SE544701C2 - A biodispensing or bioprinting system comprising an apparatus for handling a sample container having a lid - Google Patents

A biodispensing or bioprinting system comprising an apparatus for handling a sample container having a lid

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Publication number
SE544701C2
SE544701C2 SE2051480A SE2051480A SE544701C2 SE 544701 C2 SE544701 C2 SE 544701C2 SE 2051480 A SE2051480 A SE 2051480A SE 2051480 A SE2051480 A SE 2051480A SE 544701 C2 SE544701 C2 SE 544701C2
Authority
SE
Sweden
Prior art keywords
lid
gripping
sample container
container
bioprinting
Prior art date
Application number
SE2051480A
Other languages
Swedish (sv)
Other versions
SE2051480A1 (en
Inventor
Anton Andrén
Bryan Jones
Erik Gatenholm
Ginger Lohman
Hector Martinez
Josef Snabb
Mateusz Piotrzkowski
Sebastian Persson
Original Assignee
Cellink Bioprinting Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cellink Bioprinting Ab filed Critical Cellink Bioprinting Ab
Priority to SE2051480A priority Critical patent/SE544701C2/en
Priority to PCT/SE2021/051263 priority patent/WO2022132014A1/en
Publication of SE2051480A1 publication Critical patent/SE2051480A1/en
Publication of SE544701C2 publication Critical patent/SE544701C2/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
    • B01L9/00—Supporting devices; Holding devices
    • B01L9/50—Clamping means, tongs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B55/00—Preserving, protecting or purifying packages or package contents in association with packaging
    • B65B55/02—Sterilising, e.g. of complete packages
    • B65B55/027—Packaging in aseptic chambers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
    • B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B69/00—Unpacking of articles or materials, not otherwise provided for
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/02—Form or structure of the vessel
    • C12M23/10—Petri dish
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M23/00—Constructional details, e.g. recesses, hinges
    • C12M23/38—Caps; Covers; Plugs; Pouring means
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/48—Automatic or computerized control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y70/00—Materials specially adapted for additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B7/00—Closing containers or receptacles after filling
    • B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/28—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by applying separate preformed closures, e.g. lids, covers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
    • B67B7/00—Hand- or power-operated devices for opening closed containers
    • B67B7/12—Hand- or power-operated devices for opening closed containers for removing disc-closures
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12N—MICROORGANISMS OR ENZYMES; COMPOSITIONS THEREOF; PROPAGATING, PRESERVING, OR MAINTAINING MICROORGANISMS; MUTATION OR GENETIC ENGINEERING; CULTURE MEDIA
    • C12N5/00—Undifferentiated human, animal or plant cells, e.g. cell lines; Tissues; Cultivation or maintenance thereof; Culture media therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N2001/002—Devices for supplying or distributing samples to an analysing apparatus
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0403—Sample carriers with closing or sealing means
    • G01N2035/0405—Sample carriers with closing or sealing means manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N2035/1027—General features of the devices
    • G01N2035/1034—Transferring microquantities of liquid

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Organic Chemistry (AREA)
  • Zoology (AREA)
  • Wood Science & Technology (AREA)
  • Biochemistry (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Genetics & Genomics (AREA)
  • Robotics (AREA)
  • Clinical Laboratory Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Sustainable Development (AREA)
  • Biomedical Technology (AREA)
  • Biotechnology (AREA)
  • Microbiology (AREA)
  • Pathology (AREA)
  • Immunology (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)

Abstract

A lid retaining system (1) for handling a sample container (100) with lid (101). The system (1) comprises a first and second gripping member (2a, 2b) moveably connected relative to each other by a support arm (3, 3'), each gripping member being provided with a gripping surface. In a first position, the gripping members (2a, 2b) grip a sample container lid (101) between the two gripping surfaces, and when moved away from each other towards a second position, a lid (101) being gripped between the two gripping surfaces in the first position is released. A drive unit (4) is operatively connected with the support arm (3, 3') and arranged to via the support arm (3, 3') move the first and second gripping members (2a, 2b) relative to each other between the first and second position. A lid detection mechanism (5) is arranged to detect if/when a lid (101) is gripped between the first and second gripping surfaces of the gripping members (2a, 2b).

Description

The present disclosure relates to a biodispensing or bioprinting system cornprisšng an apparatus “ ' for handling a sample container hatfiftg, a witlæ ' .The disclosure is also related to a method of de-lidding and lidding a sample container- BACKGROUND ART 2. id="p-2" id="p-2"
[002] 3D bioprinting is based on a process in which a biomaterial can be deposited layer-by-layer using a 3D bioprinter. Biomaterials such as hydrogels or other polymers can be combined with cells and growth factors to imitate natural tissues. The technology is used in the fields of bioengineering and medicine. The 3D bioprinter is capable of extruding material with or without cells while moving in three directions, which enables the building of complex structures. lt offers unlimited possibilities in applications from drug screening to organ regeneration. [003] Sterility is a critical factor in bioprinting and biodispensing applications and can greatly affect the results of studies, experiments, and assays dealing with bioprinted media and the cells within them. Contamination of any form, such as the introduction of unwanted bacterial, viral, or cross-contamination involving outside cellular material such as skin cells, or even unwanted biomaterial, such as gelatin methacrylate, collagen, or other typical biomaterials will completely invalidate the results of such studies. For this reason, minimizing human interaction with biological sample containers into/onto which bioprinting or biodispensing actions are performed is necessary before, after and during such actions. For example, reducing or removing human interaction with the sample container during removal and replacement ofthe protective lid of a container before and after a dispensing/printing action is necessary. 2 [004] A lid retaining system holds the lid of a biological sample container away while actions are being performed on the sample container. Once those actions are complete, the lid is returned to the container. The lid retaining system limits human interaction with the container, thereby preventing possible contamination issues during biological studies. [005] A lid retaining system is for example described in EP2788033B1, which discloses a system comprising means for removing a well plate lid for example using suction, gluing, articulated arms, fasteners, magnets, and electromagnets. [006] Another lid retaining system is shown in US6998094B2, which discloses an apparatus for handling biological sample containers each having a lid. The apparatus comprises a conveyor assembly operable to convey containers between a first position and a second position, and a lid handling assembly operable to remove lids from containers being conveyed through the lid handling assembly from the first position to the second position, and to replace the lids onto containers being conveyed through the lid handling assembly from the second position to the first position. Lid removal and replacement being effected by mechanical interaction between the lids and the lid handling assembly as the containers are conveyed through the lid handling assembly.
SUMMARY OF THE INVENTION 7. id="p-7" id="p-7"
[007] lt is an object of the present disclosure to provide an improved or at least an alternative bšodšspensâng or šašogaršettšng system comprising are apparatus for handling a sample :goawtašarter lravšng a âšd “ “ '. . giëfurther objecta aregto ' L) alsëægfrfßvide a method of de-lidding and lidding a sample container, 8. id="p-8" id="p-8"
[008] The invention is defined by the appended independent patent claims. Non- limiting embodiments emerge from the dependent patent claims, the appended drawings and the following description. 9. id="p-9" id="p-9"
[009] According to a first aspect there is provided a šašocšispensnšawß or bioprântinw system cornpršsing: ar: apparatus for handling a sampâe cfantaiawer having a lid. The araparatais cornprísšng: a housšrrgz, a carršer operable to bring a sample ttorztairaea" from a first posšton to asecond taositiort arraneeti in the ttousirig. a Eid retaining systern arranged at the second position in the housing and arraneeti to grip a Eid of the sarntfie container vxfheit the :sarnoie container Es ih the second position. The Eid retaining :aysterri comprises' , " a first and second gripping member, each gripping member being provided with a gripping surface. The system further comprises a support arm, wherein the first and second gripping members are moveably connected relative to each other by said support arm. The first and second gripping members are arranged to, in a first position relative to each other, grip a sample container |id between the two gripping surfaces, such that the gripping surfaces abut against a peripheral edge/peripheral edges of the |id substantially perpendicular to a major surface ofthe |id. The first and second gripping members are arranged to when moved away from each other from the first position towards a second position, release a |id being gripped between the two gripping surfaces in the first position. A drive unit is operatively connected with the support arm and arranged to via the support arm move the first and second gripping members relative to each other between the first and second position. A |id detection mechanism is arranged to detect if/when a |id is gripped between the first and second gripping surfaces ofthe gripping members. A processor is arranged to :receive a signal from the Eid detection inechanisnt of the Eid retaining systern vvhen a Eid is gripped hetvveer: the first and settortti gripping surfattes, and whert stich a signal has been received arranged to actuate a rinoverrierit tifthe Carrier andíor at least a portion of the Eid retaining systern sueh that. the Eid and the sarnnše container are separated and rnoved frorn each other. The biodisoehzariirig or bioprinting systern aEso contprises a dispensing system or printin systern eirranged in the housing. . id="p-10" id="p-10"
[0010] The |id retaining system grips and holds the |id of a sample container, such as a biological sample container, for example a petri dish or a well plate. Thereby, it is possible to separate the container and the |id from each other as the |id is held by the |id retaining system, such that actions, e.g. a biodispensing or bioprinting action, may be performed onto/into the sample container. 11. id="p-11" id="p-11"
[0011] The |id retaining system eliminates human interaction with the container and |id such as before and after a bioprinting/biodispensing action into/onto the sample container, and thereby eliminates possible contamination through human error. The |id retaining system also simplifies processing by automatically handling lidding and de-lidding operations 12. id="p-12" id="p-12"
[0012] The lid detection mechanism is arranged to detect if/when a lid is gripped between the first and second gripping surfaces. This information may be used to tell that the container and lid are ready to be moved/separated from each other. The lid detection mechanism could also be used to stop actuation of the gripping members once a lid has been detected. 13. id="p-13" id="p-13"
[0013] Due to the lid detection mechanism, containers of a wide variety of sizes can be inserted in the lid retaining system and without crushing the lids.
EGGLä-flê-l Detection ofthe presence of a lid may be used in the system and may also be communicated to a user of the system.
HK:“~'§_The drive unit may be selected from an electromagnetic, a pneumatic, a hydraulic, and an inductive drive unit _s_The |id detection mechanism may be selected from one or more of a vacuum probe, a touch sensitive sensor, a distance measuring sensor, a vision-based sensor and a force measuring mechanism. w ¿__The |id detection mechanism may comprise one or several of the listed detection mechanisms. w g__The |id detection mechanism may be a force measuring mechanism and comprise the drive unit, the support arm and the gripping members, wherein a force needed by the drive unit to move the two gripping members from the second position towards the first position is registered, and a change in the registered force indicates that a |id has been gripped between the two gripping surfaces. _š__This embodiment utilizes a feedback system for detecting the presence of a |id.
The drive unit may be an electromagnetic drive unit and the feedback registered may be a back electromotive force. When resistance increases, the electromotive force of the drive unit changes, indicating the presence of an object/|id. This detected presence may send a signal to trigger drive unit power cut-off. This closed-loop feedback system can be used alone or together with one or more of the other |id detection mechanisms mentioned above. gThe support arm may be a thread driven rod or a gear driven rod. n Å ns-'nrvac ir :r än Éå- AW inn .ray a .J s au _ ing id of the i F: t iom sing or t: ing, grip the I tem, ining sys ha biodisgëen in the hous ion zstern; by means ofthe lid retaining system oft i described above and arra nged at the second pos sample container. Upon detection of a signal that a lid is gripped by the lid retaactuate a movement of the carrier and/or at least a portion ofthe lid retaining system such that the lid and the container are separated and moved from each other; optionally performing a dispensing or printing action into/onto the container; by means of the carrier and/or at least a portion ofthe lid retaining system aligning the lid and the container in the second position; releasing the lid from the lid retaining system such that the lid is placed back onto the sample container, and by means of the carrier moving the lidded container to the first position.
BRIEF DESCRIPTION OF THE DRAWINGS _§__Fig. 1 shows an embodiment of a lid retaining system where gripping members clamp onto the sides of a petri dish lid. §__Fig. 2 shows an embodiment of a lid retaining system where the gripping members clamp onto the sides of a well plate lid. }__Fig. 3 shows an embodiment of a lid retention system where the gripping members are actuated by a screw driven by an electromagnetic motor.
Figs 4 and 5 demonstrate the lid retention system shown in any of Figs 1-3 in an *_ apparatus for handling a sample container, such as in a biodispensing or bioprinting system. fhFig. 6 schematically illustrates a method of de-lidding and lidding a sample container.
DETAILED DESCRIPTION §__Sterility is a critical factor in bioprinting and biodispensing applications, why minimizing human interaction with biological sample containers into/onto which bioprinting or biodispensing actions are performed is necessary before, after and during such actions. actions, such a biodispensing or bioprinting, are being performed into/onto the sample container. Once those actions are complete, the lid is returned to the container. The lid retaining system limits human interaction with the container, thereby preventing possible contamination issues.fkln Figs 1-3 are shown a lid retaining system 1 for handling a sample containerwith lid 101. The sample container may be a biological sample container such as a petri dish (Fig. 1) or a well plate (Fig. 2).
The lid retaining system 1 comprises a first and second gripping member 2a, 2b, wherein each gripping member is provided with a gripping surface. The gripping members 2a, 2b are moveably connected relative to each other by a support arm 3, 3'. §_The gripping surfaces may at least partially comprise a friction material such as rubber or silicon and/or comprise a friction enhancing pattern/surface structure. The gripping surface may be constituted by a portion ofthe gripping member 2a, 2b. Alternatively, the gripping surface is a separate member attached to a portion of the gripping member 2a, 2b by means of for example gluing, nailing or welding. Each gripping member may comprise at least one gripping surface. ln some embodiments each gripping member 2a, 2b comprises two or more gripping surfaces or gripping surface portions. A gripping surface may be a continuous gripping surface or may comprise two or more distinct gripping surface portions. The system may comprise two or more gripping members 2a, 2b, such as three or four gripping members connected to each other through the support arm 3, 3'. Both gripping members 2a, 2b may be moveable. Alternatively, only one of the gripping members is moveable, but still moveable relative to each other. jigjgïgfkThe support arm 3, 3'may comprise a support arm assembly comprising two or more connected support arm entities. The support arm may be a thread driven rod or a gear driven rod actuated by a drive unit first and second gripping members 2a, 2b are arranged to, in a first position relative to each other, grip a sample container lid 101 (see Figs 1 and 2) between the two gripping surfaces, such that the gripping surfaces abut against a peripheral edge/peripheral edges of the lid 101 substantially perpendicular to a major surface ofthe lid }_The first position of the gripping members 2a, 2b relative to each other may be determined by the dimensions ofthe container/lid. When a lid has been gripped between the two gripping surfaces, the first position is reached. Alternatively, the first position can be determined by user input into the system 1 on container type/size.
The gripping surfaces are arranged to mainly abut against the peripheral edge(s) of the container 100. ln some embodiments, a portion of the gripping surfaces may also abut against a major surface ofthe sample container'“¿_The first and second gripping members 2a, 2b are arranged to when moved away from each other from the first position towards a second position, release a |id 101, which was gripped between the two gripping surfaces in the first position. Before the |id 101 is released, the |id 101 and the container 100 are preferably aligned by the system 1 such that the |id is correctly placed back onto the sample container. A position ofthe |id gripping members 2a, 2b and the container 100 may be registered by a processor ofthe system. The processor may actuate the movement of the |id and/or the container such that the |id can be correctly put back onto the container after a printing/dispensing action is finished. jgThe second position of the two gripping members 2a, 2b relative to each other may be at a fixed distance from each other. Alternatively, the second position may vary and depend on predetermined or measured factors such as container size etc. ghWhen the |id retaining system 1 is in a waiting mode, i.e. there is no container in the system, the gripping members 2a, 2b, may be brought to/waiting in the first position relative to each other, in the second position relative to each other, in any position in between the first and second position, or in a position wherein the two gripping members 2a, 2b are closer to each other than when in a first position relative to each other. The drive unit 4 may actuate the gripping members 2a, 2b when a container reaches the |id retaining system 1 and the gripping members 2a, 2b are then brought into a position such that the |id can be gripped between the gripping surfaces. When a container with |id approaches the |id retaining system the gripping members may be brought into the second position relative to each other. This second position being determined for example by known dimensions of the container or by means of distance sensors etc. ln one embodiment a start position/waiting mode position of the gripping members 2a, 2b can be measured using for example an endstop. Alternatively, the start position/waiting mode position of the two gripping members 2a, 2b can be determined by means of a distance sensor or an encoder on a shaft of the drive unit =_The drive unit 4 is operatively connected with the support arm 3, 3' and arranged c\ to via the support arm 3, 3' move the first and second gripping members 2a, 2b relative to each other between the first and second position. _§__The drive unit 4 may be selected from an electromagnetic, a pneumatic, a hydraulic, and an inductive drive unit. §__The |id retaining system 1 also comprises a |id detection mechanism 5 arranged to detect if/when a |id 101 is gripped between the first and second gripping surfaces of the gripping members 2a, 2b. This information may be used to tell that the container 100 and lid 101 are ready to be moved/separated from each other. The lid detection mechanism 5 could also be used to stop actuation of the gripping members 2a, 2b once a lid has been detected. Due to the lid detection mechanism 5, containers 100 of a wide variety of sizes can be inserted in the lid retaining system 1 and without crushing the lids. Detection ofthe presence of a lid 101 may be used in the system 1 and may also be communicated to a user of the system. “flThe lid detection mechanism 5 may be selected from one or more of a vacuum probe, a touch sensitive sensor, a distance measuring sensor, a vision-based sensor and a force measuring mechanism. vacuum-based probe may be arranged such that it can be moved until it encounters an object, the gripped lid, and then would draw vacuum. Most container lids are flat and smooth and made from either glass or plastic. |fthe probe was to encounter a lid surface, a vacuum would be registered, indicating the presence of a lid. ÅA touch sensitive sensor or a distance measuring sensor, such as an end-stop, switch, time-of-flight, laser, lidar, optical, inductive, magnetically actuated, or infrared sensor may be used to detect the lid. Such sensors may for example be arranged in contact with or in vicinity of the first and/or second gripping member. ÅA vision-based sensor would test for the presence of lids using algorithms that test for certain edge differences or differences between reflective surfaces. There are many different conditions to test for with an adaptable vision sensor that could be used to determine the presence of a lid. §__A force measuring lid detection mechanism may measure a force needed for moving the gripping members 2a, 2b towards the first position, wherein a change in force indicates that a lid has been gripped between the gripping surfaces. Such a force measuring mechanism 5 may comprise the drive unit 4, the support arm 3 and the gripping members 2a, 2b. A force needed by the drive unit 4 to move the two gripping members 2a, 2b from the second position towards the first position is registered and a change in the registered force indicates that a lid 101 has been gripped between the two gripping surfaces. _§__This embodiment utilizes a feedback system for detecting the presence of a lid 101. The drive unit 4 may be an electromagnetic drive unit and the feedback registered may be a back electromotive force. When resistance increases, the electromotive force of the drive unit changes, indicating the presence of an object/lid. This detected presence may send a 11 signal to trigger drive unit power cut-off. This closed-loop feedback system can be used alone or together with one or more ofthe other lid detection mechanisms. shWith the above described lid retaining system 1, it is possible to separate the container 100 and the lid 101 from each other as the lid 101 is held by the lid retaining system 1, such that actions, e.g. a biodispensing or bioprinting action, may be performed onto/into the sample container 100. The lid retaining system 1 eliminates human interaction with the container 100 and lid 101 before and after a bioprinting/biodispensing action into/onto the sample container, and thereby eliminates possible contamination through human error. The lid retaining system 1 also simplifies processing by automatically handling lidding and de- lidding operations. is illustrated in Figs 4 and 5, the lid retaining system may be integrated in an apparatus 10 for handling a sample container 100 having a lid 101. A biodispensing or bioprinting system 30 may comprise the apparatus 10 and further a dispensing system or printing system 31 arranged in a housing 22 ofthe apparatus §__The apparatus 10 comprises a housing 22 and a carrier 21 operable to bring a sample container from a first positon to a second position arranged in the housing 22. The housing may be comprise a clean, sterile environment. The second position is arranged inside the housing. The first position may be arranged outside the housing (as illustrated in Figs 4, 5) or inside the housing 22. Preferably, the first position is arranged outside the housing 22 and the carrier 21 arranged to bring the container 100 from the first position outside the housing into the housing and to the second position. ,§_§f__š__The lid retaining system 1 may be arranged at the second position in the housing 22 and arranged to grip a lid 101 ofthe sample container 100 when the sample container 100 is in the second position. The lid retaining system 1 may be stationary. Alternatively, at least a portion thereof could be moveable relative the container 100, for example by use of a gantry system. processor is arranged to receive a signal from the lid detection mechanism 5 of the lid retaining system 1 when a lid 101 is gripped between the first and second gripping surfaces, and when such a signal has been received arranged to actuate a movement ofthe carrier 21 and/or at least a portion of the lid retaining system 1 such that the lid 101 and the sample container 100 are separated and moved from each other.fgWhen the container 100 and lid 101 has been separated and moved from each other, actions may be performed on the sample container, such as dispensing or printing actions. Such actions may take place at the second position in the chamber (if the lid retaining system 5 with gripped lid 101 is moved away from the second position). Alternatively, such actions may take place at a third position within the housing 22, spatially separate from the second position, to which position the sample container 100 has been moved by the carrierafter the lid has been gripped by the gripping members 2a, 2b. The container 100 being moved to the third position by means ofthe carrier .yQÅgWhen dispensing or printing actions, for example by means of a 3D biodispensing/3D bioprinting system arranged in the housing 22, have been completed, the carrier 21 and/or the lid retaining system 5 are actuated such that that the lid 101 and the container 100 are moved towards each other and aligned such that the lid can be released from the lid retaining system and put back on the container again, protecting it from contamination. Thereafter, the container 100 with lid 101 is moved back to the first position by means of the carrier lSterility is a critical factor in biodispensing/bioprinting applications. With the present biodispensing/bioprinting system 30 comprising the automatic lid retaining system 5, human interaction with sample containers 100 during the removal and replacement ofthe protective lid 101 is avoided.
Fig. 6 is a method of de-lidding and lidding a sample container 100 illustrated. The method comprises to load 300 a sample container 100 with lid 101 onto a carrier 21 at a first position. By means of the carrier 21, the sample container 100 is transported 301 to a second position within a housing 22. By means ofthe lid retaining system 1 described above and arranged at the second position in the housing 22 the lid 101 of the sample container 100 is gripped 302. Upon detection 303 ofa signal that a lid 101 is gripped by the lid retaining system 1, a movement ofthe carrier 21 and/or at least a portion ofthe lid retaining system 1 is actuated 304 such that the lid 101 and the container are separated and moved from each other. Optionally, a dispensing or printing action 305 is performed into/onto the container 100. By means of the carrier 21 and/or at least a portion ofthe lid retaining system 1 the lid 101 and the container 100 are aligned 306 in the second position. Thereafter, the lid 101 is released 307 from the lid retaining system 5 such that the lid 101 is placed back onto the 13 sample container 100, and by means ofthe carrier 21 the lidded container 100 is movedto the first position.

Claims (6)

1. A biodispensning or bioprinting system (30) comprising: an apparatus (10) for handling a sample container (100) having a lid (101), the apparatus comprising: a housing (22), a carrier (21) operable to bring a sample container from a first positon to a second position arranged in the housing (22), a lid retaining system (1) arranged at said second position in the housing (22) and arranged to grip a lid (101) ofthe sample container (100) when said sample container (100) is in the second position, the lid retaining system comprising: a first and second gripping member (2a, 2b), each gripping member being provided with a gripping surface, a support arm (3, 3'), wherein the first and second gripping members (2a, 2b) are moveably connected relative to each other by said support arm (3, 3'), wherein the first and second gripping members (2a, 2b) are arranged to, in a first position relative to each other, grip a sample container lid (101) between the two gripping surfaces, such that the gripping surfaces abut against a peripheral edge/peripheral edges of the lid (101) substantially perpendicular to a major surface of said lid, the first and second gripping members (2a, 2b) being arranged to when moved away from each other from the first position towards a second position, release a lid (101) being gripped between the two gripping surfaces in the first position, a drive unit (4) operatively connected with the support arm (3, 3') and arranged to via the support arm (3, 3') move the first and second gripping members (2a, 2b) relative to each other between the first and second position, a lid detection mechanism (5) arranged to detect if/when a lid (101) is gripped between the first and second gripping surfaces of the gripping members (2a, 2b),a processor arranged to receive a signal from the lid detection mechanism (5) of the lid retaining system (1) when a lid (101) is gripped between the first and second gripping surfaces, and when such a signal has been received arranged to actuate a movement of the carrier (21) and/or at least a portion of the lid retaining system (1) such that the lid (101) and the sample container (100) are sepa rated and moved from each other,-,= -a--eiispens-š-:feg-system--er--gaffš-ntâ-ng-sgfsten=æ~ -š-švši-å-arra-figeeš--i:fe--the--heeasšng--í-.ïšâlåï-a n d a dispensing system or printing system (31) arranged in the housing (22).
2. The biodispensning or bioprinting system (30) of claim 1, wherein the drive unit (4) is selected from an electromagnetic, a pneumatic, a hydraulic, and an inductive drive unit.
3. The biodispensning or bioprinting system (30) of claim 1 or 2, wherein the lid detection mechanism (5) is selected from one or more of a vacuum probe, a touch sensitive sensor, a distance measuring sensor, a vision-based sensor and a force measuring mechanism.
4. The biodispensning or bioprinting system (30) of claim 3, wherein the lid detection mechanism (5) is a force measuring mechanism and comprises the drive unit (4), the support arm (3) and the gripping members (2a, 2b), wherein a force needed by the drive unit (4) to move the two gripping members (2a, 2b) from the second position towards the first position is registered and a change in the registered force indicates that a lid (101) has been gripped between the two gripping surfaces.
5. The biodispensning or bioprinting system (30) of any of claims 1-4, wherein the support arm (3) is a thread driven rod or a gear driven rod.
6. I\/|ethod of de-lidding and lidding a sample container (100) in a biodispensing or bioprinting system (30), the method comprising to: at a first position load (300) a sample container (100) with lid (101) onto a carrier (21), by means of the carrier (21) transporting (301) the sample container (100) to a second position within a housing (22) of the biodispensing or bioprinting system (30),by means ofthe lid retaining system (1) ofthe biodispensing or bioprinting system (30) of any of claims 1-5 arranged at said second position in the housing (22) grip (302) the lid (101) of the sample container (100), upon detection (303) of a signal that a lid (101) is gripped by the lid retaining system (1) actuate (304) a movement of the carrier (21) and/or the lid retaining system (1) such that the lid (101) and the container are separated and moved from each other, optionally performing a dispensing or printing action (305) into/onto the container (100), by means of the carrier (21) and/or the lid retaining system (1) aligning (306) the lid (101) and the container (100) in the second position, releasing (307) the lid from the lid retaining system such that the lid is placed back onto the sample container, by means of the carrier (21) moving (308) the lidded container (100) to the first position.
SE2051480A 2020-12-17 2020-12-17 A biodispensing or bioprinting system comprising an apparatus for handling a sample container having a lid SE544701C2 (en)

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SE2051480A SE544701C2 (en) 2020-12-17 2020-12-17 A biodispensing or bioprinting system comprising an apparatus for handling a sample container having a lid
PCT/SE2021/051263 WO2022132014A1 (en) 2020-12-17 2021-12-15 A lid retaining system for handling a sample container with lid

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