LU103303B1 - Method for the positioning of pipett tips - Google Patents

Abstract

The present disclosure relates to provides a device for determining the position of a pipette tip, comprising a pipettor comprising a tip configured for picking up an exchangeable pipette tip; a drive comprising a motor for moving the pipettor; a test position comprising a surface with an opening; an electrical power source and a capacitive sensor system comprising the pipettor, its tip, the exchangeable pipette tip and the surface comprising the opening for detecting a contact between the exchangeable pipette tip and the surface comprising the opening. Another object of the present disclosure relates to a method for detecting the position of an exchangeable pipette tip, comprising the steps of picking up of the exchangeable pipette tip with the tip of a pipettor; moving the pipettor with a drive comprising a motor above a surface comprising an opening; moving the exchangeable pipette tip with the pipettor in a vertical z-direction to a first position; detecting capacitively whether the exchangeable pipette tip touches the surface or inner parts of the opening in the first position.

Description

Rs Kann Tau SE : era pee cé 3 MST AT ELITE ENS SNS TE IRSNI : STRATED SE Patan. & Rachie ~~ : AOE ADAGE Euren BY Aron : LU103303

AYER EN ERR CER EXT FR N EU CR ‘ TERRY SYVERREN

METHOD FOR THE POSITIONING OF PIPETT TIPS

RASE VO TEN TONE

DESCRIPTION Field of the Disclosure

OWENTYT TT N sen Sn bar ener fn wm vv chiens Fae Fr een Th es ane en yn gre fhe 190011 The present disclose relates to a method for the positioning of pipet tips. ‘ 0e x € > gx Frs é x

Brief deserintion of the related art 100021 Automaied GNEIVEET SV FEEDS OY USS IN dintcai DIRZNOSHES and His sviëness are ter mend Has à ses patna mn manana crn Tes nas a TT A TES SE Id elon diated dimesennens- produced by a munber of companies, For example, STRATRCY SE, Birkenfeld, Germany, grea ed pangs me evans be ol Eten Eien carmen hanya ee mnt At Ce ence Sn eas desias ods produces a number of devices for specimen handling and detection for use in antomated analyser svateme and other Laboratory strumeniation. oO Tre antnimiste À 3% aivser SURTSTTA ANRATTETR are Use for transferri su each The read {4 AFS TM SOTA ARAIY SVT =» SITE LHD {are USER TOI ane SRE IRIS. SEN PINES aan an ose amos hie fm cited corm Be à competed aeons ne à metal rennes aoe stil { comprise an exchangeable tip which can be à so-called consumable or a metal probe which will have for Me slannec shrine à vee with difRsront Hone bave 1 be oleaned during à use with different Hguids, r VAT Thies redid gyi tien as ARE ve cer aimes N en Ps 5 fetes ek civ aoe = 100041 The exact position of pipet dps after being picked op by à pipetting system In

Fond a 3 FER LT 2, “te 10 Or DIRT BE Fen SAY IN RAYE ce Tony ed ta Than N fr Ad rae ivyey Fe ; suteanatod pipetting robots is subject to tolerances and can lead te the pipette tp not hitting the target position exactly. Tolerances can be caused, far example, by deviations in the geometry of the tps due to production errors in the injection moulding process, deviations in the geometry of the pipetting cons, Incorrect mounting of the Up on the cone or à Helly, non-verfical vertical axis of the prpettor, {

IOGOSTIT position deviations excesd a certain value determined by the system, the target

RE N N res mat, N dy sad en a nosey Ferd Ev cure den In positions, 6.6. cavities, cannot he reliably reached during plpotiing processes. À pipet Lip which is tot in à corcet position may collide with hardware of the pipetior. The use of motai tips which ave used mußtipie times is related to higher costs due fo the regnirement far clonning the tips when different Hquids are processed with them, x 3

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SODOI SOANTEL bitten hand Sadi Aor

LU103303 10006] Thus, the we of consumable tps appears to be advantageous and there is a need for a method for checking the deviation of the position of the pipelle fips relative to Ihe target ; position. In the simplest version, a deviation is recogrised, but newher the axtent of the

Tenn od deg a SI Nenn Fo à din bearers 4 vt ao deviation nor the direction can be determined,

Summary sf the Discissore 160671 The present discloaure provides a device for detennining the position of a pipetts tp, comprising a pipettor comprising a tip canfigured for picking up an exchangeable pipette tipr a drive comprising à moter for moving the pipettor a test posifion comprising a surface with an opening: an electrical power source and à capacitive sensor system comprising the pipeftor, is tip. the exchangeable pipetts tip and the surface comprising the opening For detecting à contact between the exchangeable pipetie Gp and the surface comprising the opening, (00081 In an embodiment of the device, the pipettor, Is Hp, the exchangesble pipetie tp and the surface comprising the opertng are made of à conduotive material. ‘ [00091 1t is further envisaged thai the a bottom of the opening of a device according to the [ present disclosure provides different heights. (00101 Another ohiect of the present disclosure relates to à method for detecting the position of : an exchangeuble pipette tip, comprising the steps of picking up of the exchangeable pipette tip ‘ with the tip of a pinettur: moving the pipetior with à drive comprising à motor above à surface ‘ comprising an opening: moving the exchangeable pipette tip with the pipettor in à vertical 2 : direction to à first position: detecting capacifively whether the exchangeable pipeñte ip touches ‘ the surface or inner parts of the opening in the first position, ‘ {9011115 an embodiment, the method comprises the additional steps if no contact is detected ‘ in the first position of moving the exchangeable pipette tip in the vertiral z-direction to à second ‘ position until a contact with the surface or inner parts of the opening is detected, ‘ fOU12] M ia further envisuged that the method comprises the step of calculating the distance between the first and second position,

3 ti Estienne Taso bes ft y EAN Le nn HENCE I AWE EE we SVE ASS

STRATES SE EE OU

3 JOON FNAME Virtanen Property Allows ‘ LU103303 ‘ (00151 À further aspect of the method according to the present disclosure relates te the step of ! discarding the exchangeabls pipoñte tip when a contact with the surface or an mer part of the : gpening is detected, ‘ 100141 The method comprises in an enthodiment that a bottom of the opening in the surface 18 ! configured to provide different heights for determining the direction of a x and/or v-direction deviation, 00415] The method according to the present disclosure comprises in an smbesdiment the step of pressing the exchangeable tip onto the tip of the pipetior by an intended contact with the surface.

THETA] Iris further envisaged In an embodiment of the method that the opening of the surface comprises à Hyht barrier for detection deviations in the position of the exchangeable tip. [ F017] Another aspect relates to the method comprising the step of moving the exchangeable

Un in Ihe opening wnt à contact with tie immer parts of the opening is detected. (00181 In an embodiment, the method comprises the step of deternuning the amount of the devistion in comparison io an expected position of the exchangeable Hp. {191 The foregolng sununary is not intended © summarize each potential eimbodiment or every aspzet of the present disclosure.

Summary of thy Figures (QU The disclosure will be described based on Figures. It will be understood that the embodiments and aspects of the disclosure described in the figures are oniy examples and do not Haut the protective scope of the claims in any way, The disclosure ix defined by the claims and their eguivalents, It will be understood that features of one aspect or embodiment of the disclosure can be combined with a feature of à different aspect or aspects of ther erabodiments of the disclosure, au which:

TOGZIT FIG, LAC show a pipette tip which is moved into an opening in 8 surface. 3

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FRAT On {Fated & Sache >

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LU103303

ESET DEED OY 4 net DEED MX Car à Aptammination ef the meyer Fier ord thes varieties Im the werting

TOGZII FIG 24 and FIG, 2B show a determination of the position of the pipette in the vertical swdivection. ; {00237 FIG. 3A and FIG 38 show the determination direction of the deviation fn X- and y- direction varving the height of the bottom in the opening.

Ya N PIS À Size an evo armors byie frends 42 visite 10 nervoncops earned it 1m thes Letty mart nf (00241 FIG, 4 shows an exchangeable pipette tp which is arranged correctly in the left part of

EYES À and amotest fe the waht sart

FIG. 4 and angled br the right part

N 00 - Sond > + PAS Eanes _ * x NE ou

Vetatled Description of the DBivelasure and the Figures (00251 The technical problem is solved by the independent claims, The dependent claims gover

Dei aaa cmepiits en Ka aa ood the rita brace further specific embodiments of the disclosure. 0361 The presen disclosures relates to checking the position of a pipette Hp in relation to the nominal target position is checked, Deviations greater than a predefined permissible total

Boe end ve AD ra ed aden dE gt ina hy GS RE evr Ere wear ores rr ert fin faites tian te edi enaritadd srt à mesos deviation of the pipettor-pipette tip system sre recognized, the pipette tip is discarded and a new tip is pioked up.

NN Pie an AAN a fen bles rancenenst ae ap none rief fout cutertion En veblet © 19027] The device according to the present disclosure uses à defined test postion lo which à pipette tip is moved after being picked up by the pipetor, The test position Provides an GPRTINE with à defined diameter and depth. The diameter and geometry of the opening corresponds 10 the smallest cavBy im the device, minus the expected DOSION LOISMNPES OF INO Cavity Mi ihe device. {0281 In an embodiment, the opening of the cavily is round. In another embodiment for a rectangular pipette tp, fi appears fe be advantageous fü use à square opening. M is onvisaged to place the vertical position of the opening at the same height as the height of the target cavity sx ci tr-mako the demk atid © dreier raentioal tt tk aria ih if it a Sonst ony ;

And WE IRA ING AUTH ST AC OJRINDE HICTHICAT TD LLC QOPI OÙ INT IRIEL LA SEEN

ON IN, it ska toot nnatifinn and the nimette Hire wre race af a conchae material and are pant § ESE BOE WR test DOSE ANG ii RE nette Ups are DAA GI A COREL FO Mallya ail are pan oo KENN Siena ouetane rer Hatontiee Te apa RR andise contact of the #1 Hide wr of à Capacitive sensar system loi detecting the approach amor contact oi the tip with an glociricafis conductive surface, such as housing parts or liquide. - TL EE A AAA A A A AA A A A AAR RRR RRR RRR UU rr rt A i Deuter Toesentbyen df

STRATEC SF Fed + © N nh 3335 TS SENS Ti IS ES

LU103303 10030] The pipette tip is inverted into the test opening by means of à z-Movement which is a vertical movement within the meaning of the present disclosure. IP the horizontal position devistion ii x- and v-direction of the pipette tip oxcceds the defined Hrolt value, contact between the pipette tip and the test position occurs and is detected capacitivelr, In this ease, the pipetre tip is discarded at the designated position in the system, à new tp is picked up and the process is repeated, 10031] This test only includes the xy-position of the pipette tip. Deviations in the z-position can be determined outside the test position with the opening by comparing the s-position of ihe expected electrical contact and the actual elcotrival contact 100327 In principle, if is alse conceivable to recoguise contact tactilely, Le, by mortoring the motor current of the pipetiing drive, instead of using capacifive sensors. However, fins probably only works really well for deviations in z-direction. For deviations in x- and y-divection, a collision is rrobably not recognized, but the tip 15 moved, 19033] FIG, IA shew à pipette tip 5 which is moved into opening 15 Im surface 10 for determining a correct positioning which is indicated when no contact between the pipelis tip and the surface or opening, respectively, is detected. FIG, 1A shoes à correet positioning because no contact between pipette Hp and opening is detected, {60341 In FIG, TR à contact between the opening 15 or its inner part and the pipette Up 5 can be detected, indicating a deviation In the position of the pipette tip 5. The opening 115 s arranged in à position corresponding 16 à correct or expected position of a pipette ip 5 when moved ina vertical x-direction,

HIRST In FIG, TC the pipette tip § gets in contact with surface 10, indicating à deviation to the expected position of pipetie Hip 5, 10036] FIG, ZA and FIG, 28 show a determination of the position of the pipette in the vertical { z-direction. In FIG. 2H the pipette tip S is moved in direction fü à first position expecting no contact to surface 10. In FIG, 3H the pipetie tp is moved further in 2-divection © à second position until à contact to surface 10 can be determined, The distance from the surface can he determined by comparing the Hest and second position of pipette tip 5.

ts Fert Tao te TT

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LU103303 10037] FIG, JA and FIG, 3B show the determination direction of the deviation in x and y- diréction by varrine the height ofthe boïfom in the opening 15, The differing hoighta 17 of the bottom of the opening 15 allow to determine the direction of a doviation of the pipette tip 5. {0038] FIG à shows a exchangeable pipette dp S which is arranged correctly In the left part of

FIG. 4. The lower protrusion 22 of cone 20 of the pipetior has no contact to the pipette tip $ In the right part of FIG, 4 the pipette tip 3 is arranged with an angle to cone 38, On ante side the fower protrasion 22 of come 20 is in contact with pipette Up 5. The contact can he detected so that the pipette tip will have to be exchanged od pressed onto cone 20 by pressing pipstie 5 onto à surface for arrangine if correctly within the meaning of à Hucar arrangement on cons 20, 10039} The advantageous of a device according to the present disclosure can be Summarised as follows: «is onsured that the devistion of the postion of the pipette tip In relation to the pipeiting system 15 below critical valoe, shove which, for example, the systent's wells would be missed during pipetiing, 10340] Altemative approaches relate - Moving the nipetts tip lo à lgach position, mesrine à defined position on the cone for straighierine HL - Moving the pipette tip through a Bgly barrier in the x- and y-divection, { comparing the expected and actoal puaifion of the pipetie tip and adding à correction vaine © the target position. Doe do the necessary rrnezdure significantly more fime is required for this variant, which is a disadvantage in - Comparison of the actual and expected postion of the pipette Up using à Camera and addition of a correction value to the target position. «Lateral approach to walls of opening with a defined position and capacitive { detection of contact, comparison of the expected and actual position of the pipette Un and addition of a correction vaine to the target position. This solution cetrespords in principle to the fight bamier solution with identical disadvantages. 6

A000 AEM ian BR ise

LU103303 - Use of special pipette tps with better shape folerances and beter centring on the come, 100411 The foregoing description of preferred and other embodiments is not intended to Hit or vestrict the scope or applicability of the inventive concepts conceived of by the Applicants, twill be appreciated with the benefit of the present disclosure that features described above in secordance with any embodiment or aspect of the disclosed subject matter can he wiihized, either alone dr in combination, with any other described feature, ui any other embodiment or aspect oof the disclosed subject matter,

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Claims (1)

1. Ce CE EEE Ee Em EEE EE EEE EEE EEE EEE EE EEE EE EE EEE ELT ELS Li Ww EN NEN + SR and iy SN ST SORTE cu NIRSAINHR IW HE HE SN WW vel I SO STRATRL DE head à Sy identi hd § Fond de Ris FRS ening DENK 2NAEH D RÉEPROT At righty ANS CIE A TRAD CLAMS 3 A device for determining the position of a ninette Hin, comprising:

   1. A QEVICE TON QOIETITIINIT ROAR POSIIV LS À pipe A WE CRB ORIEN ~ à pipeltor comprising a tip configured for picking up an oxchangeably pipetie tips - A CHIVE COITIQTISINE & IMOLOT LOT IMOVIDE IRC MIDCTOT <a test position comprising à surface with an opening - an electrical power Source and a capacitive sensor system comprising the ; pipeiior, Hs Up, the exchangeable pipette tip and the surface comprising the nea a Pas Aestantimnes 4 pewrispt otre fha avahonnpanklies eye 0m amd $e opening for detechng à contact between the exchangeable pipette Hp and the N ia +1 - Cala surface comprising the opening, X & : & TY Thai Aavinse nf inter 1 Ava the fat He tin Fhe avahnnematles vase tec ir aed he

   2. The device of claim 1, wherein the pipetior, its ip, the exchangeable pipette ip and the surface comprising the opening ave made OÙ a CONQUETIVE material, 3, The device of claim 1 or 2, wherein à bottom of the opening provides different Heights,

   4. A method for detecting the position of an exchangeable pipette Hip, comprising the steps od - picking up of the exchangeable pipette Hp with the up of an pipetior; - moving the pipetior with a drive comprising a motor above À surface comprising an opening; - moving the exchangeable pipetie Up with the pipetior in à vertical direction to & JTS BOSE font dtaa iyo nett cutes va tnent brea thn eae er dra sterol vada tien Han ferro dren Han wpb er - detecting capacitively whether the exchangeable pipette tip touches the surface 3 SES freee} Tes yet Ta Te or inner parts of the opernig in the first positing N “3 : PAS Aal À ventana ene Cheney Pho A Cary HE run pantent 10 detantes tm the

   $. The method of claim 4, comprising the additional step ii no contact is detected in the 5 first position of moving the exchangeable pipette tip in the vertical z-dirscllon tv a ied sait à een nn roti The ae Fre cor Tees at ob dhe à hanes Le eat second position undi! a contact with the surface or inner parts of the opening IS detected. 3 ti ES one pi ae Ne a ae CE en a Si en, SS 7 a 3 ETTEESSE NS A ESTER STE UNE ICSBOUE instal Ys Sonate ATS TEMG an ait AE estan € carretera RE sabres oad crea Loans ala fan cna ose Facetrentacenr fine int

   $. The method of claim S, comprising the step of valoulating the distanee between the rat SEO QE q SEIT) x HILL SLUGGO POSITION. > Te amend Errol endl Lea Sas AP Anime À fn A vahnaenien then en ee RE visites Him de 7, The method of any one of claims 4 to 6, wherein the exchangeable pipette tip is Hscarded when a contact with the surface or an inner part of the opening is detected, 2 Pin viet RN A ares ann af eerie o À tn 7 Ay erga ve Peer ob FE neat fs FFE one bry ene

   8. The method of any one of claims 410 7, wherein a bottom of the opening in the surface lo SY Ayers tre arn ode Si ere h eat evita far dotery “yn x the directio x nf sx sntineT ç> 18 configured TO provide CUTISTEIT ROSS Tr QCIRTITUEUNE ME QHOCHON OT & X- ATRVOT y- warnen destatt an HITECUON HOVIGTION, 3 Fe cont arnt eed 2ueses mans A da ia À EN 2 ereipamanel oies Shon be AS ES the $ The method of any one of claims 4 to & comprising the step of pressing ihe exchangesiie lip onto the tip of ine pipettor dy an inionded contact wilt the suriace. TA The mathot nf ae ces NT odes sve A tn D orheraie the snenine A The mie een resi inet Cae The method of any one of claims 4 to Ÿ wherein the opening of the surface comprises or Hioikt Baer stone Fra coat on fear chan art rer tre dhe maitre ob fhe sunhannone hie sis a hgh barrier for Selection COVIAHIONS wile SOSIMION of the CXACHANEGEME IE YE OTR nacht SE cinim 1 {} NÉVEYVEYP ENTRE th A ates à ë m AVE es the asvshne veable tra vr Fhe 11, Ehe moi oF lag FL COMpDTISINE Ine Sion OT MOVIE LE CXCHRDECADIE UN my wid neat ira NAS on caved aed qui thes tare tr orb the anemimin ta ae tanta opening until a contact with the inner parts of the opening is detected,

   12. The method of climes 10 or TE comprising the step of determining the ammount of the dar att În rR Sr Ore TN av avant reins ab the arphononaette tis déviation In compansen fo an expected postion of the oxchangoadie tip.