Workpiece holder for workpiece transport apparatus

An automated workpiece processing system including at least one workpiece processing unit, a workpiece holder configured to removably hold a batch of workpieces therein, each workpiece embodying workpiece identifying indicia where the workpiece identifying indicia is a physical representation of a sample held on a respective workpiece, and to interface with the at least one automated workpiece processing unit, and a controller including a memory having a data structure therein that effects, with the workpiece identifying indicia, batch process tracking of each workpiece in the batch of workpieces through the at least one automated workpiece processing unit in a predetermined batch workpiece processing sequence.

BACKGROUND

The exemplary embodiments generally relate to automated workpiece processing systems and, more particularly, to automatic loading systems for automated processing systems.

2. Brief Description of Related Developments

Generally automated workpiece processing systems include workpiece transports and processing modules. The workpiece transports are generally employed to transport workpieces to and from the processing modules where the workpieces are placed on a workpiece holder for processing. During processing of the workpiece transports are removed from the process module and the process module is generally sealed.

Generally conventional workpieces are configured to hold samples/specimens. Conventional workpieces have simple identification markings, such as numbers however, these simple identification markings are limited in range and are not guaranteed to be a unique identifier. As such, tracking large numbers of samples held by conventional workpieces is difficult at best.

Generally workpieces are stored in workpiece holders. These workpiece holders are generally of low workpiece holding capacity and, with the exception of the largest cryogenic workpiece processing system, do not offer the capability to be automatically loaded into a workpiece processing system.

It would be advantageous to have a workpiece that is uniquely identifiable and able to be handled either manually or with automation. It would be advantageous to have a high capacity workpiece holding system that is capable of manual and/or automatic loading in a workpiece processing system that allows for batch processing of samples held by the workpieces as well as tracking of the samples.

In addition, conventional workpiece processing systems, such as electron beam imaging/scanning workstations do not have the ability to automatically track progress of a structure (which is divided into multiple specimens/samples) during processing of that structure.

It would be advantageous to be able to track and analyze multiple specimens during processing as a whole with respect to the structure being analyzed.

DETAILED DESCRIPTION

FIG. 1is a schematic illustration of an automated transport and positioning system100in accordance with aspects of the disclosed embodiment. Although the aspects of the disclosed embodiment will be described with reference to the drawings, it should be understood that the aspects of the disclosed embodiment can be embodied in many forms. In addition, any suitable size, shape or type of elements or materials could be used. It is also noted that while X, Y and Z axis are referred to, reference to these axes is exemplary only and in other aspects the axes have any suitable directional identifiers.

It should also be understood that while the aspects of the disclosed embodiments are described herein with respect to a transmission electron microscope (TEM), the aspects of the disclosed embodiment can be applied to any suitable workpiece processing equipment having a process module PM where a workpiece is supported on a stage or workpiece holder during processing of the workpiece. For example, aspects of the disclosed embodiment are employed in any suitable metrology equipment where a workpiece is held by the end effector of the disclosed embodiment during measurement/inspection or other processing. As will be described below, in one aspect, the stage is an end effector101of a workpiece positioning unit104of an automated transport and positioning system100while in other aspects the stage is an existing positioning stage PS of the process module PM.

In one aspect, in the context of the TEM, the automated transport and positioning system100provides loading and storage of about 500 to about 1000 specimens (also referred to herein as samples) in a single exchange (e.g. loading of specimens) while in other aspects related to the TEM or other suitable workpiece processing equipment (such as those mentioned above) more or less workpieces are loaded and stored. In one aspect, the automated transport and positioning system100replaces the conventional positioning “stage” PS used in, for example, TEMs that positions specimen holders or grids within the TEM during imaging. In other aspects the automated transport and positioning system100replaces any suitable loading system of, for example, any suitable metrology or other processing equipment. In one aspect, the automated transport and positioning system100also provides for complete, high-resolution, high-speed, high-stability position control of the workpiece during imaging or inspection. As will be described below, in accordance with the aspects of the disclosed embodiment, the grid handling and storage operations as well as the positioning of the specimen in the TEM column is effected with, in one aspect, eight controlled degrees of freedom and, in other aspects, with nine controlled degrees of freedom.

As will also be described below, the automated transport and positioning system100includes a loading unit140that has an end effector101configured to substantially directly handle any suitable workpiece such as a grid (or other suitable specimen holder) with or without, for example, the use of a carrier or adapter that interfaces the workpiece with the handling system. In one aspect a gripper of the end effector101is operated through coordinated movement of two or more of the, in one aspect, eight controlled degrees of freedom and, in other aspects, nine controlled degrees of freedom, which when combined act to open and close the gripper while maintaining the end effector position constant relative to the workpiece. In other aspects the gripper of the end effector is operated in any suitable manner such as with a dedicated drive that drives the gripper. In one aspect, the end effector101is configured to manipulate the workpiece in a high vacuum environment or any other suitable environment such as a non-vacuum or low vacuum environment. The end effector101is configured to grip individual workpieces during extraction from any suitable workpiece holding cassette102as well as be configured for the placement and removal of the workpieces to and from a pre-aligner stage103for rotational alignment of the workpiece. In one aspect the end effector101(and the workpiece positioning unit or multistage shuttle104which the end effector is a part of) is configured to provide a precision and rigid interface to support the grid mounted specimen which enables fast position moves (e.g. about 8 to about 24 microns or any other suitable distance) and rapid settling (e.g. to about less than 5 nanometers) in less than about 100 ms substantially without introducing undesired vibrational modes in the workpiece during imaging. In other aspects the end effector101(and the workpiece positioning unit104which the end effector is a part of) is configured to perform fast position moves (e.g. about 8 to about 24 microns or any other suitable distance) and rapid settling (e.g. to about less than 4 nanometers) in less than about 25 ms to about 35 ms substantially without introducing undesired vibrational modes in the workpiece during imaging. It is noted that while the end effector101is shown has having a single workpiece holding gripper in other aspects the end effector is configured to hold multiple workpieces in, for example, a side by side arrangement or any other suitable arrangement. The end effector101and the workpiece positioning unit104are substantially similar to that described in U.S. Provisional Patent application No. 61/902,470 filed on Nov. 11, 2013 and U.S. patent application Ser. No. 14/538,391 entitled “Workpiece Transport and Positioning Apparatus” and filed on Nov. 11, 2014, the disclosures of which are incorporated herein by reference in their entireties. In one aspect (as also described in for example U.S. patent application Ser. No. 14/538,391 entitled “Workpiece Transport and Positioning Apparatus” and filed on Nov. 11, 2014, the disclosure of which was previously incorporated herein by reference in its entirety), the automated transport and positioning system100includes a drive section having multiple degrees of freedom (in one aspect at least three degrees of freedom) for effecting any suitable processing of samples within the process module including but not limited to thin section tomography.

As will be described below, in one aspect, handling (e.g. picking and placing) of the workpiece is performed utilizing a vision system or other suitable optical and/or radio frequency reader that includes one or more cameras or optical detectors and/or an illumination unit integrated substantially directly into the end effector101and/or at other suitable locations off of the end effector where workpieces are imaged as described in, for example, U.S. Provisional Patent application No. 61/902,470 filed on Nov. 11, 2013 and U.S. patent application Ser. No. 14/538,391 entitled “Workpiece Transport and Positioning Apparatus” and filed on Nov. 11, 2014, the disclosures of which were previously incorporated herein by reference in their entireties. The integral vision system or other suitable optical and/or radio frequency reader provides substantially continuous monitoring of the workpiece handling operations and permits a closed loop control of each operation through any suitable image analysis algorithms that are stored in any suitable memory199M of any suitable controller199connected to the automated transport and positioning system100. In one aspect the controller is located remotely from the automated transport and positioning system100while in other aspects the controller is integrated with the automated transport and positioning system. It is noted that the controller199is suitably configured to control the automated transport and positioning system in the manner described herein. In one aspect the controller199is connected to, in any suitable manner, or integrated in a laboratory information management system LIMS for tracking the location of specimen samples within a laboratory or other facility as described herein. The vision system provides for workpiece fiducial (or other suitable features of the grid) detection to effect workpiece alignment during the workpiece handling operations. In other aspects the vision system provides for workpiece identification and/or effect controlled guided movement of the end effector.

In one aspect the workpieces or grids400are held in a batch holder such as in cassettes102where the cassettes102are held in batch holders such as one or more magazines105that are configured for insertion into the automated transport and positioning system100as will be described below. The magazine105and cassettes102therein are configured to provide for the automatic loading and removal of the cassettes102(and one or more workpieces/specimens, e.g. batches of workpieces/specimens, located therein). For example, the magazine105and cassettes102include kinematic features that permit substantially direct handling of the magazine105and cassettes102(e.g. as a unit or individually) by an automated handling system within the automated transport and positioning system100and external to the automated transport and positioning system100. In one aspect the magazine105and cassettes102are configured for use in vacuum environments while in other aspects the magazine105and cassettes102are configured for use in non-vacuum environments.

Still referring toFIG. 1Aand also toFIGS. 1B-1Dthe automated transport and positioning system100includes a frame140F, loading unit140connected to the frame140F, a pneumatics module130(which may be connected to the frame and) communicably coupled to the loading unit140, and a vacuum module172(which may be connected to the frame) and communicably coupled to the loading unit140. In one aspect the pneumatics module130includes an air source130S and any suitable valves V1G, V2G, V3T, V4R, V5R, V6for operating, e.g., valves and closures of the loading unit140and/or vacuum module172described herein. The vacuum module172includes any suitable vacuum pumps P1R, P2T, P3I and gauges G1R, G2H, G3H, G4H for pumping and maintaining the internal chambers of the loading unit140at any suitable vacuum pressure for interfacing with, for example, the TEM or other suitable process module PM. In one aspect the vacuum module172also includes any suitable valves V3T, V4R, V5R, V6, V7T, V8V, V9V for selectively isolating, e.g., the vacuum pumps from each other and/or from the chambers of the loading unit140.

In one aspect the frame140F forms or is integral (e.g. of one piece unitary construction) to at least part of the loading unit140. In other aspects the loading unit140is connected to the frame140F in any suitable manner. In one aspect the loading unit140includes an automated loading and transport section or load lock120having a sealable chamber120C and a transport module or section125having a sealable chamber125C. The chamber120C is selectively communicably connected to the chamber125C through a closable opening or port120P. In one aspect the loading unit140includes any suitable gate valve V2G configured to selectively seal the port120P for sealing or otherwise isolating an atmosphere of the chamber120C from an atmosphere of the chamber125C. The load lock120includes any suitable door120D configured to seal a loading opening of the load lock120. While a single door120D is illustrated in the figures as being located on a side of the chamber120C it should be understood, in other aspects, the single door120D is located on a top of the chamber125C (seeFIG. 1D—e.g. to allow for automated opening and closing of the door for overhead loading of magazines105in the chamber) or in still other aspects more than one door (e.g. on a top and on a side) provides access to the chamber125. In one aspect the door is hinged to the load lock120while in other aspects the door is removable from the load lock120D for allowing access to the chamber120C. In one aspect the door120D has a manual closure, and in other aspects the door120D has an automated closure. In other aspects the chamber120C may not include a door such that the atmosphere within chamber125C is cycled between, for example, a process atmosphere and atmospheric pressure when cassettes are introduced and removed to and from the chamber125C. The loading opening is configured to allow ingress and egress of one or more workpieces to and from the chamber120C. In one aspect, as will be described further below, the workpieces are TEM grids held by cassettes102which in turn are held in a magazine105. In one aspect the load lock includes an automated transport shuttle120MS including a positioner unit120MSP. The positioner unit120MSP includes any suitable motors and/or guides for allowing movement of the transport shuttle120MS within the chamber120C and be configured for operation in one or more of a vacuum or atmospheric environment. The positioner unit120MSP includes any suitable drive or motor A1L for moving the transport shuttle120MS along at least the Y axis. In one aspect the motor A1L is a DC stepper motor that drives a screw drive for positioning the transport shuttle120MS with a positioning resolution of about Sum. In other aspects the motor is any suitable motor having any suitable positioning resolution such as a piezo motor, brushless or brushed motors, etc. The transport shuttle120MS is configured to hold one or more magazines105and transport or otherwise move the magazines (e.g. via the positioner unit120MSP) in one or more of the X and Y directions so that a predetermined cassette102is aligned with the port120P for transport into the chamber125C as will be described below. The transport shuttle120MS includes any suitable kinematic features that mate with corresponding kinematic features (described below) of the magazine105for positioning the magazine relative to the transport shuttle120MS. As may be realized, in one aspect, the kinematic features are also configured so that the magazine105can be placed on the transport shuttle120MS in only one predetermined orientation. In other aspects, the transport shuttle120MS includes any suitable features for positioning the magazine105on the transport shuttle120MS in any suitable number of orientations and in any suitable manner. In one aspect the magazines105and the load lock120are configured for manual operator insertion and removal of the magazine105to and from the load lock120while in other aspects the magazines105and the load lock120are configured for automated insertion and removal of the magazine105to and from the load lock120.

In one aspect the transport module125includes a process module interface125I configured to couple and uncouple the loading unit140to and from a corresponding interface, such as interface or port180P, of the process module PM so that the loading unit can be installed to or removed from the process module PM as a unit. The process module interface125I includes a closable opening or port125P that communicably connects the chamber125C with an interior of the process module PM. The loading unit140includes any suitable gate valve V1G configured to selectively seal the port125P for sealing or otherwise isolating an atmosphere of the chamber125C from an internal atmosphere of the process module PM.

In one aspect the transport module125includes a cassette shuttle chamber126C communicably connected to the chamber125C. The cassette shuttle chamber126C includes a workpiece or cassette shuttle126that is driven along any suitable axes by a workpiece shuttle positioner126P. The workpiece shuttle positioner126P includes any suitable drives or motors A2L and/or guides for allowing movement of a cassette shuttle gripper126G along at least the Z axis. In one aspect the motor A2L is an ultrasonic piezo motor with less than about 1 um positioning resolution while in other aspects the motor A2L is any suitable motor having any suitable position resolution such as stepper motors, brushless motors, brushed motors, etc. The cassette shuttle gripper126G is opened and closed in any suitable manner by any suitable drive A9R (e.g. such as by a two-state or open/closed actuator). In one aspect the workpiece shuttle126is a linear stage configured to move (via the workpiece shuttle positioner126P) a cassette gripper126G mounted to the workpiece shuttle126into a position (e.g. through the port120P) for picking/removing and placing/inserting a cassette102from and to a magazine105located in the chamber120C. The workpiece shuttle126is also configured to move the cassette102, held by the cassette gripper126G, to a predetermined pick/place position or workpiece holding station176along at least the Z axis to allow the end effector101of the workpiece positioning unit104to remove and/or insert a workpiece from and/or to the cassette102. In one aspect the workpiece shuttle126is also configured to move the cassette102, held by the cassette gripper126G, to a predetermined buffer position (as will be described below) to allow the workpiece positioning unit104to move along at least the Y axis for transporting the workpiece to the processing module PM for processing without returning the cassette102to the magazine105.

In one aspect a workpiece pre-aligner stage103is mounted to the cassette shuttle126(e.g. the pre-aligner stage and the cassette shuttle126move along at least the Z axis as a unitary member) for aligning workpiece prior to or post processing of the workpieces in the processing module PM. In other aspects the pre-aligner stage103is mounted to the frame140F independent of the cassette shuttle126so that the pre-aligner stage is stationary along the Z axis or is movable along the Z axis independent of the cassette shuttle126. The pre-aligner stage103includes any suitable drive A8R configured to provide rotation of the workpiece about the Z axis. In one aspect the drive A8R includes a brushless DC motor, an 800:1 gearbox (or any other suitable gearbox having any suitable drive ratio) and an encoder providing about 0.03 degree resolution. In other aspects the drive A8R is any suitable motor having any suitable gearbox and encoder providing any suitable degree of resolution. In operation, as will be described below the workpiece positioning unit104picks a workpiece400(see e.g.FIG. 2Afor exemplary purposes only) from a cassette102and transports the workpiece to a rotational chuck of the pre-aligner stage103for workpiece orientation.

Referring now toFIGS. 2A-2Dthe workpiece400is illustrated. In one aspect the workpiece is substantially similar to that described in U.S. Provisional Patent application No. 61/902,470 filed on Nov. 11, 2013 and U.S. patent application Ser. No. 14/538,332 entitled “Specimen Sample Holder for Workpiece Transport Apparatus” and filed on Nov. 11, 2014, the disclosures of which are incorporated herein by reference in their entireties. The workpiece400is any suitable workpiece and is illustrated as a TEM grid specimen holder for exemplary purposes only. In one aspect the workpiece400has a disc configuration but in other aspects the workpiece has any other suitable shape. In one aspect, the workpieces400have a half-moon shape (e.g. a lift out workpiece/grid) as described in U.S. patent application Ser. No. 14/538,332 entitled “Specimen Sample Holder for Workpiece Transport Apparatus” and filed on Nov. 11, 2014, the disclosure of which was previously incorporated herein by reference in its entirety. The workpiece400includes a thin sheet base member BM with a first surface400T and an opposing second surface400B, the first surface defining a seat and support surface for a specimen holding film held by the workpiece400. In one aspect the base member BM is constructed of a beryllium copper alloy while in other aspects the base member is constructed of any suitable material. In still other aspects the base member BM is a sub-millimeter thick sheet while in other aspects the base member BM has any suitable thickness.

The base member BM includes an aperture or slot401(which will be described in greater detail below) through the second surface400B exposing the holding film held by the sample/specimen holder, and including a grip engagement zone GZ defined at least on part of the first surface400T and arranged to accept engagement of the gripper of the end effector101,301. In one aspect the grip engagement zone GZ of the base member BM for the gripper is a 360 degree radial area adjacent or at a peripheral edge of the base member BM. In other aspects, the base member BM includes a recess400R on, for example, the second surface400B (e.g. opposite surface400T) to provide a gripping surface so that the workpiece400is gripped manually, with automation, or in any other suitable manner. As will be described in greater detail below at least one of the first or second surface400T,400B includes machine readable structures formed thereon arranged in patterns embodying data that is a physical representation of a specimen or sample held on a respective workpiece where the physical representation of the specimen or sample, in one aspect, defines at least one predetermined characteristic of the sample holder as will be described in greater detail below. As will also be described below, the predetermined characteristic may be a unique identification indicia of the sample and/or sample holder, with error correction characteristics.

As described above, the workpiece400includes a slot401in which a specimen is held. In one aspect the slot401has any suitable predetermined length L and any suitable width W1, W2, W3(while three widths are illustrated in other aspects the workpiece400may be provided with a slot having any suitable width and/or length or an aperture having any suitable geometrical shape). In this aspect the slot is an open slot but in other aspects the slot may include any suitable mesh or other suitable geometry for holding one or more specimens. In still other aspects the workpiece may not include a slot. In one aspect the corner of the slot401C is rounded to, for example, provide more imagable area to rectangular specimen samples.

In one aspect, as noted above, the workpiece400includes one or more suitable structures or identifying indicia (e.g. readable data storage medium) that define three dimensional topography with respect to a reference plane of the at least one first or second surface400T,400B on which the structures are disposed and wherein the structures are formed integral with the at least one first or second surface400T,400B on which the structures are disposed. In one aspect the structures are disposed symmetrically on at least the first or second surface400T,400B providing redundant reading locations while in other aspects the structures have any suitable arrangement relative to each other and/or the first or second surface400T,400B. In one aspect the structures are identifiers, such as two dimensional datamatrix barcodes402A,402B that may be formed on a first surface400T (e.g. from which the specimens are viewed) of the workpiece400in any suitable manner and at any suitable locations. In one aspect the barcodes402A,402B are engraved or micro-machined on the surface on opposite sides of the slot401. In one aspect each barcode may be a one dimensional or two dimensional barcode that includes at least 14 cells along a length of the barcode (e.g. for 1-D a barcode) or at least one side of the barcode (e.g. for a 2-D barcode). In other aspects more or less than 14 cells are provided along the length of the barcode. For example, in one aspect, the barcode may be a 14×14 datamatrix that has the capacity to encode 3.6×1015unique 10-character alphanumeric serial numbers (which, in one aspect, are used in a manner similar to and/or embody accession numbering where the accession numbering corresponds to specimen samples that are registered in, for example, data structure DS and/or the laboratory information management system LIMS such that the accession numbering defines an ordered sequence of the workpieces400holding the specimen samples) with error correction to uniquely identify a specimen as described herein in for example the laboratory information management system LIMS or other any suitable database or tracking system. In other aspects the barcodes402A,402B have any suitable size and are configured to provide any suitable serial numbers or other information such as alphanumeric serial numbers having more or less than 10 characters. In one aspect the barcodes402A,402B are used in conjunction with other identifiers on, for example, the cassettes102and/or magazines105, to identify which magazine and/or cassette the sample is located. Multiple barcodes402A,402B are provided to provide redundancy in the event one barcode is obscured or damaged and allow the barcodes to be read from many viewing angles. The structures also define a human readable identifier403on the first or second surface400T,400B to allow an operator to manually read the identifier403and to identify (e.g. without a barcode reader) the specimen(s) located on the workpiece400. In one aspect the identifier403may be a 10-character alphanumeric serial number (e.g. that matches or otherwise corresponds to the serial number(s) of the barcode). In one aspect the identifiers402A,402B,403are unique and different than identifiers of, for example, the cassettes102and magazines105described herein. In one aspect the identifiers402A,402B,403are related to a predetermined sequence of specimens (e.g. as will be described below) in an array of workpieces400; correspond to a predetermined arrangement of an array of workpieces400in the pockets500of a cassette102(described in greater detail below); are representative of a source material configuration from which the specimens on the workpieces400are made (as will be described in greater detail below); and/or comprises workpiece400identification data relating each workpiece, in an array of workpieces in the pockets500of a cassette102, and a specimen disposed on the workpiece400. In one aspect, the workpiece identifiers402A,402B and403are in the form of an active or passive electronic chip such as an RFID chip, Bluetooth transmitter or other suitable wireless identifier configured to be read by any suitable scanner SCR disposed within, for example, the automated transport and positioning system100and/or within any suitable portions of the workpiece processing system or facility100PS (described in greater detail below, seeFIGS. 7 and 7A).

In one aspect the structures define one or more machine readable fiducial404A-404D relating a specimen position to end effector gripper or holder position. In one aspect the at least one fiducial404A-404D includes more than one unique fiducial, each of which independently identifies the relative position of the specimen to the holder. The fiducials404A-404D are also provided in any suitable manner, such as by etching, engraving or micro-machining, on the first surface400T. These fiducials404A-404D provide an absolute physical reference between the specimen mounted to the workpiece and the workpiece physical boundaries (e.g. the edges of the slot401and/or the peripheral edge of the workpiece). In one aspect the workpiece detecting member280(along with any suitable image processing performed by, for example, controller199) is configured to read or otherwise detect the fiducials404A-404D for aligning the end effector with the workpiece for picking the workpiece, aligning the workpiece held by the end effector101with a workpiece holding station for placing the workpiece, for rotating the workpiece during alignment on the pre-aligner stage103, for aligning the workpiece with a beam of the TEM and/or for any other suitable purpose. As may be realized the barcodes and fiducials provide for automated, high-throughput machine-based recognition and handling of the workpieces for substantially unassisted specimen loading, positioning, verification, quality control, and handling for high-throughput and controlled environment applications.

In one aspect the structures provide tailored optical properties of the first and/or second surface400T,400B. For example, in one aspect, the structures define retro-reflection features providing a predetermined optical response. In one aspect any suitable number (such as, e.g., hundreds, and even thousands) of miniature tuned “corner cube” and/or “cat's eye” retroflecting features are be etched, engraved or otherwise micro-machined into the surface of the workpiece400to provide optimal optical response (contrast, and possibly even wavelength filtering) at the macro level.

As may also be realized, the slot401is suitably positioned away from the gripping zone GZ and/or recess400R so that the gripper of the end effector101,301does not contact or obstruct the specimen. It is noted that, in one aspect, the workpiece400may not include the recess in the gripping zone GZ of the workpiece400. It is noted that the slot401has any suitable orientation relative to the recess400R/gripping zone GZ as illustrated inFIGS. 2C and 2D.

Referring toFIGS. 3A-3Ithe cassette102is illustrated in accordance with aspects of the disclosed embodiment. In this aspect the cassette102is illustrated as having a rectangular shape cassette frame102F but in other aspects the cassette102/cassette frame102F has any other suitable shape and/or configuration. The cassette frame102F includes one or more workpiece400holding stations or pockets500arranged in a grid such that the pockets are accessible from a first side102T of the cassette102. In this aspect the grid includes and 8×8 array of pockets500for holding 64 individual workpieces400but in other aspects the grid has any suitable number of columns and rows such as for example, an 8×16 array for holding 128 individual workpieces. In one aspect the cassette also includes column and row identifiers (e.g. such as alphanumeric characters, barcodes, etc.) on the first side102T (or at any other suitable location) for allowing operator and/or machine identification of a location of each pocket500. For example, the columns are identified by a sequential series of numbers 1-8 and the rows are identified by a sequential series of letters A-H (or vice versa) however, in other aspects any suitable identifiers may be used. The cassette102also includes any suitable machine readable and/or human readable indicia for identifying the cassette. For example, the cassette has a longitudinal axis LA1and a lateral axis LA2so as to define lateral sides SL1, SL2and longitudinal sides SL3, SL4. In one aspect the first side102T (from which the workpieces are accessed) includes readable data storage media such as any suitable number of barcodes501A and human readable indicia502A (such as serial numbers) which, in one aspect, is substantially similar to those described above with respect to workpiece400. As may be realized, in one aspect, other surfaces such as longitudinal surface or side SL4also include similar barcodes502B and human readable indicia502B so that the cassette102is identified or identifiable while located within, for example a magazine105. As may be realized, the barcodes501A and human readable indicia502A comprise cassette identification data that relates the cassette and an array of workpieces400held on the cassette to a source material configuration (the source material configuration being described in greater detail herein, see e.g.FIG. 7B). In one aspect, the cassette identifiers501A,502A are in the form of an active or passive electronic chip such as an RFID chip, Bluetooth transmitter or other suitable wireless identifier configured to be read by any suitable scanner SCR disposed within, for example, the automated transport and positioning system100and/or within any suitable portions of the workpiece processing system or facility100PS (described in greater detail below, seeFIGS. 7 and 7A).

As may be realized referring toFIG. 7B, in one aspect, workpieces400A-400nare arranged or otherwise placed within respective pockets500of a cassette102AA in a predetermined ordered sequence, where the ordered sequence corresponds to, for example, one or more of a predetermined arrangement of an array of workpieces400in the array of pockets500, a structure STR of a specimen/structure1070the samples1070S1-1070Sn on the workpieces were taken from or any other suitable criteria. In one aspect, the predetermined ordered sequence of workpieces (and hence a predetermined ordered sequence of specimens located on the workpieces) is defined coincident with loading of each workpiece in an array of workpieces in a cassette120as described herein. As can be seen inFIG. 7B, the structure or specimen1070is divided into samples1070A-1070nwhere those samples1070A-1070nare placed on respective workpieces400A-400n. Those workpieces400A-400nare placed in one or more cassettes102AA in a predetermined ordered sequence that embodies, e.g. the structure of the specimen1070. As may also be realized, in one aspect, the ordered sequence of samples1070S1-1070Sn or workpieces400A-400n(e.g. a batch of samples) spans more than one cassette102AA-102CC such as when one or more cassettes102are held within a magazine105AA and the batch of samples1070A-1070nor workpieces400A-400nto be processed includes one or more of the cassettes102AA-102CC in the magazine105AA (e.g. the magazine105AA holds one or more batches where the batches are identified by one or more of a workpiece identifying indicia and a cassette identifying indicia and correspond to, for example, a common structure or specimen). In another aspect the batch of samples including the ordered sequence of samples1070A-1070nspans multiple magazines105AA-105BB. In one aspect, the batch(es) (e.g. the workpieces/samples and/or cassettes included in the batches) are defined in a data structure DS (as described in greater detail below) by the workpiece identifying indicia and/or cassette identifying indicia (e.g. the batch to which a workpiece/sample belongs is included in the identifying indicia of a respective workpiece/sample). In one aspect the data structure is resident or embodied in a memory199M of the controller199(for inclusion in, for example, the laboratory information management system LIMS) and is implemented as any suitable database such as, for example, an XML database, a relational database, an object-relational database, or any other database or data structure suitable for storing information as described herein.

In one aspect the pockets500of the cassette102are configured with tapered sides or guide members500T. In one aspect the sides500T direct the workpieces400into a holding slot500S. In other aspects the tapered sides or guide members500T are configured to allow gripper access into the holding locations for gripping the workpieces400(seeFIG. 3I) and to allow viewing of the workpieces within the slots500S with the workpiece detecting member280. As may be realized, in one aspect, also referring toFIGS. 3D and 3Jthe pockets500include any suitable workpiece retaining features or structures500R that are separate and distinct from or integral with one or more of the holding slot500S and/or sides500T of the pocket500. The workpiece retaining features500R may be configured to substantially prevent the workpieces from falling out of a respective pocket500due to, for example, accelerations, gravity or impacts while allowing (e.g. the retaining features500R do not inhibit) extraction and insertion of the workpiece from and to the pocket500by the end effector101,301. Examples of workpiece retaining features500R include, but are not limited to, grip tape, pressure sensitive adhesive, sheet adhesives, dispensed liquid adhesives (that dry or cure to form the retaining features), resilient members, electrostatic retention members, clips, stiction generating surfaces (e.g. coatings or applique/tape, surface patterns formed on a base material such as the cassette surface), non-slip surfaces with a friction/stiction grid formed thereon or any other suitable retention member(s). As may be realized, the retaining features500R retain the workpieces400in the pockets500up to, for example, several G's of load in any direction, while allowing the end effector101or manually operated tweezers to be inserted into the pocket for extracting the workpieces400from the respective pockets500without any residue being left on the workpieces400. As may also be realized, the workpiece retaining features500R are configured to maintain a rotational position/orientation of the workpiece400while the workpiece is disposed within the pocket500. For example, if the workpiece is inserted into the pocket with a predetermined rotational orientation (such as after being aligned with any suitable aligner (which in one aspect is external to the process module PM and/or automated transport and positioning system100) that rotational orientation is maintained within the process module PM and/or automated transport and positioning system100so that the alignment of the workpiece400with the pre-aligner103may be skipped resulting in increased throughput in the process module PM. In other aspects, where the workpiece400is aligned with the pre-aligner103that rotational orientation is maintained within the pocket500by the workpiece retaining features500R during transport of the workpiece within the cassette102. In one aspect the workpiece retaining features500R are high-vacuum compatible where a high vacuum is, for example, 10−5Torr or below.

As may be realized, the cassette102may include any suitable kinematic locating features on one or more surfaces of the cassette102to allow relative positioning (e.g. alignment) between the pockets500(and workpieces therein) and the gripper of the end effector101. For example, the first surface or side102T includes one or more kinematic recesses510(or other suitable features) and a second surface or side102B includes one or more recesses511(e.g. located at or adjacent one or more of the longitudinal sides SL3, SL4) that interface with the gripper126G of the cassette shuttle126(FIG. 1D) for automated picking and placing the cassette102from and to the magazine105. In one aspect the cassette102also includes recesses515on, for example, the lateral sides SL1, SL2for allowing manual removal and insertion of the cassette102from and to the magazine105. In other aspects the gripping features515,510,511are located at any suitable location of the cassette102. In one aspect the lateral sides SL1, SL2of the cassette102are also configured in any suitable manner to interface with the magazine105, as will be described below, so that the cassette is inserted into the magazine105in a predetermined orientation. In one aspect, the lateral sides SL1, SL2are tapered for engaging tapered surfaces600T of the magazine105(FIG. 4A-4E) so that the cassette can only be inserted into the magazine105in a single orientation. In other aspects the cassette102engages the cover590(described below) where the cover590in turn engages the magazine such that both the cover and cassette have a nested “poka-yoke” or position determining features that provide for the insertion of the cassette/cover assembly into the magazine in the predetermined orientation. In one aspect a recess520is located on the second side102B of the cassette102and includes any suitable wireless identification, such as RFID chips or other wireless identification, transponder, or telemetry unit. In other aspects the wireless identification is attached to the cassette at any suitable location and in any suitable manner.

Referring also toFIGS. 3H and 3Gthe cassette102, in one aspect, includes a detachable cover590for securing or otherwise retaining the workpieces400inside the pockets500during, for example, transport and/or storage of the cassette102. The cover590has a longitudinal axis LA3and a lateral axis LA4so as to define longitudinal sides592,593and lateral sides594,595. At least one longitudinal side593of the cover590is open to allow the cover590to slide over the cassette102. For example, side593of cover is slid over the cassette102by moving the cover590from longitudinal side SL3of the cassette102towards longitudinal side SL4of the cassette as can be seen inFIG. 3Gso that retaining surface591of the cover590is disposed adjacent to and spans the first side102T of the cassette102for retaining the workpieces in their respective pockets500. As may be realized the lateral sides594,595of the cover extend or wrap around lateral sides SL1, SL2of the cassette102(e.g. following the angle of the lateral sides SL1, SL2, for orienting the cassette in the magazine) so that extension members594M1,594M2,595M1,595M2extend over a portion of the second surface102B to substantially prevent separation of the cover590from the cassette102. At least one extension member594M1,594M2,595M1,595M2include resilient members SPR1, SPR2that are configured to engage protuberances537disposed on the second side102B of the cassette to substantially prevent relative longitudinal motion between the cassette102and the cover590and so that the cassette102is retained within the cover590. It is noted that the retention force of the resilient member SPR1, SPR2is such that it holds the cassette within the cover while allowing the cassette shuttle126to remove and insert the cassette102from the cover590and hence the magazine105as described herein. In one aspect the cover590also includes a locking member597at one of the longitudinal sides592for holding the cassette102and cover590assembly within the magazine105and to retain the cover590within the magazine105when the cassette shuttle126removes the cassette102from the magazine105.

Referring toFIGS. 4A-4Fa magazine105is illustrated in accordance with aspects of the disclosed embodiment. The magazine105, together with one or more cassettes102forms a workpiece400storage system that is configured for manual or automated transfer of workpieces400to and from the pockets500of the cassettes102as described herein. The magazine105is configured to store at least one cassette102, such as for example, 8 cassettes to allow for a workpiece holding capacity of 1,024 workpieces in a magazine where the cassette includes an 8×16 array of pockets. In other aspects the magazine holds more or less than 8 cassettes and has any suitable workpiece holding capacity in combination with the cassette(s). The magazine105includes a frame601that contains and supports the cassettes102as a unitary assembly. In one aspect the frame forms a cavity configured to be sealed with a door or cover and into which the cassettes are inserted for storage in any suitable environment of the cavity (such as for example, a vacuum environment, atmospheric environment, etc.). In other aspects the frame may not have a sealable cavity. The frame601includes any suitable kinematic features610-612(and/or automated handling features AF positioned in a known relationship with the kinematic features610-612) that interface with corresponding kinematic features of the transport shuttle120MS, as described above, for locating the magazine relative to the transport shuttle120MS and/or for the automated loading of the magazine into, for example, the chamber120C using any suitable automated magazine transport. In one aspect the kinematic features are pins and recesses but in other aspects the kinematic features are any suitable locating features. In one aspect the kinematic features610-612are also configured so that the magazine105, when loaded on the transport shuttle120MS has only a single predetermined orientation. In one aspect the frame601includes any suitable identifying indicia620(e.g. readable data storage media), that is/are substantially similar to the barcodes, human readable indicia, RFID, transponder and telemetry devices describe above, for the manual or automated identification of the magazine105. In one aspect the identifying indicia620comprise magazine identification data that relates the magazine and an array of workpieces400held on one or more cassettes disposed therein to a source material configuration (the source material configuration being described in greater detail herein, see e.g.FIG. 7B). In one aspect, the magazine identifier620is the form of an active or passive electronic chip such as an RFID chip, Bluetooth transmitter or other suitable wireless identifier configured to be read by any suitable scanner SCR disposed within, for example, the automated transport and positioning system100and/or within any suitable portions of the workpiece processing system or facility100PS (described in greater detail below, seeFIGS. 7 and 7A).

As described above, the magazine105includes one or more cassette holding stations600. Each cassette holding station600includes sides600T that conform to the cross section of the cassette and cover assembly so that the cassette and cover assembly can be inserted into the magazine105in only a single predetermined orientation. As also noted above, the cover590of each cassette102includes a locking member597that engages a corresponding locking feature of the magazine105for retaining the cover590(and the cassette102) within the magazine105. For exemplary purposes only, the frame601forms a track670into which a retaining or latch plate604is inserted. The track670is positioned on the frame601so that the longitudinal side592of the cover is positioned adjacent the track when the cover and cassette assembly is inserted into a respective cassette holding station600. The track670includes one or more bearing surface601LS and opposing retaining members671. The one or more bearing surface601LS and the respective retaining members671are spaced apart so that the retaining plate604can be inserted between the one or more bearing surface601LS and the respective retaining members671. The retaining plate604includes a handle604H configured to allow sliding manipulation of the retaining plate604for insertion and removal of the retaining plate to and from the track670. The retaining plate604also includes locking members604L that engage the locking members597of the covers590when the retaining plate604is inserted into the track670. For example, the retaining plate604is slid or otherwise inserted in the direction of arrow699into the track670between the one or more bearing surface601LS and the respective retaining members671. The locking members601L of the retaining plate604face the direction of insertion699while the locking members597of the covers590face a direction opposite the direction of insertion699so that when the retaining plate604is fully inserted into the track (as will be described below) the locking members597substantially simultaneously engage the opposing locking members601L.

In one aspect the retaining plate604includes one or more resilient member680and the frame601includes one or more detents681and cam members682. The resilient member680is configured to engage the cam member682when moving in the direction of arrow699(e.g. during insertion of the retaining plate in the track) so that the resilient member680passes over the cam682to engage the detent681for maintaining the retaining plate604in a closed state (e.g. the covers are securely held by the retaining plate) when the resilient member680is engaged with the detent681. The resilient member is biased towards the bearing surface601LS so that the resilient member680engages the detent681substantially preventing removal of the retaining plate604from the track670. The retaining plate604includes a slot or channel683into which a release tool (not shown) is inserted to lift the resilient member680over the detent681and cam member682allowing passage of the resilient member680over the detent681and cam member682for removing the retaining plate604from the track670and/or releasing of the covers590from the frame magazine105. In one aspect the frame601also includes another detent681′ and cam682′ and the retaining plate604includes another resilient member680′ configured to substantially prevent the retaining plate604from moving more than one cassette pitch P when, for example, the resilient member680and the detent681are disengaged. As may be realized, the retaining plate604includes a slot or channel683′, similar to slot or channel683, into which the release tool (not shown) may be inserted to lift the resilient member680′ over the detent681′ and cam member682′ allowing passage of the resilient member680′ over the detent681′ and cam member682′ for removing the retaining plate604where the retaining plate604is completely removed from the track670.

The covers590, cassettes102and magazines105are constructed of any suitable materials. In one aspect the covers590, cassettes102and magazines105are constructed from a vacuum environment compatible material for use in vacuum environments. In other aspects the covers590, cassettes102and magazines105are configured for use in any suitable environment.

In one aspect the one or more suitable structures or identifying indicia of the workpiece400, described above, is a physical representation of a sample held on a respective workpiece400. For example, one or more of the suitable structures or identifying indicia is a unique identifier that is associated with a data structure DS (FIG. 1A—as described further below) which in one aspect is resident in a memory199M of any suitable controller199(as will be further described below).

Referring now toFIGS. 1A and 5A-5Fan exemplary operation of the automated transport and positioning system100will be described in accordance with an aspect of the disclosed embodiment. The chamber125C is pumped to a pressure substantially equal to a pressure of the process module PM and a magazine105holding one or more cassettes102is inserted into the sealable chamber120C of the load lock120(FIG. 6, Block800). For example, the door120D is opened and the magazine105is kinematically placed on the transport shuttle120MS in any suitable manner, such as manually or with any suitable transport automation. The door120D is closed to seal or otherwise isolate the sealable chamber120C. The load lock is pumped to a pressure compatible with or substantially equal to the pressure within the chamber125C and the transport shuttle120MS is moved to align a predetermined cassette102A over the valve V2G (FIG. 6, Block805). The valve V2G is opened so that the interior of the chamber120C is in communication with the interior of the chamber125C (FIG. 6, Block810). The cassette shuttle126moves in the direction of arrow700to kinematically engage the predetermined cassette102A (FIG. 6, Block815). The cassette shuttle126moves in the direction of arrow701to remove the cassette102A from the magazine105(and its respective cover590) such that a predetermined workpiece is located within a range of motion of the workpiece positioning unit104(FIG. 6, Block820). As may be realized, in one aspect, the positioning of the cassette102A (and the workpieces therein) relative to the workpiece positioning unit104corresponds to a predetermined batch workpiece processing sequence (defined by or in the data structure DS—seeFIG. 1A) of the batch of workpieces held on one or more cassettes102of the magazine105held on the magazine shuttle120MS. The valve V2G is closed (FIG. 6, Block825). The workpiece positioning unit104moves in one or more of the directions703,704,705(e.g. X, Y and tilt) for positioning the end effector101to pick a workpiece400from the cassette102(FIG. 6, Block830) and picks the workpiece from the cassette102(FIG. 6, Block835). The cassette shuttle126moves further in the direction of arrow701to move the cassette to a buffered position (FIG. 6, Block840) and the workpiece positioning unit104moves in one or more of the directions702,704,705to place the workpiece400on the pre-aligner stage103for aligning the workpiece to a predetermined orientation (FIG. 6, Block845). As may be realized, in one aspect, data obtained by the pre-aligner stage103regarding the alignment of the workpiece400is communicated to the controller199in any suitable manner for inclusion in the data structure DS. In one aspect the pre-aligner stage103is retracted in the direction of arrow701such as when the pre-aligner stage is movably mounted to the frame140F independent of the cassette shuttle126(FIG. 6, Block850). In other aspects where the pre-aligner stage103is mounted to the cassette shuttle126(so that the pre-aligner stage and cassette shuttle move as a unit) the cassette shuttle is retracted after alignment of the workpiece. In still other aspects the pre-aligner stage103is stationary along the Z axis and may not be retracted (e.g. the pre-aligner stage is positioned to allow workpiece positioning unit104access to the process module PM). The valve V1G is opened to allow access to the process module through port125P (FIG. 6, Block855). The workpiece positioning unit104moves in one or more of the directions703,704,705(e.g. X, Y, Z and tilt where tilt includes the alpha tilt axis TX and beta tilt axis TX2as described in U.S. patent application Ser. No. 14/538,391 entitled “Workpiece Transport and Positioning Apparatus” and filed on Nov. 11, 2014 the disclosure of which is incorporated herein by reference in its entirety) for positioning the workpiece400within the process module PM for processing (FIG. 6, Block860) while, in one aspect, being held by the end effector101or, in other aspects, on a positioning stage PS of the processing module PM. For example, where the workpiece400is processed on and positioned by (e.g. during processing) the positioning stage PS, the workpiece positioning unit104places the workpiece400on the positioning stage PS so that the positioning stage PS positions the workpiece within the processing module PM for processing. In one aspect, workpiece processing instructions are communicated to the process module (and/or an operator of the process module) by the controller199from the data structure DS to effect the processing of the workpiece400by the process module PM. In one aspect, processing data obtained during the processing of the workpiece400is communicated by the processing module PM to the controller for inclusion in the data structure DS. The workpiece positioning unit104retracts from the process module PM and the valve V1G is closed (FIG. 5F). The cassette shuttle126moves in the direction of arrow701A to position cassette102so that the workpiece positioning unit104returns the workpiece400to the pocket500in the cassette102from which the workpiece was taken (FIG. 6, Block865). As may be realized, in one aspect additional workpieces held by the cassette102are processed, such as in the predetermined batch workpiece processing sequence noted above, before the cassette102is returned to the magazine105. The valve V2G is opened and the cassette shuttle126returns the cassette102to the magazine105, the valve V2G is closed and the transport shuttle120MS moves to a predetermined position for removal of the magazine from the chamber120C (FIG. 6, Block870). In other aspects the transport shuttle120MS aligns a different cassette102with the valve V2G for processing of another workpiece (or multiple workpieces, e.g. a batch of workpieces held by the different cassette) and/or for continuing the processing of a batch of workpieces that is defined in more than one cassette102.

As noted above, the controller199includes a data structure DS that effects tracking and analysis of specimens located on one or more workpieces. In one aspect, the controller199includes a neural network and/or a state machine that are configured to create and maintain the data structure DS while in other aspects the controller includes any suitable processing/processor configured to create and maintain the data structure DS. In one aspect the neural network and/or state machine is/are configured to control operations and a process flow of the automated transport and positioning system100(e.g. such as routing of automated transports, which workpieces are delivered to which process modules and in which order, process scheduling and/or process sequence control of the workpieces, etc.), as described herein, based on information in the data structure DS. The data structure, as described herein, includes data regarding where the workpieces400have been throughout, for example, a laboratory or other facility (as will be described below) from the time the samples are placed on workpieces to obtaining final results of analysis of the samples as well as detailed data regarding the processes performed on the samples. In one aspect the controller199includes a user interface configured to allow a user to view the results of the analysis or any other data within the data structure DS including a location of a sample within the laboratory or other facility.

In one aspect the data structure DS includes information pertaining to a batch of workpieces/specimens that are processed through the automated transport and positioning system100, process module PM or any other suitable laboratory equipment configured to store, transport and/or analyze the workpiece/specimen. As may be realized, any suitable structure or specimen1070(e.g. source material), such as a biological structure, metallurgical structure, semiconductor structure, etc.) is divided into samples in any suitable manner where each sample is mounted to a respective workpiece400in any suitable manner. As each sample is associated with a workpiece400(e.g. a sample is mounted to the workpiece) the data structure DS is updated so that the data structure DS associates one or more predetermined characteristic/physical attribute of the sample with the unique identifier of the workpiece400. As may be realized, the data structure DS also associates samples taken from a common structure1070with each other so that the individual samples (which are associated with the workpieces) are tracked and analyzed as whole so that an automatic determination of a characteristic of the structure1070is made with respect to the structure1070as whole (as will be described in greater detail below).

Referring toFIGS. 7, 7A and 7B, in one aspect, the automated transport and positioning system100is part of or integrated in workpiece processing system100PS. The workpiece processing system is, in one aspect, located within any suitable facility or enclosure73that has for example walls73A,73B,73C,73D connected to each other by a floor74and a ceiling/roof (not shown). An access door AD is provided for the enclosure73to allow operator access into the enclosure73for any suitable reasons. The workpiece processing system or facility100PS includes, for exemplary purposes only, one or more sample preparation modules1000, one or more workpiece sequencer modules1099, one or more automated magazine loaders1002, one or more automated transport and positioning systems100(and the respective processing modules PM), one or more storage modules1069and one or more automated transports1001all of which are, in one aspect connected to the controller199in any suitable manner (e.g. such as through a wired or wireless connection). In one aspect the one or more automated transports1001form front loading automation that loads/removes workpieces400and/or cassettes102to/from one or more workpiece sequencer modules1099, loads/removes cassettes and/or magazines105to one or more automated magazine loaders1002and loads/removes magazines105to/from one or more automated transport and positioning systems100. In one aspect, one or more of the facility73, sample preparation modules1000, workpiece sequencer modules1099, automated magazine loaders1002, automated transport and positioning systems100(and the respective processing modules PM), storage modules1069and automated transports1001include any suitable temperature controls for maintaining the sample specimens held on the workpiece at a predetermined temperature. In one aspect, the specimen samples are maintained at, for example, cryogenic temperatures while, in other aspects, the specimen samples are maintained at any suitable temperature by the one or more of the facility73, sample preparation modules1000, workpiece sequencer modules1099, automated magazine loaders1002, automated transport and positioning systems100(and the respective processing modules PM), storage modules1069and automated transports1001. As may be realized, the magazines105and cassettes120are also, in one aspect, configured in any suitable manner for maintaining the specimen samples at the predetermined temperature. For example, the cassettes102and magazines105are, in one aspect, configured heat sinks for maintaining a temperature of the specimen samples. In other aspects, the magazine105and/or cassette102includes a sealed and cooled environment in which the specimen samples (e.g. on the workpieces) are located.

The one or more automated transports1001include magazine transport units1001A and cassette transport units1001B that are configured to travel along a common set of tracks1001T. In other aspects, there is a set of tracks for the magazine transport units1001A that are separate and distinct from a set of tracks for the cassette transport units1001B. In one aspect the magazine transport units1001A include any suitable gripper1001AG for gripping the automated handling features AF of the magazines105(see e.g.FIGS. 4A-4E) and transporting the magazines105(with or without cassettes102located therein) between the automated magazine loaders1002, the automated transport and positioning systems100and the storage modules1069where kinematic features610-612of the magazine locate the magazine105in the automated transport and positioning systems100and the storage modules1069. The cassette transport units1001B include any suitable gripper1001BG for gripping the automated handling/kinematic features510,511of the cassettes102(see e.g.FIGS. 3A-3F) and transporting the cassettes102between the workpiece sequencer modules1099and the automated magazine loaders1002the where kinematic features510of the cassettes102are positioned relative to a datum surface, such as a side of the cassette for locating the cassette102in the workpiece sequencer modules1099and the automated magazine loaders1002. In one aspect, a common automated transport unit is configured to grip both the automated handling features AF of the magazines105and the cassettes automated handling/kinematic features510,511of the cassettes102for transporting either one of the magazines105and cassettes102between any suitable locations of the workpiece processing system100PS. In one aspect, the one or more automated transports1001include any suitable transport for transporting workpieces between the sample preparation modules1000and the workpiece sequencer modules1099. In one aspect the automated transports1001are an overhead material handling system while in other aspects the automated transports1001are conveyors or any other suitable mechanized transport. As may be realized, the transport of the cassettes102and magazines105can also be performed manually.

The sample preparation modules1000are any suitable modules configured to prepare a sample1070S1-1070Sn (generally1070S) from a structure or specimen1070and place that sample on a workpiece400A-400n(generally400). It is noted that, each of the sample preparation modules1000includes any suitable vision systems1000V (which in one aspect are similar to vision system1080V described herein) that are configured to send suitable identification signals to the controller199that identify, for example, a workpiece400on which a particular sample1070S is mounted or any other suitable information that effects population of the data structure DS as described herein. In other aspects the specimen/workpiece relational is obtained and transmitted to the controller199for inclusion in the data structure DS in any suitable manner.

The workpiece sequencer modules1099are connected to one or more sample preparation modules1000in any suitable manner so that samples1070S disposed on workpieces400are transferred therebetween. The workpiece sequencer module1099illustrated inFIG. 7is exemplary only and it should be understood that the workpiece sequencer module1099includes any suitable structure, features and/or components for transferring workpieces400with samples1070S thereon from any suitable sample preparation module1000to one or more cassettes102where the workpieces400are placed in the cassette(s)102in a predetermined ordered sequence (seeFIG. 7B) such as that described above so that the predetermined ordered sequence embodies the structure of the specimen/structure1070. For exemplary purposes only, the workpiece sequencer module1099includes a frame1099F, a cassette holder1098mounted to the frame1099F and an automated workpiece transport1090mounted to the frame1099F. The cassette holder1098is configured to hold one or more cassettes102in any suitable manner so that an automated transport1001(such as a cassette transport unit1001B) transfers the one or more cassettes102between the cassette holder1098and, for example, an automated magazine loader1002. In one aspect the cassettes102are kinematically located in the cassette holder1098in any suitable manner (e.g. at least one side of the cassette proves a datum seating surface for locating the workpiece holding pockets500where the datum seating surface is in a known relationship with the automated handling/kinematic features510,511of the cassettes102) so that workpiece holding pockets500of the cassettes are each located in a known position relative to, for example, the automated workpiece transport1090.

In one aspect the automated workpiece transport1090includes at least three degrees of freedom (along e.g. the X, Y and Z axes) for picking and placing workpieces between the sample preparation module1000and the cassettes102while in other aspects the automated workpiece transport1090includes more or less than three degrees of freedom. For example, the automated workpiece transport1090includes a Y axis stage1010, an X axis stage1011and a Z axis stage1012to which a workpiece holder1004is mounted for movement in at least the X, Y and Z directions. In one aspect the automated workpiece transport1090includes one or more rotational axes RA1, RA2that enable the workpiece holder1004to rotate and pick/place workpieces from any suitable workpiece holding stations (e.g. such as the sample preparation module1000, other cassette holders, etc.) in multiple parallel and/or perpendicular planes. The workpiece holder1004includes any suitable end effector1004E configured to grip and hold a workpiece400, which in one aspect is substantially similar to end effector101described above. In one aspect, the end effector1004E is a multiple workpiece holding end effector. For example, referring toFIGS. 7C and 7Dthe end effectors104E1,104E2are respectively configured to hold two workpieces400one over the other in a stack or side by side in a common plane. As may be realized, the end effectors104E1,104E2, in other aspects, are configured to hold any suitable number of workpieces in any suitable spatial arrangement relative to one another. As may also be realized, the spacing between the workpieces on the end effectors104E1,104E2is substantially the same as the spacing of the pockets500of the cassette102for allowing substantially simultaneous picking/placing of workpiece from/to the cassette102or any other suitable workpiece holding locations.

In one aspect the workpiece sequencer module1099includes any suitable vision system1080V that includes one or more sensors1080for imaging or otherwise detecting (e.g. in one aspect the vision system includes other suitable optical and/or radio frequency readers), for example, one or more of locating features (such as the fiducials404A-404D) and unique identifiers (such as barcodes402A,402B and/or identifier403) of the workpieces400(see e.g.FIG. 2A) to effect handling of the workpiece400with the automated workpiece transport and/or identification of the workpiece400and sample1070S held thereon (e.g. with respect to the data structure DS as described below). In one aspect the one or more sensors1080are CCD cameras or other imaging device configured to read or recognize the fiducials404A-404D, barcodes402A,402B and/or identifier403. The one or more sensors1080are placed in any suitable position relative to, for example, the automated workpiece transport1004, cassettes102and/or the sample preparation module1000so that suitable identification signals are sent from the vision system1080V to the controller1099upon viewing of the workpiece400held by, for example, the end effector1004E of the automated workpiece transport1004.

As noted above, the automated transport1001is configured to transport the cassettes102between the cassette holder1098and the automated magazine loader1002. As may be realized, the automated transport1001is also configured to transport the cassettes102(which are located within the magazine(s)105) to the automated transport and positioning system100.

In one aspect, the data structure DS includes data fields that associate descriptors with the unique identifier of the workpiece400such as, for example, an identification of a sample1070S located on the workpiece400, one or more of a specimen/sample type (e.g. what the specimen/sample is), a sample size, sample location/orientation relative to the workpiece and/or a workpiece holder/gripper, a sample sequence in a batch of samples (e.g. such as when the structure1070is divided into multiple samples for analysis), a location of the sample in a batch of samples, a specimen/sample source (e.g. from where, who and/or what the specimen was obtained), a predetermined batch workpiece processing sequence for workpieces in a batch of workpieces, instructions for processing the sample, analysis of a group of samples from a common specimen as a whole, a final destination of the sample or any other suitable characteristics/physical attributes of the specimen/sample. As may be realized, as the workpiece400and sample1070S thereon is processed (e.g. from mounting of the specimen sample on the workpiece to final analysis and/or storage of the specimen) a process history that includes one or more of process steps and an event log for the workpiece is stored in the data structure DS for that sample and associated with a respective unique identifier for the respective workpiece400.

Referring also toFIG. 1, as noted above, the controller199is configured to track each workpiece400(and the sample1070S thereon) in a batch of workpieces/samples (which in one aspect is in a sequenced order) with the data structure DS. As an example, in one aspect, a structure or specimen1070(e.g. source material) is divided into multiple samples1070S1-1070Sn by, for example, the sample preparation module1000(FIG. 8, Block900). A workpiece400is picked or otherwise retrieved by an automated workpiece transport1004A of, for example, the sample preparation module1000. In other aspects the automated workpiece transport1004picks and positions a workpiece400in the sample preparation module1000. The automated workpiece transport1004,1004A positions the workpiece400in proximity to any suitable reader (such as vision system1000V or other radio frequency reader) and an identification of that workpiece is sent to the controller199(FIG. 8, Block902). As the samples1070S are placed on the respective workpieces400a change in status of the workpieces is recorded in the data structure DS and an association between the sample1070S and the workpiece400is formed and any suitable identification data signals are transmitted to the controller199so that the sample1070S placed on the workpiece400is associated with that workpiece400in the data structure DS (FIG. 8, Block904). In one aspect the identification data signals are transmitted by the vision system1000V (or other suitable reader) of the sample preparation module1000while in other aspects the identification data signals associating the sample1070S with the workpiece400are transmitted by the vision system1080V (or other suitable reader) during transport of the workpiece400(with the sample1070S thereon) by the automated workpiece transport1004. In other aspects, any suitable scanner SCR (of for example, vision system) reads passive or active media (e.g. RFID chips, Bluetooth transmitters, etc.) of the workpiece such that suitable data is transmitted to the controller199by the scanner SCR for forming the association between the sample1070S and workpiece400. As may be realized, the identifying indicia of the workpiece400provide for, along with the data structure DS, tracking each sample1070S in a sequenced batch of samples throughout sample processing and for arranging the samples1070S in a sequenced order based on the identifying indicia where process information for each sample1070S (e.g. from mounting the sample to the workpiece400to an end result of sample analysis and/or storage) is linked to the respective identifying indicia in the data structure DS.

In one aspect, the controller199controls the automated workpiece transport1004so that the workpieces (and samples thereon) are placed within the pocket(s)500of one or more cassettes102in a predetermined sequence where the predetermined sequence and the data associated with the workpieces in the data structure DS embodies a structure of the structure1070being analyzed. The predetermined sequence in which the workpieces400are placed in the one or more cassettes120is based on any suitable criteria. For example, samples1070S that are sequentially taken from a structure1070are placed in the one or more cassettes102in a predetermined order that corresponds with, for example, an order in which the samples1070S were taken from the structure1070. In one aspect one or more batches of samples are identified by the controller199based on, for example, a relationship between the samples (e.g. taken from a common structure1070, etc.) or any other suitable criteria (FIG. 8, Block905) where the batches are processed in a predetermined order or sequence as identified by the controller199and/or data structure DS. In other aspects the workpieces400(and the samples thereon) are placed in the pocket(s)500of the cassette(s)102in any suitable manner. Regardless of how the workpieces400(and samples thereon) are arranged in the cassette(s)102, an association is made between the workpieces400and the cassette102in which the workpieces400are placed as (or prior to) each workpiece400in the batch of workpieces is loaded into one or more cassettes102(see e.g.FIG. 3I) in the manner described herein where a unique identifier (see e.g. barcode501A inFIG. 3A) of the one or more cassettes102is associated with the unique identifier of the respective workpieces400in the data structure DS. For example, the automated workpiece transport1004moves a workpiece400(with sample1070S thereon) from the sample preparation module1000to a location proximate vision system1080V or other suitable reader of the workpiece sequencer module1099so that the workpiece400(and sample1070S thereon) is identified for placement in a pocket500of a cassette102(FIG. 8, Block907).

In one aspect the automated workpiece transport1004places the workpiece400in a predetermined cassette pocket500location, in the array of pockets of the cassette102, (FIG. 8, Block909). A status of the workpiece is updated so that each workpiece400is associated with the respective location of the pocket500so that the location of each workpiece relative to the kinematic features of the respective cassette is known (FIG. 8, Block910). In one aspect, the controller199is configured to make the workpiece/cassette association and the workpiece/pocket association within the data structure DS and instruct the automated workpiece transport1004to place the workpiece400in the predetermined pocket500of a predetermined cassette102. In other aspects, the vision system1080V sends identification signals to the controller199indicating which pocket500of which cassette102a workpiece is placed based on the unique identifiers of the workpiece400as well as the cassette and pocket identifiers of the cassette102(as described above). As may be realized, where the controller199prescribes a pocket500in which the workpiece400is to be placed, the controller sends any suitable transport protocol to the automated workpiece transport1004for transporting the workpiece and the location of the workpiece in the cassette102is verified in any suitable manner, such as with vision system1080V or scanner SCR (FIG. 8, Block911). In one aspect, upon verification of workpiece placement in the cassette102a status of the workpiece is updated in the data structure to indicate the workpiece400is properly placed in the cassette102.

The cassette102is picked or otherwise removed from the cassette holder1098in any suitable manner, such as by the automated transport1001(e.g. a cassette transport unit1001B) where the cassette is brought in proximity with any suitable reader SCR for identifying the cassette (FIG. 8, Block915) such that any suitable signals are sent from the scanner SCR to the controller199for updating a status of the workpiece400in the data structure DS (FIG. 8, Block917). In one aspect, the controller199sends signals to the automated transport1001B for transporting the cassette102to a predetermined cassette105(and in one aspect, a predetermined location within the cassette105) within a predetermined automated magazine loader1002. In one aspect the cassette is transported by any suitable scanner SCR or vision system1002V of the automated magazine loader to verify a location of the cassette102at the automated magazine loader1002(FIG. 8, Block918) and the cassette102is loaded into a magazine105in any suitable manner (FIG. 8, Block919). For example, a magazine105is kinematically located in the automated magazine loader and the cassette transport unit1001B is configured to insert the cassette102carried by the cassette transport unit1001B into a respective holding slot of the magazine105where, as may be realized, the insertion of the cassette102into the magazine is effected by the kinematic locating features of the magazine and the cassette. As may be realized, in one aspect, covers590are predisposed within the magazine105and the cassettes102are inserted into the covers590so that the cassettes102are retained in the magazine105. In other aspects the covers590are placed on the cassettes102(or vice versa) in any suitable manner prior to inserting the cassette102in the magazine105. As may be realized, the magazine105is positioned within the automated magazine loader so that a unique identifier (see e.g. identifying indicia620inFIG. 4C) of the magazine105is read by any suitable reader SCR so that as the cassette102is placed within the magazine105a status of the workpieces400within the cassette102are updated in the data structure and the magazine105is associated with the unique identifier of the workpieces400loaded therein (FIG. 8, Block920). As such, the data structure includes data indicating at least which magazine105the sample(s) is (are) located, in which cassette102(within the magazine105) the sample is located, in which pocket500of the cassette102the sample is located and on which workpiece400the sample is located.

In one aspect, each automated magazine loader1002includes suitable vision systems1002V (which in one aspect are similar to vision system1080V described herein) that are configured to send suitable identification signals to the controller199that identify, for example, a magazine105in which a particular cassette (and hence a workpiece) is located, a position of the cassette102within the magazine105or any other suitable information that effects population of the data structure DS. In other aspects the magazine/cassette/workpiece relational data is obtained and transmitted to the controller199for inclusion in the data structure DS in any suitable manner. For example, any suitable scanner SCR reads passive or active media (e.g. RFID chips, Bluetooth transmitters, etc.) of the cassette and magazine such that suitable data is transmitted to the controller199by the scanner SCR for forming the association between the sample1070S, workpiece, cassette and magazine.

The magazine105picked from and transferred from the automated magazine loader1002such that any suitable data is sent to the controller199(by for example, scanner SCR of the automated transport101or automated magazine loader1002or vision system1002V) for updating an in process location of the workpieces (FIG. 8, Block925). In a manner substantially similar to that described above, in one aspect, the controller199prescribes a predetermined automated transport and positioning system to which the magazine is transported. The magazine105is loaded into the automated transport and positioning system100and the location of the magazine is verified by, for example, any suitable scanner SCR or vision system of the automated transport and positioning system100(FIG. 8, Block926) where a status, such as the in process location of the magazine (and hence the specimens therein), is updated and recorded (e.g. an in process specimen sample location is updated) in the data structure DS (FIG. 9, Block928). In one aspect the magazine transport unit1001A transports the magazine to and loads the magazine on/in the automated transport and positioning system100while in other aspects the magazine105is transported to and loaded on/in the automated transport and positioning system100in any suitable manner. As may be realized, the in process location of the magazine, cassettes, and workpieces (and hence the samples), in one aspect, is updated in real time as the magazine, cassettes, and workpieces (and hence the samples) are moved around/within the facility73(which may be a laboratory), the automated transport and positioning system100, process module PM or any other suitable workpiece holding location. For example, in one aspect, as described herein one or more of the sample preparation module1000, automated magazine loader1002, the workpiece sequencer module1099and the automated transport and positioning system100are in communication with the controller199and configured to read or otherwise identify the magazines, cassettes and workpieces located therein and communicate the same along with, for example, any processing data regarding processing performed on a sample, to the controller199to effect substantially real time updating of the sample process data within the data structure DS.

At least one cassette102is removed/picked from the magazine105by, for example, the cassette shuttle126and is transported by any suitable scanner SCR or vision system of the automated transport and positioning system so that the cassette102being removed or picked is identified and its location is verified with the controller (FIG. 8, Block929). As may be realized, in one aspect the controller specifies which cassette is to be picked based on the cassette identifier and its location within the magazine105where the identification of the cassette102verifies that the specified cassette is picked. In other aspects the cassette102is picked and identified such that the controller199uses the identification of the cassette to specify a process/process order for the workpieces in the cassette102. The identification of the cassette102that is removed from the magazine105also effects a change/updated status (e.g. in the data structure DS) of the workpieces in that cassette102where the change in status is a change in location of the workpieces, a change regarding an in process status of the workpieces or any other suitable data within the data structure is updated (FIG. 8, Block930).

The automated transport and positioning system100picks one or more workpieces400from the cassette so as to cycle through the workpieces400held in one or more of the cassettes102of the magazine105in, for example, the predetermined batch workpiece processing sequence where the workpieces are each transported in proximity to any suitable scanner or vision system of the automated transport and positioning system100so that the location and identity of the workpiece400is verified (FIG. 8, Block932). A status of the workpiece location or in process data of the workpiece is updated in the data structure based on the identification of the workpieceFIG. 8, Block934). As may be realized, in one aspect, each workpiece has a predetermined microscopy process associated with it and the controller199sends processing data to, for example, the process module PM to effect processing of the workpiece400according to the predetermined microscopy process based on the identity of the workpiece. Process/analysis data (e.g. a location of the workpiece within the system100, specimen images, specimen orientation, or any other suitable physical and/or analytical data) associated with each sample transferred to the processing module PM or processing performed on the sample is recorded in the data structure DS as described above (FIG. 8, Block936). Following processing in the process module PM the samples held on the workpieces are returned to a respective cassette102by workpiece positioning unit104and the respective cassette102is returned to a respective magazine105by the workpiece or cassette shuttle126and a status of the workpiece is updated in the data structure DS through identification of the workpiece with any suitable scanner SCR or vision system of the automated transport and positioning system100.

The magazine105is removed from the automated transport and positioning system100in any suitable manner such as by magazine transport unit1001A. In one aspect, the magazine105is placed in storage1069by the magazine transport unit1001A where the storage units1069include suitable vision systems1069V, similar to those described herein, for communicating to the controller199a location of the magazine105within the storage unit1069. In another aspect, the magazine is returned to a magazine loader1002where the cassettes102are removed and the cassettes are placed in a storage unit1069such that a location of the cassette102within the storage unit1069is communicated to the controller199by, for example, the vision system1069V. In still other aspects, the magazines102are returned to the automated transport and positioning system100where the workpieces400are removed from the cassettes102(and in one aspect placed in storage) where the removal of the sample from the automated transport and positioning system100and cassettes102is communicated to the controller199in any suitable manner (such as through suitable sensors, optical readers, user interfaces, etc.) where the location of the sample is updated in the data structure DS (FIG. 8, Block940).

As may be realized, the movement of the workpieces400(and specimen samples thereon) throughout the workpiece processing system or facility100PS is effected by one or more drive axes of one or more transports of, for example, the automated transport1001, the automated transport and positioning system100, the workpiece sequencer modules1099or any other suitable workpiece transport as described in, for example, U.S. patent application Ser. No. 14/538,391 entitled “Workpiece Transport and Positioning Apparatus” and filed on Nov. 11, 2014 the disclosure of which is incorporated herein by reference in its entirety. Each of the drive axes provides data to the controller199regarding the position of the workpieces400(and the specimen samples thereon) to effect updating the status (e.g. location status, processing status, sequence status within a batch of workpieces, orientation status, etc.) of the workpiece in the data structure DS and/or laboratory information management system LIMS.

In one aspect the data structure provides a series of, for example, data points (formed from the process/analysis data obtained during sample analysis as described above) related to the sequenced order of a batch of samples for a common structure1070. The controller199is, in one aspect, configured to provide an automated determination of a characteristic (e.g. a chemical makeup, a physical makeup, a status or health of biological tissue, a structural integrity of the structure, etc.) of the structure1070by analyzing the data points of each sample and providing a conclusion of the overall results for the analysis of the structure1070associated with the sequenced order of the batch of samples (FIG. 8, Block945). As may be realized, the tracking of the samples of the structure1070, with the data structure DS, from the creation of the samples and placement of the samples on a respective workpiece400to the conclusion of overall results for the structure (e.g. comprised of the samples) maintains the integrity of the overall structure1070during the automated analysis of each sample of the structure1070.

Referring now toFIG. 9the batch holding of the workpieces400includes providing the cassette102having a frame102F and an array of grid holding receptacles (e.g. pockets500) in the frame102F, each of the pockets being configured to hold at least one workpiece400therein (FIG. 9, Block1900). A readable data storage medium (as described above) is provided and connected to the cassette frame102F where the readable data storage medium embodies a unique predetermined cassette frame characteristic (e.g. such the cassette identifiers described above) that corresponds to the cassette frame (FIG. 9, Block1910). As described above, the readable data storage medium is representative of a predetermined workpiece characteristic of a workpiece held in the array of pockets500of the cassette102. As also described above, the predetermined workpiece characteristic is representative of one or more of a source material configuration from which grid specimens of the grid array are made; holder (e.g. cassette) identification data that relates the magazine and grid array in the array of pockets to the source material configuration; and/or is workpiece identification data relating each workpiece and specimen disposed on the workpiece.

In accordance with one or more aspects of the disclosed embodiment an automated workpiece processing system includes at least one workpiece processing unit; a workpiece holder configured to removably hold a batch of workpieces therein, each workpiece embodying workpiece identifying indicia where the workpiece identifying indicia is a physical representation of a sample held on a respective workpiece, and to interface with the at least one automated workpiece processing unit; and a controller including a memory having a data structure therein that effects, with the workpiece identifying indicia, batch process tracking of each workpiece in the batch of workpieces through the at least one automated workpiece processing unit in a predetermined batch workpiece processing sequence.

In accordance with one or more aspects of the disclosed embodiment the workpiece identifying indicia embodies and the data structure includes at least one predetermined characteristic of the sample held on the respective workpiece.

In accordance with one or more aspects of the disclosed embodiment the at least one predetermined characteristic includes at least one or more of data regarding the processing of the sample before analysis of the sample, and data regarding results of sample analysis.

In accordance with one or more aspects of the disclosed embodiment the workpiece holder comprises an ordered sequence of samples held on the respective workpiece, where the ordered sequence is based on the workpiece identifying indicia.

In accordance with one or more aspects of the disclosed embodiment the workpiece processing unit comprises one or more of an electron microscope, and a workpiece holder storage.

In accordance with one or more aspects of the disclosed embodiment the workpiece holder is configured for insertion within the at least one workpiece processing unit.

In accordance with one or more aspects of the disclosed embodiment the workpiece holder comprises a frame configured to removably hold one or more workpiece holding cassettes where each workpiece holding cassette includes a grid of workpiece holding locations.

In accordance with one or more aspects of the disclosed embodiment each workpiece holding cassette comprises an ordered sequence of samples held on the workpieces in the workpiece holding locations, where the ordered sequence of samples is based on the workpiece identifying indicia.

In accordance with one or more aspects of the disclosed embodiment each workpiece holding cassette includes cassette identifying indicia thereon, the data structure correlating the cassette identifying indicia with the workpiece identifying indicia of the workpieces held in a respective workpiece holding cassette.

In accordance with one or more aspects of the disclosed embodiment more than one workpiece holding cassette comprises an ordered sequence of samples held on the workpieces in the workpiece holding locations, where the ordered sequence is based on the workpiece identifying indicia and the cassette identifying indicia.

In accordance with one or more aspects of the disclosed embodiment each workpiece holding location includes a workpiece retaining feature.

In accordance with one or more aspects of the disclosed embodiment each workpiece holding location is configured so that a workpiece is transferred to and from a respective workpiece holding location by automation or manually.

In accordance with one or more aspects of the disclosed embodiment each workpiece holding location is configured so that a workpiece holding cassette is transferred to and from a respective specimen holding location by automation or manually.

In accordance with one or more aspects of the disclosed embodiment each workpiece holding cassette includes a cover, the cover including retention features configured to removably secure the cover to the frame, and removably secure a respective workpiece holding cassette within the frame.

In accordance with one or more aspects of the disclosed embodiment a batch holder for electron microscope sample grids includes a frame; an array of grid holding receptacles disposed in the frame, each of which being configured for holding at least one grid therein; a readable data storage medium connected to the frame embodying a unique predetermined characteristic corresponding to the batch holder; wherein the data storage medium is representative of another predetermined characteristic of a grid array held in the array of grid holding receptacles of the batch holder.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is unique and different than the predetermined characteristic of the batch holder.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is related to a predetermined sequence of specimens on the grid array.

In accordance with one or more aspects of the disclosed embodiment the predetermined sequence is automatically defined coincident with loading of each grid of the grid array in the batch holder.

In accordance with one or more aspects of the disclosed embodiment the predetermined sequence corresponds to a predetermined arrangement of the grid array within the array of grid holding receptacles of the holder.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic corresponds to a predetermined arrangement of the grid array in the array of grid holding receptacles of the holder.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is representative of a source material configuration from which grid specimens of the grid array are made.

In accordance with one or more aspects of the disclosed embodiment the predetermined characteristic is holder identification data that relates the holder and grid array in the array of grid holding receptacles of the holder to the source material configuration.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is grid identification data relating each grid, of the grid array in the grid holding receptacles, and specimen disposed on the grid.

In accordance with one or more aspects of the disclosed embodiment an automated holder sequence station for the batch holder described above, the automated holder sequencing station including a holder placement station configured for holding the batch holder; a grid transport, having an end effector arranged to hold a grid on the transport, and a drive section arranged for transporting and placing the grid in a grid holding receptacle of the batch holder; a reader disposed to read the data storage medium of the holder in the holder placement station; and a processor communicably connected to the grid transport and reader, and configured to register the predetermined characteristic of the batch holder from data of the data storage medium read by the reader, and register grid related data defining the other predetermined characteristic of the grid array loaded in the array of grid holding receptacles of the batch holder.

In accordance with one or more aspects of the disclosed embodiment a method for batch processing workpieces includes placing at least a portion of at least one specimen on each workpiece in a batch of workpieces, where each workpiece embodies workpiece identifying indicia that is a physical representation of the portion of the specimen held on a respective workpiece; and tracking, with a data structure disposed in a memory of a controller, processing of each workpiece in the batch of workpieces through at least one automated workpiece processing unit in predetermined batch workpiece processing sequence based on the workpiece identifying indicia.

In accordance with one or more aspects of the disclosed embodiment the at least one workpiece processing unit comprises one or more of a workpiece storage unit, and an electron microscope.

In accordance with one or more aspects of the disclosed embodiment the processing of each workpiece includes one or more of: the placing of the portion of the at least one sample on each workpiece in the batch of workpieces; placing each workpiece in the batch of samples in at least one workpiece holding cassette; placing the at least one workpiece holding cassette in at least one cassette holding magazine; placing the at least one cassette holding magazine in an automated loading and positioning system of the at least one workpiece processing unit; processing one or more workpieces in the batch of workpieces through the at least one workpiece processing unit by cycling the one or more workpieces through the at least one workpiece processing unit; removing the at least one cassette holding magazine from the automated loading and positioning system of the at least one workpiece processing unit; removing the at least one workpiece holding cassette from the at least one cassette holding magazine; and storing the workpieces, holding a respective portion of the at least one sample thereon.

In accordance with one or more aspects of the disclosed embodiment the workpiece identifying indicia embodies and the data structure includes at least one predetermined characteristic of the sample held on the respective workpiece.

In accordance with one or more aspects of the disclosed embodiment the at least one predetermined characteristic includes one or more of data regarding the processing of the portion of the at least one sample before analysis of the portion of the at least one sample, and data regarding results of sample analysis.

In accordance with one or more aspects of the disclosed embodiment the method further includes arranging the portion of the at least one sample placed on each workpiece in the batch of workpieces in an ordered sequence based on the workpiece identifying indicia.

In accordance with one or more aspects of the disclosed embodiment the method further includes arranging the portion of the at least one sample placed on each workpiece in the batch of workpieces in an ordered sequence within at least one workpiece holding cassette based on the workpiece identifying indicia, wherein the data structure includes the ordered sequence.

In accordance with one or more aspects of the disclosed embodiment each workpiece holding cassette includes cassette identifying indicia thereon, the method further comprising correlating, with the data structure, the cassette identifying indicia with the workpiece identifying indicia of the workpieces held in a respective workpiece holding cassette.

In accordance with one or more aspects of the disclosed embodiment a workpiece storage system includes at least one cassette having a cassette frame including one or more cassette retention features; a magazine including a magazine frame forming cassette holding locations therein; and at least one cassette cover configured to retain workpieces within a respective cassette, the at least one cassette cover including one or more cover engagement features being configured to engage the one or more cassette retention features and retain the respective cassette within the cassette cover, and engage the magazine frame and retain the respective cassette within the magazine.

In accordance with one or more aspects of the disclosed embodiment the cassette frame includes one or more workpiece holding stations formed in the cassette frame, the one or more workpiece holding stations being configured to hold workpieces therein.

In accordance with one or more aspects of the disclosed embodiment the at least one cassette cover spans the one or more workpiece holding stations of the respective cassette.

In accordance with one or more aspects of the disclosed embodiment the magazine comprises a cover locking feature configured to selectively engage the one or more cover engagement features where when engaged the cover is retained within the magazine.

In accordance with one or more aspects of the disclosed embodiment the cover locking feature is configured so that when engaged with the one or more cover engagement features the respective cassette is movable relative to the cover.

In accordance with one or more aspects of the disclosed embodiment the cover locking feature is configured to substantially simultaneously engage or disengage the one or more cover engagement features of each cover located within the cassette holding locations.

In accordance with one or more aspects of the disclosed embodiment the magazine frame includes kinematic coupling features configured to engage automated magazine handling equipment.

In accordance with one or more aspects of the disclosed embodiment each cassette includes kinematic coupling features configured to engage automated cassette handling equipment.

In accordance with one or more aspects of the disclosed embodiment each cassette embodies cassette identifying indicia identifying each workpiece held by the cassette.

In accordance with one or more aspects of the disclosed embodiment the cassette holding locations and the at least one cassette are configured so that the at least one cassette is placed within a respective cassette holding location in a single predetermined orientation relative to the magazine.

In accordance with one or more aspects of the disclosed embodiment the workpiece holder includes a frame; a two dimensional array of workpiece holding pockets disposed in the frame; and kinematic handling features disposed on the frame, the kinematic handling features being configured to engage an automated workpiece holder end effector and having a predetermined location relative to each of the workpiece holding pockets.

In accordance with one or more aspects of the disclosed embodiment the kinematic handling features provide relative positioning between each of the workpiece holding pockets and an automated workpiece end effector.

In accordance with one or more aspects of the disclosed embodiment the frame embodies indicia identifying a location of each workpiece holding pocket with the two dimensional array of workpiece holding pockets.

In accordance with one or more aspects of the disclosed embodiment the workpiece holder further includes a cover having a cover frame being shaped so that at least a portion of the frame fits into the cover frame and a portion of the cover spans the two dimensional array of workpiece holding pockets.

In accordance with one or more aspects of the disclosed embodiment the cover frame includes frame retention features and the frame includes mating retention features configured to engage the frame retention features for securing the frame within the cover.

In accordance with one or more aspects of the disclosed embodiment the frame includes a first surface and a second surface that opposes the first surface, the kinematic handling features being located on the first surface, the workpiece holder further comprising gripping features on the second surface in an opposing relationship with the kinematic handling features.

In accordance with one or more aspects of the disclosed embodiment the workpiece holder further includes a wireless identification module mounted to the frame, the wireless identification module being configured to convey one or more of an identification of the frame and the workpieces held in the workpiece holding pockets to an automation controller.

In accordance with one or more aspects of the disclosed embodiment the frame includes recessed gripping surfaces on one or more sides of the frame.

In accordance with one or more aspects of the disclosed embodiment batch holder for electron microscope sample grid cassettes includes a frame; an array of cassette holding receptacles disposed in the frame, each of which being configured for holding a sample grid cassette therein;

a readable data storage medium connected to the frame embodying a unique predetermined characteristic corresponding to the batch holder; wherein the data storage medium is representative of another predetermined characteristic of at least one sample grid cassette held in the array of cassette holding receptacles of the batch holder.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is unique and different than the predetermined characteristic of the batch holder.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is related to a predetermined sequence of specimens held on a grid array of the at least one sample grid cassette.

In accordance with one or more aspects of the disclosed embodiment the predetermined sequence is automatically associated with the batch holder coincident with loading of each sample grid cassette in the batch holder.

In accordance with one or more aspects of the disclosed embodiment the predetermined sequence corresponds to a predetermined arrangement of a grid array of the at least one sample grid cassette.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic corresponds to a predetermined arrangement of a grid array of the at least one sample grid cassette.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is representative of a source material configuration from which grid specimens of a grid array of the at least one sample grid cassette are made.

In accordance with one or more aspects of the disclosed embodiment the predetermined characteristic is holder identification data that relates the batch holder and the grid array in the at least one sample grid cassette to the source material configuration.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is grid identification data relating each grid, of a grid array of the at least one sample grid cassette, and specimen disposed on the grid.

In accordance with one or more aspects of the disclosed embodiment a method for batch holding electron microscope sample grids includes providing a cassette frame having an array of grid holding receptacles disposed in the cassette frame, each of which being configured for holding at least one grid therein; providing a readable data storage medium connected to the cassette frame embodying a unique predetermined cassette frame characteristic corresponding to the cassette frame; wherein the data storage medium is representative of a predetermined grid characteristic of a grid array held in the array of grid holding receptacles of the cassette frame.

In accordance with one or more aspects of the disclosed embodiment the predetermined grid characteristic is unique and different than the predetermined cassette frame characteristic.

In accordance with one or more aspects of the disclosed embodiment the predetermined grid characteristic is related to a predetermined sequence of specimens in the array of grid holding receptacles.

In accordance with one or more aspects of the disclosed embodiment the method further includes automatically defining the predetermined sequence coincident with loading of each grid in an array of grids in the array of grid holding receptacles.

In accordance with one or more aspects of the disclosed embodiment the predetermined sequence corresponds to a predetermined arrangement of the grid array within the array of grid holding receptacles of the holder.

In accordance with one or more aspects of the disclosed embodiment the predetermined grid characteristic corresponds to a predetermined arrangement of the grid array in the array of grid holding receptacles of the holder.

In accordance with one or more aspects of the disclosed embodiment the predetermined grid characteristic is representative of a source material configuration from which grid specimens of the grid array are made.

In accordance with one or more aspects of the disclosed embodiment the predetermined cassette frame characteristic is cassette identification data that relates the cassette frame and grid array in the array of grid holding receptacles of the cassette frame to the source material configuration.

In accordance with one or more aspects of the disclosed embodiment the predetermined grid characteristic is grid identification data relating each grid, of the grid array in the grid holding receptacles, and specimen disposed on the grid.

In accordance with one or more aspects of the disclosed embodiment the method further includes providing a magazine frame having an array of cassette frame holding receptacles disposed in the magazine frame, each of which being configured for holding the cassette frame therein; providing another readable data storage medium connected to the magazine frame embodying a unique predetermined magazine frame characteristic corresponding to the magazine frame; wherein the other data storage medium is associated with the predetermined grid characteristic.

In accordance with one or more aspects of the disclosed embodiment the predetermined magazine frame characteristic is unique and different than the predetermined cassette frame characteristic and the predetermined grid characteristic.

In accordance with one or more aspects of the disclosed embodiment the predetermined grid characteristic is related to a predetermined sequence of specimens held in the array of grid holding receptacles.

In accordance with one or more aspects of the disclosed embodiment the predetermined sequence is automatically associated with the magazine frame coincident with loading of each sample cassette frame in the magazine frame.

In accordance with one or more aspects of the disclosed embodiment an automated holder sequencing system for an electron microscope includes a batch holder including a frame; an array of grid holding receptacles disposed in the frame, each of which being configured for holding at least one grid therein; a readable data storage medium connected to the frame embodying a unique predetermined characteristic corresponding to the batch holder; wherein the data storage medium is representative of another predetermined characteristic of a grid array held in the array of grid holding receptacles of the batch holder; a holder placement station configured for holding the batch holder; a grid transport, having an end effector arranged to hold a grid on the transport, and a drive section arranged for transporting and placing the grid in a grid holding receptacle of the batch holder; a reader disposed to read the data storage medium of the holder in the holder placement station; and a processor communicably connected to the grid transport and reader, and configured to register the predetermined characteristic of the batch holder from data of the data storage medium read by the reader, and register grid related data defining the other predetermined characteristic of the grid array loaded in the array of grid holding receptacles of the batch holder.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is unique and different than the predetermined characteristic of the batch holder.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is related to a predetermined sequence of specimens on the grid array.

In accordance with one or more aspects of the disclosed embodiment the predetermined sequence is automatically defined coincident with loading of each grid of the grid array in the batch holder.

In accordance with one or more aspects of the disclosed embodiment the predetermined sequence corresponds to a predetermined arrangement of the grid array within the array of grid holding receptacles of the holder.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic corresponds to a predetermined arrangement of the grid array in the array of grid holding receptacles of the holder.

In accordance with one or more aspects of the disclosed embodiment wherein the other predetermined characteristic is representative of a source material configuration from which grid specimens of the grid array are made.

In accordance with one or more aspects of the disclosed embodiment the predetermined characteristic is holder identification data that relates the holder and grid array in the array of grid holding receptacles of the holder to the source material configuration.

In accordance with one or more aspects of the disclosed embodiment the other predetermined characteristic is grid identification data relating each grid, of the grid array in the grid holding receptacles, and specimen disposed on the grid.

In accordance with one or more aspects of the disclosed embodiment an electron microscopy system includes at least one batch grid processing station having a placement holding location for a grid batch holder and an automated grid transport configured for transporting and loading a batch of specimen grids in the batch holder; at least one electron microscope with another automated grid transport configured for automated transport of each grid of the grid batch in the batch holder for batch microscopy with the electron microscope; a processor communicably connected to the at least one batch grid processing station and the at least one electron microscope; wherein the processor is configured to automatically register a predetermined characteristic relating the grid batch holder to each grid in the grid batch holder and to an initial condition of the grid substantially coincident with loading of the grid batch in the batch holder.

In accordance with one or more aspects of the disclosed embodiment the processor is configured to register the predetermined characteristic and initial condition of the grid based on transport data from the automated grid transport.

In accordance with one or more aspects of the disclosed embodiment the processor is configured to register changes to the initial condition of the grid based on transport data from the other grid transport.

In accordance with one or more aspects of the disclosed embodiment the processor is configured to form a data structure corresponding to the predetermined characteristic of the holder embodying a condition of each grid of the grid batch in the batch holder.

It should be understood that the foregoing description is only illustrative of the aspects of the disclosed embodiment. Various alternatives and modifications can be devised by those skilled in the art without departing from the aspects of the disclosed embodiment. Accordingly, the aspects of the disclosed embodiment are intended to embrace all such alternatives, modifications and variances that fall within the scope of the appended claims. Further, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be advantageously used, such a combination remaining within the scope of the aspects of the invention.