WO1991001365A1 - Automated laboratory apparatus - Google Patents

Automated laboratory apparatus Download PDF

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Publication number
WO1991001365A1
WO1991001365A1 PCT/US1990/004025 US9004025W WO9101365A1 WO 1991001365 A1 WO1991001365 A1 WO 1991001365A1 US 9004025 W US9004025 W US 9004025W WO 9101365 A1 WO9101365 A1 WO 9101365A1
Authority
WO
WIPO (PCT)
Prior art keywords
cells
incubator
mixture
wells
chemicals
Prior art date
Application number
PCT/US1990/004025
Other languages
French (fr)
Inventor
Christian Pieler
Franz E. Leichtfried
Original Assignee
Oncogene Science, Inc.
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 Oncogene Science, Inc. filed Critical Oncogene Science, Inc.
Priority to KR1019920700118A priority Critical patent/KR920703785A/en
Publication of WO1991001365A1 publication Critical patent/WO1991001365A1/en

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Classifications

    • 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
    • C12M1/00—Apparatus for enzymology or microbiology
    • C12M1/34—Measuring or testing with condition measuring or sensing means, e.g. colony counters
    • 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
    • C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
    • C12M33/04—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus by injection or suction, e.g. using pipettes, syringes, needles
    • 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
    • C12M23/12—Well or multiwell plates
    • 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
    • C12M41/46—Means for regulation, monitoring, measurement or control, e.g. flow regulation of cellular or enzymatic activity or functionality, e.g. cell viability
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
    • 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
    • G01N35/028—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 having reaction cells in the form of microtitration plates
    • 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
    • G01N2035/00178—Special arrangements of analysers
    • G01N2035/00207—Handling bulk quantities of analyte
    • G01N2035/00217—Handling bulk quantities of analyte involving measurement of weight
    • 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
    • G01N2035/00346—Heating or cooling arrangements
    • G01N2035/00455—Controlling humidity in analyser
    • 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
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G01N2035/00742—Type of codes
    • G01N2035/00752—Type of codes bar codes
    • 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
    • G01N2035/1032—Dilution or aliquotting
    • 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
    • G01N2035/1048—General features of the devices using the transfer device for another function
    • G01N2035/1058—General features of the devices using the transfer device for another function for mixing
    • G01N2035/106—General features of the devices using the transfer device for another function for mixing by sucking and blowing
    • 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

Definitions

  • This invention relates to laboratory apparatus and particularly to novel and highly-effective autom laboratory apparatus that enables inexpensive, reliable, high-speed testing of the effects of a very large numbe chemicals on selected substances such as collections living cells.
  • the invention relates also to labora dishes and more particularly to a novel and highly-effec laboratory dish that is tissue-culture compatible specially adapted for cooperation with automated appar to facilitate data collection.
  • the testing of the effects of various chemicals on sele samples such as collections of living cells is known. may be necessary to determine, for example, which of a l class of chemicals have any effect on the growth reproduction of, or production of a particular protein b collection of cells of a given strain and to rank effects produced. This can of course be done "manually" preparing collections of cells, adding solutions of chemicals to be investigated in various dilutions to respective cell collections, and observing the results.
  • a general purpose digital computer can be to collect and process data from the luminometer or o means for producing a signal, as those skilled in the will readily understand.
  • Laboratory dishes are of course known to those skilled the art and are in fact seemingly ubiquitous in laboratory.
  • a typical laboratory dish is formed wit plurality of wells for holding separate samples solutions, suspensions, etc., so that the solutio suspensions, etc., or components thereof, or their reacti with other materials such as collections of cells can examined or tested separately.
  • a popular and use laboratory dish is made of plastic and given a speci treatment to make it hydrophilic and compatible with livi cells and has 96 wells arranged in an 8 x 12 rectangul array.
  • An object of the invention is to remedy the deficiencie the prior art noted above and in particular to pro automated laboratory apparatus that enables inexpens reliable, and high-speed testing of the effects of a large number of chemicals on selected samples such collections of living cells.
  • Another object of the invention is to provide a novel highly-effective laboratory dish that is specially ada for cooperation with automated apparatus to facili reliable and high-speed data collection.
  • the robotic means interface between the incubator means and the handling m or between the incubator means and the detection me Preferably, however, it interfaces both between incubator means and the handling means and between incubator means the the
  • a testing method comprising the steps establishing within an incubator prescribed condit appropriate to .survival and reproduction of at least predetermined collection of living cells; storing within incubator cells from the predetermined collecti robotically transferring from the incubator to a liq handling station cells from the incubator and chemicals t when mixed with the cells to form a mixture that is t stored under the prescribed conditions produce a detecta change in the cells; mixing at the liquid handling stat the chemicals with the cells to form a mixture; robotica transferring the mixture to the incubator for incubat therein; and producing in a detector a detection signal response to said detectable change.
  • the transf between the incubator and the liquid handling station between the incubator and the detector are effec robotically; and preferably transfers both between incubator and the liquid handling station and between incubator and the detector are effected robotically.
  • a laboratory plate formed wit plurality of wells for respectively containing substanc that emit a detectable signal, the dish being tissue-cultu compatible and formed in such a manner as to block t transmission of the signal from each of the wells to othe thereof, thereby enabling detection of the signal from ea of the cells separately.
  • Fig. 1 is a plan view of the overall layout of appar constructed in accordance with the invention.
  • Fig. 2 is a perspective view of a liquid handling sta employed in accordance with the invention and forming a of the apparatus of Fig. 1.
  • Fig. 3 is a schematic flow chart giving an overall view the process of the invention.
  • Fig. 4 is a plan view of a master plate and a 32-sample rack contained on a master plate tray and employed in apparatus of Fig. 1.
  • Fig. 5 is a plan view of six cell plates contained on a c plate tray and employed in the apparatus of Fig. 1.
  • Fig. 6 is a detailed plan view showing the layout of master plate of Fig. 4.
  • Fig. 7 is a detailed plan view showing the layout o typical one of the six cell plates of Fig. 5.
  • Fig. 8 is a flow chart of a main program for controllin first arm of the liquid handling station of Fig. 2.
  • Fig. 9 is a flow chart of a subroutine employed in program of Fig. 8.
  • Fig. 10 is a flow chart of a main program for controlling second arm of the liquid handling station of Fig. 2.
  • Fig. 11 is a flow chart of a subroutine employed in t program of Fig. 10.
  • Fig. 1 shows laboratory apparatus 110 constructed accordance with the invention. It can be mounted convenience on any suitable support such as a table 111, it comprises incubator means 112 including housing m enclosing an interior space (which may be subdivided indicated below) in which conditions appropriate to surv and reproduction of at least one predetermined collectio living cells are maintained.
  • the housing 114 may comp for example four separate compartments 116, 118, 120 and each enclosing an interior space respectively represe schematically at 124, 126, 128 and 130. Each compartment provided with shelves or sets of tray guides so that e compartment is adapted to hold ten trays each of wh supports six laboratory cell plates or dishes. The tr are arranged one above another in each compartment.
  • incubator 112 further comprises a turntable 132 whereby housing 114 can be rotated so as to present successively compartments 116, 118, 120 and 122 to the work space o robot discussed below.
  • the laboratory apparatus 110 further comprises handl means such as a liquid handling station 134 and robo means 136 which for convenience is divided into a fi robot 138 and a second robot 140.
  • the robotic appara 136, and particularly the robot 140 thereof transfers ce or another sample to be exposed to various chemicals f testing purposes from the incubator 112 to the liqu handling station 134.
  • the robotic apparatus 136 a particularly the first robot 138 thereof transfers to t liquid handling station 134 ch rticals that when mixed wi the cells to form a mixture that is then stored under t prescribed incubator conditions described above produce detectable change in the cells.
  • Means is also provided for detecting the detectable chan in the cells and for producing a detection output signal response thereto.
  • t detection means preferably comprises a luminometer 162 (Fi 1) . After incubation of the cells on the cell plates with the incubator 112 for a period of preferably about s hours, the robotic apparatus 136 and particularly the seco robot 140 thereof transfers the cells to the luminomet 162.
  • the luminometer includes a photomultiplier plus mea whereby a relative scan is established between t photomultiplier and the various wells in the cell plate
  • the cell plates are of special construction as describ below, whereby a signal generated within each well can detected separately without contamination by signa generated within other wells.
  • the liquid handling station comprising mixing means 142 for mixing the chemicals with the cells explained in detail below to form the mixture which t second robot 140 of Fig. 1 then transfers to the incubat 112 for incubation therein.
  • a coupling 1 is provided communicating with the interior space 124, 128 and 130 for blowing humidified air into the inte space through an entrance port 148 and from the inte space through an exit port 150, the entrance and exit p being arranged coaxially with respect to each other and the turntable 132.
  • the incubator turntable 132 preferably made of metal or another good conductor of and irradiated from below by an infrared lamp 144 or o heating source to assist in maintaining the requi temperature of substantially 37°C.
  • the robotic apparatus 136 has a defined work space 152, 1 the work space 152 being proper to the first robot 138 the work space 154 being proper to the second robot 140.
  • the housing 114 of the incubator 112 formed with the four compartments 116, 118, 120 and 122, the turntable 132 rotates the housing so that different o of the compartments are selectively moved into the w space 154 of the second robot 140.
  • the robot 140 is t able to withdraw objects from and insert objects int selected one of the compartments 116, 118, 120, 122 appropriate times as described below.
  • Fig. 3 presents an overall view of the steps performed accordance with the invention by the apparatus of Fig. Two different preparatory operations are performed off-li
  • tissue cult pretreatment Typically such pretreatm and sterilization is done by the supplier of the dish
  • Dynatech identified above.
  • T fibronectin coating of the plates is performed. This can done using a Cetus Pro/pette cell plater. Cells contain target substances are then plated onto the 96-we microtiter plates along with a nutrient solution. The Cet Pro/pette will also perform this function.
  • Six plates th loaded with cells are placed on a tray, and the tray manually transferred to the incubator 112.
  • the incubator 112 Periodicall for example every 16 hours, the incubator 112 is ful loaded in this way so that it contains about 20,000 cel per well (enough to produce a signal that is readi detectable) x 96 wells per cell plate, x 6 cell plates p tra ⁇ _ x 10 trays per compartment, x 4 compartments p incubator.
  • the processing rate of the apparatus (on avera less than 2.5 seconds per reading, including waiting ti for changing cell plates, etc.) is such that the apparat loaded in this way will run completely unattended betwe loadings and will produce in that interval readin corresponding to about 23,000 wells.
  • the other off-line preparation relates to the chemica employed and includes storage, data file entry and vi coding.
  • a robotic bar coder may be employed facilitate this task.
  • the robotic operation preferably begins.
  • T liquid handling station loads an identical set of chemica onto each of six cell plates supported on a cell plate tra Each cell plate contains cells of a different cell li having a particular characteristic. The cells for each ce plate are contained in 96 separate wells. Thus s different cell lines can be screened simultaneously.
  • T first robot 138 loads onto the liquid handling station 134 set of 32 vials and an empty 96-well master plate support on a master plate tray.
  • the first arm 164 (Fig. 2) of t liquid handling station 134 uses the master plate 17 prepare three dilutions as explained below for e chemical.
  • the second arm 166 of the liquid handling sta 134 then transfers the chemicals from the master plat the six cell plates located on a cell plate tray.
  • second robot 140 then transfers the cell plate tray to incubator 112. After incubation the plates are proce individually in the luminometer 162 of Fig. 1.
  • the robotic operation proceed follows (Fig. 3) : The operation begins with a weighing example on a Mettler balance) of chemicals into vials dissolution in a suitable solvent such as dimethylsulfo (DMSO) or a cage molecule sold under the trade Molecusol.
  • DMSO dimethylsulfo
  • the vials containing the weighed and disso chemicals are transferred by the first robot 138 to liquid handling station 134.
  • the second robot 140 then withdraws a cell plate supporting six cell plates each containing 96 wells arra in an 8 x 12 array (Fig. 5) from the incubator 112 (Fig. places the cell plate tray onto a tray location station shown in Fig. 1, removes the lids from each plate separa and transfers them to a lid parking station 158, and transfers the tray with the six uncovered plates to liquid handling station 134.
  • the first robot 138 meanwhile transferre'd a tray with the chemical vials master plate to the liquid handling station 134 as indic above, and the liquid handling station 134 adds chemicals to the cells in the plates.
  • the second robot then transfers the tray supporting the plates to the locating station 156, replaces on the plates the lids have been temporarily stored at the lid parking station and then transfers the tray with the plates to the incub 112 .
  • Fig. 3 indicates, the plates containing the cells th treated are then incubated in the incubator 112, typical for six hours in a humidified atmosphere maintained at 37 and containing a 5% concentration by volume of CO_, explained above.
  • the second robot 140 then unloads the tray containing t six cell plates to the tray locating station 156, remov the lids from the cell plates, discharges the lids into chute 160, and moves the tray containing the cell plates the plate washer 161.
  • the plate washer 161 washes away t chemicals and the robot 140 moves the plate to the reage addition station 165, which adds one or more addition chemicals if needed to facilitate the generation of a sign representative of the changes effected in the cells virtue of the addition of the first group of chemicals.
  • the second chemical or set of chemicals may include a detergent to rupture the cell membranes so that t contents of the cells are disgorged and a chemical th reacts with the contents to generate a detectable signal.
  • the second robot 140 then transfers the plates to detection device selected in accordance with the nature the signal to be generated. For example, if the signal be generated is a light signal, the second robot 1 transfers the plates into the luminometer 162. A pla turntable 163 is provided upon which the second robot 1 places a plate to enable reorientation of the plate so th it can be properly accommodated in the various pieces equipment (luminometer 162, etc.). The luminometer 1 measures a bioluminescent signal, which is supplied to computer for data processing. After the scanning of ea cell plate by the luminometer 162 is completed, the se robot 140 removes that plate from the luminometer 162 discards it into the chute 160.
  • the signal be generated is a light signal
  • a pla turntable 163 is provided upon which the second robot 1 places a plate to enable reorientation of the plate so th it can be properly accommodated in the various pieces equipment (luminometer 162, etc.).
  • the luminometer 1 measures a bioluminescent signal, which is supplied to computer for data
  • Fig. 4 sho master plate tray 168 holding a 96-well master plate 170 a 32-sample vial rack 172. See also Fig. 2.
  • Both the first and the second arms 164 and 166 of the li handling station 134 are independently movable in t dimensions X, Y and Z.
  • the arm 164 can approach any of vials in the 32-sample vial rack and any of the wells in 96-well master plate.
  • the first arm 164 is equipped two nozzles 164a and 164b that are close enough to other that, with the first arm 164 in a given position, nozzles 164a and 164b can cooperate with the same wel the master plate 170 or vial of the 32-sample vial rack
  • the nozzles 164a and 164b are separately controllable aspirate or dispense. The nozzles are made to enter first vial of the 32-sample vial rack, and one nozzle withdraws a sample.
  • the arm 164 then moves so that the nozzles 164a and 164b juxtaposed to the well of the master plate 170 lab sample 1, first dilution (see Fig. 6).
  • the first sa aspirated from the 32-sample vial rack is then dispe into the given well by the one nozzle 164a, and a diluen dispensed by the other nozzle 164b to form the f dilution of the first sample.
  • the arm 164 then moves nozzles 164a and 164b to the well labeled sample 1, se dilution, and the nozzle 164b dispenses only diluent.
  • Th the arm 164 moves the nozzles 164a and 164b to the we labeled sample 1, third dilution, and the nozzle 164b aga dispenses only diluent.
  • Sample 1 contained in vial 1 of the 32-sample vial rack Fig. 4 is thus deposited by the first arm 164 of the liqu handling station 134 in a first dilution as shown by hea shading in the lower right well of the master plate shown Fig. 6, and at this point diluent only is in the sample second and third dilution wells, which are respective indicated by progressively lighter shading.
  • sample 2 contained in vial 2 of the 32-samp vial rack 172 shown in Fig. 4 is distributed with dilue into the sample 2, first dilution, well shown to the left the well holding sample 1, first dilution in Fig. 6, a only diluent is added at this point to wells labeled sam
  • sample 3 the 32-sample vial rack 172 (Fig. 4) is distributed in first dilution to the left of sample 2, first dilution,
  • Fig. 4 is distributed in a first dilution to the left sample 3, first dilution, in Fig. 6; and only diluent is this point added to the wells of Fig. 6 labeled samples and 4, second dilution, and samples 3 and 4, third diluti
  • the second arm 166 of the liq handling station 134 then moves to a first position wher its four nozzles 174, 176, 178 ' and 180 (Fig. 2) respectiv enter the wells containing sample 1, first dilution; sam 2, first dilution; sample 3, first dilution; and sampl first dilution.
  • the nozzles thoroughly mix the content these wells by aspirating and dispensing the conten plurality of times, for example three times.
  • An ali portion of the thoroughly mixed contents in the f dilution is then transferred by the second arm 166 to w labeled samples 1-4, second dilution, and dispensed thr the nozzles 174-180.
  • the second arm 166 of the li handling station 134 then moves the nozzles 174-180 to cell plate of Fig. 7 and dispenses the first dilu through the respective nozzles 174-180 into 16 wells lab sample 1, first dilution; sample 2, first dilution; sa
  • the cell plate of Fig. 7 is representative of the six plates of Fig. 5, and the second arm 166 dispenses in same manner into 16 wells in each of the six cell plates
  • the second arm 166 then moves the nozzles 174-180 respective positions corresponding to the wells of master plate containing sample 1, second dilution; sampl second dilution; sample 3, second dilution; and sampl second dilution. It will be recalled that up to now t wells contain only diluent.
  • the nozzles 174-180 respectively dispense the first dilution of samples 1-4 these wells and again cause thorough mixing by repe aspiration and ejection. This forms the second dilution
  • the second arm 166 aspirates an aliquot portion of thoroughly mixed second dilution, moves to the cell p wells of Fig. 7 identified as containing second dilution the first four samples, dispenses into those 16 wells, then dispenses in the same manner into a corresponding wells in each of the other five cell plates in Fig. 5. Th each of the six cell plates shown in Fig. 5 is loaded wi four replicates of samples 1-4, second dilution, illustrated in Fig. 7.
  • the second arm 166 then moves back to the master plate Fig. 6, dispenses the second dilutions of samples 1 through nozzles 174-180, respectively, into the thi dilution wells of samples 1-4, so that it mixes with dilue already there, and thoroughly mixes by aspiration a ejection to form the third dilution, which it th distributes to the 16 wells of the cell plate of Fig. 7 t are identified as containing the third dilution of sampl 1-4. It then dispenses in the same manner into the ot five cell plates.
  • each c plate is filled as indicated in Fig. 7, whereby each eight samples is represented in three different dilutio each dilution of each sample being replicated four times each of six cell plates.
  • the amounts of diluent selected relative to the amounts of the samples (and of nutrient solution originally added) so that the diluti differ from one to the next by a factor of, say, 10, order to determine the effects of the samples (chemicals) the cells over a wide range of concentrations.
  • the rea for the replications of each concentration in the c plates is to provide more meaningful statistical data t would be obtainable if each dilution of each sample occur only once.
  • Figs. 8-11 are flow charts showing the manner in which first arm 164 and second arm 166 of the liquid hand station 134 are controlled and disclosing also the rin and shaking steps.
  • the main program for the first arm 164 initialized at step 186.
  • the program then moves to the machine configuration at step 188.
  • the pro requests the 32-sample vial rack 172 and master plate contained on the master plate tray 168 (Fig. 4) . It waits at step 192 for a go signal from the robotic appar 136.
  • the go signal is generated by the robotic appar 136 as programmed by its supplier.
  • the request si generated at step 190 is canceled at step 194.
  • the samples are then processed at step 196 as shown in subroutine of Fig. 9 discussed below.
  • program waits for the second arm, which performs s discussed below in connection with Figs. 10 and 11. If program stop signal is detected at step 200, the pro terminates at step 202. Otherwise, it loops back to 190 and repeats steps 192-200, including the subrou referred to at step 196, until the program stop signa detected.
  • the subroutine referred to at step 196 is shown in detai Fig. 9.
  • the subroutine begins at step 204, at which first arm 164 gets a sample from the 32-sample vial rack and transfers it to the master plate 170 in the ma outlined above.
  • the diluent is added and mixing is done.
  • the diluent is loaded into t more wells as specified above.
  • step 212 the program first sets the go sign for the second arm 166 at step 214, thereby putting t second arm 166 into play as outlined below, and th proceeds to step 212.
  • the program sets t stop signal for the arm 166 and causes the arm 164 to rin 0 the nozzles 164a and 164b at the wash station 213 of Fig. If 32 samples have been processed as determined at step 21 the program returns to the main program of Fig. 8 indicated at step 218. If 32 samples have not yet be processed as determined at step 216, the program loops ba 5 to step 204 and repeats.
  • Fig. 10 shows the main program for the second arm 166 of t liquid handling station 134.
  • the second arm 166 initialized at step 220.
  • the routine caus 0 the apparatus to process the samples and load the ce plates. This is done in accordance with the subroutine Fig. 11 discussed below.
  • the program st signal is detected, the program terminates as indicated 226. If the program stop signal is not detected, t 5 program loops back to step 222 and repeats until the progr stop signal is detected.
  • Fig. 11 shows step 222 of the master program of Fig. 10 detail.
  • the program enters the subroutine of Fig. 11 Q step 228, which causes the four nozzles 174-180 of t second arm 166 to mix four samples in the master plate a pick an aliquot portion thereof. If at step 230 it determined that three dilutions have been done, the progr proceeds to step 232. If at step 230 it is determined th 5 three dilutions have not been done, the program proce first to step 234 in which it causes the transfer of aliquot portion into the next well and then to step 232. step 232, the program causes the nozzles 174-180 of second arm 166 to dispense diluted samples into the c plates.
  • the program causes the nozzles 174- to move to the wash station 237 (Fig. 2).
  • program causes the plate shaker 184 of Fig. 1 to switch for fifteen seconds, and the nozzles 174-180 are washed station 237.
  • step 240 it is determined that the c plates are not all filled, the subroutine of Fig. 11 lo back to step 228 and repeats until it is determined at s 240 that all of the cell plates have been filled.
  • the program causes the apparatus to request exchange of cell plates at step 242.
  • second arm 166 waits for the go si ⁇ nal from the robo apparatus 136. If it is determined at step 246 that samples have not yet been processed, the program loops b to step 228 and repeats. When it is determined at step that 32 samples have been processed, the program returns the main program of Fig. 10 as indicated at step 248.
  • an opaque checkerboard grid ca be employed to define for example square compartments tha respectively surround each of the wells. Such grid extend from the top to the bottom of the dish and the dishes ca otherwise be made of a conventional material includin translucent or transparent plastic.
  • the wells can be flushed out fro above preparatory to adding the second group of chemical referred to above (e.g., a detergent to rupture the cel membranes and chemicals to react with the contents of th cells) without washing away the cells.
  • the second group of chemical referred to above e.g., a detergent to rupture the cel membranes and chemicals to react with the contents of th cells
  • the botto of the wells are formed with a filter having a pore siz smaller than the cells so that the wells can be washed by liquid entering through the tops of the wells and exiti through the bottoms.
  • the filters retain the cells in th respective wells during the washing.
  • the filters may b made of the same plastic as the remainder of the plate or o a different substance.
  • novel and highly-effective automated laboratory appar that enables inexpensive, reliable, and high-speed tes of the effects of a very large number of chemical selected substances such as collections of living ce
  • tissue-culture compatible and specially adapted cooperation with automated apparatus to facilitate collection are also provided in accordance with the inventi novel and highly-effective laboratory dish that tissue-culture compatible and specially adapted cooperation with automated apparatus to facilitate collection.
  • the number of dilut per chemical, the number of cell plates per tray, the nu of incubator compartments per incubator, and the numbe discrete robots constituting the robotic apparatus 136 be varied within wide limits, and the cell lines or o samples employed as well as the chemicals employed ca varied virtually without limit.
  • the rob apparatus 136 can facilitate cooperation between incubator and liquid handling station, between the incub and luminometer, or between the incubator and both liquid handling station and the luminometer.
  • the plates in accordance with the invention can be enti opaque or can be partly translucent or transparent, opaque to the extent necessary to prevent a signal suc light from traveling from one well to another. Many o modifications of the preferred embodiments of the inven disclosed herein will readily occur to those skilled in art. The invention should therefore be construed including all apparatus, methods and products that within the scope of the appended claims.

Abstract

Laboratory apparatus (110) comprises an incubator (112) formed with a housing (114) substantially enclosing an interior space. The incubator maintains in the interior space prescribed conditions appropriate to survival and reproduction of at least one predetermined collection of living cells. A liquid handling station (134) is provided, and a robot (136) transfers to the liquid handling station (134) cells from the incubator (112) and chemicals that when mixed with the cells to form a mixture that is then stored under the prescribed conditions produce a detectable change in the cells. The liquid handling station (134) includes nozzles for mixing the chemicals with the cells to form a mixture, and the robot transfers the mixture to the incubator (112) for incubation therein. The robot transfers the cells after their incubation to a luminometer (162) that produces a detection output signal in response to the detectable change in the cells.

Description

AUTOMATED LABORATORY APPARATUS
Background of the Invention
This invention relates to laboratory apparatus and particularly to novel and highly-effective autom laboratory apparatus that enables inexpensive, reliable, high-speed testing of the effects of a very large numbe chemicals on selected substances such as collections living cells. The invention relates also to labora dishes and more particularly to a novel and highly-effec laboratory dish that is tissue-culture compatible specially adapted for cooperation with automated appar to facilitate data collection.
The testing of the effects of various chemicals on sele samples such as collections of living cells is known. may be necessary to determine, for example, which of a l class of chemicals have any effect on the growth reproduction of, or production of a particular protein b collection of cells of a given strain and to rank effects produced. This can of course be done "manually" preparing collections of cells, adding solutions of chemicals to be investigated in various dilutions to respective cell collections, and observing the results.
In practice, such a manual procedure is not merely ted but impractical in view of the astronomical number combinations of cell strains and chemicals that one w like to test. Moreover, the entire procedure requ multiple handling of the cells and chemicals, since t cells, which must be kept alive for an extended period order to maximize the information available from t testing, need to be incubated under closely controll conditions, and the chemicals may need to be dissolved a prepared in multiple dilutions immediately before t testing begins.
Very sophisticated laboratory apparatus facilitating a hi degree of automation is of course known to those skilled the art and available for testing, material handling, da processing, and general laboratory purposes. For example, robotic system with interchangeable hands is disclosed in U.S. patent to Hutchins et al. No. 4,488,241. This pate is incorporated herein by reference pursuant to MP 608.01(b) (B) . Zymark Corporation of Hopkinto Massachusetts, markets a robotic system model Zymate II th incorporates certain features disclosed in the paten Similarly, Tecan AG of Landhaus Holgass, Switzerlan markets a liquid handling station model RSP 5052 that can programmed to prepare various dilutions of chemicals f testing purposes. Other sophisticated equipment that well known to those skilled in the art is availab commercially as shown in the following table:
TABLE
Figure imgf000004_0001
In addition, a general purpose digital computer can be to collect and process data from the luminometer or o means for producing a signal, as those skilled in the will readily understand.
All of the commercially available devices disclosed a are suitable for use in accordance with the pre invention, and of course other systems available now or be made available in the future can be substituted for t identified bo e so long as they are capable of perfor the functions required by the invention as outlined belo
Individually the various pieces of sophisticated laborat equipment known to those skilled in the art and commercia available make significant contributions to the efficie and repeatability of various laboratory procedur Collectively, however, in conventional practice they amo to no more than the sum of the individual pieces equipment, since the interface between the various pieces equipment is not fully automated; that is, each piece equipment performs only its conventional function, laboratory personnel must still tend the equipment complete the necessary interfacing.
Laboratory dishes are of course known to those skilled the art and are in fact seemingly ubiquitous in laboratory. A typical laboratory dish is formed wit plurality of wells for holding separate samples solutions, suspensions, etc., so that the solutio suspensions, etc., or components thereof, or their reacti with other materials such as collections of cells can examined or tested separately. A popular and use laboratory dish is made of plastic and given a speci treatment to make it hydrophilic and compatible with livi cells and has 96 wells arranged in an 8 x 12 rectangul array.
Conventional laboratory dishes that are tissue-cultu compatible isolate the contents of each well from t contents of all other wells but do not provide sign isolation as explained below and therefore do not le themselves to the reliable, high-speed collection of certa kinds of data. For example, a light signal produced in first well may travel through the dish, which translucent, and enter a second well, so that a luminomet juxtaposed to the second well detects light generated n only there but also in the first well. This leads confusion about the properties of the materials contained the two wells.
Summary of the Invention
An object of the invention is to remedy the deficiencie the prior art noted above and in particular to pro automated laboratory apparatus that enables inexpens reliable, and high-speed testing of the effects of a large number of chemicals on selected samples such collections of living cells.
Another object of the invention is to provide a novel highly-effective laboratory dish that is specially ada for cooperation with automated apparatus to facili reliable and high-speed data collection.
Other objects of the invention are:
To provide laboratory apparatus comprising a number automated components and means whereby the interface bet any two cooperating components is automated;
To provide laboratory apparatus that can run complet unattended for extended periods, thereby freeing laborat personnel to devote more time to the performance of creat and other high-level functions than would otherwise possible;
To provide automated apparatus that provides grea reliability and repeatability of various laborat procedures including the preparation of materials testing, the performance of testing, and the collection data; To provide a laboratory plate or dish that is tissue-cultu compatible, has a plurality of wells for holding separa cell samples, and is adapted to provide signal isolati between wells, whereby a signal generated in one well prevented from penetrating into another well; and
To provide a laboratory plate or dish that is tissue-cultu compatible, has a plurality of wells for holding separa cell samples, and is adapted to provide signal isolati between wells, whereby signals generated within each we can be detected separately without contamination by signa generated within other wells.
The foregoing and other objects of the invention a attained in accordance with a first aspect thereof by t provision of laboratory apparatus comprising: incubat means formed with housing means substantially enclosing interior space, the incubator means maintaining in t interior space prescribed conditions appropriate to surviv and reproduction of at least one predetermined collection living cells; handling means; detection means; and robot means; the robotic means transferring to the handling mea cells from the incubator means and chemicals that when mix with the cells to form a mixture that* is then stored und the prescribed conditions produce a detectable change in t cells; the handling means comprising mixing means for mixi the chemicals with the cells to form a mixture; the robot means transferring the mixture to the incubator means f incubation therein; and the detection means receiving t mixture after the incubation and producing a detecti signal in response to said detectable change. In accordance with the invention, the robotic means interface between the incubator means and the handling m or between the incubator means and the detection me Preferably, however, it interfaces both between incubator means and the handling means and between incubator means the the detection means.
In accordance with an independent aspect of the inven there is provided a testing method comprising the steps establishing within an incubator prescribed condit appropriate to .survival and reproduction of at least predetermined collection of living cells; storing within incubator cells from the predetermined collecti robotically transferring from the incubator to a liq handling station cells from the incubator and chemicals t when mixed with the cells to form a mixture that is t stored under the prescribed conditions produce a detecta change in the cells; mixing at the liquid handling stat the chemicals with the cells to form a mixture; robotica transferring the mixture to the incubator for incubat therein; and producing in a detector a detection signal response to said detectable change.
As in the case of the apparatus of the invention, accordance with the method of the invention the transf between the incubator and the liquid handling station between the incubator and the detector are effec robotically; and preferably transfers both between incubator and the liquid handling station and between incubator and the detector are effected robotically.
In accordance with another independent aspect of invention there is provided a laboratory plate formed wit plurality of wells for respectively containing substanc that emit a detectable signal, the dish being tissue-cultu compatible and formed in such a manner as to block t transmission of the signal from each of the wells to othe thereof, thereby enabling detection of the signal from ea of the cells separately.
The foregoing and other objects, features, and advantages the invention may be better understood from a considerati of the following detailed description of the preferr embodiments thereof, in conjunction with the append figures of the drawing.
Brief Description of the Figures
Fig. 1 is a plan view of the overall layout of appar constructed in accordance with the invention.
Fig. 2 is a perspective view of a liquid handling sta employed in accordance with the invention and forming a of the apparatus of Fig. 1.
Fig. 3 is a schematic flow chart giving an overall view the process of the invention.
Fig. 4 is a plan view of a master plate and a 32-sample rack contained on a master plate tray and employed in apparatus of Fig. 1.
Fig. 5 is a plan view of six cell plates contained on a c plate tray and employed in the apparatus of Fig. 1.
Fig. 6 is a detailed plan view showing the layout of master plate of Fig. 4.
Fig. 7 is a detailed plan view showing the layout o typical one of the six cell plates of Fig. 5.
Fig. 8 is a flow chart of a main program for controllin first arm of the liquid handling station of Fig. 2.
Fig. 9 is a flow chart of a subroutine employed in program of Fig. 8. Fig. 10 is a flow chart of a main program for controlling second arm of the liquid handling station of Fig. 2.
Fig. 11 is a flow chart of a subroutine employed in t program of Fig. 10.
Detailed Description of the Invention
Fig. 1 shows laboratory apparatus 110 constructed accordance with the invention. It can be mounted convenience on any suitable support such as a table 111, it comprises incubator means 112 including housing m enclosing an interior space (which may be subdivided indicated below) in which conditions appropriate to surv and reproduction of at least one predetermined collectio living cells are maintained. The housing 114 may comp for example four separate compartments 116, 118, 120 and each enclosing an interior space respectively represe schematically at 124, 126, 128 and 130. Each compartment provided with shelves or sets of tray guides so that e compartment is adapted to hold ten trays each of wh supports six laboratory cell plates or dishes. The tr are arranged one above another in each compartment. prescribed conditions maintained within the incuba compartments 116, 118, 120 and 122 in accordance with invention may include for example a temperature substantially 37°C, a relative humidity of nearly 100%, a 5% concentration by volume of carbon dioxide (CO_) . incubator 112 further comprises a turntable 132 whereby housing 114 can be rotated so as to present successively compartments 116, 118, 120 and 122 to the work space o robot discussed below.
The laboratory apparatus 110 further comprises handl means such as a liquid handling station 134 and robo means 136 which for convenience is divided into a fi robot 138 and a second robot 140. The robotic appara 136, and particularly the robot 140 thereof, transfers ce or another sample to be exposed to various chemicals f testing purposes from the incubator 112 to the liqu handling station 134. The robotic apparatus 136 a particularly the first robot 138 thereof transfers to t liquid handling station 134 ch rticals that when mixed wi the cells to form a mixture that is then stored under t prescribed incubator conditions described above produce detectable change in the cells.
Means is also provided for detecting the detectable chan in the cells and for producing a detection output signal response thereto. For example, where the detectable chan in the cells involves the production of photons, t detection means preferably comprises a luminometer 162 (Fi 1) . After incubation of the cells on the cell plates with the incubator 112 for a period of preferably about s hours, the robotic apparatus 136 and particularly the seco robot 140 thereof transfers the cells to the luminomet 162. The luminometer includes a photomultiplier plus mea whereby a relative scan is established between t photomultiplier and the various wells in the cell plate The cell plates are of special construction as describ below, whereby a signal generated within each well can detected separately without contamination by signa generated within other wells.
As Fig. 2 shows, the liquid handling station compris mixing means 142 for mixing the chemicals with the cells explained in detail below to form the mixture which t second robot 140 of Fig. 1 then transfers to the incubat 112 for incubation therein. In order to maintain in the incubator 112 a controlled flow of warm, humid a containing the desired concentration of CO-, a coupling 1 is provided communicating with the interior space 124, 128 and 130 for blowing humidified air into the inte space through an entrance port 148 and from the inte space through an exit port 150, the entrance and exit p being arranged coaxially with respect to each other and the turntable 132. The incubator turntable 132 preferably made of metal or another good conductor of and irradiated from below by an infrared lamp 144 or o heating source to assist in maintaining the requi temperature of substantially 37°C.
The robotic apparatus 136 has a defined work space 152, 1 the work space 152 being proper to the first robot 138 the work space 154 being proper to the second robot 140. indicated above, the housing 114 of the incubator 112 formed with the four compartments 116, 118, 120 and 122, the turntable 132 rotates the housing so that different o of the compartments are selectively moved into the w space 154 of the second robot 140. The robot 140 is t able to withdraw objects from and insert objects int selected one of the compartments 116, 118, 120, 122 appropriate times as described below.
Fig. 3 presents an overall view of the steps performed accordance with the invention by the apparatus of Fig. Two different preparatory operations are performed off-li To prepare the cells, 96-well microtiter dishes or pla described in detail below are given a tissue cult pretreatment and sterilized. Typically such pretreatm and sterilization is done by the supplier of the dish One such supplier is Dynatech, identified above. T fibronectin coating of the plates is performed. This can done using a Cetus Pro/pette cell plater. Cells contain target substances are then plated onto the 96-we microtiter plates along with a nutrient solution. The Cet Pro/pette will also perform this function. Six plates th loaded with cells are placed on a tray, and the tray manually transferred to the incubator 112. Periodicall for example every 16 hours, the incubator 112 is ful loaded in this way so that it contains about 20,000 cel per well (enough to produce a signal that is readi detectable) x 96 wells per cell plate, x 6 cell plates p tra^ _ x 10 trays per compartment, x 4 compartments p incubator. The processing rate of the apparatus (on avera less than 2.5 seconds per reading, including waiting ti for changing cell plates, etc.) is such that the apparat loaded in this way will run completely unattended betwe loadings and will produce in that interval readin corresponding to about 23,000 wells.
The other off-line preparation relates to the chemica employed and includes storage, data file entry and vi coding. Optionally a robotic bar coder may be employed facilitate this task.
At this point the robotic operation preferably begins.
The operation may be briefly summarized as follows: T liquid handling station loads an identical set of chemica onto each of six cell plates supported on a cell plate tra Each cell plate contains cells of a different cell li having a particular characteristic. The cells for each ce plate are contained in 96 separate wells. Thus s different cell lines can be screened simultaneously. T first robot 138 loads onto the liquid handling station 134 set of 32 vials and an empty 96-well master plate support on a master plate tray. The first arm 164 (Fig. 2) of t liquid handling station 134 uses the master plate 17 prepare three dilutions as explained below for e chemical. The second arm 166 of the liquid handling sta 134 then transfers the chemicals from the master plat the six cell plates located on a cell plate tray. second robot 140 then transfers the cell plate tray to incubator 112. After incubation the plates are proce individually in the luminometer 162 of Fig. 1.
In somewhat tiore detail, the robotic operation proceed follows (Fig. 3) : The operation begins with a weighing example on a Mettler balance) of chemicals into vials dissolution in a suitable solvent such as dimethylsulfo (DMSO) or a cage molecule sold under the trade Molecusol. The vials containing the weighed and disso chemicals are transferred by the first robot 138 to liquid handling station 134.
The second robot 140 then withdraws a cell plate supporting six cell plates each containing 96 wells arra in an 8 x 12 array (Fig. 5) from the incubator 112 (Fig. places the cell plate tray onto a tray location station shown in Fig. 1, removes the lids from each plate separa and transfers them to a lid parking station 158, and transfers the tray with the six uncovered plates to liquid handling station 134. The first robot 138 meanwhile transferre'd a tray with the chemical vials master plate to the liquid handling station 134 as indic above, and the liquid handling station 134 adds chemicals to the cells in the plates. The second robot then transfers the tray supporting the plates to the locating station 156, replaces on the plates the lids have been temporarily stored at the lid parking station and then transfers the tray with the plates to the incub 112 .
As Fig. 3 indicates, the plates containing the cells th treated are then incubated in the incubator 112, typical for six hours in a humidified atmosphere maintained at 37 and containing a 5% concentration by volume of CO_, explained above.
The second robot 140 then unloads the tray containing t six cell plates to the tray locating station 156, remov the lids from the cell plates, discharges the lids into chute 160, and moves the tray containing the cell plates the plate washer 161. The plate washer 161 washes away t chemicals and the robot 140 moves the plate to the reage addition station 165, which adds one or more addition chemicals if needed to facilitate the generation of a sign representative of the changes effected in the cells virtue of the addition of the first group of chemicals. F example the second chemical or set of chemicals may inclu a detergent to rupture the cell membranes so that t contents of the cells are disgorged and a chemical th reacts with the contents to generate a detectable signal.
The second robot 140 then transfers the plates to detection device selected in accordance with the nature the signal to be generated. For example, if the signal be generated is a light signal, the second robot 1 transfers the plates into the luminometer 162. A pla turntable 163 is provided upon which the second robot 1 places a plate to enable reorientation of the plate so th it can be properly accommodated in the various pieces equipment (luminometer 162, etc.). The luminometer 1 measures a bioluminescent signal, which is supplied to computer for data processing. After the scanning of ea cell plate by the luminometer 162 is completed, the se robot 140 removes that plate from the luminometer 162 discards it into the chute 160.
The process outlined above is set out in still gre detail below in connection with Figs. 4-7. Fig. 4 sho master plate tray 168 holding a 96-well master plate 170 a 32-sample vial rack 172. See also Fig. 2. The 32 v formed in the 32-sample vial rack 172 and the sam (chemicals) respectively contained in those vials arranged from 1. to 32 in the order shown in Fig. 4.
Both the first and the second arms 164 and 166 of the li handling station 134 are independently movable in t dimensions X, Y and Z. The arm 164 can approach any of vials in the 32-sample vial rack and any of the wells in 96-well master plate. The first arm 164 is equipped two nozzles 164a and 164b that are close enough to other that, with the first arm 164 in a given position, nozzles 164a and 164b can cooperate with the same wel the master plate 170 or vial of the 32-sample vial rack The nozzles 164a and 164b are separately controllable aspirate or dispense. The nozzles are made to enter first vial of the 32-sample vial rack, and one nozzle withdraws a sample.
The arm 164 then moves so that the nozzles 164a and 164b juxtaposed to the well of the master plate 170 lab sample 1, first dilution (see Fig. 6). The first sa aspirated from the 32-sample vial rack is then dispe into the given well by the one nozzle 164a, and a diluen dispensed by the other nozzle 164b to form the f dilution of the first sample. The arm 164 then moves nozzles 164a and 164b to the well labeled sample 1, se dilution, and the nozzle 164b dispenses only diluent. Th the arm 164 moves the nozzles 164a and 164b to the we labeled sample 1, third dilution, and the nozzle 164b aga dispenses only diluent.
Sample 1 contained in vial 1 of the 32-sample vial rack Fig. 4 is thus deposited by the first arm 164 of the liqu handling station 134 in a first dilution as shown by hea shading in the lower right well of the master plate shown Fig. 6, and at this point diluent only is in the sample second and third dilution wells, which are respective indicated by progressively lighter shading.
Similarly, sample 2 contained in vial 2 of the 32-samp vial rack 172 shown in Fig. 4 is distributed with dilue into the sample 2, first dilution, well shown to the left the well holding sample 1, first dilution in Fig. 6, a only diluent is added at this point to wells labeled sam
2, second and third dilutions. In the same way, sample 3 the 32-sample vial rack 172 (Fig. 4) is distributed in first dilution to the left of sample 2, first dilution,
Fig. 6; sample 4, completing the left column of vials
Fig. 4, is distributed in a first dilution to the left sample 3, first dilution, in Fig. 6; and only diluent is this point added to the wells of Fig. 6 labeled samples and 4, second dilution, and samples 3 and 4, third diluti
With four wells in the right half of the bottom row of F 6 thus respectively loaded with four different samples i first .dilution, and with diluent in the remaining ei wells as mentioned above, the second arm 166 of the liq handling station 134 then moves to a first position wher its four nozzles 174, 176, 178 'and 180 (Fig. 2) respectiv enter the wells containing sample 1, first dilution; sam 2, first dilution; sample 3, first dilution; and sampl first dilution. The nozzles thoroughly mix the content these wells by aspirating and dispensing the conten plurality of times, for example three times. An ali portion of the thoroughly mixed contents in the f dilution is then transferred by the second arm 166 to w labeled samples 1-4, second dilution, and dispensed thr the nozzles 174-180. The second arm 166 of the li handling station 134 then moves the nozzles 174-180 to cell plate of Fig. 7 and dispenses the first dilu through the respective nozzles 174-180 into 16 wells lab sample 1, first dilution; sample 2, first dilution; sa
3, first dilution; and sample 4, first dilution. Eac the nozzles 174-180 aspirates and dispenses a diffe sample.
The cell plate of Fig. 7 is representative of the six plates of Fig. 5, and the second arm 166 dispenses in same manner into 16 wells in each of the six cell plates
The second arm 166 then moves the nozzles 174-180 respective positions corresponding to the wells of master plate containing sample 1, second dilution; sampl second dilution; sample 3, second dilution; and sampl second dilution. It will be recalled that up to now t wells contain only diluent. The nozzles 174-180 respectively dispense the first dilution of samples 1-4 these wells and again cause thorough mixing by repe aspiration and ejection. This forms the second dilution
The second arm 166 aspirates an aliquot portion of thoroughly mixed second dilution, moves to the cell p wells of Fig. 7 identified as containing second dilution the first four samples, dispenses into those 16 wells, then dispenses in the same manner into a corresponding wells in each of the other five cell plates in Fig. 5. Th each of the six cell plates shown in Fig. 5 is loaded wi four replicates of samples 1-4, second dilution, illustrated in Fig. 7.
The second arm 166 then moves back to the master plate Fig. 6, dispenses the second dilutions of samples 1 through nozzles 174-180, respectively, into the thi dilution wells of samples 1-4, so that it mixes with dilue already there, and thoroughly mixes by aspiration a ejection to form the third dilution, which it th distributes to the 16 wells of the cell plate of Fig. 7 t are identified as containing the third dilution of sampl 1-4. It then dispenses in the same manner into the ot five cell plates.
The process described above is repeated until each c plate is filled as indicated in Fig. 7, whereby each eight samples is represented in three different dilutio each dilution of each sample being replicated four times each of six cell plates. The amounts of diluent selected relative to the amounts of the samples (and of nutrient solution originally added) so that the diluti differ from one to the next by a factor of, say, 10, order to determine the effects of the samples (chemicals) the cells over a wide range of concentrations. The rea for the replications of each concentration in the c plates is to provide more meaningful statistical data t would be obtainable if each dilution of each sample occur only once.
The process described above is essentially complete but the sake of simplicity omits certain steps including rins steps that are performed in order to prevent uninte cross-mixing of chemicals and shaking steps that performed to ensure homogeneity.
Figs. 8-11 are flow charts showing the manner in which first arm 164 and second arm 166 of the liquid hand station 134 are controlled and disclosing also the rin and shaking steps.
In Fig. 8, the main program for the first arm 164 initialized at step 186. The program then moves to the machine configuration at step 188. At step 190, the pro requests the 32-sample vial rack 172 and master plate contained on the master plate tray 168 (Fig. 4) . It waits at step 192 for a go signal from the robotic appar 136. The go signal is generated by the robotic appar 136 as programmed by its supplier. When the go signa received from the robotic apparatus 136, the request si generated at step 190 is canceled at step 194. The samples are then processed at step 196 as shown in subroutine of Fig. 9 discussed below. At step 198 program waits for the second arm, which performs s discussed below in connection with Figs. 10 and 11. If program stop signal is detected at step 200, the pro terminates at step 202. Otherwise, it loops back to 190 and repeats steps 192-200, including the subrou referred to at step 196, until the program stop signa detected.
The subroutine referred to at step 196 is shown in detai Fig. 9. The subroutine begins at step 204, at which first arm 164 gets a sample from the 32-sample vial rack and transfers it to the master plate 170 in the ma outlined above. At step 206, the diluent is added and mixing is done. At step 208, the diluent is loaded into t more wells as specified above. If four samples have not y been prepared in this manner as determined at step 210, t program moves to step 212, and if four samples are ready 5 determined at step 210, the program first sets the go sign for the second arm 166 at step 214, thereby putting t second arm 166 into play as outlined below, and th proceeds to step 212. At step 212, the program sets t stop signal for the arm 166 and causes the arm 164 to rin 0 the nozzles 164a and 164b at the wash station 213 of Fig. If 32 samples have been processed as determined at step 21 the program returns to the main program of Fig. 8 indicated at step 218. If 32 samples have not yet be processed as determined at step 216, the program loops ba 5 to step 204 and repeats.
Fig. 10 shows the main program for the second arm 166 of t liquid handling station 134. The second arm 166 initialized at step 220. At step 222, the routine caus 0 the apparatus to process the samples and load the ce plates. This is done in accordance with the subroutine Fig. 11 discussed below. If at step 224 the program st signal is detected, the program terminates as indicated 226. If the program stop signal is not detected, t 5 program loops back to step 222 and repeats until the progr stop signal is detected.
Fig. 11 shows step 222 of the master program of Fig. 10 detail. The program enters the subroutine of Fig. 11 Q step 228, which causes the four nozzles 174-180 of t second arm 166 to mix four samples in the master plate a pick an aliquot portion thereof. If at step 230 it determined that three dilutions have been done, the progr proceeds to step 232. If at step 230 it is determined th 5 three dilutions have not been done, the program proce first to step 234 in which it causes the transfer of aliquot portion into the next well and then to step 232. step 232, the program causes the nozzles 174-180 of second arm 166 to dispense diluted samples into the c plates. At step 236, the program causes the nozzles 174- to move to the wash station 237 (Fig. 2). At step 238, program causes the plate shaker 184 of Fig. 1 to switch for fifteen seconds, and the nozzles 174-180 are washed station 237. If at step 240 it is determined that the c plates are not all filled, the subroutine of Fig. 11 lo back to step 228 and repeats until it is determined at s 240 that all of the cell plates have been filled. When step 240 it is determined that the cell plates have all b filled, the program causes the apparatus to request exchange of cell plates at step 242. At step 244, second arm 166 waits for the go siαnal from the robo apparatus 136. If it is determined at step 246 that samples have not yet been processed, the program loops b to step 228 and repeats. When it is determined at step that 32 samples have been processed, the program returns the main program of Fig. 10 as indicated at step 248.
Conventional cell plates that are tissue-culture compati are made of a translucent plastic. When a bioluminesc signal is developed in a well of such a conventional pla the signal can pass through the translucent plastic into adjacent well. Accordingly, a luminometer of which photomultiplier is in the process of scanning the adjac well may detect not only light signals generated in adjacent well but also light signals generated in first-named well and other nearby wells. Since the sign generated in the respective wells are not properly isolat there is confusion regarding the nature of the materi contained in the wells. This problem is avoided i accordance with the present invention by designing the plat for signal isolation. This can be done for example b making the plate of an opaque substance such as an opaqu plastic suitable for fibronectin coating and cell plating It is not necessary, however, that the entire plate be mad of an opaque material. All that is required is that ligh signals from one well be prevented from penetrating int other wells. Accordingly, an opaque checkerboard grid ca be employed to define for example square compartments tha respectively surround each of the wells. Such grid extend from the top to the bottom of the dish and the dishes ca otherwise be made of a conventional material includin translucent or transparent plastic.
If the cells are capable of attaching to the bottoms of th wells formed in the dish, the wells can be flushed out fro above preparatory to adding the second group of chemical referred to above (e.g., a detergent to rupture the cel membranes and chemicals to react with the contents of th cells) without washing away the cells. However, if th cells are not capable of attaching to the bottoms of th wells and are in suspension, they cannot be washed in thi manner without losing the cells. Accordingly, in accordanc with an alternative embodiment of the invention, the botto of the wells are formed with a filter having a pore siz smaller than the cells so that the wells can be washed by liquid entering through the tops of the wells and exiti through the bottoms. The filters retain the cells in th respective wells during the washing. The filters may b made of the same plastic as the remainder of the plate or o a different substance.
Thus there is provided in accordance with the invention novel and highly-effective automated laboratory appar that enables inexpensive, reliable, and high-speed tes of the effects of a very large number of chemical selected substances such as collections of living ce There is also provided in accordance with the inventi novel and highly-effective laboratory dish that tissue-culture compatible and specially adapted cooperation with automated apparatus to facilitate collection.
Many modifications of the preferred embodiments of invention disclosed above will readily occur to t skilled in the art. For example, the number of dilut per chemical, the number of cell plates per tray, the nu of incubator compartments per incubator, and the numbe discrete robots constituting the robotic apparatus 136 be varied within wide limits, and the cell lines or o samples employed as well as the chemicals employed ca varied virtually without limit. Moreover, the rob apparatus 136 can facilitate cooperation between incubator and liquid handling station, between the incub and luminometer, or between the incubator and both liquid handling station and the luminometer. Also, the plates in accordance with the invention can be enti opaque or can be partly translucent or transparent, opaque to the extent necessary to prevent a signal suc light from traveling from one well to another. Many o modifications of the preferred embodiments of the inven disclosed herein will readily occur to those skilled in art. The invention should therefore be construed including all apparatus, methods and products that within the scope of the appended claims.

Claims

What is claimed is:
1. Laboratory apparatus comprising:
incubator means formed with housing means substantiall enclosing an interior space, said incubator mean maintaining in said interior space prescribe conditions appropriate to survival and reproduction o at least one predetermined collection of living cells;
handling means;
detection means; and
robotic means;
said robotic means transferring to said handling means cells from said incubator means and chemicals that whe mixed with said cells to form a mixture that is the stored under said prescribed conditions produce detectable change in said cells;
said handling means comprising mixing means for mixin said chemicals with said cells to form a mixture;
said robotic means transferring said mixture to said incubator means for incubation therein; and
said detection means receiving said mixture after sai incubation and producing a detection signal in respons to said detectable change. 2. Laboratory apparatus comprising:
incubator means formed with housing means substantia enclosing an interior space, said incubator me maintaining in said interior space prescri conditions appropriate to survival and reproduction at least one predetermined collection of living cell
handling means;
detection means; and
robotic means;
said handling means receiving cells from said incuba means and chemicals that when mixed with said cells form a mixture that is then stored under s prescribed conditions produce a detectable change said cells;
said handling means comprising mixing means for mixi said chemicals with said cells to form a mixture wh is transferred to said incubator means for incubat therein;
said robotic means transferring said mixture af incubation in said incubation means to said detect means; and
said detection means producing a detection signal response to said detectable change.
Laboratory apparatus comprising: Incubator means formed with housing means substantially enclosing an interior space, said incubator means maintaining in said interior space prescribed conditions appropriate to survival and reproduction of at least one predetermined collection of living cells;
handling means;
detection means; r>nd
robotic means;
said robotic means transferring to said handling means cells from said incubator means and chemicals that when mixed with said cells to form a mixture that is then stored under said prescribed conditions produce a detectable change in said cells;
said handling means comprising mixing means for mixin said chemicals with said cells to form a mixture;
said robotic means transferring said mixture to sai incubator means for incubation therein;
said robotic means transferring said mixture after sai incubation to said detection means; and
said detection means producing a detection signal i response to said detectable change.
4. Laboratory apparatus according to any of claims 1-3 wherein said incubator means comprises tempera control means for maintaining in said interior spa temperature of substantially 37°C.
5. Laboratory apparatus according to claim 4 wherein temperature control means comprises infrared hea means for irradiating a portion of said incub means.
6. Laboratory apparatus according to any of claims wherein said incubator means comprises humidity con means for maintaining and interior space a relative humidity of nearly 100%.
7. Laboratory apparatus according to claim 6 wherein s humidity control means comprises coupling means fo with entrance and exit ports communicating with s interior space for blowing humidified air into s interior space through said entrance port and from s interior space through said entrance port, s entrance and exit ports being arranged coaxially respect to each other.
8. Laboratory apparatus according to any of claims wherein said robotic means has a defined work spa said housing means is formed with a plurality compartments, and said incubator means compri turntable means mounting said housing means rotation so that different ones of said compartme are selectively moved into said work space. 9. Laboratory apparatus according to any of claims 1- wherein said cells are contained in separate cell well and said mixing means comprises nozzle means fo preparing multiple dilutions of said chemicals an adding different ones of said multiple dilutions t different ones of said cell wells.
10. Laboratory apparatus according to claim 9 wherein sai nozzle means comprises a first plurality of nozzles fo respectively dispensing chemicals and diluent int master wells.
11. Laboratory apparatus according to claim 10 wherei said nozzles means further comprises a second pluralit of nozzles for dispensing said dilutions into said cel wells.
12. Laboratory apparatus according to claim 10 wherein sai detectable signal is light and said detection mea comprises a luminometer including at least o photomultiplier.
13. Laboratory apparatus according to claim 12 wherein sai mixture is contained in a plurality of discrete wel and said luminometer comprises scan means for produci a relative scan between said wells and sa photomultiplier whereby said photomultiplier scans sa wells successively.
14. A testing method comprising the steps of:
establishing within an incubator prescribed conditio appropriate to survival and reproduction of at lea one predetermined collection of living cells; storing within the incubator cells from predetermined collection;
robotically transferring from the incubator to a li handling station cells from the incubator and chemi that when mixed with the cells to form a mixture is then stored under the prescribed conditions pro a detectable change in the cells;
mixing at the liquid handling station the chemic with the cells to form a mixture;
robotically transferring the mixture to the incuba for incubation therein; and
producing in a detector a detection signal in respon to said detectable change.
15. A testing method comprising the steps of: establishing within an incubator prescribed conditi appropriate to survival and reproduction of at le one predetermined collection of living cells;
storing within the incubator cells from said predete mined collection;
transferring from the incubator to a liquid handl station cells from the incubator and chemicals t when mixed with the cells to form a mixture that then stored under the prescribed conditions produc detectable change in the cells; mixing at the liquid handling station the chemical with the cells to form a mixture;
transferring the mixture to the incubator fo incubation therein;
robotically transferring the mixture after incubatio in the incubator to a detector; and
producing .in the detector a detection signal i response to said detectable change.
16. A testing method comprising the steps of;
establishing within an incubator prescribed condition appropriate to survival and reproduction of at leas one predetermined collection of living cells;
storing within the incubator cells from sai predetermined collection;
robotically transferring from the incubator to a liqui handling station cells from the incubator and chemical that when mixed with the cells to form a mixture tha is then stored under the prescribed conditions produc a detectable change in the cells;
mixing at the liquid handling station the chemical with the cells to form a mixture;
robotically transferring the mixture to the incubato for incubation therein; robotically transferring the mixture after s incubation to a detector; and
producing in the detector a detection signal response to said detectable change.
17. A laboratory plate formed with a plurality of wells respectively containing samples that emit a detecta signal, said plate being tissue-culture compatible formed in such a manner as to block the transmission said signal from each of said wells to others there thereby enabling detection of said signal from each said wells separately.
18. A laboratory plate according to claim 17 wherein s signal is light and said plate is constructed of material that is opaque in directions extending betwe said wells.
19. A laboratory plate according to claim 17 wherein sa signal is light and said plate is constructed of material that is opaque.
20. A laboratory plate according to claim 17 wherein sa wells form a rectangular array.
21. A laboratory plate according to claim 17 formed with wells arranged in an 8 x 12 rectangular array.
22. A laboratory plate according to claim 17 wherein ea of said wells is formed with an open top and a bott comprising a filter, whereby cells contained there can be washed by a liquid entering through said top a exiting through said bottom, said filters retaini said cells in said respective wells. 23. Laboratory apparatus according to claim 4 wherein said temperature control means comprises electrical heating pads mounted on the surface of said incubation.
PCT/US1990/004025 1989-07-18 1990-07-18 Automated laboratory apparatus WO1991001365A1 (en)

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US382,483 1989-07-18

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JP (1) JPH04506750A (en)
KR (1) KR920703785A (en)
AU (1) AU645984B2 (en)
CA (1) CA2063826A1 (en)
HU (1) HUT61810A (en)
WO (1) WO1991001365A1 (en)

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EP1531328A1 (en) * 2003-11-14 2005-05-18 National University Corporation Nagoya University Apparatus for monitoring bioluminescence of biological samples
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ITUD20120038A1 (en) * 2012-03-07 2013-09-08 Luca Gianaroli "METHOD AND MACHINE FOR THE PRODUCTION OF CULTURED LANDS"
ITUD20120037A1 (en) * 2012-03-07 2013-09-08 Luca Gianaroli "MACHINE AND METHOD FOR THE PRODUCTION OF CULTURED LAND"
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EP0572640A4 (en) * 1991-12-18 1995-01-11 Baxter Diagnostics Inc Systems for conducting multiple analytical procedures using a central processing hub.
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WO1999063049A1 (en) * 1998-05-29 1999-12-09 MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. New method for transferring biological material
WO2002066991A2 (en) * 2001-02-16 2002-08-29 Aventis Pharmaceuticals Inc. Automated semi-solid matrix assay and liquid handler apparatus for the same
WO2002066991A3 (en) * 2001-02-16 2003-04-10 Aventis Pharma Inc Automated semi-solid matrix assay and liquid handler apparatus for the same
DE10304012A1 (en) * 2003-02-01 2004-08-12 Kendro Laboratory Products Gmbh Cabinet with a controlled interior environment, e.g. for the temporary storage of micro-titration plates, has inner/external transport systems to transfer sample carriers through access openings with an outer buffer store
DE10304012B4 (en) * 2003-02-01 2007-05-03 Thermo Electron Led Gmbh climate chamber
EP1471138A1 (en) * 2003-04-25 2004-10-27 Shibuya Kogyo Co., Ltd Aseptic system and method for using the same
US7632675B2 (en) 2003-06-05 2009-12-15 Bioprocessors Corp. Apparatus and method for manipulating substrates
US7407797B2 (en) 2003-11-14 2008-08-05 National University Corporation Nagoya University Apparatus for monitoring bioluminescence of biological samples
EP1531328A1 (en) * 2003-11-14 2005-05-18 National University Corporation Nagoya University Apparatus for monitoring bioluminescence of biological samples
WO2008034868A3 (en) * 2006-09-22 2008-05-02 Aviso Gmbh Method and device for the automatic removal of cells and/or cell colonies
EP3159399A1 (en) * 2006-09-22 2017-04-26 ALS Automated Lab Solutions GmbH Method and device for the automatic removal of cells and/or cell colonies
US10900009B2 (en) 2006-09-22 2021-01-26 Als Automated Lab Solutions Gmbh Method and device for automated removal of cells and/or cell colonies
ITUD20120038A1 (en) * 2012-03-07 2013-09-08 Luca Gianaroli "METHOD AND MACHINE FOR THE PRODUCTION OF CULTURED LANDS"
ITUD20120037A1 (en) * 2012-03-07 2013-09-08 Luca Gianaroli "MACHINE AND METHOD FOR THE PRODUCTION OF CULTURED LAND"
US11105824B2 (en) * 2016-05-17 2021-08-31 Irelec Facility for handling and storing biological samples at very low temperatures

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KR920703785A (en) 1992-12-18
AU645984B2 (en) 1994-02-03
HUT61810A (en) 1993-03-01
EP0483226A1 (en) 1992-05-06
EP0483226A4 (en) 1993-02-17
AU6076890A (en) 1991-02-22
CA2063826A1 (en) 1991-01-19
HU9200029D0 (en) 1992-06-29
JPH04506750A (en) 1992-11-26

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