JP4223401B2 - 位置の調整が可能な複数のプローブを有するロボットシステム - Google Patents
位置の調整が可能な複数のプローブを有するロボットシステム Download PDFInfo
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- B01J2219/00583—Features relative to the processes being carried out
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- B01J2219/00—Chemical, physical or physico-chemical processes in general; Their relevant apparatus
- B01J2219/00274—Sequential or parallel reactions; Apparatus and devices for combinatorial chemistry or for making arrays; Chemical library technology
- B01J2219/00583—Features relative to the processes being carried out
- B01J2219/00603—Making arrays on substantially continuous surfaces
- B01J2219/00659—Two-dimensional arrays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J2219/00—Chemical, physical or physico-chemical processes in general; Their relevant apparatus
- B01J2219/00274—Sequential or parallel reactions; Apparatus and devices for combinatorial chemistry or for making arrays; Chemical library technology
- B01J2219/0068—Means for controlling the apparatus of the process
- B01J2219/00686—Automatic
- B01J2219/00691—Automatic using robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B01L2200/00—Solutions for specific problems relating to chemical or physical laboratory apparatus
- B01L2200/14—Process control and prevention of errors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1065—Multiple transfer devices
- G01N35/1067—Multiple transfer devices for transfer to or from containers having different spacing
- G01N2035/1069—Multiple transfer devices for transfer to or from containers having different spacing by adjusting the spacing between multiple probes of a single transferring head
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1065—Multiple transfer devices
- G01N2035/1076—Multiple transfer devices plurality or independently movable heads
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1065—Multiple transfer devices
- G01N35/1074—Multiple transfer devices arranged in a two-dimensional array
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T436/00—Chemistry: analytical and immunological testing
- Y10T436/25—Chemistry: analytical and immunological testing including sample preparation
- Y10T436/2575—Volumetric liquid transfer
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Description
本発明は、各プローブの出口端と基板表面との距離が、各プローブに対して基本的に同じで、複数の試料を基板表面に同時に運ぶことができるプローブアレイを提供する。この距離は、基板表面が新しい基板表面と取り替えられるたびに、正確に制御され得る。プローブがプローブハウジング内に滑動可能に設置され、各プローブの出口端が、基板表面と相互作用を行い得、プローブをハウジング内の位置に保持するように、プローブに対して摩擦力を及ぼす摩擦要素と、プローブの壁とが接触するようになっている。1つの実施例では、このプローブが中空管であり、プローブの移動を可能にし、流体をプローブに運び、あるいは流体をプローブから取り除く、フレキシブルなコンジットに、プローブの入口端が固定される。プローブの壁に及ぼされる摩擦力を克服するのに十分な第2の力を与えることによって、初期位置からプローブを移動させる。第2の力がプローブに与えられなくなると、摩擦力がプローブを新しい位置に保持する。
Claims (12)
- 流体試料を基板表面に運ぶ装置であって、
プローブハウジング(13)と、
複数のプローブ(12)であって、それらを介して流体試料の受け渡しをするように、試料ソースに接続されるように改造された内部コンジットを有し、各プローブが、該プローブハウジングのボア(14)の内に位置づけられる、複数のプローブと、
該プローブを該プローブハウジング内で所定位置に保持するのに十分な大きさの摩擦力を、該プローブのそれぞれに与えるように改造された摩擦要素(19)と、
該基板表面方向に、または該基板表面から離れるように該プローブハウジングを動かすように改造されたモータ(26)と、
該プローブの該基板表面への接触を感知するように改造されたセンサ(29)と、
コントローラ(30)であって、該コントローラは、該センサが該基板への接触を感知した後に、該摩擦力を超えるさらなる軸方向の力を該プローブに与えるように該プローブハウジングを下げて、該基板表面に接触していないプローブの少なくともいくつかを該基板に向けてさらに下に動かすように該モータに信号を送るように改造されており、該軸方向の力が与えられないときは、該プローブが該所定位置に保持される、コントローラと、
を含む、流体試料を基板表面に運ぶ装置。 - 前記摩擦要素がバネである、請求項1に記載の装置。
- 前記摩擦要素がOリングである、請求項1に記載の装置。
- 所望の高さから複数の液体試料を分注するシステムであって、
該液体試料を受け取るための表面を有する基板と、
プローブハウジングであって、該プローブハウジングの内部を通って延びる複数のボアを有するプローブハウジングと、
複数のプローブであって、該複数のプローブのそれぞれが、それぞれのボア内に位置し、それぞれが、内部コンジットを有し、該内部コンジットが試料ソースに接続され、該内部コンジットを介して液体試料を受け渡しするように改造された、複数のプローブと、
該プローブハウジング内で所定位置に該プローブを保持するのに十分な大きさの摩擦力を、該プローブのそれぞれに与えるように改造された、摩擦要素と、
該基板表面方向に、または該基板表面から離れるように該プローブハウジングを動かすように改造された、モータと、
該プローブハウジングの動き、ならびに該プローブの該内部コンジット内で該液体試料の取り込みおよび放出を制御するように該モータと動作可能に結合されたコントローラと、
該コントローラと動作可能に結合されたセンサであって、該センサは、該プローブが該基板表面に接触するのを感知する、センサと、
を含み、該コントローラは、該プローブのうちの少なくとも1つが該基板表面に接触する場合に、該摩擦力を超えるさらなる軸方向の力を該プローブに与えるように該プローブハウジングを下げて、該基板表面に接触していないプローブの少なくともいくつかを該所定位置から該基板に向けてさらに下に動かすように該モータに信号を送るように改造されており、かつ
該コントローラに応答して、該モータが、該プローブハウジングを該基板の該表面との接触の後、該基板の該表面の上方に所定の距離移動させ、該軸方向の力がそれ以上与えられないようにし、かつ該基板の該表面上への正確な液体試料の分注をもたらすために、該摩擦力が該プローブを該表面の上方の位置に保持するようにして所望の高さから複数の液体試料を分注するシステム。 - 前記摩擦要素がバネである、請求項4に記載のシステム。
- 前記摩擦要素がOリングである、請求項4に記載のシステム。
- 前記基板表面との最初の接触の後で、前記コントローラが、さらに前記プローブハウジングを駆動させるのに適合した、請求項4に記載のシステム。
- 前記基板がMALDIの試料プレートである、請求項4に記載のシステム。
- 複数の流体試料を基板表面に運ぶ方法であって、
複数のプローブが、プローブハウジングのそれぞれのボア内に、それぞれ位置し、それぞれが内部コンジットを有し、該内部コンジットを介しての液体試料の受け渡しのために、該内部コンジットが試料ソースに接続されるように改造された、複数のプローブを提供する工程と、
該プローブを該プローブハウジング内に保持するのに十分な大きさの摩擦力を該プローブのそれぞれに与える工程と、
該プローブを該基板表面に接触させる工程と、
該プローブハウジングを下げることにより該摩擦力を克服するのに十分な第2の力を該プローブに与えて、該基板表面に接触していないプローブの少なくともいくつかを、該基板に向けてさらに下に動かす工程と、
を含む、複数の流体試料を基板表面に運ぶ方法。 - 前記プローブの前記内部コンジットの中に、所定量の空気を吸引する工程と、
該プローブの該内部コンジットの中に、液体試料を吸引する工程と、
前記プローブハウジングを前記基板表面の上の所望の高さに動かす工程と、
該液体試料を該プローブから該基板表面に置く工程と
をさらに含む、請求項9に記載の方法。 - 前記プローブの前記内部コンジットを洗浄する工程と、
該プローブをそれらの初期位置に戻すための第3の力を与える工程と
をさらに含む、請求項10に記載の方法。 - 前記第3の力が、全ての前記プローブと接触するプレートに与えられる、請求項11に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/045,518 US6672344B1 (en) | 2001-10-26 | 2001-10-26 | Robotic system having positionally adjustable multiple probes |
PCT/US2002/030579 WO2003037515A1 (en) | 2001-10-26 | 2002-09-25 | Robotic system having positionally adjustable multiple probes |
Publications (2)
Publication Number | Publication Date |
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JP2005507998A JP2005507998A (ja) | 2005-03-24 |
JP4223401B2 true JP4223401B2 (ja) | 2009-02-12 |
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Application Number | Title | Priority Date | Filing Date |
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JP2003539847A Expired - Fee Related JP4223401B2 (ja) | 2001-10-26 | 2002-09-25 | 位置の調整が可能な複数のプローブを有するロボットシステム |
Country Status (6)
Country | Link |
---|---|
US (1) | US6672344B1 (ja) |
EP (1) | EP1444043B1 (ja) |
JP (1) | JP4223401B2 (ja) |
AT (1) | ATE313380T1 (ja) |
DE (1) | DE60208231T2 (ja) |
WO (1) | WO2003037515A1 (ja) |
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US3444742A (en) * | 1965-12-06 | 1969-05-20 | Univ Of Kentucky Research Foun | Multiple-unit pipetting assembly and pipette for use therein |
DE3410508C2 (de) * | 1984-03-22 | 1986-06-26 | Kernforschungsanlage Jülich GmbH, 5170 Jülich | Serien-Abfüllgerät zum Befüllen der Becher einer Mikrobecherplatte |
US4586546A (en) * | 1984-10-23 | 1986-05-06 | Cetus Corporation | Liquid handling device and method |
CH671526A5 (ja) * | 1985-12-17 | 1989-09-15 | Hamilton Bonaduz Ag | |
CA1286389C (en) * | 1986-04-17 | 1991-07-16 | Robert J. Sarrine | Automatic pipetting apparatus |
JPH0623771B2 (ja) * | 1986-05-22 | 1994-03-30 | 富士写真フイルム株式会社 | 自動点着装置 |
US5957167A (en) * | 1997-12-18 | 1999-09-28 | Pharmacopeia, Inc. | Article for dispensing small volumes of liquid |
US6143252A (en) * | 1999-04-12 | 2000-11-07 | The Perkin-Elmer Corporation | Pipetting device with pipette tip for solid phase reactions |
DE19962689C2 (de) * | 1999-12-23 | 2002-02-07 | Tecconsult & Trading Ohg | Vorrichtung zum Auftragen von flüssigen Proben mittels Pipetten auf Platten, Folie o. dgl. |
-
2001
- 2001-10-26 US US10/045,518 patent/US6672344B1/en not_active Expired - Fee Related
-
2002
- 2002-09-25 DE DE60208231T patent/DE60208231T2/de not_active Expired - Lifetime
- 2002-09-25 EP EP02773597A patent/EP1444043B1/en not_active Expired - Lifetime
- 2002-09-25 JP JP2003539847A patent/JP4223401B2/ja not_active Expired - Fee Related
- 2002-09-25 WO PCT/US2002/030579 patent/WO2003037515A1/en active IP Right Grant
- 2002-09-25 AT AT02773597T patent/ATE313380T1/de not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
JP2005507998A (ja) | 2005-03-24 |
DE60208231T2 (de) | 2006-08-10 |
US6672344B1 (en) | 2004-01-06 |
EP1444043A1 (en) | 2004-08-11 |
EP1444043B1 (en) | 2005-12-21 |
ATE313380T1 (de) | 2006-01-15 |
DE60208231D1 (de) | 2006-01-26 |
WO2003037515A1 (en) | 2003-05-08 |
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