JPS63502931A - Automated multi-purpose analytical chemistry processing facility and laboratory work equipment - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Automated multi-purpose analytical chemical processing facility and laboratory work equipment owner Koman Kobe The present invention provides an integrated analytical chemistry processing facility and facility capable of performing the functions of several individual instruments. and clinical laboratory work equipment, especially for many chemical, biochemical and biological components. Concerning automated laboratory work equipment useful in conducting analyzes and reactions.

Back skin Ω height Modern clinical laboratory work involves the biological analysis of test material requiring extensive fluid manipulation. , including chemical analysis. of routine applications used for such analysis. Many are bioassays, immunological tests, Beers disease tests, mitogenic tests, serological tests, These include protein testing, lymphokine testing, and sample splitting. experimental biological Both chemical research and clinical research require that the chemical Photometric analysis of the reaction is used. The enzyme test consists of two points with an exercise test or Requires multipoint analysis.

Standard fluid transfer and manipulation techniques include pipetting, diluting, dispensing, aspirating and and plate washing. Conventional testing is partially performed using a manual pipettor (Pipet). tor) or to perform piecemeal automated testing. Therefore, it is done. Until now, this has included the determination of optical or pH parameters. However, the measurement portion of the test has been either fully manual or semi-automated. example In some cases, processing of the body is required, with various results. When doing it manually, such liquid Biological tests and chemical experiments that require the use of processing techniques are subject to inaccuracies and errors. It is very easy to make a difference. Laboratory staff are using multiple microtiter plates (Mic). Precisely pump the exact amount of liquid into each of the 96 holes in the rotary plate. Difficult to distribute. The repeatability of liquid handling for experiments can lead to errors and this errors are not always detected. Once the bioassay begins, no human intervention is required. Bioassays can be completed from start to finish with little or no need for Systems that enable automation have traditionally been largely outside the purview of biotechnology. This is what happened.

Traditionally, the aforementioned experimental, clinical and other laboratory work has long step-by-step The sample requires crude measurements, its analysis and chemical or biological control successive preparations through a series of operations depending on the nature of the investigation. As an example Therefore, the conventional practice for monoclonal (Monoclonal) resist generation is The test procedure is described in Nature (rNajureJ, Vol. 256, 1975 edition, 495- Since the first report by Koller and Milstein (p. 497), basically the It hasn't changed. Simply put, immunization, or antigen, is injected into a mouse or rat. It will be done. The animal then responds to the antigen challenge by producing antibodies. Immune injection Mouse spleen cells are isolated from the injected animals and merged with dorsal spinal cord cells. There The resulting mixture will generate antibodies only against that part of the challenge antigen. It includes eel cells.

Biploidoma selection and screening is a biotechnological procedure in which , a sample of what is on the surface of a bilidoma cell culture of cancerous dorsal spinal cord cells. (an admixture of cancerous dorsal spinal cord cells and challenged lymphocytes) was tested. , manual pipetting with the aim of generating single antibodies due to the persistent proliferative properties of cancer cells. The sample volume is increased from the culture plate to the test plate by Create a hybrid. The number of such samples that require testing is generally 75 It goes up to 0. To select the desired hybrid cells, a number of micro- Start the experiment by placing one cell in the compartment or great circle of the Tituta plate. Operation must be started. Traditionally, researchers believe that each clone grows After having had a chance, each specimen was analyzed by hand and then optically analyzed for immunoassay. Determine whether the desired antibody has been generated by using optics. -Monoku Antibody-producing cell colonies actively proliferate for rapid production of natural antibodies. and the desired production of hybrid cells for rapid production of biochemically required substances. The product grows actively. These cells are also divided into single cell stages and additional Expanded for the production of antibodies.

The conventional hybridoma process developed by Koller and Milstein The method is to integrate antigen-stimulated lymphocytes (immune cells) with non-secreting dorsal spinal cord cells. Based on. Cancer-affected dorsal spinal cord cells confer immortality to their fusion partner and generate lymphocytes. give rise to immortal hybrid cells that secrete antibodies conferred by the Antibodies contain five main working parts to carry out the process. They are thin cell fusion, cell supply, hybridoma screening and testing, and Loning and augmentation. Each part of the work requires -8 hours per day and Requires manual pipetting. Simply put, cell fusion hybrid The dormers are placed into iooo or more wells of multiple thin culture plates with 96 wells. Dispense by hand pipetting. The hybridoma then The cells were grown by hand every 3-5 days, and the old media was aspirated and replaced with new cell culture media. (approximately 2000 operations are required at this stage). Hybridoma screen This is done to localize hybrids that secrete the selected antibodies.

This process involves taking a culture of cells from each hole and placing it in a bed for the corresponding test. Manual sampling of up to 1000 holes by entering the holes in the plate There is a need to. Eliza is made on these plates, thereby all Reagents are moved from the reservoir to the test plate in the proper physical and temporal sequence. Manual pipetting must be performed. Eliza results are normal plate retrieval. determined by the reader. These results are useful for accurate selection and cloning. , must be correlated with the original culture plate. Traditionally, all data Data correlations have been carried out by scientists through conventional computational techniques.

Selection of clear hybridomas allows accurate calculation of results from ELISA and culture plates. This is done based on the calculated correlation. Holes with reliable results will generate clones. It is something that was born. This accounts for as many as 800 out of 1000 hybrids. Ru. For cloning, each hybridoma was placed in a thin culture plate with 96 wells. This is done by distributing it throughout. Cloning-engineered hybridomas are cultured and grown as in the original plate.

All the holes in which hybridomas are cultured are filled with antibodies using the ELISA method. The production is tested again. So we get the data, and the data is the same as before. Also correlated, these guaranteed loans will increase in number.

Each clone was manually pipetted from a thin culture plate with 96 wells. The cells were then transferred to the wells of a thin culture plate with 24 wells, and the number of cells increased. Cultivated until large. As a result, all clones were separated by hand into special freezing containers. (pipetted) and frozen to the required degree.

Basic steps such as bet operation, data determination and collection by hand can be found here Common to all the application examples described, the application history of stiffness is biochemistry. This is common to all disciplines from the 1990s to the 1990s, so it is common to use liquid fils and pipettes. Any system that can combine readings of readings and plates , these basic procedures have wide application to many scientific disciplines.

The use of monoclonal antibodies as a future perspective for biological research It is possible that the U.S. patent granted to Gary Niss David on March 8, 1983. 4,376.110), the conventional practice of using monoclonal antibodies practice is limited. Conventional antiserum (polyclonal by conventional immunoassay techniques) (derived from antibodies), hybridomas are relatively expensive to prepare. I needed it. Hybridoma generation relies on a limited variety of parents useful for admixture. limited by cells.

To produce large amounts of monoclonal antibodies, vibritomas are grown in test tubes. Cultivate as a trout culture. Mass production of such antibodies involves the production of antibodies in used culture media. It is necessary to improve the concentration of Usually the start of the immunization process within the organism The period required for preliminary characterization of hybridomas is three months. the most effort A laborious process is maintaining the hybrids in culture and for antibody production. It is an exam.

A set of experimental analytical protocols designed to ensure detail and accuracy The need for detailed monitoring of This is an inevitable consequence of clonal antibody production. monoclonal antibodies When this biotechnological method for producing Errors are likely to occur due to repetition. Conventional techniques lack the sequence necessary for antibody production. have an instrument that can reduce the time it takes to perform steps in an analytical protocol. At the same time, such instruments usually increase production without increasing error. Increase the relative purity concentration of the isolated monoclonal antibody by increasing it.

Other biological procedures and tests involve high concentrations (i.e., close to 100%) of substances. of serial dilution, which is usually done by starting with multiple separate samples with This includes research methods such as: These samples are then subjected to conventional serial dilution methods. When mixed with a diluent in accordance with the Ru. Therefore, by adding gradually increasing proportions of diluent, Each series yields samples of decreasing concentration. These various sample concentrations are It is then tested at useful concentrations to determine specific properties. For example, the sample becomes serum, the test makes a series of dilutions, and when it reacts with certain substances The measurement method that represents the highest activity (e.g. minimum inhibitory concentration (MTG) test) to demonstrate the relative concentrations of serum components. Emery of California, forgiven by Mr. Saloma No. 4,478,094, assigned to Setas, Inc. An automated liquid transfer system operating within the framework of a defined open-loop system 1 is an example of a liquid sample processing system with predetermined serial dilutions.

Pipetters and micropipetters typically use a suction action created by the user's mouth. (not preferred due to potential for contamination) or by automatic hand-operated pumps. operated by a pump or syringe. Such pipetting is time consuming. , are tedious, prone to cross-contamination, and also prone to inaccurate measurements, e.g. For example, if a given chemical or biological test Where repeated use of a pipettor is required to introduce the lysed sample into a large number of holes. So it's dangerous for scientists.

Another attempt at automating the processing of liquid samples was approved by Gilson. No. 4,422,151. This liquid handling equipment from Gilson is Using microprocessor and 3 step motors, test tube or similar to distribute or sample horizontally or vertically to an array of containers. Move the appropriate liquid handling tubes. The contents of this Gilson patent include liquid transfer There is no indication of accuracy. The movement pattern of the liquid handling tubes is determined by the predetermined operation desired by the operator. can be selected according to the formula. Once an operation is selected, it is fixed. , the liquid handling equipment automatically implements the requirements. Device described in Gilson patent The controller selectively energizes the drive motor to maintain the liquid-holding dispenser. Move the carriage that you are holding to the position corresponding to the receptacle positioning position, and then Since the holding device is moved in three dimensions, the liquid is spread onto the microtiter plate. Transferred from one receptacle to the next. Gilson's device is once alive. Once the command is received, the device automatically follows the operating instructions. such a device accurately performs pipetting and dispensing operations on each of a number of receptacles. Although it substantially reduces manual labor when measuring In clinical testing, the Gilson device operated strictly in an open-loop environment and A fixed liquid transfer will be performed.

Chemical and biological tests require that all aspects of the test be controlled in order to control the experimental process. This is done by adding human judgment to the process. For example, the first primary The pull may be prepared by hand or as described in the Gilson and Saloma patents. as prepared by an automatic pipettor diluter. Typically, e.g. Microteacher measurements can be performed independently using a read reader or other instrument such as a spectrometer. The physical or chemical properties of the tester plate must be analyzed. this boredom After completing one analysis, the experimenter then selects to perform the next analysis and selects the desired optimal Only sample plates exhibiting a suitable range of properties should be subjected to chemical or biological reactions. let For example, in the generation of hybridomas as described above, desired specific All cell colonies producing monoclonal antibodies were selected for the next experiment. It will be done. Stiff cell colonies were determined by spectroscopic immunoassay showing optimal optical density. It can be distinguished by Once the best samples are identified, these samples are used in the experimental stage. Traditional manual pipettor dilution and titration The method is similar to the devices shown in the Gilson and Saloma patents, once the experiment has started. Once started, input by the operator to the test direction on a real time basis will not be released. Because the prior art is an open-loop system, as the test progresses, and make pre-programmed judgmental decisions by researchers in response to experimental data. can't do it.

U.S. Patent Nos. 4,488,241 and 4,510, assigned to Chmark Corporation. No. 684 is a robot system with interchangeable hands and a modular system. These patents operate on a series of distinct devices used in the field of analytical chemistry. Concerning robot systems for These patents challenge manual methods to open, access and operate separate laboratory equipment while Showing the use of a robotic arm. These patents, by their automatic operation, demonstrates the use of robotic systems to control conventional laboratory instrumentation.

The Institute's techniques remain distinct and integrated into a well-coordinated system. will be combined.

Also, with conventional technology, open-loop pipettors, even in automated versions, are No flexible fluid distribution system was provided. Generally speaking, movable Dispensers can be single nozzle or as shown in the Gilson and Saloma patents. has multiple nozzles.

In prior art techniques such as the Gilson and Saloma patents, the user had a limited menu and selection of programming available for distribution . All that is needed is for the researcher to adapt his working equipment to the needs of his particular research project. A flexible software operating system that allows you to adapt the use of It is.

Additionally, prior patents include, for example, No. 94074, San Gregorio of California. CY512 stepper controller manufactured by cybernetic microsystem Control robot movement for separate motor operation, such as roller IC chip It was necessary to use a specific motor controller integrated circuit. and, It can be applied to variable loads and also prevents collisions between components of the robot system. Requires a flexible motor control system that prevents inappropriate interactions .

The purpose of the present invention is to fulfill the aforementioned needs.

Cramstone fortification The present invention facilitates the implementation of conventional manual analytical, chemical and biological laboratory test procedures. A multi-purpose study that automates the practice and combines the operation of multiple existing separate instruments. Regarding work equipment. The working equipment of this multipurpose laboratory is the first microtits MicroLit-erpates holes or other fluid receptacles From the Receptacle, select the size of the second microtiter plate. or other secondary fluid receptacle for controlled dispensing, aspiration and It has a plurality of movable interaction members that are capable of transporting and transporting objects. The machine of the invention is , also containers for test tubes, freezing bottles, reservoirs and other sliding chemicals. Works with Tena. For example, microtiter plates, tip support plates and All fluid receptacles, such as pipes and troughs, are located at the base of laboratory work equipment. It is supported on an attached movable support table. Its movable support table is a microphone It supports the roti vine plate, and the movement of the table is performed by a motor device. The table reciprocates within at least one axis.

A modular body is suspended above the table, and this body extends the length of the extended arm. can perform reciprocating motion along the This extension arm is the base of laboratory work equipment. An elevator that extends vertically and rises from the tower. is installed. This pot is perpendicular to the first axis of movement of the support table. can be moved along at least a second axis arm of the second axis. This arm is the first and up the elevator tower in a third direction perpendicular to both directions of the second direction. It is moved downward.

The pot is connected to a fluid dispensing device, suction device and transfer device, giving it the ability to act. A positive displacement pump is preferably connected by a fluid conduit. Replaceable including pump The operating member module is fixed to the body and suspended above the movable table.

The replaceable module is compatible with microtiter plates or other fluid receptacles. Has 1 to 8 or more nozzles to prepare the sample in the hole of the tackle Ru. The replaceable module is designed to fit into the pipettor tip for flexible handling. It is measured. Some replaceable modules also automatically It may also be provided with a mechanism for releasing a tip that can be disposed of freely. be treated freely The pipettor tip is friction-compatible and has a replaceable operating module. sealed in a tube.

Coordinated operation of automated analytical processing facilities and work equipment is performed by microprocessors. This is done by the server's control device. This multi-purpose laboratory work equipment has a wide range of types samples can be prepared and used for serial dilution, chemical and biological testing. Can be used. Multi-purpose laboratory work equipment can be used, for example, for preparing samples for serial dilution. You can also program it to suit your needs.

This versatile laboratory work equipment is also modular for spectroscopy, photometry, and analysis. It has a transducer device built into the tool, which is a transparent micrometer. It is transmitted through the sample plate and through the sample contained therein. sump The amount of optical radiation absorbed by the transducer in the optical densitometer component detected by the device. The pound consists of - a set of lenses, a rotating filter device and a Connected to a replaceable optical density meter module with built-in transducer. child The optical density meter module uses the same plunger mechanism and mechanism to actuate the fluid transfer member. Designed to mechanically interact and result in a fluid dispenser fluid distribution The same step motor that controls the can be used. The light source may be used for e.g. suction or fluorometric data. Source filters can be independently selected to enable a wide variety of optical experiments. Alternatively, the light beam can be modulated by a chopper. This information is These closed-loop systems are where the information sent to the microprocessor and programmed Information is provided by a microprocessor using spectroscopic, photometric, and transducer equipment. In accordance with the experimental decisions to be made, the requires control over the operation of the ultimate work equipment.

For example, if biological tests have to be performed, laboratory work equipment A micrometer designed to measure the optical density of multiple individual specimens on a roti ivy plate. Directed by the croprocessor. This microprocessor is After the light value is determined, do the following only on the sample to indicate the optical density within the desired range: programmed to perform tests. Such a closed-loop system Rely on the actual temporal information provided by the transducer device and and automatically perform the following subsequent steps required in a biological experiment. .

A user-controlled remote computer interacts with the microprocessor. or other interaction device to access various menus, selections, or The user is asked a question to answer a limited set of parameters, and each menu is Multiple selection or instructional options to perform biological and chemical analysis experiments. has a version. Its operating system and software are pre-programmed. It is designed to accommodate a wide range of experimental techniques according to the experimental stages. the study Focus on instructions to match the user's needs to the capabilities of the local work equipment. A “template” program is used to narrow down the results. The user may A complete set of instructions can be transmitted through a remote computer to perform scientific tests. can be programmed. These instructions are useful when performing experiments. Transducer equipment for multi-purpose laboratory work equipment. allows the chemical characteristics of the sample tested to be determined by the device. And Perform the experimental phase of the laboratory work equipment based on the previous measurement results of the transducer. The following instructions are given there to do this:

Automated working devices are used to coordinate the flexible operation of movable operating members. A program for controlling peripheral devices with a number of ri, such as step motors. It has a system that can be used for This control system uses a microprocessor-like has a controller that transmits instructions to the interface member This component sequentially transmits the intelligent instructions of the controller to the motor controller. Contact troller and motor. Those interface members direction (clockwise - counterclockwise) and stepping style (half step or full step). It has a boat for transmitting data such as step) to the motor. That mode The transmission of operational data to the motor powers the motor for a period of fixed steps. Once the stepping cycle is completed and the interface The component is waiting for the next instruction from the microprocessor. Temporal adjustments are made by a tamping device that sends a signal to the microprocessor. It is supposed to be.

There is also a custom-built, replaceable module selection mechanism that (fluid distribution system) (in stems) fluid distribution and suction, tip replacement and discharge, and lead screws Removable operational module operated by a single stepping motor driving the It operates to replace the module member. Moves along the extended lead screw The plunger body is constructed to manipulate fluid transfer and tip discharge, and is control the connection of module members to the

i) In one embodiment, the other transducer device is e.g. It may be a probe, a temperature transducer or a video camera. in this way , a fully integrated multi-purpose laboratory for conducting biological and chemical laboratory analyses. The work equipment will be explained.

``Kukanbu'' 11 [Departure from friends FIG. 1 is a perspective view of a multi-purpose laboratory working device according to the present invention.

Figure 2 is a schematic diagram of the operating hardware for the multi-purpose laboratory work equipment. Probably FIG. 3A is a side cross-sectional view of a preferred embodiment optical densitometer module. be.

FIG. 3B is a cross-sectional view taken along line 3B-3B of FIG. 3A, with optical density; 1 is a top cross-sectional view of the meter module and system; FIG.

Figure 3C is a side cross-section of the optical measurement system showing light passing through the sample. It is a front view.

FIG. 3D is a front cross-sectional view of the fiber optics manifold of FIG. 3C. Ru.

FIG. 4 is a detailed diagram of the electronic circuitry of the optical densitometer detection system of the present invention.

FIG. 5 is a cross-sectional view showing the interconnections and operation of the module validation circuit.

Figure 6 shows the automatic module change, tip discharge, fluid aspiration and dispensing mechanism. FIG.

FIG. 7 is a cross-sectional view of a fluid transfer module with a single fluid absorption and distribution mechanism; FIG.

FIG. 8 is a cross-sectional view of the module change and tip discharge mechanism, showing the fluid flow. FIG. 3 shows a tip release mechanism.

FIG. 9 is a diagram showing the operation of the module replacement mechanism.

FIG. 10 is an enlarged perspective view of a portion of the module conversion mechanism.

FIG. 11A is a schematic diagram of a bulk distribution system.

FIG. 11B is an exploded perspective view of a bulk distribution module with multiple large fill capacities; be.

FIG. 11C is a plan view of the lower compartment 474 of the bulk distribution module of FIG. 11B. be.

Figure 12 shows the template selection protocol for the computer operating system of the work equipment. This is a flowchart of the process.

Figure 13 shows the operating system of the work equipment computer that occurs at each stage in Figure 14. FIG. 2 is a schematic diagram of the functional assembly process.

FIG. 14 is a block diagram showing the production of the transfer mechanism.

Figure 15A shows the hardware circuitry and computer architecture of the motor control system. FIG.

Figure 15B is a graph representing the motor ramping period, the period being as a function of time (steps) when implemented by the motor control system of the invention. is displayed on the graph as the plotted angular velocity (measured in numbers).

A look at the secrets of Mino's vagina Referring to FIG. 1, the multi-purpose analytical chemical processing facility and research facility that are the subject of the present invention Laboratory work equipment is shown. This working device has a fixed base 12, which Base 12 is seated at the horizontal top of a laboratory workbench (not shown). be done. In a preferred embodiment, the base 12 has two compartments 14.16; These compartments form a cavity that slidably houses a pair of drip containers 18,20. . The two compartments 14 , 16 each abut the central elevated portion 22 . This center height The pedestal 22, in a preferred embodiment, includes a fiber optic illuminator 24. This illuminator 24 has a micro titrator plate 27 mounted on a high platform in the center. When moving across portion 22, an optical signal is transmitted to the base in the form of light or electromagnetic radiation. upwardly into a microtiter plate or other receptacle 27. centre The fiber optic 24 has a microtiter plate 27 lying on the center plateau 22. When cutting and moving the plate 27 back and forth by the table 28, the vertical rows of the plate 27 are moved at once. Only one row is illuminated. Optical filters (not shown) can be used for photometric or spectroscopic measurements. A wide or narrow band illumination source is provided from fiber optics 24 for this purpose.

The table 28 has a microtiter plate 27 and other fluid receptors. supports, e.g. pipette tip tray 26 and module halter 30; It also moves in the front-rear direction along the vertical wall 32 of the base housing 34 . table 2 The movement of 8 is controlled by a step motor, which motor (not shown) A bracket 36 is housed within housing 34 and projects through slot 38. The first one is connected to the table 28. The table 28 is moved in a first direction along the axis 40. Move back and forth. Table 28, in this preferred embodiment, has multiple tables within its framework. It is constructed to have compartments, especially six compartments as shown in FIG. It will be done. In the drawing (Figure 1), two adjacent compartments have four pairs of module holders. occupied by Dar 30.

Module 53 is seated between a pair of module holders when not in use. . The module holder holds a replaceable module such as 52.53. It has a unique shape that makes it easy to accept. Module 53 mates with bod 42 Make sure to orient the module holders so that they are properly aligned. It is seated within the cutout. For example, the ■-shaped notch 51 of the module holder 30 is A circular stop is formed to receive an elongated fixed post such as 59.57.

In each module 53, the diameter of one side of the fixed column is larger than the other. It is made. In the case of a given pair of holders 30, the One of the cutouts of the other holder receives the large-diameter fixed column of the module 53, and The other holder supporting the module 53 receives the small diameter column 57. this In this way, errors in the form of the modules on the table 28 can be prevented. module The holder 30 is made of a resilient or organic polymeric material. module 53 is the downward movement of the body 42 (driven by the arm drive motor 126 in FIG. When pressed into its rest position by A break between a pair of module holders that presses in the axial direction along the module. It is locked in the stop position. Because those holders are usually on the table 28 This is because they are being pushed to stand upright. Bod 42 is retracted upwards and When releasing Joule from the bot 42, the module 53 Rotate the holder from its normal upright position by pushing inward along its longitudinal axis. It is gripped by the compressive action of the module holder of its pair to be restored.

Directly adjacent to the table 28 compartment are four further compartments, with a large number of A trough containing fluid used for tip dispensing and suction operations, i.e. , a microtiter tray 27 or A tip rack 26 can be held. The form of Table 28 supports the experimental analysis. Designed to accommodate removable trays for flexibility when performing It is measured.

The bonding mechanism 42 connects to a replaceable module 52, which Built-in plunger and nozzle, when fixed to the tip of the bed, the flow The body can be transferred from one hole of the microtiter plate 27 to another. Ru. The module 52 directs liquid from hole to hole according to a program created by the user. Automatically dispenses and aspirates into or from the reservoir into the hole. The bod 42 is vertically It is attached to a moving arm 44 which extends radially outwardly in a cantilevered configuration. It is designed for sliding motion along the elevator tower 46. Bo The head 42 moves the arm 4 in a direction parallel to the longitudinal axis 50 of the arm traveling in a second direction. Move in the length direction of 4. The body 42 is a bracket plate 4 integrated with the body 42. 3, the plate has a sliding collar 41, which is attached to the arm The lead is driven by a stepper motor (not shown) seated within 44. 8 movements along the screw 45. Collar support devices 63,64 maintain stability and To prevent vibration, the bond slides along a set of parallel rails 67,68. reciprocates only along the central axis of arm 44. electric wire cable Coil 48 is configured to move bridge 44 and body assembly 42 in a third direction. In order to It is designed to accommodate reciprocating motion in the direction. Elevator - for tower 46 The vertical movement of the arm 44 is performed by the aforementioned method of fixing and moving the pad 42 along the arm 44. is done in a similar way. In this method, the bod 42 directs the fluid to the microtiter. from at least one hole in plate 27 to another hole in that plate or Transfer to the hole in the other micro titrator plate built into the cable 28. accurately and automatically. In this preferred embodiment, the step The motor operates at 200 pulse steps per revolution. along the elevator The resulting movement is 0.0025 inch per - pulse. bod drive motor The reed screw driven by the -124 (FIG. 2) has a 0.0. Move the bod linearly by 0.005 inches.

The table moves at a rate of 0.01 inch per - pulse. fluid Movement in three dimensions is performed with a narrow range of precision. Precise volume measuring pipette Operation is by the bod plunger lead screw 242 (Fig. 7), which ．． It has a pitch of 375 inches and also has a body plunger per pulse. Move linearly by 0.0018 inches.

A module 52 is connected to the lower side of the box 42 in a replaceable manner. As shown in the diagram As such, fluid transfer module 52 includes at least one nozzle 54 . nozzle 54 is configured to be seated within the top tray 26 of the table 28, as shown in FIG. It has become. In operation, the bod 42 is placed above the freely accessible pipette tip 56. moved to the opposite position. When the bod 42 reaches a position directly above the pipetter tip 56, Arm 44 is lowered along elevator-tower 46, thereby causing nozzle 54 A thrust is applied to extend and retract the nozzle 54 into the free processing tip 56. Pi If the petta tip 56 is used and the operator wishes to manipulate the tip 56, the The pipetter tip ejector 58 located in the nozzle 54 of the tube 52 is connected to the nozzle 54. the pipettor tip 56 is removed from the nozzle 54. the tip of the pipette The ends 56 are concentrated in a tray 26 seated within a compartment of the table 28; All of the pipetter tips 56 processed therein are collected for sterilization, recycling, or disposal. I can't stand it. Alternatively, the used tip can be placed in its original position on the tray 26. Ru. The module 52 described above is typical of a fluid transfer module. However, this The description is merely one example of a replaceable module secured to the body 42. this The liquid transfer module in this preferred embodiment has at least one nozzle. However, for use with microtiter plates that have a large number of holes, up to 8 holes can be used. It can be equipped with nozzles.

Multiple tip nozzles are typically in the form of a matrix of 96 (12x8) holes. Enough nozzles to fill the columns of microtiter plate 27 completely at the same time. It is formed to have a hole. Depends on the bet for all 8 holes in a vertical row Dispensing and aspiration operations are performed by a single-drive plunger 248 pushing a porium plunger 250. It is driven by pressure (see Figure 7). Freely disposable pipette tips 56 is secured to the multi-tip pipette module by the action of a single tip ejection bar. removed.

If it is desired to measure the fluid at the time the experimental analysis is performed, the bod 42 can be onto the module holder 30 to recover the optical density module. measurement For modules and optical detection systems, hereafter Sections 3A, 3B, 3C, This will be explained with reference to FIG. This module allows each hole of the micro titta tray to Perform experimental measurements and fluoroscopic measurements of the specimen placed in the Sowara hole. . This measurement information is relayed to the EIU 35, which uses this information to At the beginning of the test, within the scope of the experiment according to the user's computer programming. Alter fluid transfer or other operation of work equipment. In this way, the uniqueness of the experiment Feedback progression occurs without the need for human intervention during the test. Ru.

In addition, the pH measurement module is configured to measure the pH of each analyte contained in the hole. It has an H probe. As with optical density measurements, the desired Can be programmed to fluidically transfer only samples within the pH range. I can do it. Another module is for automatic video or analysis by the user. It has a video camera that displays an image of each hole on a computer terminal. Also, flow bodies and objects or other active bodies are modified as a result of analysis of video visual data can be done or created.

Thus, a number of optical parameters and physical parameters including pH can be measured. This measurement information can be used by the user for further investigation or to progress the experiment. Sent to EIU3S for control. For example, the user may Program the work equipment so that only samples with a pH of 8 to 10 are tested at 48:00. It is also possible to transfer it to another microtiter plate after a while.

This task can be performed using a single tip, multiple tips or bulk dispensing module. Dispense analyte into the first 24 holes and insert the module into the pH meter module. convert, measure acidity, change modules, and renew fluids with new tips. This is done by transporting it to a new location.

Multiple functions can be incorporated into the same module if desired. Proper structure Depending on the design and arrangement, the module may have, for example, a single dispensing mechanism at one end and a to include a pH probe, optical density reader or video camera at the end. You can also.

For bulk distribution functions, a replaceable module 52 configured in a bulk distribution manner (FIG. 12) is locked in the lower position of the body 42, the fluid piping 292 is The module 52 is operatively connected to the replaceable member 52 such that the module 52 Regarding the bulk distribution system incorporated within 2 (as shown in Figures 11A-C) It performs fluid dispensing, suction and transfer functions, as detailed below.

Electronic control of the movement, fluid handling and measurement mechanisms is provided by a microprocessor 100 (second 1).

An electronic intermediate unit 35 is interposed between the laboratory work equipment and the remote computer 39. indicated to do so. This electronic intermediate unit is the basis of laboratory working equipment 34, or placed between the work equipment and the computer 39. It may be attached to commercial equipment. In the preferred embodiment, computer 39 is a smart The terminal has a terminal, which is itself a stand-alone computer and is a well-known computer. operate the keyboard according to high-level scientific and technical software terminology It can be activated by the user. Also, the microprocessor The EIU 35 containing the sensor is preferably installed independently, but is not included in the base housing. It can also be installed in a building.

In operation, the microprocessor 100 (FIG. 2) of the EIU 35 (FIG. 1) Controls interacting parts of bot-controlled implements as directed by a microprocessor. Control multiple step motors that drive them to function. Preferred embodiment , one stepper motor moves table 28 in a first direction along axis 40. Move to. Another step motor moves the body 42 along the axis along the arm 44. 50 in the second two directions. Furthermore, the third step motor moves the arm 44. The elevator is moved in a third direction of axis 60 along the length of elevator tower 46.

A fourth stepper motor includes single tip and multiple tip motors that are included in the body 42. Controls the push rod of the plunger body for the pipettor system. In this case, the A ping mechanism dispenses and suctions fluid from a position on the table 28. Transfer to another location and also perform tip ejection and module conversion. optical density Associated with the module, a fourth motor controls filter selection and component replacement. do. A fifth motor directs bulk fluid from an external reagent container along tube 292. through the box 42, and a replaceable module for use in performing experimental analyses. Drive a wheel pump to dispense through nozzle 54.

Referring to Figure 2, a block diagram of the operating system showing the functions of the working equipment of the multi-purpose laboratory is shown. A schematic diagram is shown. Microprocessor 100 is a central system control member of the system.

By using a remote computer 110 or other intermediate device, the user can The microprocessor 100 is programmed. The remote computer has two-way communication. 112 to the microprocessor so that the microprocessor The processor displays the various stages of the planned experimental analysis on a computer terminal. . Users configure their own programs to display on the computer screen. Once the experiment has started, the actual test can be carried out during the execution of the program. The status of can be displayed.

The microprocessor is connected via an interface 120 (FIG. 2) to a Movement of interacting movable members such as bull 22, modular body 42, and arm 44 control. The system's interface 120 allows the interaction member to be moved. The microprocessor 100 acts as a buffer between the microprocessor 100 and the microprocessor 100.

(The clock used by the microprocessor is the step motor's clock. (significantly faster than timing). Each of the interacting members is connected to a microprocessor 100. controlled separately by The table drive motor 122 drives the table 28 (first Controls the horizontal movement of Figure 1).

Pot drive motor 124 is mounted on modular body 42 along arm 44 (FIG. 1). By controlling the position, the latitude across the plane of the microtiter plate 27 can be adjusted. Control directional movement. The arm drive motor 126 is connected to the upright elevator tower 46. Controls the movement of the arm in the up and down direction. Each of these drive motors interface 120. The microprocessor is a fixed and movable a position sensor 1 that indicates when the joule crosses the start or end point of its axis; 28 (kneading can be done with either an optical or mechanical sensor) Accepts reference information by.

In this way, the microprocessor 100 tracks the position of the movable module and to a hole or other receptacle on a tray supported by table 28 Accurately position the movable nozzle 54 or module sensor.

Fluid transfer is controlled by a bod motor 130. this bod motor 130 is connected to the microprocessor. Fluid transfer drive for bulk reagents Along with the motor for pump 134, a disc driven by a bond motor Placement bomb 132 is controlled. Driven by its bond motor The displacement bomb 132 directs fluid from one hole in the microtitrator. The purpose of the bet and dilution operations as well as to control the transfer to the next hole. to control the aspiration and dispensing of small amounts of liquid. For bulk reagent pump 134 When the bulk distribution module shown in Figures 11A-C, described below, is selected, and transfer fluid from the external bulk reagent reservoir to the microtiter plate receptor. control the distribution of holes into the matrix of holes. Also, one of the compartments of the table 28 multiple tip modules that aspirate fluid from fluid-receiving troughs located in one Its use also allows rapid dispensing.

Transducer/detector 140 is bidirectional to microprocessor 100. connected to microprocessors to process data and information with real temporal and physical characteristics. Send it to Sessa. Microprocessor 100 sequentially follows a closed loop system. , according to the physical characteristic readings of the transducer/detector 140. The interface 120 and fluid transfer drive 130 are re-controlled. Additionally, the microphone The microprocessor 100 may be a processor 100, such as the optical density meter module of FIG. 4A. Transducer/detector 140 is commanded to collect data at the experimentally desired wavelength. select one of a plurality of optical filters so as to Furthermore, the micro The processor is controlled by the instructions put into its program. Commanding a transducer/detector to read optical luminescence or fluorescence Ru. This multipurpose laboratory working device therefore consists of transducer/detector 1 40 and the microprocessor 100 are bidirectional in nature. It is designed to.

As previously mentioned, this multipurpose laboratory work equipment can be removed to perform various functions. It is equipped with a module 52 that is flexible and versatile and can be replaced. for example, A single tip nozzle connection module is inserted into the body 42 or an optical A densitometer is selected from holder 30 to perform the measurement function. optical module To distinguish a single nozzle from Requires an authentication system. Each module 52 is connected to its module along an information path 138. of the microprocessor sent to the microprocessor 100 by the module 52. Passive with a readable code (stored by a non-variable passive device) is encoded in The verification passage 138 of this module is connected to the microprocessor 1 Provides feedback to 00 and creates a module that responds to commands issued by the operator. Make sure that the microprocessor is used selectively. For example, the operator If the microtitrator wants to aspirate liquid from the microtiter plate, If the transducer uses a fluidic module other than the transducer detection module. You must make sure that the You can also use the instructions on the microtitta plate If the requirement is to dispense liquid from eight holes at once, the m-head fluid nozzle multi-channel nozzle module must be used instead of the nozzle module. No. The confirmation (1,D,) feedback path 138 also measures pH, for example. This is used to distinguish between using a module that determines the density and when using an optical density meter. used. For detailed operation of the module confirmation circuit, refer to the explanation of Figure 6. This will be discussed later in this specification.

Returning to FIG. 3A, the optical density meter has an outer casing 150, which The ring encloses an interior compartment 152 that is sealed against external light. Compartment 1 52 is for appropriately processing the optical information generated from the microtiter plate. Provide a dark environment.

The optical density meter module is secured to the body 42 (FIG. 1) by pins 154. determined. Drive plunger 248 (FIG. 9) directs light in the direction indicated by two-way arrow 158. When reciprocating the biological filter plunger 156, the plunger mechanism 42 is driven by a pound motor 130. Plunger 156 is optical The rack and pinion mechanism is activated when moving toward the bottom of the density module. to rotate the optical filter wheel 160. This rack and pinio The mechanism is such that a complete stroke of drive plunger 248 rotates wheel 160 270 degrees. It's designed to make you do it.

A mechanical stem that extends and retracts within the body 42 (not shown) and contacts the plunger 156. A plunger 248 driven by a drop motor drives the fluid module 52. It is the same plunger as the Remove the filter wheel 160 from its normal position. The four filters are driven in three steps at 90 degrees. One of them is placed in the optical path. When plunger 248 is retracted, spring mechanism 16 3 usually pushes the rack 164 upward and rotates the filter wheel 160 clockwise. Rotate to The preferred embodiment of optical filter wheel 160 includes four different configurations. An optical filter is mounted on the base, and a stiff filter is used to perform special bioassay experiments. used to select various narrow optical bands for different purposes. optical filter 168 each as detected by a light detector found on the bottom of housing 172. emits different wavelengths.

Referring to FIG. 3B, the light first passes through an optical filter 168 and then through an optical detector. the information device 170 is reached. The filter wheel 160 has a plunger 156 attached to the rack. and each time the pinion mechanism 164 is moved in the tangential direction with respect to the central axis 166, Rotate. In this way, the rack and pinion mechanism is used for optical density readings. Equipped with multiple filters to choose from.

3A and 3B, a light source 174 and a chopper wheel 1 for selective modulation. 76 and the fiber optic conduit 24 are connected to the central platform 22 and the housing. It is built into 34. For illustrative purposes, a single optical fiber 24 is shown. However, in the preferred embodiment, a row of 8 At least eight fiber optic bundles are arranged in series to provide a light source under each of the four holes. It is arranged as follows, and runs parallel to the center of the central platform 22. filter wheel 175 selects a band in the light source to perform measurements that require colors other than white light. allows for the selection of optical wavelengths. Additionally, the filter wheel 175 filters light as needed. Opaque windows can also be installed to block the passage of light during times when it is not needed. Ru. (The light eliminates the "warm-up" time associated with unassisted cool lamps. (must be “on” during normal operation in order to The light source in the preferred embodiment is a Sylvania Campa as model no. EPT. A 42 watt tungsten halogen flood lamp manufactured in , 10.8 volt lamp).

This light source has a 0.5 inch diameter spot located 1.5 inch from the lamp mounting surface. It has a built-in, backward-reflecting device that provides a fiber optic bundle Each of the branches 24 receives light at the end 179 of their fiber, so that The rotary blades of the chopper 176 can easily cover the necessary lighting area. Ru. A fiber optic illuminates one hole 178 in the microtiter plate. The diameter of each branched bundle of leaves is about 1 mm. In this preferred embodiment, the light The capper 176 uses a rotating disk with four black blades joined at 90 degrees. It is made. The chopper is preferably powered by a 6 volt DC motor. It is driven at approximately 8000 revolutions per minute (533H2). fiber optics , illuminates the transparent underside of the hole 178 of the microtiter plate.

Details of the fiber optic illumination system are shown in Figure 3C. . The light passes through the lens 183 to be focused and then to the microtiter plate. A portion of the fiber optic bundle is refocused to the base of hole 178. It is transmitted outwardly from the end of the bifurcation 24 through the optical hole 181. Is that the light? is transmitted through the fluid under test forming the concave surface 185. Concave surface 1 of the fluid to be tested 85 acts as a convex lens focused in the negative direction, and the light passes through the hole from the concave surface 185. As it passes through 184, it scatters the outgoing light. fiberoboutique Fibers in manifold section 187a (of manifold 187 in the iBD diagram) The lens 183 is attached at a certain distance from the optics bundle 24. A narrower beam of light emerges from the concave surface 185 and is transmitted through the hole 184.

In this manner, the entire light transmitted by fiber optic bundle 24 is Re-calibrate the photosensor 170 as it reaches the surface of the sensor 170. There is no need to do so.

FIG. 3D shows a plurality of fiber optic branch bundles 24 and a manifold 187. A lens 183 attached thereto is shown.

transmission through fiber optics 24 and through hole 178 in the microtitrator. The resulting light beam is directed upward to the convex lens 180 of the optical densitometer (Figure 3B). . Lens 180 is contained within lens holding tube 162 and is The light is focused on the central hole 182 of the aperture plate 184. This light is then refocused. The points are connected and made parallel by lens 186. That light then has an optical density reaching the meter chamber 152 and the aluminum treated side of the triangular prism 188. Ru. Note that, as shown in FIG. 3C, one lens 186 directs light to the prism 188. You can focus on it. Prism 188 converts the light received from lens 186 into electricity. reflected onto the surface of optical sensor 170. The light from the branch of the optical fiber bundle shines A thin beam of light is applied to the surface of optical sensor 170. The cross-sectional area of the ray bundle is much smaller than the diameter of sensor 170. In this method, sixty-one microtits All light that passes through 78 is transmitted even though the rays are slightly deflected by the concave surface of fluid 185. Even if it is reflected by the sensor 170. Information accepted by sensor 170 are processed and analyzed by electronic circuitry contained within housing 172.

Use of chopper 176 is optional at the user's choice.

The purpose of Chopper 176 is to provide a method of "synchronous detection", in which case , back side AC fluorescent light or DC circumferential light passing through the microtiter plate. A modulated signal different from the ambient light is provided. Furthermore, by chopper 176 The modulation provided is determined by the electronic circuitry that processes the signal received by the optical sensor 170. It can also be used to eliminate white noise characteristic of roads. Finally, Chopper 17 6, it is better than conventional techniques of synchronous detection using “lock-in” amplifiers. As is well known, the optical fiber 24 passes through the hole 178 in the microtitlet. Improves the signal-to-noise ratio by removing noise from the optical signal information provided by Work like you do.

Referring to FIG. 4, the optical sensor 170 of the optical density meter of FIGS. 3A and 3B is , generates a signal input to signal amplifier 190 in response to the light. This amplifier 190 is the peak peak of the weak input sent by optical sensor 170 to amplifier 190. generates a higher level signal at the output corresponding to the arc. (together with the signal amplifier 190) The optical sensor 170, in this preferred embodiment a photodiode, is Introduced as an integrated package of part number 51406-04 from Hamamatsu Electronics Co., Ltd. I can do it. The packaged operational amplifier pre-amps the output signal of the optical sensor. Acts as an amplifier. ). The output signal of amplifier 190 is then passed through a low pass filter. filter 192, which in the preferred embodiment is a It is a bridge-type RC low-pass filter. This low pass filter 192 is cutoff at 1.000Hz in this preferred embodiment. frequency. This signal is then sent to instrumentation amplifier 194, where it is amplified. The amplifier 194 outputs a signal proportional to the signal delivered to its output by the amplifier 190. Occurs at the output section. The output of amplifier 194 is typically a DC signal. (instrumentation A preferred embodiment of the amplifier is manufactured by Burl-Brown, Inc., Taxonization, Alisina. model INA IOI AN instrumentation amplifier). This amplifier is externally In a preferred embodiment of the invention, a gain control section is provided with a gain control section, which in a preferred embodiment of the invention has a Shown as feedback resistor 196. The gain of instrumentation amplifier 196 is , of a particular optical filter selected by the user, as shown in Figures 3A and 3B. need to be adjusted accordingly. A single optical sensor 170 used to detect the light extracted through any one of the routers, and the resulting The signal output of sensor 170 will vary depending on the optical filter used. Therefore, light Complete dynamic range of 170 science sensors or microtiter hole sump amplifier 1 for use in detecting optical information from light passing through the It is necessary to adjust the gain of 96.

To control the gain of instrumentation amplifier 194, the preferred embodiment uses an electronic intermediate unit. The microprocessor of the Knit 35 (Figure 1) is programmed with specific optical The gain corresponding to the filter can be selected. Thus, four different If the optical filter is provided as shown in Figures 3A and 3B, four resistors One of the filters 196 is selected to process optical information from the filtered optical information to a particular monochromatic color. The gain of the instrumentation amplifier must be specifically adjusted to adapt the signal to be processed. stomach. In this preferred embodiment, to adjust the gain of instrumentation amplifier 194, Texas Instruments Model 5 to select one of the four resistors. A N74156N″2-4″ decoder is used. Decoder 198 and resistor 19 A plurality of mechanical reed switches 199 are interposed between the Switch 199 selects the desired gain resistor 196 for instrumentation amplifier 194. has a low impedance to help the output of decoder 198 when selecting Ru. with a decoder 198 closing one of the reed switches contained within member 199; By selecting one of the plurality of resistors 196, the plurality of gates of the instrumentation amplifier 194 are one of the inputs is selected so that the weak signal input to the instrumentation amplifier 194 is /F (voltage-frequency) converter 202 with switch 200. resulting in equal output intensities. The output signal of instrumentation amplifier 194 is then unipolar, doubles The signal is sent to the low switch 200. Switch 200 connects instrumentation amplifier 194 to terminal A. When closed, its output signal goes directly to the V/F converter 202. Sent. Further, as shown in FIGS. 3A and 3B, a chopper 176 is arranged at the light source. When the output terminal of instrumentation amplifier 194 is It is connected to the input contact point B of the circuit 204. In addition, the synchronization detection circuit 204 includes: Further, the reference signal (Vref) for monitoring the rotational frequency of the chopper is transmitted to the optical chopper 17. It is input from 6. The synchronization detection circuit 204 follows conventional lock-in amplifier technology. It works. Lock-in amplifiers are widely used to measure low-level signals be done. This control reference voltage from the chopper and the amplifier signal from the optical sensor is heterodyned and modulated within the synchronization detection circuit 204, and The signal is passed through a low-pass filter (not shown) located at . The synchronization detection circuit 204 The output is a fully rectified synchronous sense input to voltage-to-frequency converter 202. It's a signal.

The voltage-to-frequency converter 202 in the preferred embodiment is a It is model No. VFClooAG manufactured by Burl-Brown Co., Ltd. This preference In a new embodiment, voltage-to-frequency converter 202 has a frequency of 2.5 MHz. It is a crystal controlled by an oscillator operating at . 2.5MHz frequency The signal is sent to the detector circuit 2 depending on the selection of the analog signal sent to the switch 200. 04 or the analog output signal from instrumentation amplifier 194.

The output signal of the voltage-frequency converter is a 0.25-1.2 MHz signal, Additionally, a microprocessor 100 of the electronic intermediate unit is used to determine the signal range. (Figure 2). Voltage-to-frequency converter 202 is an analog optical The degree information signal can be determined by the microprocessor 100 of the electronic intermediate unit 35. into a capable modulated carrier signal. Using a frequency discriminator, like this This makes it possible to achieve very high speed without causing spikes or other interference. A wide range, noise-free optical detection system is provided. Chopper 176 (3rd (Figure B), the output signal from instrumentation amplifier 194 is a voltage-to-frequency converter. directly to the converter, where it is processed by the microprocessor in the electronic intermediate unit. For this purpose, it is converted into a modulated carrier signal. Conventional voltage-to-frequency converter is true frequency modulated rather than operating according to a fixed external clock. has a carrier signal.

In this method, the microtiter plate 27 having 96 holes has 96 holes. Provides rapid optical density information to the microprocessor for each hole in the black ivy It is read as giving.

Referring to FIG. 5, a verification circuit arrangement is shown. Microprocessors are has the ability to identify and distinguish between specific modules 52, resulting in microprocessor The server senses that the appropriate module is selected. First preferred embodiment In the figure, each replaceable module 52 is stored in a particular module holder 30. be controlled. This storage location information is sequentially indexed by the microprocessor and As a result, the table 28 and the translational body 42 are moved to a particular holder 30 position. When the microprocessor is moved to position the pod on top of the After contacting the module, connect the appropriate replaceable module selected by the operator. Ensure contact. This system is equipped with electric power as shown in Figure 5. Requires confirmation by child module confirmation device.

In this preferred embodiment, a Motorola model No. MC3456 is used. A single integrated circuit, such as the dual timing circuit known as 12, contained within the housing of the body 42 or within the EIU 35. Ru. In the preferred embodiment, the heart of the dual timing circuit is 210 and 21 It receives external synchronized clock control through the set “S” input as shown in 2. This is an RS reset flip-flop timing circuit. The output of this timer circuit The power is a pulse width modulated signal, and each pulse width modulated signal is connected to a circuit 21. 0,212 to the output ζ. The width of a pulse width modulated signal is The external RC signals shown at the respective reset inputs “R” of the switching circuits 210 and 212 It is controlled by the time constants of circuits 213 and 215. In the preferred embodiment, each module Two other resistors (RA) 208 and (RB) 209 are arranged within the module 52. It is. In this example, capacitors 206 and 207 are connected to pin 21, respectively. When the 4,214° is connected with the plug 216, 216', the two RC coupled to resistors 208.209 to form network 2.13, 215. and power is applied to that network by connecting pin 219 to plug 221. It will be done. In a preferred embodiment, the resistance of the network is varied to The capacitance of the RC network remains constant when checking It is. When the time constant of the RC network is changed, each timer 210, 212 The pulse width (P, w,) modulated signal output from . Multiple confirmation resistors The fact that resistors and resistors can be used in conjunction with dual timer RC circuits is , generally understood. A replaceable module 52 is inserted into the bottom of the body 42. The conductive bottle 214 is connected to the female bottle holder by inserting it into the contact 216. The resulting external RC time constant for each dual timer is set by resistor 20 in module 52. Adjusted according to the resistance rating set by 8°209. Resistor 208.20 9 is coupled with a capacitor to form an electronic intermediate unit) for the next analysis. Controls and determines the pulse width of the output signal sent to the microprocessor.

In this method, a large number of information channels are provided by the two-tree pins 214, 214'. , used to distinguish between different modules or equipment. This desirable fruit In the example, resistors 208, 209 are one of four resistors, each resistor having, for example, 1 Separated by decimal rating such as 0,100.1000 ohm rating Ru. In this embodiment, each dual timer circuit 210, 212 has four different resistors. It is possible to select between four different signals produced by the detectors 208, 209.

In this method, the number of combinations C is calculated by the formula C=2n, so there are 16 different One of the modules is selected. In that case, “n” is the number of resistor rating choices, i.e. That's 4. In this case, 2 information bins means 24, i.e. 16 . In addition, resistors 208 and 209 are connected to each other so as to output a threshold trigger signal. It can also be connected to a voltage comparator or Wheatstone bridge circuit. Ru.

In short, a unique but simple passive non-constant module verification circuit A module connected to the bot 42 is connected to the child intermediate unit 35 and the microprocessor 100. Joule selected by the operator for use in this segment of chemical analysis This makes it possible to distinguish and prove that the child The verification circuit includes a set of digital output components, such as timers 210 and 212. and these generate signals that can be read by microprocessor 100. do. The duration or coding of these digital signals is for the timer Capacitors and resistors make up an external RC network that sets the time constant to controlled by passive members such as vessels. Regarding the module confirmation circuit of the present invention What is unique is the “intelligence” required to verify the module. information does not need to be stored in a memory circuit; it can be stored in one of several passive components. This means that it is a function of the constant characteristics of the two members.

Additional The motor and mechanism are shown in Figures 6-8. Pipette tip 56 is removed. When attached and in place, fluid is aspirated and this fluid is present within the tip 56. Therefore, no contamination occurs due to the nozzle 54. This same motor 241 is also It is also part of the mechanism that releases the pipette tip and attaches a new pipette tip. and then operate. This same motor can pick up and eject modules. and drive the module exchange system.

Bod motor 130 (FIG. 2) has three functions. First, the volumetric pump 1 32 is driven. (In optical modules such as those shown in Figures 3A and 3B, the body module Motor 130 drives a plunger that selects the optical density filter. ) No. 2, release the tip.

Third, this motor is modular and replaceable.

Figures 6-10 provide details of liquid dispensing, tip ejection and module ejection mechanisms. details are shown.

Figure 6 shows a schematic diagram of the automatic fluid pivot module and tip change mechanism. has been done. The core behind the operation of the module and tip ejection mechanism The idea is to position the bot and manipulate samples and reagents by pipetting action module conversion system using only mechanical drives already required for The key is to devise ways to improve the system. In operation and construction, the step motor is electrically A linear drive device 231 preferably drives a linear member 234 that is While applying and releasing the spring 233, the member 232 is moved in the T direction or the T'' direction. (reciprocatingly). The tip of the member 234 is connected to the stopper 23 5, it moves a distance A in response to the applied force. Stopper 235 Even if the spring 233 is once brought into contact with the It is possible to further apply a force in the direction of T to cause contraction.

In operation, volumetric measurement is performed by means of a plunger-type pipette, as is done in the present invention. and moves a distance A to perform the distribution. The next movement range B is, for example, PET tip ejection, latch locking and unlatching for module replacement or the like. It is used for auxiliary operations such as other desired secondary operations.

A body 42 is placed on top of the resting module 53, and an arm with the body 42 fixed thereto. When 44 is lowered to pick up this module, the locking mechanism 4. Lock the module in place on the body 42. Bod 42 is replaceable like 52. The module is locked in place by the action of lead screw 242 (see FIG. 7).

After Bod 42 releases and deactivates module 52, Bond releases module 52. It is placed in a rest position between a pair of module holders 30. Then the bot The module 53 is moved to a position above the module 53 and lowered onto the module 53. The body 42 is Aligned with module 53 by row bin 270.270° (Figure 10) Ru. When the bod 42 is connected to the module 53, the leet screw 242 (FIG. 7) A locking mechanism driven by secures the module 53 to the body 42. bod When the assembly of module 53 is raised, the pair that supported module 53 The upper leaf part of the module holder 30 is such that the module 53 is a leaf part of the halter. When first placed in between, it is expanded outward and then returned to its initial upright position.

FIG. 7 is a cross-sectional view of the bod assembly connected to a single tip liquid distribution module. be. The bot frame 240 has a digital drive that drives the lead screw 242 of the bot plunger. supports a programmable step motor 241. Natsu 244 is a book When the screw 242 is rotated within the nut 244, the plunger The carrier body 258 is moved up and down along the longitudinal axis of the screw 242. Plunger body 2 58, a main compression spring 246 normally plunges the drive plunger 248. toward the bottom of the center cavity of the carrier body 258.

Drive plunger 248 in turn presses against the top of porium plunger 250.

The porium plunger 250 is normally pressed by a spring, and the porium plunger 250 The plunger 250 is pressed against the drive plunger 248. Plunger spring 252 ( It needs to be weaker than spring 246. ) applies stress to the washer 256 and the O-ring 25 Hold 4 in place. The plunger 250 and the volume cylinder 259 move in the vertical direction. The nozzle 54, along with the removable pipette tip 56, Aspirate or dispense a measured amount of liquid no greater than the amount of pet tip 56. This person method, the assembly of the bod and module shown in Figure 7 can be assembled into a single tip pipette. Distributes fluid according to

If the operator wants to automatically release the pipette tip 56, replace it with a bond assembly. A freely removable module means that the tip of the eighth module is removable based on the action of the lead screw 242. (see figure). Tip release collar 268 is removable when the tip is in use It becomes a secure seat that accepts the tip. With this method, the tip of the bed 56 is a nozzle. are seated an even distance along 54. Controlling the length of pipette 56 and the tip is placed precisely over or within the microtiter hole. .

FIG. 8 shows the operation and structure of the pipette tip release mechanism. As mentioned above, the lead When the screw 242 enters the plunger body 258, the porium plunger 250 It is lowered into the tubular nozzle 54. Once plunger 250 is compressed by spring 252, When the plunger body 258 reaches the maximum lowered position determined by , the spring 246 is compressed and the tip discharge rod 260 engages the tip discharge plunger 262. engages and compresses the tip release spring 264, causing the horizontal interlocking member 266 to move vertically downward. move it quickly. Movement of the horizontal interlocking member 266 causes the distal release collar 268 to release. The bed tip 56 is pushed down against the base and the tip 56 is removed from the nozzle 54. removed. In this way, tip ejection is prevented. This tip release is caused by polyurethane The reciprocating motion of plunger 250 is used to aspirate and dispense fluid. It should also be noted that the same drive motor and screw 242 are used. .

Figure 9.10 shows the structure and operation of the module exchange mechanism.

Referring to Figure 10 (enlarged view of the module locking mechanism in Figure 9), the module alignment The column bins 270, 270° plunge into the channel of the frame 240 of the bod, and as a result Module 272 is properly aligned with the bod. Module locking bin 27 6.276' (Fig. 10) is a module locking bar 280 that slides horizontally. These bins are integrated into channels 275°27 of module 272. When present within 5 degrees, the module 272 aligned with the - line is shown in FIG. is locked. Module release support 278 is inwardly directed relative to locking bar 280. is mounted around a bin (not shown separately) that extends to . plunger book When the body 258 is pushed down in a reciprocating manner, the channel 277 in the body 278 (see Figures 7.8 and 9.10). channel 277 mouth Portion 279 (FIG. 10) receives support 278 so that channel 277 When the module is resting on the support 278, the module is locked to the bod. Cha When the channel 277 is lifted onto the support 278, the module is removed from the bot. be released. The locking pins 276.276° attached to the locking bar 280 are located within channels 275, 275' and reciprocating as shown by arrow 282 in FIG. During the movement, the module 27 is moved by the movement of the bin 276.276° in the channel. Lock or release 2. When the bar 280 slides to the right, the module body 272 When the lock is released and the bar 280 slides to the left, the module body 272 is locked. Ru. Fluid dispensing, tip ejection and module locking mechanisms are used in addition to fluid transfer operations. It is also worth noting that it can be used for automatic operation and installation of various modules. be.

FIG. 9 also illustrates the operation of optical module 150. As mentioned above, the analysis The light from the sample hole to be sampled passes through the lens 1 fixed in the lens holding tube 162. 80,186 and enters the module 150. different optical filters If necessary to select the optical filter wheel 160, the drive plunger 24 It is automatically rotated by the action of 8. Thus, the lead screw 242 and nut Along with the plunger 244, the drive plunger 248 is connected to the porium plunger 250 of FIG. the optical filter wheel 160 by the same vertical movement that reciprocates the optical filter wheel 160. Activate. (As mentioned above, the filter wheel 160 is The on-drive device connects to the rack plunger 156. ) optical module The discharge of the module in case of . In the case of an optical module, no tip emission is required, so the tip emission rod 26 0 enters the cavity (FIG. 10) of the optical module 150 (FIG. 9).

! ! Referring to Figure 1A, the bulk dispensing and aspiration mechanism is shown. Two sets possible The flexible tubes 290, 292 pass through nozzles located in the bod 42 (FIG. 11B). Coupled to bulk distribution module 294 . Bulk fluid one row at a time The fluid is pumped by bulk distribution pump 300 (FIG. 11A) to dispense the , from bulk reservoir 298 through piping 296. This pump sucks The fluid flows through piping 292 to a valve distribution module seated on the underside of the hood. 294. (An example of this piping 292 and pump 300 is shown in FIG. There is. ) Remove fluid cleanly by suctioning through one row of microtiter holes at a time. In order to 0 to the pinch valve 304. When the pinch valve 304 is open, the flow The body is subjected to the action of an external vacuum source 302 through tubing 310 acting on flask 306. It is thus drawn along tube 308 into vacuum flask 306 . flask 306 Once filled with waste liquid, it is disposed of in a convenient manner. bod and moji By automatically controlling the action of 294 The equipment is programmed to wash and clean the plate within a short period of time. You can assemble a ram. This bulk dispensing and aspiration system typically The bulk dispensing module 294's It is used for "preparation".

Referring to FIG. 11B, a perspective view of a bulk distribution module 294 with multiple holes. has a hollow cylindrical receptacle 4 for receiving the bond drive plunger 248. Upper compartment 470 with 72 is shown. Drive plunger 248 is connected to the bulk dispensing module. The bond compression spring (246 in FIG. 8) extends into the body of the upper compartment 470 of the ) forces plunger 248 down into the bottom of receptacle 472. This bulk The distribution module is placed in place using the same method as the module replacement mechanism shown in Figures 9 and 10. Although the bulk distribution module is locked, the body compression spring 246 is extended. When releasing the support 278, it can be used for single or multi-tip type and bed support. Unlike the nozzle module, the bulk module itself has no internal springs .

The lower compartment 474 of the bulk distribution module 294 includes at least one pair of downwardly extending chambers 474. needle 476, one long needle for aspirating liquid from each hole. The short needle is for dispensing liquid. This module The needle has only one pair of needles 476 to work by cutting into one hole. It can also be made to act on multiple holes (eight), as shown in Figure 11B. It can also be formed into a sea urchin.

Figure 5zc shows a top view of the inner lower compartment 474 of the bulk distribution module 294. . A septum 478 separates the suction needle from the dispensing needle for hygiene purposes. are doing. By having a removable compartment 474, the bulk distribution module The handle 294 is easy to care for and clean. Fluid enters the upper compartment at conduit 473. 470 and into compartment 474 for dispensing through needle 476. fills one of the lower compartments separated by. This fluid passes through the remaining conduit 475. Thus, suction is drawn from the other lower compartment section separated by the partition wall 474. conduit 4 73,475 has a flexible tube 290,292 attached to the bulk distribution module at its top end. 294 to be connected to the nozzle 477 and an O-ring to receive it. or other suitable seals.

Compiler for automated multi-purpose analytical chemical processing facilities and laboratory work equipment The computerized operating system is computerized with the EIU35 in this preferred embodiment. It exists between the computer 39 and the computer 39. This operating system controls all operations of the work equipment. control, and the operation, movement, and measurement functions of the work equipment as shown in Figure 1 (as described below). In order to give programmable instructions that lead to sea urchins) It is organized to carry out biological experiments and chemical analysis. Biological testing and chemical testing The instructions for sequentially performing a scientific analysis are provided in part by the operating system. Some of the others are given by programmed instructions in the system. Additional instruments supplied by the user in response to questions posed by the operating system given by a function or a parameter.

The operating system for automated laboratory work equipment of the present invention has three sectors: It can be divided into That is, (1), instructions based on experimental analysis. (2) to “establish” these instructions; (3) - a set of utilities.

In order to carry out useful experiments or tests, the operating system must be operated with the cooperation of the user. , a set of controls that coordinate every step of the execution of the working device throughout the experiment. It is necessary to create or establish instructions. This set of instruments Once the traction is completed, the computer 39 and EIU (electronic intermediate member) 3 in a series of continuous information as determined in the normal manner by the operating system of 5. When put together, these instructions can be used to control the work equipment's automated operating systems so that remotely controllable parts can carry out their instructions; Processed by the stem's run sector or execution sector.

The utility may include, for example, a transducer such as the optical density module of FIG. 3A. when calibrating the sensor or before these instructions are executed. Useful for editing the instruction set prepared during the said establishment sector in represents an auxiliary segment of an operating system such as This utility is It also provides an actual temporal frame of reference for the entire duration of the experiment. This includes setting the clock to

As mentioned above, there are three sectors: establishment sector, execution sector and utility sector. The correlation between the main sectors of the operating system is shown in the laboratory work equipment of the invention and A detailed analysis of one example of the experimental stage of the analysis carried out using the operating system. It is best shown as Biological investigators have determined that each of the two different types of bacteria is one must be interested in determining how they react with chemical reactants. (Illustrated The stages indicate how common instructions are established, but are not necessarily specific. It does not reflect the application of the work equipment in relation to specific analytical tests. ) automatic To conduct such experiments using standardized laboratory working equipment, experimenters or The user first arranges the shape of the table 28 (FIG. 1). The user is at table 28. Place the tip rack 26, module 53 and microteeth in the locations shown in the compartment. Place the Twitter plate 27. The remaining open compartments as shown in FIG. 1 of table 28 is used to house a removable fluid storage container. each of these containers Each one contains a different type of bacteria. The planned chemical reactants are stored in the bulk reactant port. 134 (FIG. 2).

A set of inputs on which experiments can be performed by computer 39 and EIU 35. When establishing the or its operating system. The compartment and module holder 3 A pictorial representation of table 28 appears on the screen, indicating the zero position. , the user can select the desired shape of the module, microtiter plate and tip rack. (by means of a keystroke on the terminal or “mouth”).

The user then places the research equipment on the table 28 in the same direction as the user originally placed it on the table 28. A symbol is formed on the screen to arrange the table 28 according to the method. Then the computer A series of menus appear on the computer's screen, and the instructions for the experiment are established. presents the user with a list of recoverable files that are part of the . In this case, the experiment The whole thing is stored as a single method. “Method” as used in this example. The term code refers to a series of sequentially arranged, preprogrammed instruments. analysis, which in its entirety covers the entire analysis or a significant part of the analysis. Represents all or virtually all the instructions needed to perform a task. So These methods are divided into "Procedures". This “hand” "Sequence" refers to instructions that, when consecutive, form one method. defined by the user as a small group of people. The operating system of this preferred embodiment The system should establish a new procedure each time the form of table 28 needs to change. be programmed to request. In the example above, the method and procedure may be one and the same, but need not be . This classification is comparable to a user decision.

On the table are the microtitter plate 27, the tip rack 26, and the two streams. To align the body stores, the user must use the quality that appears on the computer screen. provide information to the operating system by answering questions. Manipulate the position of instruments on the table 28 All sets of instructions needed to fully inform the system are It is called a "configuration function". For example, the operation The stem is mounted in a micro end rack 26 in a compartment of a table 28 (FIG. 1). Titutor plate 27, fluid reservoir and module location (module 53 have the user examine the mutual relationship between the storage locations (where they are stored) and their positional arrangement. . The user must control the system by keystrokes, electronic pointer, or mouth. Answer the question, where racks, plates, reservoirs and modules are located tell the system. When using this application, “function” is referred to as “component”. Basic set of programmable to perform complete tasks such as "figuration" The job is defined as a complete instruction, and the job is defined as an entire procedure or method. This is a necessary step in establishing the Another example of a “function” is “port”. (when the work equipment is stopped for a set amount of time) and “agitation” : The tray 28 reciprocates along the axis 40 and is placed on the microtitter plate 27. (when shaking the hole), "tip exchange" (when replacing the tip that can be freely disposed of), , “message” (describes the experiment as it progresses during the “run” sector) The user may print the message or the message may be sent to a computer as a means of may appear on the computer screen). A “step” is a series of consecutively arranged It consists of "functions" and "methods" are a series of consecutively arranged "methods". Established by “procedures”.

Once the configuration function is input to the computer 39, How to configure tables during experimental methods and procedures By informing the operating system, the user will receive the necessary programs to perform his bioassay. Establish the first function of the programmable instructions. instruction The next step in establishing a bulk distribution transfer function is to develop the information necessary to establish bulk distribution transfer capabilities. The goal is to provide information. In this example, the user connects to the bulk distribution system. 11A to 11. By using bulk dispensing as shown in Figure C. 27 into multiple holes. To establish this bulk distribution transfer capability, The system presents a series of questions to the user and to the computer 39 screen. be done. The user must then perform this bulk dispensing transfer function to transfer the fluid. You will be prompted to select a module.

He directs his selection as a bulk dispensing tool. Screen then microphone A diagram of the structure of the Rotituta plate and its 96 holes is presented. standard micro The Tituta plate is, for example, a matrix of 96 holes arranged in the form of 8 x 12. have a Its operating system consists of 12 systems along a line parallel to axis 40 in FIG. Each row of holes is called a "column", and the line of eight holes parallel to the axis 50 is called a "column". It is closed. In this example, the user would fill two columns with eight holes each with chemical reactants. I chose to distribute it in bulk. This eight-hole distribution module When attached to the bulk distribution system 42, as shown in FIG. Continuously, chemical reagents are removed from the flask away from the work equipment table (not shown). Distribute to hole 6. Then distribute in one column with 8 holes at a time. child The information required by the computer 39 to operate the functions of must be sent by the user to the operating system in order to be set up. For example, chemistry This operating system performs a chemical distribution function to fill all 16 wells with target reagent. The system tells the user how much reagent to dispense into each of the 16 holes. So Once the user has been asked all the questions necessary to perform the bulk dispensing function of Transfer functions, of which bulk distribution is one type, are discussed below); The functionality is established and the system allows the user to complete the next functionality in this experiment. The screen will move to a new set of menus so that it can be accessed.

(The user can configure the bulk dispensing module by establishing the "Prepare" function. This feature allows the bulk distribution pump to handle everything from the bulk distribution system to the bulk distribution pump. air or waste fluid).

A third component configured as part of this single step method to perform chemical experiments The function is a new transport function. The user must ensure that this work equipment is Automatically select biological analytes for reagents in the first two columns of rate 27. to add information to the operating system. The user then confirms that he or she owns the The operating system allows you to change the pipettor and choose between 8 pipetters. instruct. The operating system provides a new set of disposable tips 56 for multiple tip types. Automatically place into each of the pipettor's eight nozzles. Who is using it? After that, it can be disposed of. multi-tip type for aspirating the first bacterial organism sample specimen into the tip of the capacitor; Instructing the operating system to advance the module to the first reservoir. (each The different bacterial organisms are stored in two reservoirs (not shown) formed on the table 28. Each exists separately. ) The user then collects the aspirated bacterial specimen into a micro Instruct the operating system to transfer to the first column hole on the titta plate 27. , where the multi-tip pipettor dispenses the sample into the eight holes in the first column. Ru. This transfer function is now complete. The user then uses the "tip replacement" function. Continue to establish a set of instructions by creating, where the user , dispose of the tip that has aspirated the first bacterial specimen and transfer them from the tip rack 26. to replace the tips by replacing them with a set of eight new tips. to the operating system. (Also, the tip can be replaced as part of the transfer function. It can also be done automatically. ) When the tip replacement is complete, this feature It can also be used to store a set of data needed to establish a one-step method. Wear. "Tip Exchange" is to answer the "Tip Exchange" question which is part of the transfer function. achieved by.

Once the new tip is in place on the eight-tip pipettor, the second bacterial sample is Aspirate liquid from the second reservoir containing the pull (“source position”) and place this liquid in the Distributes to eight holes located in the second column of the black ivy plate ("destination") A new mechanism that instructs the operating system to operate the implement in the ability is established. Once this set of instructions is completed, another Once the transport function has been established and the specimens are transferred to the Once functional, it is completely dispensed into the hole containing the chemical reaction solution for testing. One user new function by mentioning the series menu and selecting the type of function from that menu. new functionality is established.

The next set of instructions required for the operating system is to Pause the machine for a sufficient period of time to grow bacterial cultures in each °゛This is a sleeve function. To establish this functionality, the operating system How long should the user rest the system to incubate the bacterial culture medium? Ask users questions about During this “sleeve time,” The two columns remain undistributed by the laboratory working equipment. The work equipment is at rest, i.e., another step within a larger experimental method There's no way to make it work or do a completely different experiment.

° Parameters for sleeve and incubation time functions are entered into the -H operating system. Once completed, it is necessary to establish a measurement function to measure the physical properties of each of the 16 holes. . In this preferred embodiment, the measurement module includes an optical It is an instrument. As part of the set of instructions needed to perform this experimental analysis. A new measurement function must be established by selecting that function from the menu. Must be. In this case, the working device can be used for optical measurement by removing the fluid dispensing pipettor. Arranged to be replaced by modules. The user then returns to the computer 39. A map of the microtitter plate 27 with 96 holes that appears on the screen. By looking at the diagram, we can see that optical measurements are made on 96 holes in the operating system. Confirm (follow a linear coordinate plot) in the usual way, by keystroke. ). In the limitations of its operating system, by optical measurement module This method of checking the location of the holes in the microtiter plate 27 to be visited is In addition, the operating system has a set of preferences that the system should It is questionable that the user confirms the correct or optimal measurement reading for each hole. . For example, if the user indicates the optimal optical density reading and the location of the 16 holes to be measured. must inform the operating system to confirm and remember information about the location. stomach. If this optical density is measured on a scale from zero to two, then The user should operate to identify all holes showing an optical density reading of 1.3 to 1.5. Just let the system know. Information on optical density readings for each of the 16 holes. This instruction for memory keeping allows you to assemble the measurement function. The necessary set of instructions is completed. This example shows a reading of 1.3 to 1.5 Holes are defined as an "array" of holes within a selected "range" of the visited holes. It will be.

During the “establish” sector, the instructions for this optical density measurement function are After adding the module to the system, the user can replace the module again and have a new tip. The operating system instructs the operating system to use a single-tip pipettor. required by the system.

The user can determine which of the 16 holes has been aspirated and the new one in the microtiter plate. It is possible to check with the operating system whether it should be transferred to a location. This confirmation is done by measuring It is the result of optical density information stored in memory by the operating system according to its function. Ru. Thus, a new transport function is established, in which case the six "Solutions" to be transported are ” (starting position) or according to the optical density measurement information, i.e. its “ "array" is limited between "run" sectors. Of course, this source position information is unknown to the experimenter during the establishment sector, but has the optimal optical density reading. The movements that the work equipment must take to identify the desired holes to be made are pre-programmed during the established transfer. The holes are programmed and called “arrays” and their like holes are “run” sectors. was discovered and confirmed during It becomes a system with backing. This experimental analysis was not yet known at the time. Not because it is pre-programmed to proceed according to measurement parameters , this method is established with all relevant parameters at the beginning of the "run" Once the analysis program is “run”, those parameters are When we start the process, we can find out from the optical information obtained.

Thus, the final feature that completes the establishment of this typical single-step method is Tested through multiple microtiter holes to provide optimal optical density readings defined by the user It requires the establishment of a transport function to transport the body to a new hole location for further study. child These new positions are selected by the user and indicate the optimal optical reading. The purpose of transferring a subject from an existing hole is to secure the hole first.

In this example, the user selects the bacteria from the first column containing the first type of bacteria. A transfer in which the specimen is first moved to a new hole where the colony will further grow and reproduce. Establish the sending function. After transferring the holes with the desired optical reading from the first column , a new function arises to indicate tip replacement. In other words, replacing the tip is A new tip 56 is used as it is automatically established in the transfer function and a single tip The pipettor aspirates the sample from the second column containing the second type of bacteria and transfers it to the microphone. The roti ivy can be loosened on the hole and moved to a new hole position. For illustrative purposes, users The larger optics contained in the first column can be moved closer to the operating system. This transfer function is used so that the analytes showing the target density are transferred one by one to the third column. Assume that it is established. Thus, the optimal density reading is the 8 holes in the first column. fluid in three of the holes, the fluid flows from these optimal holes in the first column. The three new sixes in the third column are destined for transport. goal optimization In this example, the hole has a specified position in the specified column, but its destination has been moved to The number of holes present during the established sector is not yet known. This number is in the run sector , can be determined by performing optical measurements. Similarly, the desired optical parameters can be The hole in the second column is also suctioned and transferred to a new hole in the fourth column.

In this operating system designed by the applicant, a measurement function is established, but In this case, the “range” (holes visited by the measurement module) is the microtitrator plate 27. The measurement “array” (consisting of optical A hole that is a member of the “range” group and is selected from the “range” with the characteristics of Made from unknown hole friends during. Holes belonging to this “array” are Based on optical standards stored in another part of the determined. When the user establishes a transfer function to transfer the optimal hole to a new position, The user identifies the hole groups that constitute the “source” of fluid transfer by identification number and name. Simply decide that it belongs to the same "array" as the loop.

This operating system can be used to assist the user in establishing the overall procedure. The previous example shows that when combined sequentially together in an ordered manner, one method In order to establish a series of functions that constitute a processing procedure consisting of for the purpose of illustrating how the user interacts with the operating system. has been done. (This is based on MI, one experimental method well known in the clinical field. This was the first step in the C (minimum inhibitory concentration) test. ) Also, Microtitsuta A special enzyme secreted by the bacterial medium that causes a color change within the wells of the plate. This workstation can also be used to test for susceptibility to pathogens.

If the user wants to further develop the experiment or change the form of the table. changes the table format before creating new processing steps within the method. You need to ask if you need to inform the operation system. then user continues to establish a procedure method, performing one function at a time. for example , after the user has identified the desired sample for further culture, the user What concentration must be used to kill or otherwise jeopardize a bacterial colony? Add more reactants to new columns 3 and 4 in bulk to find out how much water is needed. I would like to distribute it. Optical readings indicate bacterial colony growth. For example, a large amount An optical density reading indicating the absorption or blocking of light indicates that the colony is growing and Indicates that it is widespread. A low absorbance optical reading indicates that bacteriological colonies are chemically reacting. Indicates that it was unable to survive inside. If the user is one of the bulk storage is removed from its holding compartment and replaced with a reservoir containing a second reactant. If desired, the user can change the format of the table and thereby Begin to establish a new procedure within the scope or continue operating within the same procedure. You can also do it.

In the established sector, it is established to form a complete experimental method. It is a functional set of instructions that form a block. For example, “tip replacement” or Most functions, like simple fluid transfer, are programmed to reside in the operating system. is formed according to the set of instructions given. However, if the user If you want to transfer fluid in a way that is not previously stored in the system, , without disturbing the general overall structure of the sector, the establishment of its operating system, the new Programming technology is required to create new functions.

In the preferred embodiment, the transport function and the measurement function are carried out in various ways, e.g. These functions are established using "templates". "template ”, as used in this application, refers to a series of controls used by the operating system to selectively display the Defined as information. For example, fluid can be transferred from a hole in one column to the next adjacent column. Even if the transfer function is different, like transferring to each hole in the column one by one, It is clear that a wide variety of fluid transfers exist, regardless of the method used.

° Suction is a form of fluid transfer in which fluid is removed from a reservoir or hole. . ``Copy'' is a transfer function that transfers some of the fluid present in the 5 ``original'' holes. 1- to ensure that the same set of existing holes will occur in the new position. say. Another type of transfer function is the "reservoir-to-hole" type, where the fluid is It is transferred from the storage container to a series of holes. Other transfer functions include “Wash Play” transfer, ``continuous dilution,'' and ``hole-to-hole'' transfer.

Every conceivable transfer used to perform chemical or biological tests Rather than supplying the operating system with a transmission function, the inventor has Identify a unique but special type of functionality that has not previously existed in software. Users can interact with this operating system to create templates useful for We have developed a system that allows you to create

The operating system establishes the transport function based on the answers to the selected number of questions; It is structured so that it can be limited. Figure 14 is related to Figure 12. , what questions are used by the operating system needed to establish the transport function? It shows what is given to the person. When run or executed by the operating system, To establish a transfer function such as transferring fluid, transfer parameters are provided to the operating system. data 338 must be sent. The questions that need to be answered are quality over quantity. amount 340, source parameter 342, destination parameter 344 and this process for the procedure and the parameters defined for this method (as described below). The remaining parameter 345 includes the data. The operating system has a source height of 3 50, the destination is the tip height 352, the distribution rate 354 and the method of distribution (each drop of fluid whether the distribution must be “disappearing”) or the type of distribution356. and ask the user. The user should make sure that the tip of the pipette is in the hole of the microtiter plate. Should you touch the sides of the 358 (“tip contact”) and cross contamination is one concern. If this is the case, a question is asked as to whether tip replacement 360 is necessary.

'Mix' means that fluid is drawn from one hole, immediately returned to the same hole, and then As a fluid transfer that includes questions 362, 370, 372, 374 Defined by the operating system. The user determines which holes should be mixed 362; The operating system determines the mixing degree 370, mixing period 372 and mixing amount 374. asked by the team.

The user can also, for example, move the table 28 back and forth along the axis 40. Depending on whether the contents of the hole are stirred366 and at what rate36 You will be asked for information about 8. User also. What percentage do you want to transfer? That is, a set of source microtiters to a set of corresponding destinations are fluid into the microtiter holes at a specific rate, i.e., several holes per minute. You will be asked if you want to transfer the If the user records the experiment or the measurements made during the experiment, If you want to keep a record of the nature of movement, print the log 376 and record the information. A selection 378 can be made between display only or both display and print.

When each question necessary to establish the transport function (Figure 14) is sent to the user, The operating system ultimately supplies information to establish its transport capabilities. , proceed step by step through a step-by-step protocol. Figure 12 is Figure 14 The decision steps that the operating system takes for each of the questions listed in . For example, the user Assume that the user wishes to transfer a specific amount of liquid, 340. micro tits tip If the total amount that can be transferred at end 56 (FIG. 1) is only 50 microliters, then If, for example, the operating system accidentally exceeds the quantitative capacity of the microtiter tip, Certain parameters of laboratory work equipment, such as user-supplied answers such as Invalid answers 320 that exceed the limits of the data (Figure 12) are eliminated. quantitative questions 340 Before deciding whether it is necessary to send any amount of Investigate the templates used to create the functionality of the fluids that already exist. If the template value 322 for N340 of Determine whether or not the information is stored as such. The operation system then uses that template Determine whether the default value 324 is valid or invalid. If the template value is valid, so to speak, The template value is used (326). If the template value is not valid Or the template used to create this particular transport function Quantitative parameters are obtained from the user 328 when the user is prompted to ask a question. So If the quantitative parameters of 329 are valid, the operating system will The parameter 327 is used for this purpose. If the quantitative values supplied by the user are not valid. If so, the user is prompted to supply a valid value 329 again. This method Templates to establish transport functionality in the shortest amount of time with minimal user intervention You can find out how it is used.

By establishing transport capabilities in the operating system that did not previously exist, Assume that you wish to perform the transfer. Laboratory of this preferred embodiment For example, work-cuts such as ``hole-to-hole'' transfer or ``continuous dilution'' special transport functions such as template software present in files stored by the system. have Created with type conventions that are not already stored in the operating system's files. To create a new template, the user must create a new template. Request a general template for that operating system. that new special balance When a rate is created, the user wishes to create a transport function. The user is asked several questions when the user is asked, but the number of questions is Less than the number given if the plate were used for the establishment of functions consisting of. So The new functionality of the This is useful when transferring fluids by method. to create a new template , its operating system is shown in Figure 14, and is provided to the user in the same manner as described above. pose a question. However, in addition to the aforementioned questions asked to users, Once a template is filled with data and created, it can be given a name. 346 and run the operation system to make sure that the name of the template is saved. Once the 348° template is created, the file memory of the stem is checked. Once issued, Sowa creates functions that follow this new specialized template. in the same procedure or in different procedures or by other methods to establish Sod, used later. To establish a new specialized template, You can also use just the general template. Different from establishing fluid transfer function , another factor when establishing a template is the The answer to the key question does not have to be a fixed parameter. However, it can also be set by the user. For example, a specific flow distribution ratio 354 can be When establishing a template to create a transport function of can be given to the operating system a certain answer to set. this certain answer If given, when the template is later used to establish functionality, this All functions established from the template will have the same distribution ratio. the Questions regarding distribution rates will be addressed as this new template progressively establishes transport functionality. When used for purposes, it must not be exposed to the user. Creating a template When the user establishes different amounts of liquid according to the template created in this convention. The answer to quantitative question 340 is “Using This template will be used to establish functionality. It is a subset of the operation code created by the convention that the template is used. The question given to the user is indicated in the template as ``ask the user''. This is essentially limited to questions that can be asked, as shown in Figure 14. template The creation of is a utility, which arises during the “establishment” sector of the operating system. There is no need to Thus, the functions that will be created will use this newly created template. When established, the user always knows which ff134 he wishes to transport. 0 (Figure 14).

Demonstrate the ability of the operating system to use the functionality established by the template The unique methodology is illustrated in Figure 13. The template 330 is an operation system It is presented as a sequentially arranged set of information to be sent to the It is a special template established from a template. In this drawing, the template Plate 330 consists of information bytes A, B, C, D, and E. A byte is 8 data Has tabbit. Part A may include, for example, determining the distribution ratio during fluid transfer. Certain parameters are stored. For bite B, the working device is located at hole 350 (Fig. 14). ) determine at what height the pipette tip must be positioned.

The information contained in template 330 at bytes A and B is fixed and permanent. That's strange. However, byte C exists for quantitative data, and template 330 Byte C instructs the message "to the user". Similarly, ten Bytes D of plate 330 relate to mixing level parameters 370, for example. Fixed to information. This data is the functionality established according to template 330. It does not change within the range of . Byte E stores information stored at the level of bits. include. The information contained in bits 0-5 is fixed, but bit 6 of byte E and The information stored in 7 instructs the user to read.

Functionality 332 was established according to the questions posed by template 330. This is a transport function. To establish functionality 332, the user first selects the operating system. template 330 by its template name (346, 34 in FIG. (See 8) Recover.

Once pulled from storage, this template is used to establish function 332. used. In the example shown in FIG. 13, byte A.

The information contained in bytes B and D is set in advance, so the information contained in bytes A, B, and D However, the information is the same parameter data as that stored in the template 330. Exists. For example, a measurement template could be an “optical density or pH meter”. Includes information on the famous eel depending on the type of eel. named template The data in byte A passes its name from the template to the established measurement function. Just move it. Similarly, the length of the field consisting of that feature is the length of its template The rate is fixed by the user and the user must input this information to establish the optical density measurement function. There is no need to provide information. Similarly, the fluid transfer function uses the name and byte field length. However, this information is fixed in the transport template and once this transport functionality is established. the system needs to ask the user about the stiffness parameters. There isn't. However, byte C of the template satisfies byte C of function 332. When the data for the user is established and stored, the operating system Store data that prompts the question type 3. 30 is provided to the user by the operating system, this system may e.g. , in the template byte C, such as the amount of fluid the user wants to transfer. Immediately ask the user any unanswered questions. This stream the user wants to transfer Volume is only valid for this function 332, but according to template 330. in the form of fixed parameters that are not valid for all established functions. , is established to function 332 at byte location F. Due to an accident, the user may If you give an invalid value, i.e. a quantitatively excessive amount, to store it in the position of byte F in , the operating system again provides different quantity parameters according to 327 in FIG. ``Give it to the user'' as if it were a supply. It has limited suitability in the operating system. It is something. Thus, a user can create a template 332 to establish a new functionality 332. When using Bit 330, the information needed to establish bytes A and B is used. The user will never be fooled by the operating system. That information is in the template It has already been fixed by the bolt 330. The first question the user sees is Byte C This is a question about the parameters given in the section. When answering the question, the user establishes the information stored at its corresponding byte F.

Similarly, byte E stores a set of questions with different answers stored within the same byte. represent The user should never make any guidelines as to the answer that should be placed in bits 0-5. You won't be disappointed. because they are pre-stored by template 330. This is because it has been done. Position it according to the template at bit 6. A “yes” or “no” answer to the question is determined by the bit in byte E of transport function 332. 6'. Bit 7 is “set by user” (binary code “11”) ), and a new function 332 is stored in the template to create an answer for The need for "to be given to the user" as established in accordance with rate 330 shows. At a minimum, the template must use 2 bits of storage space. The function is to answer two bits to answer one "yes or no" question. Must hold position. This applies, for example, to a template like 330. In the pull creation process, even a “yes or no” question has three binary codes. Door answer - ``Yes'' 01'' No'' 00 or ``Set to user'' 11 I have one of them. Thus, if a "yes or no" answer is the template At bit 6' of byte E of function continuum 332 established in accordance with 330 If saved, bit location 7″ is the template 3 in which the function establishes it. It will have to be kept in its function to be consistent with the structure of 30. balance In establishing rate 330, the user must set bits 6 and 7 of template 330. Since we choose to leave the answer to the question located in the middle as a variable, function 332 The place-holding binary digit “1 or 0” at bit 7 of byte E of It will be put on hold. "1.1" coat of template 330 is the same as "put on user" causes a flag to be interpreted by the operating system to be the same.

Therefore, a transfer template or a measurement template can be used to performed by the user to establish a function consisting of no need to answer I understand that. When function 332 of FIG. 13 is established, the operating system Look at each answer on plate 330. Answer stored in byte position of template If the function is fixed, and it is valid, then the answer is, when the function is established, A position in the function that corresponds to the same template position and is copied to that function. templates, reproduced, and given users questions that can be answered with these templates. Never. These by-I positions or invalid answers along the template 330 If the user has a Since it is a clear instruction, it must be answered by the user.

Templates can be used by placing them as subprograms in the operating system. The user may, in addition to the transport and measurement functions supplied by the manufacturer, use his own designs. You can create and limit templates based on

As yet another example of a preferred embodiment of the structure of the transport function, the transport function The subset of information contained within each transport function when established by the operating system. that there is a range, which is known as a “range” (as mentioned above) should be kept in mind.

In this preferred embodiment, the range structure is within each transport (or measurement) function. This is a 6-byte field. In the transfer function, the “range” is the fluid transfer function. limit the pattern or method by which the transmission occurs. For example, one type of "range" is Move from hole to hole one row at a time, and from hole to hole to hole to Transfer is performed by moving to the last hole. Another type of “range” is the hole to the hole, that is, the direction is from the previous starting point in the vertical direction with respect to the column, and the direction is moves to the final point.

In the measurement function, the "range" limits which locations should be measured.

In the preferred embodiment, a 6-byte "range" field defines how the fluid is transferred. The first byte of the code, in its first four bits, is at the source location, i.e. Determine the compartment tray position or bulk distribution flask position on table 28 (Figure 1). Keep the specified number.

Bits 4-7 of this first range of bytes may be, for example, "ranged" by column, as described above. Transfer of fluid according to the type of range, such as "region" distribution by "circle" or "region" distribution by column. Specify the shipping method.

The second byte of this “range” structure indicates which column in the microtitrator maps the source column. Stores information that specifies whether to track. Bits 0 to 3 are exclusively microtits Enter the position for the starting point of fluid transfer starting in plate 27 in columns (1-8). Used to specify The fluid transfer is controlled by a stream present in one of the compartments of the tray. Bits 4-7 of this second byte indicate the starting position if we are to start from the body store. to limit the configuration of the fluid reservoir. The starting point is the hole in the microtitta plate. , bits 4-7 are unused and keep the structure of the second byte in place. has a zero to

In a similar manner, the start column is designated by the user with a number from 1 to 12, and is stored in bits 0-4, in which case it is the starting “source” position for this transport function. is a microtituta plate.

The remaining bits of this third byte are not used and are used to start the information contained in byte 3. Simply hold the separating device in one place, making sure to guide it only to the column position. Just do it.

The fourth byte indicates that it looks at the last column along with the range structure on the microtiter plate. The structure is similar to the second byte in that it is separated. This fourth byte indicates that the final transfer point is the All columns except one of the eight columns of the Icrotituta plate must have zeros. become. The fourth byte indicates that the last column is the same as the source or the starting position. It can also be specially coded to indicate that

The fifth byte provides information regarding the final position of the column. That is, it is full of fluid. This is the last position by column to be filled.

The 6th byte of the range structure tells what to do once the range is fully executed. provide information to the operating system about Should the range be repeated? work clothes Should the position stop further movement? Operation system completes its scope When the system is used, the user Should bytes 3 to 7 of the 6th byte be programmed in advance in the operating system? Repeat transfer to user according to one of 29 different liquid transfer methods make it possible to When all zeros appear in bits 3 to 7 of byte 6, the The user is asked what action to take. This coding creates one function saved for use by templates to In other words, all bits 3 to 7 are coded with part zero, and the template has a range structure in byte 6. When the plate establishes its function, once its range is performed, the next action instructs the operating system that the user must decide whether to take .

of general transport functions to create templates or establish functions. The structure makes available the range of structure information, as described above. This desirable fruit In the example, the transport function structure is 31 bytes long.

The first byte of the 31-byte transport function is the characteristic stored as a two-digit 60 number. Specify the specific functional type (transfer, serial dilution, or other types mentioned).

The operating system maintains a file that categorizes functions by number, and the file is These functions are identified as transport functions or "tip conversion" functions, etc. This part-time job is for functional verification purposes only.

The second byte of the transport function indicates the entire length of the function continuum. In this way, the operation The system immediately knows how long the data continuum will be in the transport function. Ru.

The 6th byte field, bytes 3-8, is defined by the 6th byte range structure described above. Specify a source “range” to be limited by These bytes may be one or more The primary movement path is limited so that the destination reaches the previous hole from the number of holes.

Similarly, bytes 9-14 are stored in a 6-byte wide field as described above. Specify the destination parameter for the destination. As mentioned above, the fluid is transported from the source to the destination. In order to perform the be. 6-by-I・"Range" limits the fluid transfer method, and that information is transferred from Used by the function and stored in bytes 3-8 and 9-14 of the transport function.

Byte 15 is for indicating the reproduction size. For example, fluid can be sent from three source holes to six different destinations. 3 holes at a time, and the operating system limits two as reproductions. reproduction If it is not necessary to generate a zero, zero is stored in this 15th byte.

In the case of a transfer function, the bight 16 is used to draw fluid from or to be dispensed thereto. Identification of where the pipette tip or bulk dispensing module should be positioned in the hole where the Check the height of the destination.

These first four bits (high nibbles) of the 16th byte are Indicates the height at the source at which the power distribution module should be positioned; The bit (low nibble) indicates the height position within the source hole where the fluid should be transferred. Ru. This "nibble" is 4 bits long. Two “nibbles” or eight Bits form a byte.

The 17th byte of the 31st byte transfer mechanism selects which module to transfer fluid. Indicate what to choose (single tip pipettor, bulk dispensing module, etc.).

Byte 18.19 is the amount in microliters of fluid to be distributed to the ground for each destination. It is used to store and specify.

The 20th byte provides information regarding the "tip contact" parameter. In other words, The pet tip is mated to form the final drop of fluid from the microtiter tip. This is information about whether or not to touch the wall of Ikurotituta Roku. This 20th byte The first two bits of the Should it be done with both positions or not with both positions?So the two bits have 4 The correct answer will be stored. It is used to indicate the Additionally, the template When a message is created, the first two bits store the message “1~1”. , which instructs the user to "fill in". Bits 2 to 4 of the 20th byte indicate the distribution rate. It is intended to provide. These three bits (byte 20 2-4) are unused. Allows the user to select one of six different fluid distribution ratios at the destination (distribution ratios include There are 6 selections, so to store a binary number from 1 to 6, we need 3 bits. is necessary). 'For bits 5 to 7 of the 20th bite, where in the hole do the tips make contact? It indicates what should be done (one of eight choices).

In the preferred embodiment, byte 21 of the transport function determines whether the mixing is done at the source. Used to provide information for the operating system. Start of 21st byte The second two bits answer the question of what mixing to do or not.

The "mixing period" is once drawn into the tip of the bivet, immediately returned to its hole, and then It is defined as meaning a liquid from which fluid is drawn.

The 1-1” message stored in these two bits of template 330 is , instructs to prompt the user to "enter" during the establishment function. Bits 2-5 are mixed when a combination is selected to indicate the desired number of mixing periods. Part-Time Job The greater the number of mixing cycles stored in these bits 2-5 of 21, the more The number of times the pipette tip must aspirate and return to the same hole to perform mixing is also high. It increases. If you choose a low level number of cycles, the pipette tip will reach the bottom of the hole and the mixing cycle will continue. stay there for a period of time. If you choose a pipette with a high number of mixing cycles, the pipette tip will go to the bottom. reaches and starts drawing liquid, rising from the bottom and distributing the fluid. This mixture is effective to prevent premature precipitation of the analyte being studied.

Bite 22.23 is the amount to be dispensed and aspirated during the mixing cycle of Bite 21 The 24th byte is for indicating that it is limited by byte 21. The destination, rather than the source hole mix, dictates the nature of the mix that will occur in the destination hole. Except for this, the internal structure is the same as byte 21. The first two of the 24th byte bit stores information about what kind of mixing should be done or not, byte 2 Bits 2-5 of 4 indicate the number of mixing periods and bits 6-7 for byte 21. Indicates whether the mix should be a “low” mix or a “high” mix as described . The instruction "1-1" stored in bits 6-7 of byte 24 is " This transfer function 332 (Fig. 13) is used to instruct the user to promote It is held in the template 330.

Bits 25 and 26 allow the user to determine the amount of fluid to be mixed first, i.e. the volume. This is for specifying the volume.

The 27th byte specifies whether or not to perform metronoming. merging is a technique for distributing liquids to destinations. Metronome rate is 5 seconds If set to , this will allow the user to dispense liquid at exactly 5 second intervals. This will tell the operating system what you want. metroneau In order to maintain the metronoming ratio, the workstation is The destination makes play above the tip until there is time to do so.

Bits 2 to 4 of the 27th byte are microtied by the reciprocating movement of the table 28. Whether or not stirring of the ivy tray 27 should occur, and if so, Indicates at what rate bits 5 to 7 of byte 27 are for stirring. and how sharp and rapid the stirring should be. It is.

Bytes 28 and 29 are the metronome beats selected by byte 27. This is to indicate the number of seconds between the beat and the beat.

Byte 28.29 is only used if metronome is selected by the user. , that makes sense. If the user does not choose to metronome at bite 27, If so, bytes 28 and 29 are filled with zeros and their locations are Retained to maintain integrity.

Bite 30 indicates to the operating system whether the user wishes to change the tip. It is for the purpose of showing. The first two bits determine whether or not the tip needs to be replaced. If 1.2 of these bits have a zero value, then the tip is replaced This is telling the operating system that this is not necessary at all. Bits 2-5 instructs how to replace the tip. The operating system provides the user with various ways to change the tip. Let them choose the law. For example, a tip exchange is a bet tip or after each destination visits the destination, or after each column is visited or after each transfer wraps around. It can be done. Bits 6 and 7 of the 30th byte are set by the user in advance. Gives data on whether it wants to get wet or not. bit 6 of byte 30 When the O~0 message is stored in ~7, no wetting is performed.

On the other hand, 0-1 indicates pre-wetting on request, and 1-1 indicates "use". The template 3o is for use by users.

Byte 31 indicates that when each individual source occurs in the form of a log, the destination moves forward. Used to inform the user about something to do. This is in the exercise test Effective for analysis. For example, this cutting tool 31 has an optical density characteristic for each hole. Used to inform the user about gender.

The structure of the measurement function is similar in many respects to the byte continuum structure of the transport function.

However, one important point is that the structure of the measurement function varies depending on the nature of the measurement. That's what I mean. For example, optical measurements are electro-optical and optical measurement systems. Requires alignment of mechanical components. The light source and fiber optic are located on the central hill. 22 (Figures 1 and 3B), and the detection mechanism is as shown in Figures 3A and 3B. It's in a removable module. Optical measurements are performed when the light source is aligned with the detection module. Align the daple 28 with the bod 42 and arm 44 to ensure alignment. Requires coordinated movement.

On the other hand, pH measurements do not require filter selection. Optical fiber bundle 24 (Fig. 1) and - There is no need to position the modules above the central platform 22 so that they are lined up in a line. do not. The pH detection system is entirely housed in a detectable module.

Thus, each measurement function is different from each other because their measurement functions are qualitatively different from each other. Requires a differently structured sequence of instruction code.

To accommodate this inherent difference, this measurement function is designed to accommodate different types of so that the functions can be replaced to adapt to the unique measurements being performed there.” Requires a "break" point or "branch off" point.

The byte field consisting of the measurement function starts with the first byte for confirmation of the function. circle. For example, confirming that the function is a transport function or a measurement function. This bar In the case of an operating system, the function established is the “optical density measurement function”. Make sure that.

The second byte in the measurement function indicates how long the byte field is. i.e. something that tells the operating system how many bytes there are in the measurement function. It is.

The third to eighth bytes are for measurement range and array information. That is, As mentioned above, those bites are caused by reading the holes in the microtitta plate. The optical path or method along which the holes are subgrouped along that optical path or “range” In other words, it gives information on how to form an array.

The next two bytes confirm the type of measurement function, i.e. optical density other than pH. Ru.

The 11th byte is for calibration. The user is responsible for If you want to use it, you will be asked if you want to use it. If he chooses Calipre Siran, the measurement The entire constant spectrum is set so that the reading at one end of the instrument is free of absorption. and the other end indicates the total absorption amount.

The twelfth byte is directed to filter selection for optical density. User When using a single filter and when using two separate filters one after the other in each measurement hole. In some cases, the last absorption reading is taken from the first filter. It appears as a difference between the reading obtained by the filter and the reading obtained by the second filter. this The choice of two filters is similar to that of a common style with the need for greater absorption sensitivity. Selected to obtain a form of refusal.

The 13th byte is for filter selection. The optical density graph in Figure 3A In filter wheel 160, one of four filters is selected.

Measurement function structure 14th. The 15th byte is a “blen” adapted for optical density reading. This is to address the occurrence of a king.

In biotechnology, when an optical density reading of a sample analyte is performed, the user We have previously known that we have the choice of selecting “blank” or not. That's true. ” By carrying the blanking °° the user can control the light passing through the object. Considering the fact that absorption or transmission is not perfect, this further improves the absorption data. Choose to be accurate. i.e. an empty space made of transparent plastic material. Even the holes have some absorption capacity. For example, an empty micro tita play If the experimenter discounts the absorbing power from such an interfering body, such as the absorbing power at the bottom of a hole, In some cases, there may be obstructions in the optical path, such as refraction at the bottom of a microtiter hole. By removing the absorbing parts that become objects from the data, it is made into a "blank".

Another example where the user wants to eliminate by blanking is when the user uses the Elisa method. (Eliza is an immunology test that allows you to trace the trajectory of enzymes) , is the absorption caused by the introduction of chromogen. Known for biological applications As shown, Eliza is performed where chromogen is used, and fidget is a biological When research shows that there is an "adherent" enzyme attached to an antibody or antigen, the When the chromogenic enzyme is present, the presence of chromogen is revealed by a change in the color of Omukai.

Blanking eliminates the absorption caused by the presence of the chromogen itself in solution. If used to discount some and, as a result, chromogen reacts with the enzyme The absorption reading of can be determined more accurately.

Blanking can be subtracted from all absorption data by the user during the course of the experiment. This is done by inputting empirically derived values that have come to be calculated. Ma In addition, the user must accept the blank determined based on this absorption accuracy process. You can use it or read a new blank. for blanking pattern of the entire column of blanking solution or by measuring the entire column and then subtracting the average value from all experimental data. can get. To store additional blanking for optical density measurements of Therefore, it is necessary to prepare a special part-time job.

The 16th to 21st bytes limit the destination range and reflect the structure of the transport function, At this point, the destination is ready to provide a range of information. optical density reading In this case, this 6-byte field does not need to be used, but in the measurement function structure. The location may be reserved for use by applying special optical readings. Wear.

The 22nd byte is for the reproduction size. In the transport function, this byte is used to reproduce an equal amount of analyte into a given number of analyte holes as defined. It will be done. Within the measurement function, the reproduction size is determined for a given number of holes, e.g. three holes at a time. The number of holes is read and the absorbance value representing the average of each of the three holes measured there. used for The 23rd and 24th bytes are the selection of the data output to be read. and level types. These two bytes are from the optical reading. The information is for determining how the output should be sent to the user. of course, One option is a straight absorption reading; in addition, the user can whether a given reading for is above a preset absorption level or One can simply take an optical density reading based on what is underneath. such a day The format of the data is (-1+), which is simple. This format allows each hole to have the desired amount of Above or below absorption, users may want to access data more quickly for this limited purpose. Indicate whether or not it can be evaluated quickly.

Furthermore, the user is given the option of having two output levels, in which case the If the absorption is below the limiting level, it is negative; if it is above the limiting value, it is positive. Become. If the absorption is twice the limiting value i, it becomes (core). Finally, the user Yet another selection to sort data into 10 separate groups or bins. is given, then within each bin the data will be at the + or - bin level. . For example, 4 medium is the absorption reading of the 4th group, and is at the high end of that group. It is a reading. The absorption output level is set based on the original calibration. set based on a new level that is measured or adopted to obtain a new level. Ru. The array shown in the 3rd to 8th bytes that sets the range and array values is At 24 and 25 bytes of the function, the output level is set based on array grooving 1. to set output level or based on array grouping 2 used for That is, Sowara's output level is How do I read about the selected members of array 1 or array 2? A decision will be made as to whether the Additional bytes are for special output data. It's in the measurement structure.

Bytes 26.27 set the high and low power levels so that reading thresholds can be set. It is now possible to set the file.

If a blank value must be stored for use in blanking, then The rank value is stored in the 28th byte.

Bite 29.30 measures and selects a specific pattern of holes defined by an array. These patterns can be read according to a menu of available reading criteria types. give the user a choice. For example, the user may select the 3rd byte to 8th byte in advance. A limited array is used to limit the measurement pattern and is thus limited. The hole that is a member of the array that has been measured is It can be selected to be able to be measured at any time. These selections are further It is also possible to make the optical measurement data more accurate. Another option is outside the box This is the data byte scheduled for identifying and locating the hole. This “outside the frame” Holes have optical density measurements outside the set range or expected limits and are therefore Usually, it is a hole that has a limit value in the aggregate table. Such bites are optically dense. It is possible to have the user confirm six points that may impair the validity of the degree data.

The 31st to 34th bytes of the measurement function are input between upper measurement patterns and lower measurement patterns. This is for inter-tone input. These bytes are about 29.30 bytes. between the upper measurement and the lower measurement amount made according to the array pattern as described above. Set.

Byte 35.36 adds the measurement pattern to the array used in byte 29.30. It is also used to limit and set the lower and upper limits of the measurement pattern. It is for informational purposes only.

One example of such a pattern is to set spectral values to make optical measurements. A predetermined pattern according to which arrays are used is the pattern in which six arrays are used.

The 37th byte is also used for internal delays as well as for transport function structures. It is. This internal delay ensures that measurements are taken from one hole to the next at a predetermined ratio. enable. Between measuring one hole and measuring the next, the user must clarify the turbidity. The sample can also be agitated to obtain more accurate optical measurements. Part-Time Job 38.39 specifies the time that the user wishes to set as the internal delay element. It is for storing in seconds.

Byte 40 is an entry selection that allows the entire measurement function to be entered into the time clock. when the data is sent to screen or print. The time when the information was obtained was also recorded.

This filling action is the same as the filling selection made in the case of the transport function.

In addition, the user analyzes the data, calculates based on that analysis, and prints out the records. append many bytes to the measurement structure so that you can direct the result to be able to.

Thus, the transport and measurement functions are, for example, range characteristics, internal delay characteristics and Although they have similarities like characteristics, they differ in the nature of their operation and therefore require The structure must be different depending on the situation. However, once within the measurement function Once an array is qualified, it is given a name and the array is It is recovered while the transport function is being performed so that feedback occurs. for example , its measurement function confines the array of hole positions representing the hole with the optimal optical reading. Ru. This same array is used to select holes to transfer fluid from the sod to the next The members of said array are limited when the measurement function is performed by the operating system. be done. In this way, the front for transport and measuring functions within the operating system can be The limited hierarchical structure allows feedback operations to take place. . Additionally, similar to the transport function, the measurement function allows for the easy creation of templates. The template is then used to perform the measurement function.

As mentioned above, the various measurement functions can be used in different ways to perform different types of measurements. They differ from each other in that they have a break or branch out. For example, After the calibration byte of the measurement function, the selection of whether or not to use the filter is made. There may also be a break before the selection or selection of filter type is entered. Why Although these filters are necessary for optical systems, e.g. This is because it is not necessary for other types of selection. Instrument carry rate Immediately after the 11th byte for When the name of the function is specified in the first function type bite, the operating system This command is used to direct a different set of data structures to follow.

This preferred embodiment is designed to be comparable to real world chemical or biological testing. In order to I chose Mu. These names are arbitrary, especially for sequentially ordered sets of As a convenient device that continuously sends sequenced instructions to the operating system. Conceivable. An important thing to note is that instructions made during the establishment sector If the combinations are connected one at a time, the test is performed during the run sector. Each feature is provided with sequentially arranged operational instructions. recovered by its name to create a tion.

Each transport function is thus established by a 31 byte field. Similarly, The various measuring functions have the same range structure as the transport functions, and in the case of specific measuring devices: All byte fields have the same length. In this way, both measurement and transport functions can be achieved. , established according to the structure and information given by the template. “Range” structure By making all structures identical, the transfer and measurement functions are integrated into the operating system. During the “Run” sector of the program, the “Range” structure and information of the measurement function is Only those holes within the measurement range that have the optimal optical properties for the test (that measurement The transfer function is used to transfer specimens from established for use. Thus, the optimal hole size with the measurement function range is determined. The array becomes the hole array that the transport function is instructed to transport.

Additional utilities are ``editing utilities.'' The operating system is , giving the user the ability to edit the entire procedure one function at a time. This edge The testing utility is fully experimental during the establishment sector of the operating system. by the user to generate a set of instructions for performing the test. used. This test consists of multiple methods, each of which is a sub-procedure. It has a configuration box, and the steps in one method are the same as the steps in the other method. It can be effectively the same as the order, but it can also be shaped differently. New mail Rather than establishing a completely new procedure each time a method is established, "Keep a copy of one procedure at a time, and then repeat that procedure one function at a time." "edit" and use it for the same original method or another method. uni, create a new procedure for it. Thus, this “editing utility” The person instructs and operates the automated laboratory work equipment of the present invention. Reduce the time required to establish the complete set of instructions required for

In this preferred embodiment, an emergency stop bar is located directly below the center plateau 22. is set up. This emergency stop bar is used as a run sector of the operating system. That is, it operates to prevent possible failures during the execution sector, and is used there. Users must have direct physical interaction with laboratory work equipment. example For example, when a new procedure is created and disclosed, the user is required to change the format of the table. You will be asked whether changes are desirable or not. If a change in its form is desired, the operating system During the system's establishment sector, instructions for performing new maneuvers are provided by the user for the first time. The operating system indicates that the form of the member in table 28 in Figure 1 must be changed. Tell Tim. If the operating system malfunctions and overlooks the need for a change in form. , the user must activate the emergency stop bar during the run sector of the operating system. , EIL indicates that the user needs to physically change the configuration of the table 28. I35 and computer 39. Activating the emergency stop bar The solenoid is actuated in the normal manner by the elevator tower 4 in FIG. The rotary arm drive motor 126 (see Fig. 2) located inside 6 is locked with a pawl, Prevents downward movement of arm 44 along elevator tower 46. The movement is the form While cleaning, it may cause harm to the user. In addition, this manually activated The emergency signal interrupts the microprocessor within the EIU35, which in turn A display on the computer screen informs the user that the emergency stop bar has been activated. computer 39 that must appear on the screen. This preferred In an embodiment, a light at the top of the elevator tower 46 indicates an emergency stop. During this period, it is safe to turn off the lights, move the parts, and change the form of the table 28. Instruct the user what to do.

In the cited example above, when a new procedure has to be established, the operating system is When functioning properly, the form function is sent to the user by the operating system and the user , informs the operating system regarding the change in morphology required at the beginning of this procedure. . During the run sector of the operating system, when reaching this new procedure (experimental testing When instructions that control overall performance are executed continuously), the Institute The working device allows the user to manually reshape the form of the member placed on the table 28. Automatically stop for a predetermined period of time. operation system lansec During this automatic shutdown period of the tower, the light at the top of tower 46 goes out and indicates that it is safe for the user to change the configuration of the table 28. Sara Then, a solenoid that controls the locking pawl in a conventional manner is energized and the user or table When attempting to change the configuration of the elevator 28, the arm 44 remains in the locked position. prevents the arm drive motor 126 (Fig. 2) inside the motor 46 from rotating any further. .

Furthermore, as described below, a series of 6-byte fields in the instruction are Its automated laboratory working equipment established during the run sector of the operating system The necessary commands to the motor to perform the fluid measurement transfer functions necessary to operate the It is set to be sent.

FIG. 15A is used to achieve motor control in this preferred embodiment. Indicates the type of computer hardware used.

The information that controls the timing of signals to the step motor is Zilog 280 microphone manufactured by ZNog company located in Kuberden Use loprocessor.

A motor control system is used to operate a digitally driven step motor. The stem should be stored in the memory of the EIU35 (Figure 1) with the appropriate slope for each motor. It is necessary to memorize multiple slew tables. No. These tables are for step motion as shown in Figure 15B. Limit the movement of each motor according to its shape. Typically, each motor has the desired There is an "upward slope" 492 up to a speed of . i.e. accelerated, then slowed down has a "downward slope" 498, ie, decelerates, to the position or stop position. vinegar The computer provides the information needed to properly accelerate or decelerate the step motor. contained in a gradient table embedded in memory. “Slew rate” is the slope The speed that is between the allocation value setting and the next slope value setting and is held at the highest stable value. It is defined as. During the slew phase of motor operation, no acceleration occurs. the" "slew rate" is a motor that consists of a motor that takes a single step at a constant angular velocity. It is defined as a length of time. The slew count is on the motor. From the slope table data, and use is extracted by a microprocessor from data provided by a person.

“Slew count” is the total distance ra (motor step) that the motor moves. less than the sum of the total number of acceleration and deceleration gradient steps . Figure 15B shows the motor tilting upward one measurable step 494 at a time. , so that the angular velocity (l: vertical axis) is only one step at a time. Rise.

Once the desired constant velocity is reached, this "sliding "rate is maintained and is also maintained in a separate motor stage." Ryu" 490, i.e. after a certain period of speed, one separate at a time Only step 496 results in a "downward slope" 498. (The horizontal axis is a separate motor stage. This is the time taken for the number of floors. ) The gradient information table is is stacked in memory, and within that memory, a pointer is set and this pointer is The processor is programmed with software as required by the microprocessor 412. Select values from that table in the specified usage order.

Microprocessor 412 stores one set of table values at a time along a bus of data. This leads to the basic components, devices 420, 430, 440, 444. that ad The microprocessor 412 provides instructions to each of the component devices via the response bus. (i.e., controller 420, output port 430, and counters 440, 444), where data from memory is transferred to that memory. The data is to be derived within each component.

For example, when a pointer to a memory directs the transfer of the first acceleration value from that memory , such data is transmitted along the data bus to various component devices 420, 430, 440° 444, the software is transmitted by the microprocessor 412 to the data implemented by microprocessor 412 according to a predetermined formula applied to the sell.

Motor drive information is transferred from memory across the data bus, one motor at a time. Each drive step is transmitted to output port 430. In this preferred embodiment, Output port 430 is, for example, an Intel Corporation located in Santa Clara, California. A programmable peripheral intermediate device, such as the Model 8255A chip manufactured by the company. each In the case of a motor, the output port 430 connects the three motors to the output bin of the three trees. separate signals for each motor drive characteristic. Each motor (motor control) (by roller 450) is a stepper motor (half step or full step). ) and the direction of rotation of the motor (clockwise or counterclockwise). and a third signal that opens and closes the "or" gate 436. write This results in 18 separate signals controlling 6 different motors (5 The other set of signals is connected to each of the five other motor controllers, e.g. 450. ). “OR” gate 436 is a step to motor controller 450. Controls the flow of pinning signals. the third from output port 430 to gate 436; Once the signal is sent, the gate 436 sends a fourth signal to the motor control. The motor controller 450 sequentially controls the step motor. Advance only the position step. If the OR gate 436 is not activated, the drive signal will is not transmitted to the motor, resulting in a motor delay interval (by convention). A low, or logic “0” signal is output to gate 43 by output port 439. 6, the "OR" gate is activated, and the gate has logic, It is deactivated by a high, ie "1" signal).

Microprocessor 412 causes it to send - sets of motion values to boat 430. It also sends a count number "N" to the counters 440 and 444 for each time.

In this preferred embodiment, these counters are, for example, Intel 8253 Of the three timers found in the programmable interval timer, To each their own. Counter 440 is a rate generator, that is, a counter that divides by N. counter 444 is programmed to issue an interrupt signal to its internal count. is programmed to.

The timing for counter 440 is 100 Hz from frequency divider 416. The signal is not given by the clock output. Frequency divider 416 is crystal controlled This oscillator 414 is synchronized by the 2.5MHz oscillator 414 Provides timing for operating the microprocessor 412. rate generale A data counter 440 receives instructions from the microprocessor 412. When receiving the input signal from divider 416, this rate generator Count and proceed to generate a single output signal every time N pulses are counted. N is an instruction that the microprocessor can change step by step. 440, which changes the time interval between the two river force signals from counter 440. let The duration of this output signal, when input to "OR" gate 436, is Ping instruction (instruction output from gate 436 coordinates motor movement) The rate at which the output (step by step) is sent to the motor controller 450 determines the speed. Therefore, the motor speed can be controlled. One stepping instruction is given Each time the step motor moves one step. The counter 440 is The controller 450 determines how many times the step motor should be moved by one step. This sets the percentage of the stepping instruction, which in turn changes the motor speed. will be controlled. During acceleration and deceleration, rate counter 440 back-counts ( countdown). The length of that count determines the length of each deceleration or acceleration phase. decide. In this way, for example, the count per unit time of a sequence of steps can be The acceleration occurs because the countercount at the end of the counter 440 increases. If the motorco When the controller 450 is arranged to step faster, the motor accelerates. be done. Thereby, the "N" value for each step controls the acceleration.

The output signal of counter 440 is also connected to a clock input of counter 444. Ru. When counter 444 accepts a signal from counter 440, the counter The counter 444 decrements the count value by one. Count 444 is zero or terminal counter The number of subtractions required to reach the point is determined by the instruction word stored in memory. It is configured by the microprocessor 412 across the busbar. is sent to the printer 444. During the upward slope of acceleration 492 or deceleration 498 (15th In Figure B), this number is "1". During the Suryu period 490, this number should be taken. The number of slew steps the motor takes while the motor is at rest or during the delay time. Should not be activated (step set by rate generator counter 440) It is the length of time (measured in steps). In addition, the rest time is determined by the operation of the second reference motor. This is the length of time that the first motor remains inoperative during operation.

The saved program was stored in memory for a gradient time of 492,498 Perform a separate inverse count on the value “N” to determine the programmed acceleration and deceleration stages. Keep track of numbers. Each time counter 444 reaches a terminal count (zero); The output of timer 444 changes state and issues an interrupt command to interrupt controller 420. send.

(The interruption controller 420 is operated by Advanced Universal Interconnected Controller Manufactured by Microdevices AM9519A). Upon receiving the output signal from counter 444, the interrupt controller The controller 420 outputs a signal to the microprocessor to interrupt it. . The microprocessor 412 stores slope counts (acceleration or deceleration) in memory. React to an abort signal by checking. If the slope count is still zero If not, the next slope instruction word crosses the busbar and the counter 440 and 1 is sent to counter 444. microprocessor is there to leave the interrupt routine and return to other processing tasks.

When the acceleration gradient count reaches zero 0 (through the steps mentioned above, the counter (after a continuous loop by the disconnect controller and microprocessor), the processor sends the slew rate to the counter 440 and counts the slew step count. data 444. These counters count during the entire slew period 440.

Counter 440 is for clocking, i.e., counter 444 as described above. However, once the through period ends, the counter 444 It only issues an interrupt signal. During periods of constant angular velocity or motor reset periods During this time, the microprocessor is not interrupted and therefore other peripheral matters more time to control or otherwise perform its functions has. At the end of a constant speed or slew, deceleration begins and an interrupt signal is applied. Calculate each step of the deceleration slope 498 in the same manner as the speed format 492 (Figure 15B). is generated from the counter 444. Once the motor has completed its ramp cycle and the deceleration ramp clock Upon completion of the event, the processor deactivates and closes the gate 436. , writes a signal to output port 430. In this way, a delay is introduced, and the delay is Counter 444 can be delayed by a fixed amount of time until it decrements to zero; The delay time is programmed according to instructions stored in memory. Set by microprocessor. That delay causes the motor to stop moving, cause play. Thus "delay" is measured according to the number of distinct steps time, and the temporal length of each step is typically one mode measured in relation to the movement of the target.

The actual motor control is a model that operates in tandem with the L298 controller. This is accomplished in the usual manner by the L297 step module on the L297 controller. If the 298 bridge driver is also an Italian aggrep It is manufactured by 5OS-Ates Semiconductor of Lianza. The model shown here The motor control system is configured such that a motor controller 450 drives a single motor. Outputs the necessary signals. Six motors are required to carry out the control system. Six motor controllers are required to operate the motor. motor system The controller is programmed according to instructions, and the instructions are In this preferred embodiment, the groups of 6-byte fields shown in FIG. are sent to the components of the motor control system, each field of which is equal in structure and Each field also moves the first motor according to the movement of the second motor. give enough data. The movement of the first motor is one separate field of a single field. guided in the form of movement. To move one motor in two separate directions requires two fields. For example, a button for moving the board 42 The movement of the head drive motor 124 (FIG. 2) and the movement of the table 28 The movement of the table drive motors 122 aligns each other and directs the fluid between the microtites. Move the source holes diagonally across the plate to the new location. It is necessary to move the bod 42 so that it can be moved. If it is in the moving passage If collisions with other instruments, such as tips or test tubes, must be avoided, one mode the other motor must be activated at that time. The mode mentioned above Six motors can also be operated by the motor control system. but, The preferred embodiment implement currently requires only five motors to operate. The sea urchin is turning.

Each 6-byte file contains software instructions that guide motor movement. The structure of the code in this preferred embodiment is as follows.

The motor to be moved (first motor), the direction of rotation of the motor armature, and the type Check which of the different slope rates to choose. If a certain acceleration rate, i.e. slope rate is If not selected, the undergradient is used as the acceleration rate for this motor. (E ROM (or , a special table added RAM is chosen), each of the various types of slope rate tables is kept. ) The second and third bytes of the motor control field are for moving the first motor B. Stores the number of steps required to complete the process. From this data, the microprocessor 41 2 is an upward slope sequence 492, a slew period 490 and a downward slope period 4 The total number of steps in 98 (Figure 15B) can be calculated. Thus , the second and third bytes are, for example, the total amount taken by a single motor driven by separate movements. Motor control hardware configuration factors such as number of steps and overall length in time. Generates information to operate the element.

The fourth and fifth bites indicate that when motor 2 is operating, the first motor is in idle state. Determine the total time in the state, i.e. the delay time (in number of steps of motor 2) . The sixth byte is further delayed based on the rate at which the second motor slews. instructs the first motor to

In short, each 6-byte field burns at a given rate and for a given time. Instruct the first motor to move. Furthermore, the field is How long does this first motor last until the motor reaches the preset destination point? Generate information on whether to wait, ie, how long to delay. child in such a way that all motors move relative to at least one other motor. so that the operation of these motors is coordinated to avoid collisions.

A series of 6-byte fields are established during the "run" phase of the operating system. machine Once the continuous information of the function starts functioning, the remote computer 39 (FIG. 1) The entire series of motor command fields is established before the motor actually operates. Mo Once the entire series of 6-byte wide fields in the target command have been established for a particular function. "Function" instruction interrupted during "Run" phase of special operating system ), that set of fields is executed and performs a run function, and their Operate the motor. The programmed instance contained in the 6-byte field Since the motor only moves according to the traction, collision avoidance is established during machine operation and running. Because each distinct motor command ( a single 6-byte field) is the first This is because it contains delay information for the motor. (The second motor itself is delayed based on the third motor, etc.). This wood quality against the movement of the motor Collision avoidance is achieved automatically by the automatic instruction set of the coating sequence. This is a natural result.

As mentioned above, such motor control systems make laboratory work equipment smooth Provides the flexible motor control necessary to operate the The gradient created here The arrangement has a wide variety of shapes and slopes and is suitable for different motor loads. shown here The cost of implementing a design that It is significantly cheaper than a motor controller. Furthermore, the microprocessor The sensor can read the operating parameters of the motor while the motor is running. Appropriate measures may also be taken to effect the desired movement. (The motor is , moving above resonance speed to avoid woody resonance problems found in step motors. do). The five motors of this working device can each move independently, They can also be aligned to avoid collisions. The great effect of the system shown here is The result is a slew or delay without interrupting the microprocessor. This ability allows the motor to run for long periods of time. These flexibility can be automated laboratory operations when integrated into the overall control of the operating system of the operating equipment Significantly increases the versatility of the device.

It should be noted that this preferred embodiment is only one example of a multi-purpose laboratory working device. It is possible. The scope of the invention is not necessarily limited to this preferred embodiment. do not have. Many structural variations are therefore possible and these variations do not fall within the scope of the present invention. shall be within the range of For example, the replaceable module 52 may be used to measure acidity. It can also have a pH probe to stir the fluid sample. A stirring bar may also be provided. Incorporating the video camera as one module or connect the video camera with a wooden optical fiber bundle for imaging. Then, place it on the bod 42 or on the top of the central platform 22. , images of movement-based experiments can also be taken or analyzed. micro tits A test tube matrix that holds samples for experimental testing It can also be replaced with As a result, the specific configuration of the working equipment of this multipurpose laboratory Architectural and functional details are exemplary only and do not disclose the subject matter of the invention. For illustrative purposes and in support of the claims defining the scope of the invention, Provides a good example.

Special clothing Showa 63-502931 (ai) F/θ6 F/θ10 F/θ//A FIG, //B international search report le+,,l14,1JIA,1kllllxNL PCT/US 871005 01’JNEX To THE INTERR;’Tl0NAL 5EARC ! (REPORT ON

Claims (47)

[Claims] 1. base and a movable table supported by the base and capable of reciprocating in a first direction; Supported by the base and capable of reciprocating in a second direction perpendicular to the first direction arm means, supported by the arm means, moving in a third direction perpendicular to the first and second directions; A movable body, at least one at any position on the table, attached to the body; modular means adapted to perform a function, said modular means including sensor means for sensing a physical property at any location; movement of said module means, said body and said arm means and said module; programmable control means for controlling said functions of said body, said body; changing the relative position of arm means and said table; control means for varying the performance of the function in response to the sensed physical characteristic; including automated analytical chemical processing comprehensive equipment and laboratory work equipment. 2. The modular means is releasably adapted to include at least one pair of modular means. one of said module means of said pair of said module means having at least one front end; the other said module includes said sensor; storing at least one of said module means when said module means is not in use; further comprising storage means for storing said pods, said programmable control means contacting and connecting with one of said module means of the pair and utilizing said module means; and controlling said movable means to return said module means to said storage means. The automated analytical chemistry processing comprehensive equipment and laboratory as set forth in claim 1, which is controlled by The ultimate working device. 3. Said modular means adapted to perform said functions include at least one Contains a nozzle to accept, aspirate and dispense fluid in a freely disposable pipette , Said body has a remotely driven and controlled drive means, said drive means said Modular means aspirates and dispenses fluid, whereby said modular means plunger means incorporated in said module means to perform the transfer function of said modular means; The automated analytical chemistry processing integrated equipment and system according to claim 2, which drive and laboratory working equipment. 4. Said drive means is adapted to direct a freely disposable pipette tip to said nozzle. operatively connected to the pipette tip ejection means for ejection from the end of the pipette; An automated analytical chemistry processing synthesis according to claim 3, which is remotely driven. Equipment and laboratory work equipment. 5. The drive means is remotely controlled to move the module means relative to the bod. An automated part according to claim 4, which is operative to install and remove. Comprehensive analytical chemical processing equipment and laboratory work equipment. 6. Each of the releasably adapted modules has a non-default module associated with each module. digital electronic element means, said electronic element means said control means; unique confirmations associated with each module so that the user can confirm each of said modules. automated analytical processing according to claim 2 or 5, which generates a recognition signal; General science equipment and laboratory work equipment. 7. Claims wherein said sensor comprising a module comprises optical sensing means. The automated analytical chemical processing comprehensive equipment and laboratory work equipment described in paragraph 2. 8. Claim 2, wherein the sensor comprising a module comprises a pH sensor. Automated analytical chemistry processing facilities and laboratory work equipment as described in . 9. According to claim 2, the sensor comprising a module is a video camera. Described automated analytical chemistry processing facilities and laboratory work equipment. 10. The storage means includes removable module holder means; The removable module holder means has a notch for receiving the module, and including a plurality of elongated support members that are qualitatively vertical and made of a resilient material; the member is pressed so as to be attached to the module in a slightly compressed state; The modules are arranged at each end so as to be arranged in order in each of the cutouts of the support member. has a unique support rod in the section, so that said module can be stored in said storage means. When the module is installed, the module is locked in the module holder means, and the module is Claim 2 oriented in a certain way to be stored in the pipe means Automated analytical chemistry processing facilities and laboratory work equipment as described in . 11. automatic for transferring materials and dispensing fluids from a first container to a second container; integrated analytical chemistry processing equipment and laboratory work equipment, supporting table means for transferring a plurality of fluid containers in at least a first direction; base and arm means movable in a second direction with respect to the table; support means disposed on the base for supporting above the bull; a body means supported by the arm means so as to be movable in a third direction along the arm means; a fluid supported by said body means for transferring fluid between said fluid containers; A modular means of aspirating and dispensing materials to explore the physical properties of material samples. modular means having transducer means for sensing and measuring; Movement of components including said table, arm means and body means and fluid distribution and and programmable control means for controlling the suction means; the control means is responsive to an output signal from the transducer means; The control means is configured to control the bot according to information contained in the output signal of the transducer means. control the movement of the arm means, the table and the arm means, thereby in a closed loop manner. control means operative and responsive to the output signal of said transducer means; Automated analysis that adjusts the operation of the member according to the transducer input General chemical processing equipment and laboratory work equipment. 12. The arm support means is an upright elevator whose lower end is attached to the base. a tower, the arm means configured to reciprocate in the second direction; slidably attached to said tower at one end, said bridge being slidably attached to said third direction; a body slidably mounted along the arm so as to move back and forth to the body; a head in at least second and third directions relative to said base and movable support means; 12. Laboratory work equipment according to claim 11, which is movable. 13. The modular means further includes a first fluid selectively dispensing and aspirating fluid. a second module having at least one sensor; These modules are attached to said body means and are attached to said module storage means. stored in tiers, said board means containing selected modules for operational use. and pick it up in contact with the instructing the bod means to replace said selected module with a stored module; stored in said storage means so as to be operatively coupled to the bod means when issuing a command; 13. A laboratory working device according to claim 11 or 12, wherein: 14. a remote programmable user interface operating interactively with said control means; further comprising a computer, the control means comprising a microprocessor; The microprocessor follows instructions programmed by the user. The user remotely programs the computer to control the movement of the interacting members. programmed to execute pre-programmed instructions from the computer. A laboratory working device according to claim 11 or 12, wherein the laboratory work device is . 15. Claim 11, wherein said transducer means is an optical sensing means. Laboratory work equipment as described in . 16. The transducer means includes a PH probe for measuring the acidity of the fluid sample. A laboratory working device according to claim 11. 17. Controlled dispensing, aspiration, and transfer of fluid from a first location to a second location including a plurality of interacting members that perform a horizontal base adapted to rest on a laboratory workbench and on said base; Mounted movable support tray with multiple streams having multiple sample retention holes a movable support tray for transporting the body container plate in at least a first direction; Multiple joules that can be connected interchangeably and uprights that are attached to the base. an elevator tower arranged perpendicular to said elevator tower; an extension bridge slidably attached to said tower and extending along said tower; an elongated bridge for reciprocating movement in a second direction; and a fluid dispensing, aspiration and transfer means. one of said modules that can be used as a The body can slide freely on an extension bridge for reciprocating movement in a third direction. the combined bod; My computer controls interacting parts according to pre-programmed instructions. a control means having a microprocessor and said preprogrammed instructions; The section contains instructions for the user to input; one of said modules having optical transducer means for sensing light; The module is attached to the body and senses the light transmitted from the base. The light can be transmitted through the microtiter holes to determine the optical properties of the sample. illuminating the sample in the hole to measure The pre-programmed instructions are suitable for experimental testing. The test has multiple test methods, and the test methods are programmed in advance. A variety of programmed test procedures are possible, and each test procedure has a variety of test functions. The pre-programmed instructions are method as the primary directive protocol and each test procedure as the secondary directive of the test method. List each test function as a tertiary directive protocol for the test procedure. Some pre-programmed instructions are listed as Depends on any pre-programmed parameters dictated by the juicer means are programmed to be dispensed into a specific protocol, thereby , automated laboratory work equipment is a means of programming the movement of interacting members and as a fluid dispensing, aspiration, and transfer method, relying on closed-loop test results. Automated analytical chemistry processing facilities and comprehensive chemical and biological testing facilities and laboratory work equipment. 18. The fluid dispensing, aspiration, and transfer means further includes a plan for dispensing and aspiration of the fluid. at least one pipette tip-receiving nozzle. with a replaceable module shaped to precisely match the pipette tip Pick up the pipette tip and replace it with a pipette tip that is free to dispose of. Claim 17, characterized in that it has means for discarding from a replaceable nozzle. Laboratory work equipment as described in . 19. The user-controlled remote computer has a series of menus and pictorial as a representation, i.e. in the first set of menus and pictures corresponding to the test method. a second set of menus and pictorial representations corresponding to the test procedure; A third set of menus and pictorial representations corresponding to the experimental functions are pre-programmed. displays the programmed instructions so that the user knows that he is The machine executes instructions entered by the machine in an ordered manner. A microprocessor can be continuously instructed, thereby allowing a remote computer to Instructions entered by the user on the computer are used to perform experimental tests. Laboratory work equipment according to claim 17 corresponding to the method desired by the user. Place. 20. The optical transducer means further selectively detects the optical signal. Laboratory work according to claim 17, having optical filter means for Device. 21. Said fluid dispensing, aspiration and transfer means further comprises a fluid dispensing, aspiration and transfer means. Claims 1, 2 and 3, wherein the transfer means has a precision pipetting capability. Laboratory working equipment according to paragraph 18. 22. In laboratory work equipment that performs biological and chemical tests on fluid samples There it is, a base and an upright elevator tower extending upwardly orthogonally from the base; Waa and supported above the surface of the base and configured to reciprocate along the length of the base. A table that is slidably attached to the at least a second table perpendicular to the first direction; Elevator tower to move back and forth along the elevator tower in the direction an arm placed in the moving in at least a third direction perpendicular to the first and second directions; a body slidably connected to the arm for reciprocating movement along the arm; , Fluid distribution, suction and and a transfer system, wherein the body transfers fluid from one fluid receptacle to another. mounted to support a replaceable module for transferring fluid to the Joules are freely disposed of to transfer between receptacles without contaminating the fluid The module is installed to accept the tip that can be placed in the bed after use. It has a pipettor ejection mechanism to remove the physical properties of the fluid sample. said module for sensing and testing chemical reactants when a reaction occurs, respectively. transducer means positioned at; User-programmed and pre-programmed sets of instructions Therefore, in order to control the operation of laboratory work equipment, the operation of remotely controlled movable members is controlled. and control the operation of fluid distribution, suction and transfer systems, and transducer means. of said movable member with the result of information accepted by the controller from and a control means for coordinating the movement and operation of the fluidic system. Laboratory work equipment for performing biological and chemical tests. 23. The transducer means is a separate exchange module for transferring fluids. The laboratory work according to claim 22, which is housed in a replaceable module. business equipment. 24. Used in conjunction with automated analytical chemistry processing facilities and laboratory work equipment. 1. An optical detection device used in the art comprising: a source of electromagnetic radiation; transmitting the radiation to a sample container containing a sample; means for directing a relatively narrow beam through the pull and an optical detection module connected to said sample. and a remote control means located near the pull; The optical detection module includes: automatic remote controlled by said remote control means having a plurality of optical filters; a first filter selection wheel that is selectively and remotely operated; transducer means responsive to said relatively narrow beam of said radiation; responsive to a narrow wavelength of said radiation when selected by one of said optical filters; transducer means for detecting and controlling the output of said transducer; and means for converting said remote control into a computer readable format. means for moving said first wheel to select one of said optical filters; An automated analytical chemistry processing facility that operates a plunger to Optical detection equipment used in connection with laboratory work equipment. 25. disposed between said source of electromagnetic radiation and means for transmitting said radiation to a sample container; a first step of selecting a narrow wavelength of radiation to be transmitted through the sample; 25. The optical probe of claim 24 further comprising two filter selection wheels. Knowledge device. 26. transmitting modulated optical radiation through the sample; Optical device according to claim 24, characterized in that the chopper means is arranged near the source. Target detection device. 27. The intensity of the optical radiation transmitted to said transducer means is substantially , the amount of luminous flux being the same as the intensity of the radiation transmitted through the sample. 25. Optical detection device according to paragraph 24. 28. The means for sensing the output of the transducer further includes a sensing circuit and a voltage The output of the detection circuit is relatively noise-free. The output of the voltage-to-frequency converter is frequency modulated in order to generate a clear signal. 25. The optical detection device according to claim 24. 29. Used in conjunction with automated analytical chemistry processing facilities and laboratory work equipment. This is a replaceable module confirmation device used around laboratory work equipment. Automated remote capable control body means deployable by remote control means and less and one module means, said module means being connected to said body means. Connected interchangeably, Said modular means for identifying the modular means for the control means in a unique manner. a non-digital network electronically connected to said module means; In connection with automated analytical chemical processing facilities and laboratory work equipment, A replaceable module confirmation device used. 30. further comprising pulse width modulation means, the module means configured to modulate the pulse width. Said non-digital network is used to control and vary the frequency output signal from the tuning means. The replaceable module verification device according to claim 29, which uses a network. Place. 31. a non-digital network for controlling and varying the output signal from said pulse width modulation means; The network includes a register having a capacitor and a resistor in the module means. Claim 30, characterized in that it is a star, capacitor network. The replaceable module confirmation device described in Section 1. 32. Multi-purpose modular drive mechanism that selectively activates one of multiple control operations And, The bot body, A single drive member built into the body, and a drive member along the central axis of the drive member. a first plunger means reciprocally driven by the drive member; a detachable module connected to the body of the body, the module having a first plunger hand; When the stage reciprocates along the drive member within a first range of movement, the first stage The module is selectively connected to and disconnected from said bot body by connector means. and the module has a locking member, the locking member is configured such that the plunger is locking the module to the pod body when reaching a first position within the first range; and a module when the plunger reaches a second position within the first range. A multi-purpose module that unlocks the module and removes the module from the body of the board. drive mechanism. 33. a second plunger means coaxially abutting said first plunger means; and the second plunger means is operable to operate independently of removal of the module. along the central axis of the drive member by said first plunger means to perform the operation. The multi-purpose motor according to claim 32, which is reciprocatingly driven within the second range. Joule exchange mechanism. 34. Said second plunger means has a tubular shape for dispensing and aspirating fluid. A multi-purpose module mounting according to claim 33, reciprocating within a cylinder. Replacement mechanism. 35. further comprising an optical filter wheel, said second plunger means having a second rotating the optical filter wheel by transferring a linear motion of the plunger means of the In order to rotate the rack, it is possible to reciprocate while in contact with the rack of the rack/binion mechanism. 34. A versatile module replacement mechanism as claimed in claim 33. 36. third plunger means operatively connected to said first plunger means; The third plunger means further comprises: the driving member is connected to the first plunger. a third plunger along the axis of the drive member to drive the third plunger means; When driving to reciprocate within the range of 3, the central axis of the driving member 35. The multipurpose module of claim 34, which is reciprocated along parallel axes. module replacement mechanism. 37. Said third plunger means provides for remotely actuated ejection of the pipette tip. said third plunger means actuates said third plunger means to is arranged to operate when the plunger means cannot be extended any further. , a multipurpose module replacement mechanism according to claim 36. 38. A programmable device for controlling a plurality of surrounding means, the device comprising: operation of said surrounding means via a plurality of pre-programmed instructions; controller means for directing and controlling and said input for operating said surrounding means; and means for transmitting the structuring to the plurality of interface members; The interface member signals a set of operational data to the surrounding means. generating a first signal indicative of an operating ratio of boat means and said surrounding means; frequency ratio generating means for transmitting the frequency ratio to the gate means and the timing means; Gate means is configured to connect said boat means to generate a second signal for driving surrounding means. and operatively associated with said frequency ratio generating means; The timing means is configured such that the controller provides instructions to the intermediate member. the said first a third signal for interrupting the operation cycle of the controller means in response to the signal; A programmable device for controlling multiple ambient means that generates 39. A laboratory working device as claimed in claim 11, 17 or 22. A system for programming instructions for operating said control means in a bytes of data to the directed set of questions that define the template. Embed the stream, Compare the questions of the template with a known set of parameters to determine the validity of the questions. established, get a set of template values, Determined for existing parameters and functions with the validity of said template values. established, Where the value is not previously established anywhere in the operating system, the answer is While asking the user a question to issue the former template value i.e. function To establish certain functionality by passing values to new templates where appropriate system, including specifying the byte stream of programmed data required for stem. 40. A set of printers to operate laboratory work equipment with automated remote control. involves causing a processor to generate and execute programmable instructions. A method of operating a general purpose data processor, comprising: a method in which said working device performs at least one function necessary for carrying out an experimental test; , a set of instructions understandable by a data processor for operating said work device. the step of establishing a Which of the multiple sets of instructions best provides the functionality required to perform said test? Use a set of pre-stored pattern instructions to determine the closest match. inspect, The scope of the instruction set is used to determine the location of all pre-stored data. harmonize the functionality by individually inspecting each instruction within the select a set of instructions, Invalid data, which is information unrelated to the performance of the function, is sent to the instruction set of the set. the instruction set in order to remove the function from the select all valid data necessary to perform said function so as to establish All selected valid data are inspected and a preset template is extracted from the valid data. Establishing the function according to the plate pattern, and for the function, the template Select all the valid data previously stored according to the rate pattern and using the preset template as the configuration information to be provided by the operator. Request operator input information as indicated by template value as additional data death, The data supplied by the operator is applied to the preset template pattern. complete the establishment of the said function by adding it to the zone data, Regardless of how the data was supplied to establish the function, the programmed sequence perform the said functions in accordance with the Including operating according to experimental test requirements without the need to issue messages. How to operate the data processor. 41. Working equipment is now available to perform biochemical tests by experiment. , automated research in which the operation of said working device is controlled by a data processor. A method for operating a working device in a workplace, the method comprising: a data processing method for controlling said working device; A set of instances understood by the data processor so that the data processor can be used. data to command and control the work equipment, including the step of establishing traction. The method of organizing said set of instructions as understood by a processor comprises: The system of the instruction set according to the programmed template pattern configure the sequence, Exploring the template pattern to select data locations that require additional information. Inspect, providing the data location of the template along with the additional information; the template pattern such that it reproduces all the information provided by the template pattern; Establish the instruction sequence, add the additional information, and thereby the data processor to complete the set of instructions and perform the desired operation. Automated research including directing and controlling said work equipment by a processor How to operate the work equipment at the office. 42. Traditional general purpose data for controlling automated laboratory work equipment A method of operating a processor, comprising: assigning a first set of template patterns to a particular template pattern; Incorporate the instructions, Wherever the first set of instructions flags the data unless a second set of instructions is given by the operator along with the and incorporate a second set of instructions into the same template pattern, The first set of instructions is completely based on the data of the second set of instructions. A second set of instructions according to the traction template pattern. How to operate a data processor, including performing. 43. A conventional general purpose processor that allows a processor to control the operation and functions of an instrument. A method of operating a data processor according to a prearranged sequence. establishing a first set of data instructions; address the establishing a second set of data instructions; functions, each at the address of each set of data instructions. specify a corresponding address in the first set of data instructions. flag the selected address for to an unflagged address containing the first set of instructions. Reproduce the included data and apply the reproduced data to the first set of instructions. a second set of instructions corresponding to addresses that are not flagged for stored in each address of the The browser of the first set of instructions receives the data supplied by the user. a second set of instructions for the set address; executing a set of instructions stored in a second set to control the instrument; How to operate a data processor, including: 44. Conventional molds generally operated by a series of sequential instructions A device that controls the operation of laboratory work equipment by means of a purpose-built data processor. hand, a first sequential order elicited from the user by responding to a known set of questions; means for addressing data to a template containing data arranged in data to establish executable functions for the purpose of controlling said work equipment; data transfer means for transferring from the template address location to the storage location; The template is placed at multiple template address locations selected by the user. a flag set by said addressing means; The data transfer means selects a template that is not specified by the user from the template. Transfers only the data stored in the plate address location, The data transfer means transfers the data stored in the flagged template position. send the separate data stored in said storage location to the user to replace the data and thereby create an executable installation for controlling said work equipment. A control device for the operation of laboratory work equipment, in which the traction set is set. 45. General purpose data platform for controlling automated multipurpose analytical work equipment. A device for programming a processor, in which programmed configurations are programmed in a particular order. means for sequentially structuring the instructions according to their configuration; issuing a first set of consecutive instructions according to the programmed configuration; a first means for flagging a plurality of instructions to be executed; Following the first set of unflagged instructions, the same a second means for generating a second set of instructions having information; Continuously at the position corresponding to the flagged instruction set of the first set. user-supplied instructions to place new instructions. a second generating means for positioning the action; the data processor is programmed to control the work device; , data processor programming device. 46. An apparatus for controlling a fluid transfer member of an automated laboratory work device, the apparatus comprising: a plurality of movable fluid transfer members and a data processing means for controlling movement of the fluid transfer members; and the data processing means executes the fluid transfer instructions according to a particular order. Programmed in sequential order to control fluid transfer before instructions are executed establishing a complete first set of member movement instructions to perform a complete first set of member movement instructions; and controlling motor means for driving said fluid transfer member when executed and operative; establishing a second set of instructions for controlling fluid transfer by; In order to avoid collisions between the parts driven by the motor, the motor hand When each motor in the stage requires movement, a second set of motors is used to control the motor means. A control device for a fluid transfer member that executes commands. 47. A general purpose device programmed to control automated laboratory work equipment. a method of operating a computer processor, the method comprising: a plurality of sets of interfaces for said data processor so as to be controlled and operated by said data processor; including establishing multiple sets of instructions. The step of necessary to cause the work device to perform at least a portion of the work selected by the user. creating a first set of instructions providing operational information; A second set of instructions that is a copy of the first set of instructions is create, The second set of instructions may be practiced to provide user-selected additional instructions. a second set of instructions to create additional instructions to accomplish the task; A method of operating a data processor that continuously edits instructions.