces for various devices to be controlled, such as stepper motors. The different in 15 shown controllable units are in the description of 16 listed.

16 shows by way of example a more detailed view of the control of an apparatus for processing biological material. The drive unit of 16 For example, in the in 1c shown apparatus used. In this case, the motherboard 870 in the main body of the apparatus, that is under the worktop 2 accommodated. The Y-board 874 is on the Y-rail 314 arranged. The slide board 872 is on the sled 320 arranged. The gripper plate 876 is on the gripper unit 400 arranged, and the pipetting board 877 is on the pipette unit 500 arranged. The centrifuge board 878 is in the centrifuge unit 200 arranged. The mentioned boards correspond to the computer board 870 ' from 15 , The motherboard 870 contains a host 870a , a graphics controller 870b , and interfaces 870c . 870d . 870E , Furthermore, it contains interfaces 862 . 864 for different units of the apparatus to be controlled. Furthermore, it contains an interface 871a for communication with the carriage board 872 via a corresponding mounted on the slide board counter-interface 871b ,

The main computer 870a , the graphic interface 870b , and the interfaces 870c -e correspond to the in 15 shown elements 870a ' . 874b ' and 870c ' , The interfaces 870c -e the following functions apply: Interface 870c is a USB host interface that handles a USB master protocol. Thus, the interface allows 870c , for example, via USB memory sticks new logs in the memory of the main computer 870a to load. 870d refers to a serial interface (RS232), which can be used for maintenance purposes, for example. It is alternatively possible to use the interfaces 870c and d and use any protocol, such as Ethernet or TCP / IP. the interface 870E (RS232) is used for communication with the drive board 878 the centrifuge.

The main computer 870a controls, either directly or via the interfaces 871a . 871b , different interfaces 862 for stepper motors and photoelectric sensors. Here, the photoelectric sensors usually serve as home sensors for the stepper motors, that is, there is a signal or a signal change of the sensor when the part to be driven by the stepper motor is at a defined calibration position, for example by a part to be driven fixed blocking part interrupts the light barrier. Alternatively, the light barrier may be attached to the part to be moved. In this way the main computer controls 870a in particular the respective stepper motors and home sensors for the movement of the Y-rail in the X-rail 316 . 319 ; for the movement of the carriage in the Y-rail 326 . 329 ; for the movement of the gripper along the Z-axis 441 . 448 ; for the rotary movement of the gripper 420 . 428 ; for the gripper movement of the gripper arms 431 . 438 ; for the Z movement of the pipetting body 541 . 548 ; and for the movement of the pipetting piston drive 512 , Furthermore, the main computer controls 870a the movement of the motor for the heater / shaker 636 , No home sensor is required for this movement; an optional photocell controllable by the interface 850 but can be used for other purposes. Additional interfaces can be used to connect additional light barriers 850 . 852 be driven, for example, for consistency checks and other error detections.

Furthermore, the main computer controls the motors 234 . 251 for the aeration of the centrifuge, and via another interface 864 the heating element 622 and a temperature sensor 624 of the heater / shaker 600 , The different interfaces for the different stepper motors are on different boards 870 . 872 . 874 distributed.

Furthermore, the main computer controls 870a over the interface 870E the drive electronics 878 the centrifuge 200 , The drive electronics 878 includes necessary drive means for driving the motor 218 the centrifuge, to open the centrifuge lid 240 via a corresponding opening mechanism 260 (not shown), and for example the door lock 269 ,

On the gripper plate 872 is still a separate calculator 872a provided with the main computer 870a communicated. The computer 872a serves to control a light button 810 (Sat. 7 ), which is an optical sensor 810a and a light source 810b includes, and an ultrasound unit 830 that has an ultrasonic sensor 830a and an ultrasound source 830b includes, via appropriate interfaces 866 . 867 , The computer 872a also includes drivers for controlling further stepper motors 441 . 420 . 431 . 541 . 512 and associated respective home sensors 448 . 428 . 438 . 548 . 518 via respective interfaces 862 ,

• – Erkennung von Pipettierspitzen 730 in dafür vorgesehenen Haltepositionen, beispielsweise in einem Container 720 für Pipettierspitzen;
• – Erkennung von Gefäßhaltern 120 in dafür vorgesehenen Positionen der Zentrifuge, d.h. es soll erkannt werden, welche Zentrifugenplätze durch einen Gefäßhalter belegt sind;
• – Erkennung von Säulen 160 bzw. Gefäßen 170 oder Behältern 712, 714, 716 in dafür vorgesehenen Haltepositionen 130, 140, 150, 612, beispielsweise in einem Gefäßhalter 120 in der Zentrifuge 200 oder in einem Erhitzer/Schüttler 600 oder in einer Containerstation 710;
• – Justage der Position beweglicher Teile, beispielsweise des Schlittens 300 oder des Greifers 400 oder der Pipettiereinheit 500, etwa um mechanische Toleranzen zu kompensieren;
• – Erkennung einer Null- bzw. Home-Position eines Schrittmotors;
• – Füllstandsmessung von Flüssigkeit oder von anderen Substanzen in einem Behälter 712, 714, 716 oder Gefäß 160, 170;
• – Erkennen der Art und/oder des Aufnahmevolumens eines Gefäßes, beispielsweise einer Säule 160 oder einer Pipettierspitze 730.
• – Prüfen des Gerätezustands, beispielsweise des Öffnungszustands von Deckeln wie dem Zentrifugendeckel 240 und der Haube des Apparats, oder des Füllzustands eines Abfallcontainers.

It is advantageous to equip the apparatus with sensors for detecting various conditions of the apparatus and its equipment. For example, the sensors may be suitable for one or more of the following functions:

• - Detection of pipetting tips 730 in designated holding positions, for example in a container 720 for pipetting tips;
• - Detection of vessel holders 120 in designated positions of the centrifuge, ie it should be recognized which centrifuge places are occupied by a vessel holder;
• - Detection of columns 160 or vessels 170 or containers 712 . 714 . 716 in designated holding positions 130 . 140 . 150 . 612 in a vial holder, for example 120 in the centrifuge 200 or in a heater / shaker 600 or in a container station 710 ;
• - Adjusting the position of moving parts, such as the carriage 300 or the gripper 400 or the pipetting unit 500 to compensate for mechanical tolerances;
• - Detecting a zero or home position of a stepper motor;
• - Level measurement of liquid or other substances in a container 712 . 714 . 716 or vessel 160 . 170 ;
• - Detecting the type and / or the receiving volume of a vessel, such as a column 160 or a pipette tip 730 ,
• - Check the condition of the equipment, for example the opening condition of lids such as the centrifuge lid 240 and the hood of the apparatus, or the filling state of a garbage container.

Especially it is advantageous to provide sensors, each for several the above or other functions are suitable.

In a preferred embodiment, one or more of the above-mentioned functions are performed by a light scanner 810 who is at the sled 300 , the gripper 400 or the pipetting unit 500 can be fixed, realized. In the embodiment of 6 is for example the light scanner 810 attached to the pipette unit. As a result, the light sensor is over an area of the work surface 2 movable and adjustable in height.

Preferably, the light sensor has a light frequency in the red or infrared range, has as a beam type a laser or a cone of light, and / or is equipped with extraneous light suppression by signal modulation and background suppression by triangulation. Thus, the light scanner can detect the presence of material with certain reflective properties, especially with respect to diffuse Detecting reflection in the range of the light frequency of the light button, in a detection area of the light button.

Under Detection of pieces like pipetting tips, columns, tube holders or other consumables, the detection of their or absence in for the particular piece intended positions of the apparatus or their type understood.

to Detection of several pieces can optionally be a continuous Movement of the light switch done. The sensor spot is then line by line over the driven respective positions. During the movement is on the appropriate position triggered a measurement. If the mechanical tolerances between the positions for the pieces and the sensor is too big, First, an adjustment of the sensor position, as described below, be made. If the measurement is taken in the movement the measurement time must be short, preferably in the range of a few milliseconds, approximately between 2 and 100 ms. Alternatively, to detect the movement of the sensor.

The Movement of the sensor is chosen so that its detection area scans points or positions that correspond to a particular one Piece, For example, a respective pipette tip or part of a respective pipette tip, are provided. This should be as possible guaranteed be that the spot of the sensor in the measurement as possible exactly the characteristic to be recognized hits. For pipetting tips should for example, the edge of the pipette tip is not hit, and the spot should be as vertical as possible fall into the pipette tip.

Of the Detection area is preferably directed to a part of the piece, the one increased Recognizability. An increased Recognizability is considered an elevated one Signal difference between the state "piece present" and "piece absent" defined. The part with increased recognizability thus has a reflection behavior or other signal behavior that differs from the signal behavior used in the respective position is detected, if no piece there is present. The light beam of the light scanner or another Radiation source preferably has a spot size of 1.5 times, preferably 1-fold or 0.7-fold that visible in the direction of the sensor area of the part with raised Visibility does not exceed. It is further preferred that the part with increased visibility at a defined height in relation to located to the sensor.

in the In the case of pipetting tips, the part with increased visibility may flow be located in the pipette tip. The flow is common White, but it can also have a different color. In the case of a vessel holder can the part with elevated Recognizability a piece the vessel holder, that for example with a particularly reflective material is provided. In the case of columns (spin tubes), the part with elevated Recognizability be a membrane, a filter membrane or a flow. In the case of vessels, e.g. Eppendorf tubes, can the part with elevated Recognition a lid, e.g. a hinged lid, or a hinge element or a fastener of the lid.

in the Case of vessels or columns it is beneficial to consider that this too with a liquid be filled with any color and liquid level can. Also can be a felt of the columns to have any color. Therefore, it is preferable to use a light sensor with background suppression to detect them. This is learned at a first distance and then compared with one moved to the first distance lesser second distance over the column or the vessel.

The above methods and other methods are suitable for equipping an apparatus such as in 1c check the apparatus shown. For example, the apparatus can be checked for completeness or consistency. For example, the assembly of the centrifuge 200 or the sample holder in the heater / shaker 600 be checked.

To check the equipment of the apparatus, it is advantageous to register for different vessel holding positions whether a vessel is present therein. Thus, the total number of registered in the vessel holding positions as present vessels can be determined and stored. For example, thus, the total number of vessels in corresponding holding positions of vessel holders 120 in the centrifuge rotor 212 be determined. From the total number of vessels and from their positions, for example, on the number of vessel holders 120 in the centrifuge 200 be closed or it can be registered separately. Depending on the total number of vessels registered as present in the vessel holding positions, a condition for the distribution of the vessels in the vessel holding positions is then determined. A condition may be aimed, for example, at imbalance while loading the centrifuge 200 to minimize, as described above. Subsequently, it is checked whether the distribution of the containers registered in the vessel holding positions as being present satisfies the determined condition.

As described above, can be further registered by an optical sensor, whether a Ge vessel is present in the vessel holding positions. Thus, in addition, the number of sample vessels in sample vessel positions can be registered by the optical sensor. The sample vessel position may be in the shaker / heater 600 be. Thus it can be checked whether the number of sample vessels is compatible with the total number of vessels registered as present. Also, an association can be created, each of which associates a vessel holding position with a sample vessel, eg, a vessel holding position in the centrifuge 200 ,

The Assignment may, for example, a vial holding position in each case a sample vessel Assign in which a vessel as present is registered, or it can each be a sample vessel a group of vessel holding positions assign, wherein in at least one vessel holding position from the group Vessel as present is registered. The assignment can also be created by Instructions are issued to the sample vessel in a sample vessel position to bring that the vessel holding position assigned. The sample vessel position For example, the vessel holding position be assigned by a common identifier, or the vessel holding position be associated with that the arrangement of sample vessel positions in a sample vessel station the arrangement of vessel holding positions in the centrifuge corresponds. The assignment can also be created by outputting a table corresponding to a sample vessel position of the sample vessel the respective vessel holding position assigns.

The optical sensors also allow to check the equipment of the apparatus with consumables. Such consumables may be vessels or biological materials. In particular, it may be pipette tips, spin tubes, Eppendorf tubes and biological fluids, enzymes, and / or buffer liquids. For this purpose, the number of sample vessels provided with samples to be processed is registered; Depending on the number of sample vessels provided, a required number and / or quantity of a consumable for processing the samples is determined, possibly determined as a function of the protocol; the number and / or quantity of the consumer goods present in the apparatus is determined; and the number and / or quantity of the commodity present in the apparatus is compared with the required number and / or quantity of the commodity. It can also be generated from the determination of the actual state of the consumption of information for the user and on the screen 910 are output to produce the desired state.

To adjust the position of moving parts, one or more light sensors can also be used. Preferably, the light sensor is used for the detection of pieces for positioning. One or more light sensors are in one possible embodiment on a movable unit, for example the carriage 300 or the gripper 400 or the pipetting unit 500 , fixed and thus movable together with the unit. As the unit moves, the sensor is driven over a marker whose position is defined and known. As a result, the position of the sensor and thus the movable unit is determined.

The marking is an element that triggers a signal or a signal difference of the light button at a defined position of the light button. For example, the mark may be by an edge on the work surface 2 be realized so that on one side of the edge the work surface 2 is in the detection area of the light button, and not on the other side. Alternatively, the marking may be realized by a boundary between two surfaces with different diffuse reflection behavior. To allow multi-directional positioning, multiple edges or boundaries that run along multiple (eg, two mutually orthogonal) directions may be used. Nevertheless, in the case of a non-rotationally symmetrical sensor, such as a light sensor, typically the positioning in different directions is different in accuracy. In this case, it is also possible to use a plurality of light scanners oriented in different directions or using a rotatable sensor.

By counting a step number of a stepping motor, the position of the movable Partly determined relative to the position marker. Farther the positioning can be redundant. By the positioning can mechanical tolerances are compensated.

Other sensors and markers can also be used for positioning. For example, a magnetic coil, a camera or a light barrier can be used as the sensor. For example, an inductive conductor element, a color marking or a blocking part for the light barrier is then used as the marking. For example, a light barrier can be used to detect whether a part moved by a stepper motor is in a defined calibration position (home position). Such a sensor 438 , is about with 8th and 16 described.

Alternatively, the sensor may also be fixed in place and the positioning mark may be mounted on the movable part. Referring to 1c For example, a position mark on the centrifuge rotor 212 or on the vessel holder 120 to be appropriate. Then, with the optical sensor positioning a Drehwin kels of the centrifuge rotor 212 respectively.

• – Eichen der Position der mit dem Schrittmotor bewegbaren Sensoreinheit, d.h. feststellen einer Home-Position der Sensoreinheit etwa durch Lesen einer ortsfesten Markierung mit Hilfe des optischen Sensors. Die Markierung kann etwa auf der Arbeitsplatte 2 sein.
• – Bewegen der Sensoreinheit zu einer definierten Position in einem Bewegungsbereich des beweglichen Teiles (etwa bei der Zentrifuge 200); die definierte Position wird durch Zählen der Schrittzahl des Schrittmotors der Sensoreinheit erreicht.
• – Bewegen des beweglichen Teiles, d.h. beispielsweise Rotieren des Zentrifugenrotors 212, bis durch den optischen Sensor festgestellt wird, dass eine Markierung auf dem beweglichen Teil, etwa eine mit dem Zentrifugenrotor mitrotierbare Markierung, in einer definierten Relation zu dem optischen Sensor ist.
• – Berechnen, aus der definierten Relation, der Position des beweglichen Teils.

For positioning the centrifuge rotor 212 or another movable part with a positioning mark, a movable sensor can also be used. For example, a sensor may be used which is mounted on a sensor unit movable with a stepping motor, such as the pipetting unit 500 is appropriate. The positioning of the moving part then takes place by the following steps:

• - Eichen the position of the movable with the stepper motor sensor unit, ie determine a home position of the sensor unit, for example by reading a stationary mark using the optical sensor. The marker may be about on the countertop 2 be.
• - Moving the sensor unit to a defined position in a range of movement of the movable part (such as the centrifuge 200 ); the defined position is achieved by counting the number of steps of the stepping motor of the sensor unit.
• - Moving the movable part, ie, for example, rotating the centrifuge rotor 212 until it is determined by the optical sensor that a mark on the moving part, such as a mark rotatable with the centrifuge rotor, is in a defined relation to the optical sensor.
• - Calculate, from the defined relation, the position of the moving part.

alternative the position of the moving part can also be determined by the sensor unit over the range of movement of the movable part is moved. It will the position of the sensor unit by counting the number of steps of the stepping motor updated. Once detected by the optical sensor, that a mark on the moving part in a defined Relation to the optical sensor can be defined from this Relation the position of the moving part are calculated.

A level control to review the level of vessels for biological Materials, especially liquids, is advantageous because without such a level control responsibility, the device to provide sufficient amounts of buffer to the user is. The risk of error or the testing effort for the user can thus be reduced become.

It can also fill levels of other liquids or solids, e.g. Powders, to be checked. In particular, can be ensured that the respective levels within a predetermined interval are located. Also, with the below the presence of such substances.

It can with a level control For example, ensure that the level of filter vessels (spin tubes) in the centrifuge is not too high. This can be a warning be issued if the filter vessels are overcrowded. This way you can a blockage of the filter vessels when Centrifuging can be avoided.

Various methods can be used for level measurement of a liquid. In order to avoid cross-contamination, in particular a non-contact method is advantageous here. Some methods for non-contact level measurement are described below by way of example:
In an optical transit time measurement, light pulses are coupled via a light guide into the container. The reflected light at the liquid surface is detected by a photodiode. The time difference between pulse and echo is a measure of the depth of the filling level.

at An ultrasonic measurement is an ultrasonic pulse from a piezoelectric element, about a piezoceramic, delivered. The reflected from the liquid surface Pulse is delayed received from the same piezo element. The measured runtime is a measure of the distance between sensor and liquid surface. in this connection It is preferred to use a sensor with about +/- 1mm resolution, preferably at a Transmission frequency of about 250 kHz, to use. Furthermore, it is preferred to calibrate the system by means of a reference surface.

at a capacitive measurement becomes a capacitive sensor head as long moved towards the liquid surface, until a switching point of the sensor is reached. The switching point is then reached when the capacitor electrodes of the sensor head near the surface are.

at an optical transmission measurement is the wavelength of a Lasers chosen that the light of the laser is dependent absorbed the level becomes. For this example, a wavelength in the range of about 1300 nm advantageous. The absorption is thus a measure of the level.

In an optical angle measurement, a laser beam is reflected by the liquid surface. By means of an optical line sensor, the reflection angle and thus the liquid surface is determined. In this method, the surface of the substance in the vessel is irradiated by the laser or other radiation source; the radiation which is reflected from the surface of the liquid (or even a solid substance) or diffusively reflects back, is measured by a radiation meter; depending on the radiation measured by the radiation meter bringing the radiation source, the radiometer and the vessel into spatial relation (eg by tilting the radiation source) so that a first angle between a normal to the surface of the substance and a first ray going from the radiation source to the surface of the substance being substantially equal to a second angle between the normal to the surface of the substance and a ray reflected from the first ray passing from the surface of the substance to the radiometer; and then the height of the surface of the substance is determined as a function of the spatial relationship between radiation source, radiometer and vessel.

The height of surface The substance is usually made using the equality of determined first and second angle. The irradiation typically occurs through a focused beam with a bundle diameter of 3 mm. For an angle measurement, it is also advantageous to use a light scanner to use that too for other purposes, such as positioning and / or verification of assembly is used.

at Use of a light scanner, in particular an optical reflection light scanner for optical angle measurement, in particular the following sources of error to consider: First, you can surface waves be present, which is a reflection of the light in all directions can cause. This can lead to false signals in the entire area. Therefore, one is sufficient long temporal or spatial Averaging over several wave crests the surface waves advantageous. As a result, the surface waves are averaged so that a signal maximum occurs at a reflection angle that is largely corresponds to the reflection angle of a smooth surface.

Farther it is preferred to filter reflections on the walls and the bottom of the vessel, since otherwise they distort the measurement can. This is possible, if the vessel shape known is.

It is further preferred to consider adhesion forces, preferably depending on respective liquid, their level is examined. Formed by adhesion forces in the vessel at the walls a lens-like Surface. Will this surface not considered, This can lead to errors in narrow vessels to lead. To consider the adhesion forces, It is advantageous if the spot size is well below one inner vessel cross-section lies. Then the angle of reflection can vary depending on a horizontal Position are measured. By comparing the dependence with a model that takes into account adhesion forces, can the curvature the surface be determined and compensated. Alternatively, the spot, if it is sufficiently small, also positioned on a center of the vessel be where the surface is essentially horizontal. For this purpose, it is preferred that the spot area is less than one tenth of the internal cross section of the vessel.

For detecting the type and / or the receiving volume of a vessel, a marking can be read, which is attached either to the vessel itself or to a container for the vessel. For example, such a mark can be identified by the in 12 illustrated marking projections 721 . 722 will be realized. This marking can be read out with a movable light sensor or with a light barrier or with another sensor.

When Another example may be the size of the vessel the size of one Depend on the gripping portion of the vessel. In In this case, the size of the vessel during Grasping the vessel determined be determined by the amplitude of the closing movement of a gripper arm becomes.

As another example, the size of the vessel may depend on its length. In this case, it is advantageous if the vessel is gripped by a gripper so that it is held vertically lengthwise, and if the gripper at a defined height via one or more light barriers 852 (please refer 1a ) is moved with horizontal beam path. Depending on the length of the vessel and depending on the height of each light barrier, the beam path of the light barrier is interrupted or not by the vessel. From the information as to whether the light barrier or which light barrier is interrupted, the length can be limited or determined. If this is necessary to determine the length, the gripper can also be moved several times at different heights across the light barrier or the light barriers. Also, the gripper can be positioned over the light barrier and moved in the height direction until the optical path is broken.

User interface, operating concept

The Operating concept of the apparatus is based on simple and intuitive operation aligned. Contributes to this In particular, the operation of the Apparatus at. It is designed to be as few and as possible intuitive input steps are needed to perform a protocol, and that for the user relevant information in as easy to be detected Form are presented. Contributes to this, for example, that Settings from frequently used protocols can be stored and called directly, and that rarely to be changed Input fields are typically skipped become.

The operation of the apparatus is essentially by means of a TFT touch screen. For example, a touch screen with a resolution of 240 × 320 pixels can be used. Further operating elements such as buttons and switches are optionally possible, eg for an emergency stop function or for stand-alone operation (independent operation) of individual modules. Furthermore, the apparatus has interfaces for digital data exchange, for example, to load or store protocols and parameters, to transmit diagnostic data, to perform software updates (ie, software updates), or to remotely control the apparatus 1 to allow. In 16 are for such and similar purposes a USB interface 870c and an RS232 interface 870d shown.

A typical screen layout in the display (screen) 910 shown operation guide is in 17b shown. The screen shown 930 has a headline 932 , a value field, and various other buttons ("Default" 937 ; "Save";"Cancel").

The heading 932 serves as orientation for the current location in the user guide, for example in a menu. In the title 932 too long texts are cut off. This is represented by several points. Depending on whether the left or the right part of the text is more important, the right or left cut off.

The value field is used to change values, in the example of a buffer volume shown. It includes an up / down control 938 , By pressing the "+" key of the control 938 the value is increased, reduced by pressing the "-" key 934 . 935 are shown. Once a limit is reached, the corresponding button of the control 938 inactive.

Analogous to the value field shown, a list box (not shown) for selecting an element from a fixed number of elements may be provided; For example, to select a protocol from multiple protocols. The list box is analogous to the control 938 Arrow keys to select a desired item. The current element is shown in bold and in larger font. The list box also includes an action key that describes what should happen to the selected item. The most likely action is performed when the representation of the selected list item is pressed directly.

At the beginning of the use of the apparatus becomes a start screen 920 represented as he in 17a is shown. The startup screen 920 does not fully correspond to the above-described screen layout of 17b , It contains two quick start buttons 924 , Protocol buttons 922 as well as a "tools" button 926 for access to device settings and other functions. As soon as a button on the start screen is pressed, you will get to the corresponding menu.

The quick start buttons 924 show the last started protocol (left button) and the second last protocol (right button). More than two quick-start buttons can be provided. The label of the quick-start buttons 924 changes each time a log is started. If a protocol is to be adapted to a quick-start button, the corresponding quick-start button can be selected 924 be pressed long.

Separate Shared parameters of the logs can be changed. A protocol with adjusted parameter sets can be saved and then selected via a list box. The parameter set can then be changed by adapted an "Options" button become.

Exemplary is in 18a and 18b a typical procedure for performing a protocol is shown. The first screen 920 is the in 17a shown start screen. If the quick start button is pressed 911 , one or more screens appear 940 with instructions 946 for equipping the device with consumables and for further protocol preparations.

The screen shown 940 shows for different positions 942 of the container 710 for buffer fluids, the fluids and fluid levels required for the given protocol 944 , Shown is in 18a an overview screen 940 , Herein, the liquids are coded by a color and the required liquid levels are shown graphically. Detailed populating information is displayed by pressing the "Next" key (not shown). Pressing the "Skip" key skips this part of the user prompting.

As soon as opened the centrifuge lid In addition, the user interface displays instructions for Loading the centrifuge (not shown).

In the example shown, the "skip" key is pressed 911 , The following third screen 950 from 18a shows an overview of the protocol steps to be performed. The steps are considered as elements of a progress bar 951 shown. In the screen shown, the following protocol steps are shown: initialization, lysis, incubation, lysis, binding. Out of place do not represent further steps are not displayed, displayed alternately in time, or by an element such as points indicated (not shown), which can be displayed by touching the element, the other steps.

The "Edit" key can be used to adjust the changeable parameters of the protocol, eg buffer type, quantity, double elution, output volume, RNase treatment, etc. By pressing 911 The "Start" button starts the execution of the protocol.

The screens displayed during the execution of the log 950 are in 18b shown. Therein is the estimated time left 954 displayed as well as the currently performed protocol step 952 highlighted in a progress bar. The log flow can be aborted at any time, but not resumed. The cancel button is not an emergency stop button. Various operations are completed before the final program stop and the axes return to their original position.

Furthermore, the centrifuge and the shaker can be operated independently, ie independently of protocols. These functions are, for example, via the Tools menu 926 of the start screen of 17a or accessible via its own key.

• – Benutzung der Zentrifuge 200 unabhängig von Protokollen;
• – Erhitzen und/oder Schütteln unabhängig von Protokollen;
• – Wartung, z.B. Rückstellung beweglicher Teile; Öffnen oder Schließen des Zentrifugendeckels;
• – Einstellungen, z.B. Bildschirmhelligkeit, Tonsignale;
• – Systemsteuerung, z.B. Abspeichern von Log-Dateien, Geräteeigenschaften (Seriennummer, Ausstattung, etc.), Aufspielen von Updates; und
• – Systemeinstellungen, z.B. Temperatur, Spannung, Fehlermeldungen, usw.

Various device settings can be activated after pressing the "Tools" button 926 in the start screen (s. 17a ). A menu will appear with the following setting options.

• - Use of the centrifuge 200 independent of protocols;
• - heating and / or shaking regardless of protocols;
• - Maintenance, eg return of moving parts; Opening or closing the centrifuge lid;
• - Settings, eg screen brightness, sound signals;
• - System control, eg saving log files, device properties (serial number, features, etc.), uploading updates; and
• - System settings, eg temperature, voltage, error messages, etc.

The Order of menu items may vary according to the frequency of the application: The more common a function is needed becomes, the further above it appears in the menu. Basically also a button "standard" available This key sets default values for a selected item.

The device has a USB interface 870c , which is configured as a USB master. This allows data to be read from and written to a USB memory stick (memory stick). The USB memory stick can thus also serve as a medium between a PC and the apparatus. Alternatively, another interface, such as Ethernet or RS232 can be used, and other functions such as a web server can be realized.

• – Protokolle (laden und speichern einzelner Protokolle oder mehrerer Protokolle simultan);
• – Geräteinformationen sichern (z.B: Diagnoseinformationen, Log-Dateien mit Servicedaten oder Fehlerdaten, Status-Dateien usw.); und
• – Update (Aktualisierung) der Firmware oder von Software.

The following data can be sent via the USB interface with the. USB memory stick to be exchanged:

• - protocols (load and save individual logs or multiple logs simultaneously);
• - save device information (eg: diagnostic information, log files with service data or error data, status files, etc.); and
• - Update (update) of the firmware or software.

Furthermore can Logs and other files are deleted (individual logs or several protocols simultaneously). Protocols are called PLC algorithms saved and saved as an xm1 file.

Each Type of files (e.g., protocols to be loaded or saved, firmware, etc.) is in the directory structure of the USB memory stick respectively a directory with a given name assigned. The transferring the files to or from the USB memory stick is done by its own wizard program, which has its own Menu available provides. The user has the option of existing on the target device Overwrite files or transfer only the files that do not already exist.

Other service functions can be performed when the device is connected to a PC via the RS232 interface 870d connected to a special service software.

The Operation is as possible easy use for the most common Use cases designed. These are usually loading new logs and deleting logs.

logs

in the Below, partial steps are described based on an example protocol, when processing biological material in an apparatus can be performed with sub-modules described above.

• – die Verbrauchsgüterstation 701 (siehe 12) mit Verbrauchsgütern wie Pipettierspitzen 730 und Behältern mit Pufferflüssigkeit 712, 714, 716;
• – die Zentrifuge 200 mit geeigneten Gefäßhaltern 120 und Gefäßen 160, 170;
• – der Erhitzer/Schüttler 600 mit Probengefäßen 170. Die zu prozessierenden Proben sind in den Probengefäßen 170 enthalten.

First, as in 18a shown, selected and given a desired protocol if protocol parameters are selected. The apparatus then gives hints 940 for loading the apparatus. According to these instructions, the apparatus is populated by hand. Alternatively, the placement is automatic or semi-automatic. In particular:

• - the consumer goods station 701 (please refer 12 ) with consumables such as pipette tips 730 and containers with buffer liquid 712 . 714 . 716 ;
• - the centrifuge 200 with suitable container holders 120 and vessels 160 . 170 ;
• - the heater / shaker 600 with sample containers 170 , The samples to be processed are in the sample vessels 170 contain.

Alternatively, the assembly, for example, by inserting a prepared station 701 or a vascular carrier 610 into the apparatus.

The equipment is then checked for consistency and completeness by the apparatus. As described above, the check, for example, by a movable over the worktop light sensor 810 and / or by an ultrasound unit 830 be made. From the review, other process parameters (eg number of samples to be processed from the number of detected sample vessels 170 ) be derived.

Subsequently, protocol steps are carried out to process the samples. By way of example, the automated implementation of a protocol for purifying biomolecules from cells is described which consists of the steps lysis, pelleting, binding, washing, elution. The processing may also include other protocols, as described for example in the publications "QIAGEN Bench Guide," the "QIAGEN Guide to Template Purification and DNA sequencing" and "QIAGEN QIAprep ^® Miniprep Handbook" (Second Edition, June 2005). Furthermore, the protocol steps performed may include only part of the steps, or in addition to or instead of these, include further steps.

For the protocol step "Lysis", the sample material is transferred manually with the sample vessel into the heater / shaker or optionally through the gripper 400 or the pipetting unit 500 transferred to this. Buffer liquid is added to the sample material. In this case, the same pipetting tip can be used for all samples, if, for example, it is ensured by a sufficient height of the pipetting tip that the pipetting tip is not contaminated when pipetting in.

By shake of the heater / shaker the buffer liquid and mixed the sample material. The sample is optional through Heating in the heater / shaker brought to a defined temperature and during a predetermined time interval kept at the temperature (incubation). Optional will be more buffer liquids added. The desired biomolecules are now in the buffer liquid solved (Lysate).

Subsequently, the lysate is transferred by pipetting into the centrifuge, as to 7 is described. A separate pipetting tip is used for each sample and then in the waste disposal station 740 discarded.

Optionally followed by a pelleting step. Here, the sample is centrifuged to achieve improved separation of lysate and cell debris. For this purpose, the sample is transferred by pipetting into a vessel in the centrifuge. Such a vessel may, for example, be in a holding position 140 held Eppendorf tube 170 his or hers with a vessel holder 120 integral vessel 150 (see, for example 11c ). Alternatively, the sample vessel 170 with the sample in it by the gripper 400 in a holding position 140 be transported in the centrifuge. Subsequently, the sample is in the centrifuge 200 centrifuged so that the Zelldebris predominantly collects at the bottom of the vessel. During centrifugation, the lid is in each case 240 the centrifuge through the lid control 260 locked. It is then reopened to allow access to the interior of the centrifuge.

This is followed by a binding step. Herein the lysate is pipetted into a filter vessel 160 or in a vessel 160 with carrier material, for example a membrane, transferred. The portion of the lysate at the vessel bottom which has an increased cellular debris content is not transferred.

The container 160 with carrier material is in a holding position 130 (or 150 ) of the vessel holder 120 , By centrifuging, the lysate is pressed through or along the carrier material, wherein the biomolecules preferably remain on the carrier material. The remaining lysate is in a waste volume 122 of the vessel holder 120 rinsed (see 11c ).

This is followed by a washing step: After adding one or more washing liquids into the vessel 160 through the pipetting unit 500 becomes the vessel 160 centrifuged to press the washing liquid through or along the carrier material. As a result, unwanted components are dissolved by the carrier material. The washing liquid with the dissolved components is in the waste volume 122 of the vessel holder 120 rinsed. Optionally, washing steps can be repeated.

To prepare for the elution step, follows a transfer of the vessel 160 , In general, and independent of the remaining protocol steps, the vessel 160 before the step elution by the gripper into another vessel 170 for receiving biological material, in particular a liquid, transferred. Preferably, the vessel is passed through a gripper 400 transferred. The gripper has preferred some of the related 6 . 8th and or 9 described features. Particularly preferred is the further vessel 170 in a centrifuge 200 arranged, and very particularly preferred is the further vessel 170 in a stop position 140 a container holder 120 removably arranged in the centrifuge. Furthermore, it is preferred that the vessel 160 having an exit opening for the discharge of the liquid, and that the vessel 160 after transferring so in relation to the other vessel 170 is arranged during centrifugation through the outlet opening of the vessel 160 leaking liquid in the other vessel 170 is collected.

It is not restrictively assumed below that the vessel to be transferred 160 in a first stop position 130 , and that the other vessel 170 in a second stop position 140 a container holder 120 are arranged in the centrifuge (see 11c ). Then, independently of the remaining protocol steps, vascular transfer through the gripper into another vessel can be implemented, for example, as follows: The gripper unit 400 becomes in relation to the vessel holder 120 positioned, wherein the positioning element 452 with the positioning counter element 124 of the vessel holder interacts, as in the description of 8th and 9 is explained illustratively. The gripper 410 is, if necessary, by the drive 431 around the axis 436a pivoted, so that the gripper the vessel 160 can grab. He grabs the vessel and removes it from the holding position 130 , The gripper 410 is by the drive 431 around the axis 436a pivoted. Finally, the grapple sets the vessel 160 into the other vessel 170 and let go of the vessel. During the entire course of this movement, it is preferred that the positioning element 452 with the positioning counter element 124 of the vessel holder interacts. This can be done, for example, by the spring 458 be ensured.

Alternatively, the vessel 160 also from a first stop position 130 a first vessel holder 120 into another vessel 170 be transferred, wherein the further vessel is arranged in a further vessel holder in the centrifuge, that of the first vessel holder 120 is different. Then, between removal and insertion, a further step of positioning the gripper unit with respect to the other vessel holder must be made.

More details about the grapple 410 and the movements mentioned above are related to the above 8th and 9 described.

For the elution step, elution liquid is introduced into the vessel 160 put in (pipetted), and the vessel 160 is centrifuged. The elution liquid dissolves the desired constituent from the carrier material and rinses it into the further vessel. There is the desired ingredient, dissolved in the elution liquid available.

Finally, for a final "clean up" step, vessels that have been required for intermediate steps of the protocol are disposed of manually or automatically, for example by going to the waste disposal station 740 to be brought.

Claims (97)

Gripper unit ( 400 ) for handling a vessel ( 160 ) for receiving biological material, wherein the vessel ( 160 ) a lid ( 166 ), which can assume an open position and a closed position, comprising a gripper ( 410 ) for gripping and releasing the vessel, and a lid holder ( 417a . 414 ) to a lid ( 166 ) in a defined position in relation to the vessel ( 160 ) holding an open position of the lid ( 166 ). Gripper unit ( 400 ) according to claim 1, wherein the gripper unit is movable in a z-direction perpendicular to a worktop plane. Gripper unit ( 400 ) according to claim 1 or 2, wherein the gripper unit is movable in an xy direction along a worktop plane. Apparatus for processing biological material, comprising a gripper unit according to one of claims 1 to 3, and a centrifuge ( 200 ), whereby the gripper ( 410 ) is suitable to insert the vessel in the centrifuge or to remove it from the centrifuge. Method for transporting a vessel ( 160 ) into a vessel holder ( 120 ) or from a vessel holder ( 120 ), the vessel ( 160 ) a lid attached thereto ( 166 ) for closing an opening of the vessel, comprising the steps of: - gripping or holding the vessel ( 160 ) by a gripper unit ( 400 ); - holding the lid ( 166 ) in a defined position in relation to the vessel ( 160 ), which is an open position of the lid, and - moving the vessel into or out of the vessel holder the vessel holder by the gripper unit ( 400 ), wherein the defined position of the lid is maintained relative to the vessel. Method for transporting a vessel ( 160 ) according to claim 5, wherein the transporting of the vessel ( 160 ) a removal of the vessel ( 160 ) from a vessel holder ( 120 ) by the gripper unit ( 400 ), and wherein moving the vessel into or out of the vessel holder is removal of the vessel from the vessel holder by the gripper. Method for transporting a vessel ( 160 ) according to claim 6, wherein the step of removing the vessel from the vessel holder ( 120 ) removing the lid from a lid receptor ( 132 . 142 . 144 ) of the vessel holder. Method for transporting a vessel ( 160 ) according to claim 5, wherein the transporting of the vessel ( 160 ) a setting of the vessel ( 160 ) into a vessel holder by the gripper unit ( 400 ), and wherein moving the vessel into or out of the vessel holder involves inserting the vessel into the vessel holder (10). 120 ). Method for transporting a vessel ( 160 ) according to claim 8, wherein the step of placing the vessel in the vessel holder ( 120 ) the insertion of the lid ( 166 ) in a lid receptor ( 132 . 142 . 144 ) of the vessel holder. Method for transferring a vessel ( 160 ) from a first vessel holder to a second vessel holder by a gripper unit ( 400 ), comprising the steps of - removing the vessel from a first vessel holder ( 120 ) according to claim 6 or 7, wherein the vessel from a first stop position ( 130 . 140 . 150 ) of the first vessel holder ( 120 ), and - inserting the vessel into a second vessel holder ( 120 ) according to claim 8 or 9, wherein the vessel is in a second holding position ( 130 . 140 . 150 ) of the second vessel holder ( 120 ) is used. Method for transferring a vessel ( 160 ) according to claim 10, wherein the first holding position and the second holding position are different holding positions, and wherein the first vessel holder and the second vessel holder is the same vessel holder. Method for transferring a vessel ( 160 ) according to claim 10 or 11, wherein the first holding position and the second holding position are different holding positions, and wherein the first vessel holder and the second vessel holder are different vessel holders. Method according to one of claims 5 to 12, wherein in the step of holding the lid ( 166 ) the lid ( 166 ) by a lid holder of the gripper unit ( 400 ) in a defined position in relation to the vessel ( 160 ) is held. Method according to one of claims 5 to 13, wherein the vessel holder or holders pivotably in a centrifuge ( 200 ) is or are stored. Method according to one of claims 5 to 14, wherein the lid ( 166 ) is open. Vessel holder ( 120 ) for a vessel ( 160 ) for receiving biological material with a lid attached thereto ( 166 ) for closing an opening of the vessel, the vessel holder is for use in a centrifuge ( 200 ) and comprises at least one retaining piece ( 130 . 140 . 150 ) for holding the vessel and at least one lid receptor ( 132 . 142 . 144 ) for holding the lid connected to the vessel ( 166 ), which is shaped to allow access to the lid by a lid holder ( 414 ) a gripper unit ( 410 ) for the vessel. A vessel holder according to claim 16, wherein the access of the lid holder ( 414 ) on the lid includes a mechanical contact of the lid by the lid holder. A vessel holder according to claim 16 or 17, wherein the lid receptor ( 132 . 142 . 144 ) a recess ( 133 . 143 . 145 ) having an access of the lid holder ( 414 ) allowed on the lid. Apparatus ( 1 ) for processing biological material, comprising a vessel holder according to one of claims 16 to 18 and a centrifuge ( 200 ), whereby the vessel holder ( 120 ) is suitable for use in the centrifuge. Apparatus for processing biological material comprising a centrifuge ( 200 ) with a rotatable centrifuge rotor ( 212 ) with at least one vessel holder ( 120 ) for holding a vessel ( 160 ) for biological material, and a gripper ( 410 ) for inserting a vessel ( 160 ) in the vessel holder. Apparatus for processing biological material comprising a centrifuge ( 200 ) with a rotatable centrifuge rotor ( 212 ) with at least one vessel holder ( 120 ) for holding a vessel ( 160 ) for biological material, and a gripper ( 410 ) for removing a vessel ( 104 ) from the vessel holder. Apparatus for processing biological material comprising a centrifuge ( 200 ) with a rotatable centrifuge rotor ( 212 ) with at least one vessel holder ( 120 ) for holding a vessel ( 160 ) for biological material, and a gripper ( 410 ) for transferring a vessel ( 104 ) from a first holding position of a vessel holder to a second holding position of a vessel holder. Apparatus for processing biological material according to one the claims 20 to 22, wherein the first and second holding positions are different. Apparatus for processing biological material according to one the claims 20 to 23, wherein the first and second holding position in the same vessel holder are. Apparatus for processing biological material according to one the claims 20 to 23, wherein the first and second holding positions in different tube holders are. Apparatus for processing biological material according to any one of claims 20 to 25, wherein the gripper ( 410 ) is designed around the vessel ( 160 ) by engagement with a protruding vessel piece ( 168 ) of the vessel. Apparatus for processing biological material according to any one of claims 20 to 26, wherein the gripper comprises a positioning element ( 450 ) for positioning an angular position or a swing-out angle of the vessel holder ( 120 ) by interaction with a positioning counter element ( 124 ). Apparatus for processing biological material according to claim 27, wherein the positioning element ( 450 ) is designed to position the swing-out angle with a stop ( 212m . 116b ) to cooperate for the vessel holder. Apparatus for processing biological material according to one the claims 20 to 28, wherein the vessel holder can be removed from the centrifuge. Apparatus for processing biological material according to any one of claims 20 to 29, wherein the gripper ( 410 ) comprises: - a gripping element ( 416a ), which is movable for gripping and releasing a vessel, - a tensioning element ( 424 ), which is suitable, the gripping element ( 416a ) - a lifting element ( 422 ), and - a drive ( 420 ) for the lifting element, which is suitable, a lifting movement of the lifting element ( 422 ) driving the gripping element ( 416a ) emotional. Method for setting a vessel ( 160 ) by a gripper ( 410 ) into a vessel holder ( 120 ) in a centrifuge rotor ( 212 ), whereby the vessel holder ( 120 ) a stop position ( 130 . 140 . 150 ) for the vessel, comprising the following steps: • the gripper is brought into position relative to the holding position; The gripper is moved to set the vessel in the holding position; • The vessel is released by the gripper. Method for removing a vessel ( 160 ) by a gripper ( 410 ) from a vessel holder ( 120 ) in a centrifuge rotor ( 212 ), wherein the vessel holder a holding position ( 130 . 140 . 150 ) for the vessel, comprising the steps of: • the gripper is brought into position with respect to the holding position; • the vessel is gripped by the gripper; • The gripper is moved to remove the vessel from the stop position. Method for transferring a vessel ( 104 ) by a gripper ( 410 ) from a first stop position ( 130 . 140 . 150 ) of a vessel holder ( 120 ) in a centrifuge rotor ( 212 ) to a second stop position ( 130 . 140 . 150 ) of a vessel holder ( 120 ) in the centrifuge rotor, comprising the steps of: • the gripper is brought into position with respect to the first stop position; • the vessel is gripped by the gripper; The gripper is moved to remove the vessel from the first holding position; The gripper is brought into position with respect to the second holding position; The gripper is moved to place the vessel in the second holding position; • The vessel is released by the gripper. Method according to one of claims 31 to 33, further comprising the following step: • a predetermined angle of rotation of the vessel holder about the axis of rotation ( 214 ) of the centrifuge rotor ( 212 ) is set. Method according to one of claims 31 to 34, further comprising the following step: • a swing-out angle of the vessel holder is fixed by a positioning element ( 450 ) of the gripper ( 410 ) in interaction with a positioning counter-element ( 124 ) of the vessel holder ( 120 ) is brought; the vessel holder a stop ( 212m . 116b ) for the pivotal movement of the vessel holder touched, and the swing angle of the vessel holder by the interaction of positioning ( 450 ) and positioning counter element ( 124 ) is fixed to the stop. Method according to one of claims 31 to 35, wherein the holding position ( 130 . 140 . 150 ) in a vessel holder removable from the centrifuge ( 120 ). A method according to any one of claims 31 to 36, wherein the step of grasping the vessel ( 160 ) comprises the following substeps: - generating a lifting movement of a lifting element ( 422 ); and - converting the lifting movement of the lifting element ( 422 ) in a movement of the gripping element ( 416a ), wherein the movement is directed against a force which is a tensioning element ( 424 ) exerts on the gripping element. A method according to any one of claims 31 to 37, wherein the step of letting go of the vessel ( 160 ) comprises the following substeps: - generating a lifting movement of a lifting element ( 422 ), wherein the lifting movement movement of the gripping element ( 416a ) in the opening direction, and - generating a movement of the gripping element ( 416a ) by a clamping element ( 424 ). A method according to any one of claims 31 to 38, wherein the step of grasping the vessel ( 160 ) comprises the following sub-step: engagement of the gripping element with a projecting vessel piece ( 168 ) of the vessel. Apparatus ( 1 ) for processing biological material, comprising - a centrifuge rotor rotatable about a rotor axis ( 212 ), - a drive ( 218 ) for the centrifuge rotor, and - a positioning element not rotatable with the rotor ( 450 ) for positioning an angular position of the centrifuge rotor by interaction with a counterrotating member rotatable with the rotor ( 124 ). Apparatus according to claim 27 or 40, wherein the positioning of the angular position by mechanical engagement between positioning ( 450 ) and positioning counter element ( 124 ) he follows. Apparatus according to any one of claims 40 or 41, wherein the centrifuge rotor is adapted to receive a vessel holder ( 120 ) for a vessel ( 160 ) is suitable for receiving biological material. Apparatus according to one of claims 27 or 40 to 42, wherein the positioning counter-element ( 124 ) on the vessel holder ( 120 ) or on the centrifuge rotor ( 212 ) is arranged. Apparatus according to one of claims 27 or 40 to 43, which is suitable for detecting the angular position of the centrifuge rotor and for positioning the positioning element (11). 450 ) in accordance with the detected angular position so that the positioning element in an area of action of the positioning counter-element ( 124 ) is located. Apparatus according to one of claims 40 to 44, wherein the positioning element ( 450 ), a swing angle of the vessel holder ( 120 ). Apparatus according to one of claims 27 or 40 to 45, wherein the centrifuge rotor ( 212 ) for the pivotable mounting of a vessel holder ( 120 ) for a vessel ( 160 ) is suitable for receiving biological material and has a stop for the pivoting movement of the vessel holder, and wherein the positioning element ( 450 ) is adapted to the vessel holder by interaction with the positioning counter-element ( 124 ) hold in a swing angle to the stop. Method for positioning a centrifuge rotor ( 212 ) a centrifuge ( 200 ) in a rotation angle about an axis of rotation ( 214 ) of the centrifuge rotor, comprising the following steps: - a positioning counter-element rotatable with the centrifuge rotor ( 124 ) is in an area of action for interaction with a non-co-rotating with the centrifuge rotor positioning ( 452 ), and - the centrifuge rotor ( 212 ) is positioned by interaction of the positioning member with the positioning counter member. Method for positioning a centrifuge rotor ( 212 ) according to claim 47, wherein the positioning counter-element ( 124 ) into the area of action for interaction with the positioning element ( 452 ) is brought by an angular position of the centrifuge rotor ( 212 ) about its axis of rotation ( 214 ) is selected in an angular interval, so that the positioning counter-element is in the effective range. Method for positioning a centrifuge rotor ( 212 ) according to claim 47 or 48, wherein the positioning counter-element ( 124 ) by the following steps into the area of action for interaction with the positioning element ( 452 ) is brought: - an angular position of the centrifuge rotor ( 212 ) about its axis of rotation ( 214 ) is detected, and - the positioning element ( 450 ) is aligned in response to the detected angular position so that the positioning member is in the area of action. Method for positioning a centrifuge rotor ( 212 ) according to one of claims 47 to 49, wherein the positioning of the centrifuge rotor ( 212 ) a rotation angle of a holding position ( 130 . 140 . 150 ) for a vessel ( 160 ) in the centrifuge rotor ( 212 ) about a rotor axis ( 214 ) of the centrifuge rotor. Apparatus ( 1 ) for processing biological material, comprising - one around a rotor axis ( 214 ) rotatable centrifuge rotor ( 212 ), for the pivotable mounting of a vessel holder ( 120 ) for a vessel ( 160 ) is suitable for receiving biological material, - a first stop for the pivoting movement of the vessel holder, and - a positioning element ( 450 ), which is adapted to the vessel holder by interaction with a positioning counter-element ( 124 ) of the vessel holder hold in a swing angle to the stop. Apparatus according to one the claims 27, 28, 46 or 51, wherein the centrifuge rotor has a second stop for one Pivoting motion includes that caused by a centrifugal force of the centrifuge rotor is caused. Apparatus according to one the claims 28, 46 or 51 to 52, wherein the first and / or the second stop attached to the centrifuge rotor. Apparatus according to one the claims 28, 46 or 51 to 53, wherein the positioning by pressing the vessel holder to the first stop. Method for positioning a swing-out angle of a vessel holder ( 120 ) for a vessel ( 160 ) for receiving biological material contained in a centrifuge rotor ( 212 ) is pivotally mounted, comprising the steps: - a positioning element ( 450 ) is interacting with a positioning counter-element ( 124 ) of the vessel holder ( 120 brought); - the vessel holder touches a stop ( 212m . 116b ) for the pivotal movement of the vessel holder, and - the swing-out angle of the vessel holder is determined by the interaction of positioning element ( 450 ) and positioning counter element ( 124 ) is positioned on the stop. Vessel holder ( 120 ) for a vessel ( 160 ) for receiving biological material, the vessel holder is for use in a centrifuge ( 200 ) and comprises a retaining piece ( 130 . 140 . 150 ) for holding a vessel and a positioning counter-element ( 124 ) shaped to engage with a positioning element ( 450 ), wherein the intervention can position an angular position and / or a swing-out angle of the vessel holder in the centrifuge. A vessel holder according to claim 56, wherein the vessel holder ( 120 ) a connector ( 112a ), which is adapted to connect the vessel holder with the centrifuge. A vessel holder according to claim 57, wherein the connector has a pivot axis (Fig. 113 ) of the vessel holder ( 120 ) Are defined. A vessel holder according to any one of claims 56 to 58, wherein the engagement between positioning counter-element ( 124 ) and positioning element ( 450 ) is suitable, a relative movement between positioning counter-element ( 124 ) and positioning element ( 450 ) along the directions of at least one plane. Apparatus ( 1 ) for processing biological material, comprising - a holder ( 120 ) for a vessel ( 160 . 170 . 730 ) for receiving biological material, wherein the vessel has at least one vessel part with increased visibility; A radiation source ( 810b ) for irradiating a registration area in the holder, wherein the registration area is associated with the vessel part with increased visibility; A sensor ( 810a ) for measuring an intensity of radiation coming from the registration area; An evaluation unit, which is equipped to register an absence or a presence of the vessel by a comparison between the measured intensity and a defined threshold value. Apparatus according to claim 60, wherein the vessel is a centrifuge vessel ( 160 . 170 ), a filter vessel ( 160 ), a collecting vessel ( 170 ) or a pipette tip ( 730 ). Apparatus according to claim 60 or 61, wherein the vessel part with increased Recognizable a membrane, a filter, a filter membrane, a Lid hinge, and / or a lid of the vessel is; Apparatus according to any one of claims 60 to 62, wherein the sensor ( 810a ) is movable. Apparatus according to claim 63, adapted to detect a position of the sensor ( 810a ) by irradiating an alignment mark of the apparatus and measuring a radiation coming from the alignment mark. Apparatus according to any one of claims 60 to 64, wherein the evaluating unit is equipped to measure, for a measured intensity which is below the Threshold is to register an absence and to register a presence for a measured intensity that is above the threshold. Apparatus according to one the claims 60 to 65, wherein the radiation source and the sensor are movable together and the apparatus further includes positioning means for positioning of radiation source and sensor in relation to the holding area. Method for detecting the presence or absence of a vessel ( 160 . 170 . 730 ) for receiving biological material in a holder for the vessel, comprising the following steps: - a registration area in the holder is irradiated, the registration area being associated with a vessel part of the vessel of increased recognizability; The intensity of radiation coming from the registration area is measured; - By a comparison between the measured intensity and a defined threshold, an absence or presence of the vessel is registered. Method according to claim 67, wherein the irradiation and the measuring by a movable sensor unit takes place, further comprising the following step: the sensor unit is positioned with respect to the vessel holder. Apparatus for processing biological material, comprising - a vessel holder for receiving a vessel ( 160 . 170 . 712 . 714 . 716 ) for the biological material; A sensor unit with an ultrasonic source ( 830b ) and an ultrasonic sensor ( 830a ); and an evaluation unit for determining, depending on sensor data of the ultrasonic sensor, an opening state of the vessel, and for determining, depending on sensor data of the ultrasonic sensor and with the vessel open, a possible presence of a substance in the vessel. Apparatus according to claim 69, where the substance is a liquid is. Apparatus according to claim 69 or 70, wherein the evaluation unit is suitable in dependence on sensor data of the ultrasonic sensor ( 830a ) to determine a filling level of the substance. Apparatus according to one the claims 69 to 71, wherein the evaluation unit is suitable, a filling level of the substance by measuring the transit time between an emitted ultrasound signal and one of a surface to determine the ultrasound signal reflected by the substance. Apparatus according to any one of claims 69 to 72, wherein the sensor unit is movable and further comprising: a radiation sensor ( 810a ), and positioning means ( 316 . 326 ) for positioning the sensor unit in relation to the vessel in dependence on sensor data of the radiation sensor. Apparatus according to claim 73, wherein the radiation sensor ( 810a ) is suitable for determining the presence of the vessel. Apparatus according to claim 74, where - the At least a vessel part with increased Recognizability; and where - The sensor unit is a radiation source for irradiating a registration area in the holder, wherein the registration area the vessel part with increased visibility assigned; and where - of the Radiation sensor is suitable for measuring an intensity of radiation, which comes from the registration area; and where - the evaluation unit is equipped to by comparing between the measured Intensity and a defined threshold, an absence or a presence to register the vessel. Apparatus ( 1 ) for processing biological material, comprising - a container station ( 720 ) for holding vessels ( 730 ); - a marker ( 721 . 722 ) at the container station containing information about the type of vessels; and a radiation sensor ( 810a ) to read the mark Apparatus according to claim 76, wherein the label ( 721 . 722 ) comprises at least one marking element formed integrally with the container station. Apparatus according to claim 76 or 77, wherein the label ( 721 . 722 ) comprises at least two marker elements each containing binary information. Apparatus according to one the claims 76 to 78, with the container station in different orientations can be placed in the apparatus. Apparatus according to any one of claims 76 to 79, wherein the label ( 721 . 722 ) is designed such that the reading of the mark is independent of an orientation selected from the different orientations. Apparatus according to one the claims 76 to 80, further comprising a radiation source for irradiation the mark. The apparatus of claim 81, wherein the container station includes a plurality of holding positions for each one vessel, wherein - the respective vessel has at least one vessel part with increased visibility; and wherein - the radiation source ( 810b ) is suitable for irradiating a registration area, which is associated with the respective vessel part with increased visibility; and wherein - the radiation sensor ( 810a ) is suitable for measuring an intensity of radiation coming from the irradiated registration area; and wherein - the evaluation unit is equipped to register an absence or a presence of the vessel by a comparison between the measured intensity and a defined threshold value. Apparatus according to any of claims 76 to 82, wherein the vessels ( 730 ) Pipetting tips are. Apparatus according to one the claims 76 to 83, where the information about the type of vessel a information about a capacity of the pipette tip or a material of the pipette tip is. Apparatus according to any of claims 81 to 84, wherein the optical sensor ( 810a ) and the radiation source ( 810b ) Parts of a light button ( 810 ) are. Apparatus according to any one of claims 81 to 85, adapted to read the marking - a marking element of the marking by the radiation source ( 810b ) to be irradiated; An intensity of radiation coming from the marking element through the sensor ( 810a ), and - comparing the measured intensity with a given intensity threshold. Method for detecting the type of a vessel ( 730 ) for receiving biological material in a container station ( 720 ) for the vessel, comprising the following steps: - a first marking ( 721 ) at the container station, which contains information about the type of vessel, is irradiated; and a first intensity of radiation coming from the first mark is measured; - Depending on the measured first intensity, the type of vessel is registered. The method of claim 87, further comprising the steps of: - a second marker ( 722 ) at the container station, which contains information about the type of vessel, is irradiated; and a second intensity of radiation coming from the second mark is measured; and - the type of vessel is registered as a function of the measured first and second intensity. Method for testing the assembly of a centrifuge ( 200 ) containing a plurality of vessel holding positions ( 120 ; 130 . 140 . 150 ) for at least one vessel ( 160 . 170 ) for biological material, comprising the following steps: - for the vessel holding positions, it is registered whether a vessel is present therein; The total number of vessels registered as present in the vessel holding positions is stored; Depending on the total number of vessels registered as present in the vessel holding positions, at least one condition for the distribution of the vessels in the vessel holding positions is determined; It is checked whether the distribution of vessels registered as present in the vessel holding positions satisfies the condition. The method of claim 89, wherein a sensor registers whether a vessel is present in the vessel holding positions; further comprising the step - the number of sample vessels ( 170 ) in sample vessel positions ( 612 ) is registered. The method according to claim 90, further comprising the step - it is checked whether the number of sample vessels ( 170 ) is compatible with the total number of vessels registered as present. Method according to one of claims 89 to 91, further comprising the step - an association between in each case a sample vessel ( 170 ) and a vessel holding position ( 120 ; 130 . 140 . 150 ) is created. The method according to claim 92, wherein the assignment to one sample vessel each one group ( 120 ), consisting of one or more vessel holding positions ( 130 . 14 . 150 ), wherein in at least one vessel holding position of the group, a vessel is registered as being present. Method according to one the claims 92 or 93, where the assignment is created by statements be dispensed to the sample vessel in a sample vessel position to bring that the vessel holding position assigned. A method according to any one of claims 92 to 94, wherein the sample vessel position is associated with the vessel holding position by that the Anord tion of sample vessel positions in a sample vessel station corresponds to the arrangement of vessel holding positions in the centrifuge. Method according to one the claims 92-95, where the mapping is created by a table is output, which a sample vessel position of the sample vessel the respective vessel holding position assigns. Method according to one of claims 89 to 96, wherein the sample vessel position in a shaker and / or heater ( 600 ) for the sample vessel.