# Patent

## Title
Microplate handling systems and related computer program products and methods

## Abstract

Systems, computer program products, and methods useful for handling or managing microplates are provided.

## Background
The present Application claims priority to U.S. Provisional Application Ser. No. 61/097,510 filed Sep. 16, 2008, and U.S. Provisional Application Ser. No. 61/097,523 filed Sep. 16, 2008, both of which are herein incorporated by reference in their entireties.


FIELD OF THE INVENTION
The invention relates generally to microplate handling or management, and provides systems, computer program products, and methods useful for this purpose.
BACKGROUND OF THE INVENTION
Multi-well vessels, such as microplates, multi-well containers, or microtiter plates having specifications recommended by the Society for Biomolecular Sciences are routinely used in many different scientific processes. These processes include, for example, nucleic acid amplification or sequencing applications of use in biological research and in-vitro diagnostics as well as compound library screening as part of drug discovery efforts, among numerous others. The multi-well format is favored, at least in part, because it provides a mechanism for performing a given process in a highly parallel manner, with well densities of 96, 384, 1536, or more being regularly utilized. This typically translates to improved throughput in addition to reagent cost savings, since smaller volumes of reagents are used per sample as well density increases.
Microplate-based applications are also increasingly automated, which tends to further improve process throughput. Typical systems include microplate transport mechanisms, fluid handling stations, and microplate storage units in which microplates are often processed entirely in the absence of direct human intervention. For example, microplate transport mechanisms generally include robotic gripping devices or translocation platforms that move microplates between storage units and system processing stations according to programmed instructions. Fluid handling stations typically include pipetting mechanisms, pin tools, or other fluid transfer implements that are used to add and remove reagents or other fluidic materials to/from selected wells in microplates as a given assay or other process is being performed. To enable longer periods of unattended operation, microplate storage units are generally structured to store multiple microplates for subsequent use. Some storage units have multiple shelves on which microplates are stored, whereas other units include housings or frames in which microplates are simply vertically stacked on top of one another. The former configuration, unlike the latter, typically provides for random access of microplates stored in a given unit. Existing microplate managements systems, however, have limited flexibility for adapting to new applications or more complex operations.
SUMMARY OF THE INVENTION
The present invention provides microplate handling systems that are useful in handling or managing microplates in essentially any microplate-based application. Typically, these systems include microplate storage units that store multiple stacked microplates. These storage units generally function as input and/or output points for microplates introduced into and/or taken out of the systems of the invention. In certain embodiments, for example, batches of microplates (e.g., non-priority microplates) are stored in input microplate storage units in a user-selected order or sequence. The microplate handling systems of the invention also provide mechanisms for readily introducing priority or stat samples for processing ahead of other samples. Typically, these samples are introduced into the systems of the invention at any point in a given processing application via priority microplate storage units of the systems. In addition to computer program products useful in managing microplate-based processes and hardware in the systems of the invention, and related methods are also provided.
In one aspect, the invention provides a microplate handling system. The system includes at least first and second non-priority microplate storage units that each store two or more microplates; at least one priority microplate storage unit that stores at least one microplate; and at least one microplate processing area. The system also includes at least one non-priority microplate holding area; at least one microplate transport mechanism configured to transport one or more microplates between the first and second non-priority microplate storage units, the priority microplate storage unit, the microplate processing area, and/or the non-priority microplate holding area; and at least one controller operably connected at least to the microplate transport mechanism. In some embodiments, the controller is configured to selectively direct the microplate transport mechanism to carry out one or more or all of: (a) transport a non-priority microplate from the first non-priority microplate storage unit to the microplate processing area; (b) position the non-priority microplate while in the microplate processing area; (c) transport the non-priority microplate from the microplate processing area to the non-priority microplate holding area when a priority microplate is stored in the priority microplate storage unit; (d) transport the priority microplate from the priority microplate storage unit to the microplate processing area; (e) position the priority microplate while in the microplate processing area; (f) transport the priority microplate from the microplate processing area to the second non-priority microplate storage unit or to the priority microplate storage unit; (g) transport the non-priority microplate from the non-priority microplate holding area to the microplate processing area; and (h) transport the non-priority microplate from the microplate processing area to the second non-priority microplate storage unit. Typically, the controller is configured to selectively direct the microplate transport mechanism to execute (c) prior to (d) and/or (f) prior to (g).
The first and second non-priority microplate storage units each typically store two or more stacked microplates (e.g., in vertically stacked orientations). In some embodiments, for example, the first and second non-priority microplate storage units each comprise a support structure that defines a cavity that is configured to store two or more stacked microplates. In these embodiments, at least a lower surface of the support structure generally comprises an opening that communicates with the cavity in which dimensions of the opening are sufficient to accommodate microplates moving into or out of the cavity. Typically, at least one retaining mechanism is operably connected to the support structure. The retaining mechanism is generally configured to reversibly retain at least one microplate in the cavity.
In some embodiments, the priority microplate storage unit comprises a support structure that defines a cavity that is configured to store the microplate. In certain of these embodiments, at least a lower surface of the support structure comprises an opening that communicates with the cavity in which dimensions of the opening accommodate microplates moving into or out of the cavity. Typically, at least one retaining mechanism is operably connected to the support structure. The retaining mechanism is generally configured to reversibly retain at least one microplate in the cavity. In some embodiments, at least one movement mechanism (e.g., a sliding mechanism or the like) is operably connected to the support structure. In these embodiments, the movement mechanism is typically configured to move the support structure relative to the first and second non-priority microplate storage units.
In certain embodiments, a microplate handling system includes a support base on which the first and second non-priority microplate storage units, the priority microplate storage unit, the microplate processing area, and the non-priority microplate holding area are disposed. The non-priority microplate holding area typically comprises at least one non-priority microplate holding component that is structured to hold one or more non-priority microplates above the support base. To further illustrate, in certain embodiments, at least the first and second non-priority microplate storage units are detachable from the support base. In these embodiments, the first and/or second non-priority microplate storage unit typically comprises a handle, e.g., to facilitate transport of the unit to and from the system.
The microplate transport mechanism of a microplate handling system includes various embodiments. In some embodiments, for example, the microplate transport mechanism comprises at least one platform (e.g., a nest or the like) that is structured to support one or more microplates; at least a first linear motion component operably connected to the platform, which first linear motion component selectively moves the platform along a first axis; and at least a second linear motion component operably connected to the platform, which second linear motion component selectively moves the platform along a second axis. Typically, the first linear motion component is configured to selectively raise and lower the platform. In certain embodiments, the first linear motion component comprises a stepper motor. Typically, the second linear motion component is configured to selectively move the platform between the first non-priority microplate storage unit, the second non-priority microplate storage unit, the priority microplate storage unit, the microplate processing area, and/or the non-priority microplate holding area. In some embodiments, for example, the second linear motion component is configured to move the platform beneath the first non-priority microplate storage unit, the second non-priority microplate storage unit, and the priority microplate storage unit. In certain embodiments, the second linear motion component comprises at least one gantry. In some embodiments, the second linear motion component comprises at least one encoder and at least one stepper motor.
Typically, the microplate handling systems of the invention include additional system components, or themselves are included as components or sub-systems of other systems. In some embodiments, for example, microplate handling systems include at least one barcode reader or radio frequency identification (RFID) reader configured to read barcodes or radio frequency tags disposed on microplates when the microplates are disposed in or proximal to the first non-priority microplate storage unit, the second non-priority microplate storage unit, the priority microplate storage unit, the microplate processing area, and/or the non-priority microplate holding area. Other automatic identification and data capture (AIDC) technologies are also optionally utilized. To further illustrate, in certain embodiments, microplate handling systems include at least one material transfer component configured to transfer material to and/or from selected wells disposed in at least one microplate when the microplate is disposed in the microplate processing area. In these embodiments, the material transfer component is typically configured to transfer fluidic material. Typically, the material transfer component includes at least one gantry, and in certain embodiments, the material transfer component comprises at least one gantry head (e.g., includes one or more needles). In some of these embodiments, microplate handling systems include at least one magnetically responsive particle source. The material transfer component is generally configured to aspirate an aliquot of magnetically responsive particles from the magnetically responsive particle source prior to or after aspirating an aliquot of material from a selected well of the microplate when the microplate is disposed in the microplate processing area. In addition, in some of these embodiments, microplate handling systems include at least one wash station configured to wash the material transfer component or a portion thereof. In certain of these embodiments, microplate handling systems include at least one sample processing component (e.g., a desalting station or the like) in which the material transfer component is configured to transfer the material from the selected wells disposed in the microplate to the sample processing component.
In another aspect, the invention provides a microplate storage unit that includes a support structure that defines a cavity that is configured to store two or more stacked microplates. The support structure comprises a top end and a bottom end. The microplate storage unit also includes a base structure operably connected to the bottom end of the support structure. An opening is disposed through the base structure and communicates with the cavity and dimensions of the opening are sufficient to accommodate microplates moving into or out of the cavity. Further, the base structure is configured to detachably engage a support base of a microplate handling system. The microplate storage unit also includes at least one retaining mechanism operably connected to the support structure and/or to the base structure. The retaining mechanism is configured to reversibly retain at least one microplate in the opening and/or in the cavity. In addition, the microplate storage unit also includes at least one handle that is pivotally attached to the support structure and/or to the base structure. The handle pivots between an open position and a closed position in which the top end of the support structure accommodates microplates moving into or out of the cavity when the handle is in the open position. In certain embodiments, at least one alignment member operably connected to at least one surface of the support structure. The alignment member is configured to align microplates when the microplates are disposed in the cavity. Optionally, the microplate storage unit includes a cover member that is configured to cover microplates when the microplates are disposed in the cavity.
In certain embodiments, the handle comprises a swing arm having ends that are pivotally attached to the base structure. In some of these embodiments, the ends of the swing arm extend through the base structure and are configured to align the base structure relative to the support base of the microplate handling system, when the handle is in the closed position and the support structure engages the support base of the microplate handling system. In other exemplary embodiments, one or more slots are disposed in or through the support structure and wherein the swing arm comprises one or more sliding members that slide in the slots.
In another aspect, the invention relates to a computer program product that includes a computer readable medium having one or more logic instructions for directing a microplate transport mechanism of a microplate handling system to carry out one or more or all of: (a) transport a non-priority microplate from a first non-priority microplate storage unit of the microplate handling system to a microplate processing area of the microplate handling system; (b) position the non-priority microplate while in the microplate processing area; (c) transport the non-priority microplate from the microplate processing area to a non-priority microplate holding area of the microplate handling system when a priority microplate is stored in a priority microplate storage unit of the microplate handling system; (d) transport the priority microplate from the priority microplate storage unit to the microplate processing area; (e) position the priority microplate while in the microplate processing area; (f) transport the priority microplate from the microplate processing area to a second non-priority microplate storage unit of the microplate handling system or to the priority microplate storage unit; (g) transport the non-priority microplate from the non-priority microplate holding area to the microplate processing area of the microplate handling system; and (h) transport the non-priority microplate from the microplate processing area to the second non-priority microplate storage unit. In some embodiments, the computer readable medium comprises one or more logic instructions for directing a material transfer component to transfer material to and/or from selected wells disposed in at least one microplate when the microplate is positioned in the microplate processing area. Optionally, the computer readable medium comprises one or more logic instructions for directing a barcode reader or radio frequency identification (RFID) reader of the microplate handling system to read barcodes or radio frequency tags disposed on microplates when the microplates are disposed in or proximal to the first non-priority microplate storage unit, the second non-priority microplate storage unit, the priority microplate storage unit, the microplate processing area, and/or the non-priority microplate holding area. Typically, the logic instructions are configured to direct the microplate transport mechanism to execute (c) prior to (d) and/or (f) prior to (g). In some embodiments, a controller of the microplate handling system comprises the logic instructions. In certain of these embodiments, the controller comprises or is operably connected to a database comprising one or more microplate descriptors.
In another aspect, the invention provides a method of handling a priority microplate in a microplate handling system. The method includes one or more or all of the steps of: (a) placing the priority microplate in a priority microplate storage unit of the microplate handling system; (b) transporting a first non-priority microplate from a microplate processing area of the microplate handling system to a non-priority microplate holding area of the microplate handling system using a microplate transport mechanism of the microplate handling system; and (c) placing the first non-priority microplate onto a non-priority microplate holding component disposed in the non-priority microplate holding area using the microplate transport mechanism. In addition, the method also includes (d) transporting the priority microplate from the priority microplate storage unit to the microplate processing area using the microplate transport mechanism; (e) transferring material to and/or from one or more selected wells of the priority microplate using a material transfer component of the microplate handling system, and (f) transporting the priority microplate from the microplate processing area to a second non-priority microplate storage unit of the microplate handling system or to the priority microplate storage unit using the microplate transport mechanism, thereby handling the priority microplate in the microplate handling system. In some embodiments, one or more wells of the priority microplate comprise nucleic acid molecules. In these embodiments, the method typically comprises amplifying one or more target regions of the nucleic acid molecules prior to (a). Typically, the method includes transporting the first non-priority microplate from a first non-priority microplate storage unit of the microplate handling system to the microplate processing area using the microplate transport mechanism prior to (b). In some embodiments, the method includes removing material from one or more selected wells of the first non-priority microplate using the material transfer component prior to (b).
In certain embodiments, the method includes loading a plurality of non-priority microplates in a selected order into the first non-priority microplate storage unit. In some of these embodiments, one or more wells of the plurality of non-priority microplates comprise nucleic acids and the method comprises amplifying one or more target regions of the nucleic acids prior to loading the plurality of non-priority microplates into the first non-priority microplate storage unit.
In some embodiments, the method includes transporting the first non-priority microplate from the non-priority microplate holding area to the microplate processing area using the microplate transport mechanism. Typically, the method includes transferring material to and/or from one or more selected wells of the first non-priority microplate using the material transfer component. In some of these embodiments, the method includes transporting the first non-priority microplate from the microplate processing area to the second non-priority microplate storage unit using the microplate transport mechanism. In certain embodiments, the method includes transporting a second non-priority microplate from the first non-priority microplate storage unit to the microplate processing area using the microplate transport mechanism. To further illustrate, in some embodiments, the material transfer component comprises one or more needles and the method comprises aspirating one or more aliquots of magnetically responsive particles into the needles from a magnetically responsive particle source prior to or after transferring the material from the selected wells of the first non-priority microplate. In these embodiments, the material typically comprises a fluidic material and the method comprises aspirating one or more aliquots of the fluidic material into the needles from the selected wells of the first non-priority microplate. In some of these embodiments, the method includes transferring the aliquots of magnetically responsive particles and fluidic material to a container of a sample processing station to form a mixture in which the magnetically responsive particles capture at least a first component of the mixture. These embodiments typically also include moving and/or retaining the magnetically responsive particles proximal to a surface of the container using a magnetic field and removing at least a second component of the mixture from the container. Typically, the method includes eluting the captured first component from the magnetically responsive particles and detecting a molecular mass of the first component. In certain of these embodiments, the first component comprises a nucleic acid molecule and the method comprises determining a base composition of the nucleic acid molecule from the molecular mass of the nucleic acid molecule.
The material transfer component typically comprises one or more needles and the method comprises aspirating one or more aliquots of magnetically responsive particles into the needles from a magnetically responsive particle source prior to (e). In some of these embodiments, the material comprises a fluidic material and (e) comprises aspirating one or more aliquots of the fluidic material into the needles from the selected wells of the priority microplate. In certain of these embodiments, the method includes transferring the aliquots of magnetically responsive particles and fluidic material to a container of a sample processing station to form a mixture in which the magnetically responsive particles capture at least a first component of the mixture. In these embodiments, the method typically includes moving and/or retaining the magnetically responsive particles proximal to a surface of the container using a magnetic field and removing at least a second component of the mixture from the container. Typically, in these embodiments, the method includes eluting the captured first component from the magnetically responsive particles and detecting a molecular mass of the first component. In some of these embodiments, the first component comprises a nucleic acid molecule and the method comprises determining a base composition of the nucleic acid molecule from the molecular mass of the nucleic acid molecule.



BRIEF DESCRIPTION OF THE DRAWINGS
The description provided herein is better understood when read in conjunction with the accompanying drawings which are included by way of example and not by way of limitation. It will be understood that like reference numerals identify like components throughout the drawings, unless the context indicates otherwise. It will also be understood that some or all of the figures may be schematic representations for purposes of illustration and do not necessarily depict the actual relative sizes or locations of the elements shown.
FIG. 1 schematically shows a microplate handling system from a perspective view according to one embodiment of the invention.
FIG. 2A schematically illustrates a microplate storage unit with a handle in an open position from a perspective view according to one embodiment of the invention.
FIG. 2B schematically depicts the microplate storage unit of FIG. 2A with the handle in a partially closed and unlocked position.
FIG. 2C schematically shows the microplate storage unit of FIG. 2A with the handle in a closed and locked position.
FIG. 3 is a block diagram showing a representative logic device in which various aspects of the present invention may be embodied.
FIG. 4A schematically illustrates selected components of a representative system that includes a microplate handling system as a sub-system component from a perspective view according to one embodiment of the invention.
FIG. 4B schematically shows the representative system of FIG. 4A from a front elevation view.
FIG. 4C schematically depicts the representative system of FIG. 4A from a rear elevation view.
FIG. 4D schematically shows the representative system of FIG. 4A from a side elevation view.
FIG. 4E schematically illustrates the representative system of FIG. 4A from a top elevation view.
FIG. 4F schematically depicts the representative system of FIG. 4A from a cross-sectional view.
FIG. 4G schematically illustrates the representative system of FIG. 4A from a cross-sectional view.
FIG. 5 schematically shows additional components of the representative system of FIG. 4A from a perspective view.
FIG. 6A schematically illustrates the representative system of FIG. 4A with an external covering from a perspective view.
FIG. 6B schematically illustrates the representative system of FIG. 4A with an external covering from a front elevation view.
FIG. 6C schematically shows the representative system of FIG. 4A with an external covering from a side view.
FIG. 7 is a flow chart schematically showing the handling and management of microplates in a microplate handling system according to one embodiment of the invention.
FIG. 8A schematically illustrates non-priority microplates stored in an input non-priority microplate storage unit of a microplate handling system from a perspective view according to one embodiment of the invention.
FIG. 8B schematically shows a non-priority microplate positioned in microplate processing area of the microplate handling system of FIG. 8A after being transported from an input non-priority microplate storage unit.
FIG. 8C schematically illustrates a priority microplate stored in a priority microplate storage unit of the microplate handling system of FIG. 8A, while a non-priority microplate is positioned in a microplate processing area of the microplate handling system.
FIG. 8D schematically shows a priority microplate positioned in a microplate processing area of the microplate handling system of FIG. 8A after a non-priority microplate has been transported and positioned in a non-priority microplate holding area of the microplate handling system.
FIG. 8E schematically shows a platform of a microplate transport mechanism in a microplate processing area of the microplate handling system of FIG. 8A after the microplate transport mechanism transported a priority microplate to an output non-priority microplate storage unit.
FIG. 8F schematically depicts a non-priority microplate positioned in a microplate processing area of the microplate handling system of FIG. 8A after a microplate transport mechanism of the microplate handling system transported the non-priority microplate from a non-priority microplate holding area of the microplate handling system.
FIG. 8G schematically shows microplates in an output non-priority microplate storage unit of the microplate handling system of FIG. 8A after all of the microplates have been processed using the microplate handling system.
FIG. 9A schematically illustrates selected components of a representative system that includes a microplate handling system as a sub-system component from a perspective view according to one embodiment of the invention in which a support structure of a priority microplate storage unit of the microplate handling system is shown in an open position.
FIG. 9B schematically depicts the representative system of FIG. 9A from another perspective view in which the support structure of the priority microplate storage unit of the microplate handling system is shown in a closed position.
FIG. 9C schematically depicts the representative system of FIG. 9A from another perspective view in which non-priority microplate storage units have been removed from the microplate handling system.
FIG. 9D schematically shows the representative system of FIG. 9A from a top elevation view in which the support structure of the priority microplate storage unit of the microplate handling system is shown in an open position.
FIG. 9E schematically shows the representative system of FIG. 9A from another top elevation view in which the support structure of the priority microplate storage unit of the microplate handling system is shown in a closed position.
FIG. 9F schematically depicts the representative system of FIG. 9A from a side elevation view in which the support structure of the priority microplate storage unit of the microplate handling system is shown in an open position.
FIG. 9G schematically depicts the representative system of FIG. 9A from a side elevation view in which the support structure of the priority microplate storage unit of the microplate handling system is shown in a closed position.
FIG. 9H schematically shows the representative system of FIG. 9A from a front elevation view.



DETAILED DESCRIPTION
I. Definitions
Before describing the invention in detail, it is to be understood that this invention is not limited to particular systems, computer program products, or methods, which can vary. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” also include plural referents unless the context clearly provides otherwise. Thus, for example, reference to “a priority microplate” includes a combination of two or more priority microplates. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting. Further, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. In describing and claiming the invention, the following terminology, and grammatical variants thereof, will be used in accordance with the definitions set forth below.
The term “amplifying” or “amplification” in the context of nucleic acids refers to the production of multiple copies of a polynucleotide, or a portion of the polynucleotide, typically starting from a small amount of the polynucleotide (e.g., a single polynucleotide molecule), where the amplification products or amplicons are generally detectable. Amplification of polynucleotides encompasses a variety of chemical and enzymatic processes. The generation of multiple DNA copies from one or a few copies of a target or template DNA molecule during a polymerase chain reaction (PCR) or a ligase chain reaction (LCR) are forms of amplification. Amplification is not limited to the strict duplication of the starting molecule. For example, the generation of multiple cDNA molecules from a limited amount of RNA in a sample using reverse transcription (RT)-PCR is a form of amplification. Furthermore, the generation of multiple RNA molecules from a single DNA molecule during the process of transcription is also a form of amplification.
The term “base composition” refers to the number of each residue comprised in an amplicon or other nucleic acid, without consideration for the linear arrangement of these residues in the strand(s) of the amplicon. The amplicon residues comprise, adenosine (A), guanosine (G), cytidine, (C), (deoxy)thymidine (T), uracil (U), inosine (I), nitroindoles such as 5-nitroindole or 3-nitropyrrole, dP or dK (Hill F et al. (1998) “Polymerase recognition of synthetic oligodeoxyribonucleotides incorporating degenerate pyrimidine and purine bases” Proc Natl Acad Sci U.S.A. 95 (8):4258-63), an acyclic nucleoside analog containing 5-nitroindazole (Van Aerschot et al., Nucleosides and Nucleotides, 1995, 14, 1053-1056), the purine analog 1-(2-deoxy-beta-D-ribofuranosyl)-imidazole-4-carboxamide, 2,6-diaminopurine, 5-propynyluracil, 5-propynylcytosine, phenoxazines, including G-clamp, 5-propynyl deoxy-cytidine, deoxy-thymidine nucleotides, 5-propynylcytidine, 5-propynyluridine and mass tag modified versions thereof, including 7-deaza-2′-deoxyadenosine-5-triphosphate, 5-iodo-2′-deoxyuridine-5′-triphosphate, 5-bromo-2′-deoxyuridine-5′-triphosphate, 5-bromo-2′-deoxycytidine-5′-triphosphate, 5-iodo-2′-deoxycytidine-5′-triphosphate, 5-hydroxy-2′-deoxyuridine-5′-triphosphate, 4-thiothymidine-5′-triphosphate, 5-aza-2′-deoxyuridine-5′-triphosphate, 5-fluoro-2′-deoxyuridine-5′-triphosphate, O6-methyl-2′-deoxyguanosine-5′-triphosphate, N2-methyl-2′-deoxyguanosine-5′-triphosphate, 8-oxo-2′-deoxyguanosine-5′-triphosphate or thiothymidine-5′-triphosphate. In some embodiments, the mass-modified nucleobase comprises 15N or 13C or both 15N and 13C. In some embodiments, the non-natural nucleosides used herein include 5-propynyluracil, 5-propynylcytosine and inosine. Herein the base composition for an unmodified DNA amplicon is notated as AwGxCyTz, wherein w, x, y and z are each independently a whole number representing the number of said nucleoside residues in an amplicon. Base compositions for amplicons comprising modified nucleosides are similarly notated to indicate the number of said natural and modified nucleosides in an amplicon. Base compositions are calculated from a molecular mass measurement of an amplicon, as described below. The calculated base composition for any given amplicon is then compared to a database of base compositions. A match between the calculated base composition and a single database entry reveals the identity of the bioagent.
The term “communicate” refers to the direct or indirect transfer or transmission, and/or capability of directly or indirectly transferring or transmitting, something at least from one thing to another thing. In some embodiments, for example, a support structure of a microplate storage unit includes an opening through which microplates are transferred.
The term “material” refers to something comprising or consisting of matter. The term “fluidic material” refers to material (such as, a liquid or a gas) that tends to flow or conform to the outline of its container.
The term “microplate” refers to a plate or other support structure that includes multiple cavities or wells that are structured to contain materials, such as fluidic materials. The wells typically have volume capacities of less than about 1.5 mL (e.g., about 1000 μL, about 800 μL, about 600 μL, about 400 μL, or less), although certain microplates (e.g., deep-well plates, etc.) have larger volume capacities, such as about 4 mL per well. Microplates can include various numbers of wells, for example, 6, 12, 24, 48, 96, 384, 1536, 3456, 9600, or more wells. In addition, the wells of a microplate are typically arrayed in a rectangular matrix. Microplates generally conform to the standards published by the American National Standards Institute (ANSI) on behalf of the Society for Biomolecular Screening (SBS), namely, ANSI/SBS 1-2004: Microplates—Footprint Dimensions, ANSI/SBS 2-2004: Microplates—Height Dimensions, ANSI/SBS 3-2004: Microplates—Bottom Outside Flange Dimensions, and ANSI/SBS 4-2004: Microplates—Well Positions, which are each incorporated by reference. Microplates are available from a various manufacturers including, e.g., Greiner America Corp. (Lake Mary, Fla., U.S.A.) and Nalge Nunc International (Rochester, N.Y., U.S.A.), among many others. Microplates are also commonly referred to by various synonyms, such as “microtiter plates,” “micro-well plates,” “multi-well containers,” and the like
The term “molecular mass” refers to the mass of a compound as determined using mass spectrometry, for example, ESI-MS. Herein, the compound is preferably a nucleic acid. In some embodiments, the nucleic acid is a double stranded nucleic acid (e.g., a double stranded DNA nucleic acid). In some embodiments, the nucleic acid is an amplicon. When the nucleic acid is double stranded the molecular mass is determined for both strands. In one embodiment, the strands may be separated before introduction into the mass spectrometer, or the strands may be separated by the mass spectrometer (for example, electro-spray ionization will separate the hybridized strands). The molecular mass of each strand is measured by the mass spectrometer.
The term “non-priority microplate” refers to a microplate that is processed or otherwise handled after at least one other microplate, or whose processing or handling is interrupted or deferred in order to process or otherwise handle at least one other microplate, in a given microplate handling system of the invention. That is, the order, schedule, or timing of processing or handling a non-priority microplate is subject to interruption or delay when a higher priority microplate is presented, such as a microplate including stat samples. In some embodiments, non-priority microplates are introduced into a given system via non-priority microplate storage units.
The term “nucleic acid molecule” refers to any nucleic acid containing molecule, including but not limited to, DNA or RNA. The term encompasses sequences that include any of the known base analogs of DNA and RNA including, but not limited to, 4-acetylcytosine, 8-hydroxy-N6-methyladenosine, aziridinylcytosine, pseudoisocytosine, 5-(carboxyhydroxyl-methyl)-uracil, 5-fluorouracil, 5-bromouracil, 5-carboxymethylaminomethyl-2-thiouracil, 5-carboxymethyl-aminomethyluracil, dihydrouracil, inosine, N6-isopentenyladenine, 1-methyladenine, 1-methylpseudo-uracil, 1-methylguanine, 1-methylinosine, 2,2-dimethyl-guanine, 2-methyladenine, 2-methylguanine, 3-methyl-cytosine, 5-methylcytosine, N6-methyladenine, 7-methylguanine, 5-methylaminomethyluracil, 5-methoxy-amino-methyl-2-thiouracil, beta-D-mannosylqueosine, 5′-methoxycarbonylmethyluracil, 5-methoxyuracil, 2-methylthio-N-isopentenyladenine, uracil-5-oxyacetic acid methylester, uracil-5-oxyacetic acid, oxybutoxosine, pseudouracil, queosine, 2-thiocytosine, 5-methyl-2-thiouracil, 2-thiouracil, 4-thiouracil, 5-methyluracil, N-uracil-5-oxyacetic acid methylester, uracil-5-oxyacetic acid, pseudouracil, queosine, 2-thiocytosine, and 2,6-diaminopurine.
The term “priority microplate” refers to a microplate that is processed or otherwise handled before the processing or handling of a non-priority microplate is commenced or completed in a given microplate handling system of the invention. In some embodiments, one or more wells of priority microplates comprise stat or urgent samples. In certain embodiments, priority microplates are introduced into a given system via priority microplate storage units.
The term “system” refers a group of objects and/or devices that form a network for performing a desired objective. In some embodiments, microplate handling systems are provided for handling and managing microplates, for example, as stand-alone stations. In other embodiments, microplate handling systems are provided as sub-system components of other systems, such as compound screening systems and nucleic acid molecular mass and/or base composition detection systems, among many others.
II. Introduction
The invention relates to automated microplate handling and management, and in various embodiments provides systems, computer program products, and related methods that are useful for this purpose. The systems and other aspects of the invention typically process batches of microplates according to a user-selected order or schedule. Unscheduled, high priority or stat samples, however, are also readily introduced into the systems of the invention for processing ahead of lower or non-priority samples that may have been previously scheduled by a user. In certain embodiments, for example, the processing (e.g., addition and/or removal of material to/from the microplate) of a given non-priority microplate can be rapidly halted in deference to the processing of a priority microplate and then be readily resumed once the processing of that priority microplate is completed.
In many pre-existing automated microplate handling systems, samples are processed in batches according to the order in which microplates are initially loaded into microplate storage units (e.g., on a first-in, first-out basis). These systems are generally not configured to readily handle out of sequence samples, such as stat samples that may become prioritized ahead the remaining samples in a pre-loaded batch of microplates. In certain instances, for example, out of sequence priority samples simply cannot be processed until the processing of a given non-priority microplate or batch of non-priority microplates has been completed.
The systems and related aspects of the invention can be used, or adapted for use, in essentially any application that involves microplates. In certain embodiments, for example, microplates comprising nucleic acid amplification reaction mixtures are loaded into microplate storage units of a microplate handling system of the invention. In some of these embodiments, a microplate transport mechanism of the system transports the microplates to a microplate processing area, where material transfer component transfers aliquots of the reaction mixtures from the wells of the microplates to a sample processing system. In these embodiments, the sample processing system is typically used to purify amplification products or amplicons in the reaction mixture aliquots for subsequent detection or other analysis. To further illustrate, in some of these embodiments, the molecular masses of these purified amplicons are measured using a mass spectrometer. The base compositions of the amplicons are typically determined from the measured molecular masses and correlated with an identity or source of target nucleic acids in the amplification reaction mixtures, such as a pathogenic organism.
Particular embodiments of molecular mass-based detection methods and other aspects that are optionally adapted for use with the systems described herein are described in various patents and patent applications, including, for example, U.S. Pat. Nos. 7,108,974; 7,217,510; 7,226,739; 7,255,992; 7,312,036; and 7,339,051; and US patent publication numbers 2003/0027135; 2003/0167133; 2003/0167134; 2003/0175695; 2003/0175696; 2003/0175697; 2003/0187588; 2003/0187593; 2003/0190605; 2003/0225529; 2003/0228571; 2004/0110169; 2004/0117129; 2004/0121309; 2004/0121310; 2004/0121311; 2004/0121312; 2004/0121313; 2004/0121314; 2004/0121315; 2004/0121329; 2004/0121335; 2004/0121340; 2004/0122598; 2004/0122857; 2004/0161770; 2004/0185438; 2004/0202997; 2004/0209260; 2004/0219517; 2004/0253583; 2004/0253619; 2005/0027459; 2005/0123952; 2005/0130196 2005/0142581; 2005/0164215; 2005/0266397; 2005/0270191; 2006/0014154; 2006/0121520; 2006/0205040; 2006/0240412; 2006/0259249; 2006/0275749; 2006/0275788; 2007/0087336; 2007/0087337; 2007/0087338 2007/0087339; 2007/0087340; 2007/0087341; 2007/0184434; 2007/0218467; 2007/0218467; 2007/0218489; 2007/0224614; 2007/0238116; 2007/0243544; 2007/0248969; WO2002/070664; WO2003/001976; WO2003/100035; WO2004/009849; WO2004/052175; WO2004/053076; WO2004/053141; WO2004/053164; WO2004/060278; WO2004/093644; WO 2004/101809; WO2004/111187; WO2005/023083; WO2005/023986; WO2005/024046; WO2005/033271; WO2005/036369; WO2005/086634; WO2005/089128; WO2005/091971; WO2005/092059; WO2005/094421; WO2005/098047; WO2005/116263; WO2005/117270; WO2006/019784; WO2006/034294; WO2006/071241; WO2006/094238; WO2006/116127; WO2006/135400; WO2007/014045; WO2007/047778; WO2007/086904; and WO2007/100397; WO2007/118222, which are each incorporated by reference as if fully set forth herein.
Exemplary molecular mass-based analytical methods and other aspects of use in the systems described herein are also described in, e.g., Ecker et al. (2005) “The Microbial Rosetta Stone Database: A compilation of global and emerging infectious microorganisms and bioterrorist threat agents” BMC Microbiology 5 (1):19; Ecker et al. (2006) “The Ibis T5000 Universal Biosensor: An Automated Platform for Pathogen Identification and Strain Typing” JALA 6 (11):341-351; Ecker et al. (2006) “Identification of Acinetobacter species and genotyping of Acinetobacter baumannii by multilocus PCR and mass spectrometry” J Clin Microbiol. 44 (8):2921-32; Ecker et al. (2005) “Rapid identification and strain-typing of respiratory pathogens for epidemic surveillance” Proc Natl Acad Sci USA. 102 (22):8012-7; Hannis et al. (2008) “High-resolution genotyping of Campylobacter species by use of PCR and high-throughput mass spectrometry” J Clin Microbiol. 46 (4):1220-5; Blyn et al. (2008) “Rapid detection and molecular serotyping of adenovirus by use of PCR followed by electrospray ionization mass spectrometry” J Clin Microbiol. 46 (2):644-51; Sampath et al. (2007) “Global surveillance of emerging Influenza virus genotypes by mass spectrometry” PLoS ONE 2 (5):e489; Sampath et al. (2007) “Rapid identification of emerging infectious agents using PCR and electrospray ionization mass spectrometry” Ann NY Acad. Sci. 1102:109-20; Hall et al. (2005) “Base composition analysis of human mitochondrial DNA using electrospray ionization mass spectrometry: a novel tool for the identification and differentiation of humans” Anal Biochem. 344 (1):53-69; Hofstadler et al. (2003) “A highly efficient and automated method of purifying and desalting PCR products for analysis by electrospray ionization mass spectrometry” Anal Biochem. 316:50-57; Hofstadler et al. (2006) “Selective ion filtering by digital thresholding: A method to unwind complex ESI-mass spectra and eliminate signals from low molecular weight chemical noise” Anal Chem. 78 (2):372-378; and Hofstadler et al. (2005) “TIGER: The Universal Biosensor” Int J Mass Spectrom. 242 (1):23-41, which are each incorporated by reference.
In addition to the molecular mass and base composition analyses referred to above, essentially any other nucleic acid amplification technological process that can be performed in a microplate is also optionally adapted for use in the systems of the invention. Other exemplary uses of the systems and other aspects of the invention include immunoassays, cell culturing, cell-based assays, compound library screening, and chemical synthesis, among many others. Many of these as well as other exemplary applications of use in the systems of the invention are also described in, e.g., Current Protocols in Molecular Biology, Volumes I, II, and III, 1997 (F. M. Ausubel ed.); Perbal, 1984, A Practical Guide to Molecular Cloning; the series, Methods in Enzymology (Academic Press, Inc.); Sambrook et al., 2001, Molecular Cloning: A Laboratory Manual, Third Edition, Cold Spring Harbor Laboratory Press, Cold Spring Harbor, N.Y.; Oligonucleotide Synthesis, 1984 (M. L. Gait ed.); Nucleic Acid Hybridization, 1985, (Hames and Higgins); Transcription and Translation, 1984 (Hames and Higgins eds.); Animal Cell Culture, 1986 (R. I. Freshney ed.); Berger and Kimmel, Guide to Molecular Cloning Techniques, Methods in Enzymology volume 152 Academic Press, Inc., San Diego, Calif. (Berger), DNA Cloning: A Practical Approach, Volumes I and II, 1985 (D. N. Glover ed.); Immobilized Cells and Enzymes, 1986 (IRL Press); Gene Transfer Vectors for Mammalian Cells, 1987 (J. H. Miller and M. P. Calos eds., Cold Spring Harbor Laboratory); and Methods in Enzymology Vol. 154 and Vol. 155 (Wu and Grossman, and Wu, eds., respectively), which are each incorporated by reference. These and many other attributes will be apparent upon reviewing the description provided herein.
III. Exemplary Microplate Handling Systems, Microplate Storage Units, and Computer Program Products
As an overview, FIG. 1 schematically illustrates microplate handling system 100 according to one embodiment of the invention. As shown, microplate handling system 100 includes input non-priority microplate storage unit 102 and output non-priority microplate storage unit 104, which are each structured to store multiple stacked microplates. As further shown, microplate handling system 100 also includes priority microplate storage unit 106, which is structured to store a microplate. In some embodiments, priority microplate storage unit 106 includes a cover, e.g., to minimize the possibility contaminating samples disposed the wells of a priority microplate stored in the storage unit. The support structures of input non-priority microplate storage unit 102, output non-priority microplate storage unit 104, and priority microplate storage unit 106. In some embodiments, each of the storage units includes one or more retaining mechanisms that are configured to reversibly retain microplates in the cavities of the respective storage units (not shown in figure). Non-priority microplates are typically stored in input non-priority microplate storage unit 102 and output non-priority microplate storage unit 104, whereas priority microplates (e.g., microplates having stat samples) needing more urgent or immediate processing are typically stored in priority microplate storage unit 106. Optionally, other numbers of microplate storage units are included in the systems of the invention. In some embodiments, for example, two or more input non-priority microplate storage units, output non-priority microplate storage units, and/or priority microplate storage units (e.g., 3, 4, 5, 6, 7, 8, 9, 10, or more units) are included, e.g., to increase system capacity, to permit longer periods of unattended usage, and the like.
Microplate handling system 100 also includes microplate processing area 108 and non-priority microplate holding area 110. Microplates are typically positioned in microplate processing area 108 for processing, such as the addition and/or removal of materials to/from the wells of the microplates. Although not shown in FIG. 1, a material transfer component (e.g., fluid handling mechanism or the like) is typically disposed proximal to microplate processing area 108 to effect such microplate processing. Non-priority microplate holding area 110 is typically used to store non-priority plates, when the processing of those plates is interrupted by the introduction of a priority microplate into microplate handling system 100 via priority microplate storage unit 106. As shown, non-priority microplate holding area 110 includes non-priority microplate holding components 112, which together form a platform for holding non-priority microplates above support base 114.
To further illustrate, FIGS. 2 A-C schematically depict more detailed perspective views of input non-priority microplate storage unit 102, which is detachable from support base 114 of microplate handling system 100. Detachable microplate storage units typically facilitate microplate loading and transport to and from a given system. In some embodiments, however, microplate storage units are not detachable from microplate handling systems (e.g., are attached to or fabricated integral with other system components). As shown, non-priority microplate storage unit 102 includes support structure 200 that defines cavity 202, which is configured to store multiple vertically stacked microplates. Support structure 200 includes top end 204 and bottom end 206. Non-priority microplate storage unit 102 also includes base structure 208 operably connected to bottom end 206 of support structure 200. An opening (not within view in FIGS. 2 A-C) is disposed through base structure 208 and communicates with cavity 202. The dimensions of the opening are sufficient to accommodate microplates (e.g., microplates having specifications recommended by the Society for Biomolecular Sciences) moving into or out of cavity 202. As also mentioned above, base structure 208 is configured to detachably engage support base 114 of microplate handling system 100.
Although not within view in FIGS. 2 A-C, non-priority microplate storage unit 102 also includes a retaining mechanism (e.g., grippers that are configured to grip the sides of microplates, etc.) operably connected to base structure 208. In some embodiments, retaining mechanisms are operably connected to support structures of microplate storage units, in lieu of or in addition to being connected to base structures. Retaining mechanisms are configured to reversibly retain microplates in the openings and/or in the cavities of microplate storage units. Retaining mechanisms are described further below and in, e.g., U.S. Pat. No. 6,193,102, entitled “Plate Stacker Apparatus,” which issued Feb. 27, 2001 to Bevirt et al., which is incorporated by reference.
Non-priority microplate storage unit 102 also includes alignment members 212 operably connected to surfaces of support structure 200. Alignment members 212 are configured to align microplates when the microplates are disposed in cavity 202. As also shown, non-priority microplate storage unit 102 includes cover member 214 that is configured to cover microplates when the microplates are disposed in cavity 202. In the embodiment shown in FIG. 1, output non-priority microplate storage unit 104 of microplate handling system 100 has same structure as input non-priority microplate storage unit 102. In other embodiments, however, input and output non-priority microplate storage units have structures that differ from one another (e.g., have different structural configurations, have different microplate holding capacities, etc.).
As further shown in FIGS. 2 A-C, non-priority microplate storage unit 102 also includes handle 210 that is pivotally attached to support structure 200 and to base structure 208. Handles are typically included, e.g., to facilitate the transport (manually or robotically) of microplate storage units to and from a given microplate handling system. Optionally, handles are pivotally attached only to support structures or to base structures. In some embodiments, handles are attached other than pivotally to support and/or base structures (e.g., in a fixed position that permits microplates to be loaded or unloaded from the particular microplate storage unit, etc.). Handle 210 pivots between an open position (shown in FIG. 2A) and closed (shown in FIG. 2C) or partially closed (shown in FIG. 2B) positions. Top end 204 of support structure 200 accommodates microplates moving into or out of cavity 202 when handle 210 is in the open position.
Handle 210 is shown as a swing arm having ends 217 that are pivotally attached to the base structure 208. Ends 217 of the swing arm extend through base structure 208 and are configured to align base structure 208 relative to support base 114 of microplate handling system 100, when handle 210 is in a closed position (shown in FIG. 2C) and support structure 208 engages the support base 114 of microplate handling system 100. As also shown in FIGS. 2 A-C, slots 216 are disposed through support structure 208, and handle 210 includes sliding members 218 (one not within view in FIGS. 2 A-C) that slide in slots 216, e.g., as handle 210 is raised, lowered, or pivoted.
Microplate handling system 100 also includes microplate transport mechanism 116, which is configured to selectively transport microplates between input non-priority microplate storage unit 102, output non-priority microplate storage unit 104, priority microplate storage unit 106, microplate processing area 108, and/or non-priority microplate holding area 110. Microplate transport mechanism 116 includes platform 118 (shown as a nest) that is structured to support microplates as they are transported between these areas and components of the system. Platform 118 is operably connected to an X-axis linear motion component (not within view in FIG. 1). The X-axis linear motion component microplate transport mechanism 116 is configured to selectively move platform 118 along guide track 120, which is parallel to the X-axis. As shown, platform 118 is configured to move beneath input non-priority microplate storage unit 102, output non-priority microplate storage unit 104, and priority microplate storage unit 106, which are each positioned above support base 114 along guide track 120. Although not completely within view in FIG. 1, the X-axis linear motion component includes a gantry disposed underneath support base 114 in addition to an encoder and stepper motor 122 that effect movement of platform 118 along guide track 120. Other motors, such as servo motors or the like are also optionally utilized. Microplate transport mechanism 116 also includes a Y-axis linear motion component (not within view in FIG. 1) operably connected to platform 118. The Y-axis linear motion component is configured to selectively raise and lower platform 118 along the Y-axis, for example, to obtain microplates from input non-priority microplate storage unit 102 and priority microplate storage unit 106, and to deliver microplates to output non-priority microplate storage unit 104. The Y-axis linear motion component also typically includes a stepper motor, servo motor, or other mechanism that effects movement of platform 118 along the Y-axis. Microplate transport mechanisms are described further below.
In addition, controller 124 (shown as a computer) is operably connected to microplate transport mechanism 116 of microplate handling system 100. Controller 124 is configured to selectively (e.g., in a pre-programmed or a direct user-selected order or sequence) direct microplate transport mechanism 116 to: (a) transport a non-priority microplate from input non-priority microplate storage unit 102 to microplate processing area 108; (b) position the non-priority microplate while in microplate processing area 108 (e.g., move the wells of the non-priority microplate along the X-axis and/or Y-axis relative to a material transfer component, etc.); and (c) transport the non-priority microplate from microplate processing area 108 to non-priority microplate holding area 110 (and position the non-priority microplate on non-priority microplate holding components 112 above support base 114) when a priority microplate (e.g., comprising stat samples or the like) is stored in priority microplate storage unit 106. Controller 124 is also configured to selectively direct microplate transport mechanism 116 to: (d) transport the priority microplate from priority microplate storage unit 106 to microplate processing area 108; (e) position the priority microplate while in microplate processing area 108 (e.g., move the wells of the priority microplate along the X-axis and/or Y-axis relative to a material transfer component, etc.); and (f) transport the priority microplate from microplate processing area 108 to output non-priority microplate storage unit 104 or to priority microplate storage unit 106 (e.g., once processing of the priority microplate is completed). In addition, controller 124 is also configured to selectively direct microplate transport mechanism 116 to: (g) transport the non-priority microplate from non-priority microplate holding area 110 to microplate processing area 108 (e.g., to resume processing the non-priority microplate); and (h) transport the non-priority microplate from microplate processing area 108 to output non-priority microplate storage unit 104 (e.g., once processing of the non-priority microplate is completed). Controllers and exemplary systems are described further below.
As also shown in FIG. 1, microplate handling system 100 also includes barcode reader 126. In the exemplary embodiment shown, barcode reader 126 is configured to read barcodes disposed on microplates when the microplates are disposed in or proximal to non-priority microplate holding area 110, e.g., to track the microplates or samples contained in the microplates in microplate handling system 100, particularly when microplate handling system 100 is included as a sub-system component of a system. Barcode reader 126 is typically operably connected to controller 124, which generally includes or is connected to a database of microplate/sample tracking information. Optionally, a barcode reader is disposed in or proximal to input non-priority microplate storage unit 102, output non-priority microplate storage unit 104, priority microplate storage unit 106, or microplate processing area 108, in lieu of being disposed in or proximal to non-priority microplate holding area 110 as shown, e.g., in FIG. 1. In some embodiments, the microplate handling systems of the invention includes multiple barcode readers.
The controllers of the systems described herein are generally configured to effect microplate transport and positioning. Controllers are typically operably connected to one or more system components, such as motors (e.g., via motor drives), microplate transport mechanisms (e.g., X-, Y- and/or Z-axis motion components, etc.), cleaning components, detectors, fluid sensors, robotic translocation devices, or the like, to control operation of these components. More specifically, controllers are generally included either as separate or integral system components that are utilized to effect, e.g., the movement of microplate retaining mechanisms of microplate storage units, the transport of microplates between system areas or components, the positioning of microplates relative to material transfer components, the detection and/or analysis of detectable signals received from sample materials by detectors, etc. Controllers and/or other system components is/are generally coupled to an appropriately programmed processor, computer, digital device, or other logic device or information appliance (e.g., including an analog to digital or digital to analog converter as needed), which functions to instruct the operation of these instruments in accordance with preprogrammed or user input instructions (e.g., microplate selection and routing, well selection, fluid volumes to be conveyed, etc.), receive data and information from these instruments, and interpret, manipulate and report this information to the user. In certain embodiments, the controller comprises or is operably connected to a database that includes microplate descriptors, such as the well and plate locations of particular sample materials to facilitate sample tracking.
A controller or computer optionally includes a monitor which is often a cathode ray tube (“CRT”) display, a flat panel display (e.g., active matrix liquid crystal display, liquid crystal display, etc.), or others. Computer circuitry is often placed in a box, which includes numerous integrated circuit chips, such as a microprocessor, memory, interface circuits, and others. The box also optionally includes a hard disk drive, a floppy disk drive, a high capacity removable drive such as a writeable CD-ROM, and other common peripheral elements. Inputting devices such as a keyboard or mouse optionally provide for input from a user. An exemplary system comprising a computer is schematically illustrated in FIG. 3.
The computer typically includes appropriate software for receiving user instructions, either in the form of user input into a set of parameter fields, e.g., in a GUI, or in the form of preprogrammed instructions, e.g., preprogrammed for a variety of different specific operations. The software then converts these instructions to appropriate language for instructing the operation of one or more controllers to carry out the desired operation, e.g., positioning a microplate in a microplate processing area, aspirating fluidic materials from selected wells of a microplate, or the like. The computer then receives the data from, e.g., sensors/detectors included within the system, and interprets the data, either provides it in a user understood format, or uses that data to initiate further controller instructions, in accordance with the programming, e.g., such as in monitoring detectable signal intensity, microplate positioning, or the like.
More specifically, the software utilized to control the operation of the microplate handling systems of the invention typically includes logic instructions that direct, e.g., (a) transport a non-priority microplate from an input non-priority microplate storage unit of the microplate handling system to a microplate processing area of the microplate handling system; (b) position the non-priority microplate while in the microplate processing area; (c) transport the non-priority microplate from the microplate processing area to a non-priority microplate holding area of the microplate handling system when a priority microplate is stored in a priority microplate storage unit of the microplate handling system; (d) transport the priority microplate from the priority microplate storage unit to the microplate processing area; (e) position the priority microplate while in the microplate processing area; (f) transport the priority microplate from the microplate processing area to an output non-priority microplate storage unit of the microplate handling system or to the priority microplate storage unit; (g) transport the non-priority microplate from the non-priority microplate holding area to the microplate processing area of the microplate handling system; and (h) transport the non-priority microplate from the microplate processing area to the output non-priority microplate storage unit. In some embodiments, the software includes logic instructions for directing a material transfer component to transfer material to and/or from selected wells disposed in a microplate when the microplate is positioned in the microplate processing area. Optionally, the software includes logic instructions for directing a barcode reader of the microplate handling system to read barcodes disposed on microplates. The logic instructions of the software are typically embodied on a computer readable medium, such as a CD-ROM, a floppy disk, a tape, a flash memory device or component, a system memory device or component, a hard drive, a data signal embodied in a carrier wave, and/or the like. Other computer readable media are known to persons of skill in the art. In some embodiments, the logic instructions are embodied in read-only memory (ROM) in a computer chip present in one or more system components, without the use of personal computers.
The computer can be, e.g., a PC (Intel x86 or Pentium chip-compatible DOSTM, OS2TM, WINDOWSTM, WINDOWS NTTM, WINDOWS98TM, WINDOWS2000TM, WINDOWS XPTM, WINDOWS VistaTM, LINUX-based machine, a MACINTOSHTM, Power PC, or a UNIX-based (e.g., SUNTM work station) machine) or other common commercially available computer which is known to one of skill. Standard desktop applications such as word processing software (e.g., Microsoft WordTM or Corel WordPerfectTM) and database software (e.g., spreadsheet software such as Microsoft ExcelTM, Corel Quattro ProTM, or database programs such as Microsoft AccessTM or ParadoxTM) can be adapted to the present invention. Software for performing, e.g., microplate transport, material conveyance to and/or from selected wells of a microplate, assay detection, and data deconvolution is optionally constructed by one of skill using a standard programming language such as Visual basic, C, C++, Fortran, Basic, Java, or the like.
The automated systems of the invention are optionally further configured to detect and quantify absorbance, transmission, and/or emission (e.g., luminescence, fluorescence, etc.) of light, and/or changes in those properties in samples that are arrayed in the wells of a multi-well container, on a substrate surface, or at other material sites. Alternatively, or simultaneously, detectors can quantify any of a variety of other signals from microplates or other containers including chemical signals (e.g., pH, ionic conditions, or the like), heat (e.g., for monitoring endothermic or exothermic reactions, e.g., using thermal sensors) or any other suitable physical phenomenon. In addition to other system components described herein, the systems of the invention optionally also include illumination or electromagnetic radiation sources, optical systems, and detectors. Because the systems and methods of the invention are flexible and allow essentially any chemistry to be assayed, they can be used for all phases of assay development, including prototyping and mass screening. A representative system that includes a microplate handling system as a sub-system component as well as a mass spectrometer is described further below.
In some embodiments, the systems of the invention are configured for area imaging, but can also be configured for other formats including as a scanning imager or as a nonimaging counting system. An area imaging system typically places an entire microplate onto the detector plane at one time. Accordingly, there is typically no need to move photomultiplier tubes (PMTs), to scan a laser, or the like, because the detector images the entire container onto many small detector elements (e.g., charge-coupled devices (CCDs), etc.) in parallel. This parallel acquisition phase is typically followed by a serial process of reading out the entire image from the detector. Scanning imagers typically pass a laser or other light beam over the specimen, to excite fluorescence, reflectance, or the like in a point-by-point or line-by-line fashion. In certain cases, confocal-optics are used to minimize out of focus fluorescence. The image is constructed over time by accumulating the points or lines in series. Nonimaging counting systems typically use PMTs or light sensing diodes to detect alterations in the transmission or emission of light, e.g., within wells of a microplate. These systems then typically integrate the light output from each well into a single data point.
A wide variety of illumination or electromagnetic sources and optical systems can be adapted for use in the systems of the present invention. Accordingly, no attempt is made herein to describe all of the possible variations that can be utilized in the systems of the invention and which will be apparent to one skilled in the art. Exemplary electromagnetic radiation sources that are optionally utilized in the systems of the invention include, e.g., lasers, laser diodes, electroluminescence devices, light-emitting diodes, incandescent lamps, arc lamps, flash lamps, fluorescent lamps, and the like. Exemplary optical systems that conduct electromagnetic radiation from electromagnetic radiation sources to sample containers and/or from microplate to detectors typically include one or more lenses and/or mirrors to focus and/or direct the electromagnetic radiation as desired. Many optical systems also include fiber optic bundles, optical couplers, filters (e.g., filter wheels, etc.), and the like.
Suitable signal detectors that are optionally utilized in these systems detect, e.g., molecular mass, emission, luminescence, transmission, fluorescence, phosphorescence, absorbance, or the like. In some embodiments, the detector monitors a plurality of optical signals, which correspond in position to “real time” results. Example detectors or sensors include PMTs, CCDs, intensified CCDs, photodiodes, avalanche photodiodes, optical sensors, scanning detectors, or the like. Each of these as well as other types of sensors is optionally readily incorporated into the systems described herein. The detector optionally moves relative to microplates or other assay components, or alternatively, microplates or other assay components move relative to the detector. In some embodiments, for example, detection components are coupled to translation components that move the detection components relative to microplates positioned in microplate processing areas of the systems described herein. Optionally, the systems of the present invention include multiple detectors. In these systems, such detectors are typically placed either in or adjacent to, e.g., a microplates or other vessel, such that the detector is in sensory communication with the microplates or other vessel (i.e., the detector is capable of detecting the property of the plate or vessel or portion thereof, the contents of a portion of the plate or vessel, or the like, for which that detector is intended). In certain embodiments, detectors are configured to detect electromagnetic radiation originating in the wells of a multi-well container.
The detector optionally includes or is operably linked to a computer, e.g., which has system software for converting detector signal information into assay result information or the like. For example, detectors optionally exist as separate units, or are integrated with controllers into a single instrument. Integration of these functions into a single unit facilitates connection of these instruments with the computer, by permitting the use of a few or even a single communication port for transmitting information between system components. Detection components that are optionally included in the systems of the invention are described further in, e.g., Skoog et al., Principles of Instrumental Analysis, 6th Ed., Brooks Cole (2006) and Currell, Analytical Instrumentation: Performance Characteristics and Quality, John Wiley & Sons, Inc. (2000), which are both incorporated by reference.
The systems of the invention optionally also include at least one robotic translocation or gripping component that is structured to grip and translocate microplates between components of the automated systems and/or between the systems and other locations (e.g., other work stations, etc.). In certain embodiments, for example, systems further include gripping components that move microplates between positioning components, incubation or storage components, etc. A variety of available robotic elements (robotic arms, movable platforms, etc.) can be used or modified for use with these systems, which robotic elements are typically operably connected to controllers that control their movement and other functions.
FIG. 3 is a schematic showing a representative system including an information appliance in which various aspects of the present invention may be embodied. Other exemplary systems are also described herein. As will be understood by practitioners in the art from the teachings provided herein, the invention is optionally implemented in hardware and software. In some embodiments, different aspects of the invention are implemented in either client-side logic or server-side logic. As will also be understood in the art, the invention or components thereof may be embodied in a media program component (e.g., a fixed media component) containing logic instructions and/or data that, when loaded into an appropriately configured computing device, cause that apparatus or system to perform according to the invention. As will additionally be understood in the art, a fixed media containing logic instructions may be delivered to a viewer on a fixed media for physically loading into a viewer's computer or a fixed media containing logic instructions may reside on a remote server that a viewer accesses through a communication medium in order to download a program component.
FIG. 3 shows information appliance or digital device 300 that may be understood as a logical apparatus (e.g., a computer, etc.) that can read instructions from media 317 and/or network port 319, which can optionally be connected to server 320 having fixed media 322. Information appliance 300 can thereafter use those instructions to direct server or client logic, as understood in the art, to embody aspects of the invention. One type of logical apparatus that may embody the invention is a computer system as illustrated in 300, containing CPU 307, optional input devices 309 and 311, disk drives 315 and optional monitor 305. Fixed media 317, or fixed media 322 over port 319, may be used to program such a system and may represent a disk-type optical or magnetic media, magnetic tape, solid state dynamic or static memory, or the like. In specific embodiments, the aspects of the invention may be embodied in whole or in part as software recorded on this fixed media. Exemplary computer program products are described further above. Communication port 319 may also be used to initially receive instructions that are used to program such a system and may represent any type of communication connection. Optionally, aspects of the invention are embodied in whole or in part within the circuitry of an application specific integrated circuit (ACIS) or a programmable logic device (PLD). In such a case, aspects of the invention may be embodied in a computer understandable descriptor language, which may be used to create an ASIC, or PLID.
In addition, FIG. 3 also shows microplate handling system 100, which is operably connected to information appliance 300 via server 320. Optionally, microplate handling system 100 is directly connected to information appliance 300. During operation, microplate handling system 100 typically transports microplates to and/or from selected microplate storage units, e.g., as part of an assay or other process. FIG. 3 also shows detector 324, which is optionally included in the systems of the invention. As shown, detector 324 is operably connected to information appliance 300 via server 320. In some embodiments, detector 324 is directly connected to information appliance 300. In certain embodiments, detector 324 is configured to detect detectable signals produced in the wells of microplates positioned in the microplate processing area of microplate handling system 100. In other embodiments, microplates, or sample materials from those microplates, are transferred (e.g., manually or using a robotic translocation device) to detector 324 to detect detectable signals produced in the wells of microplates or in the sample materials.
IV. Exemplary System Embodiment
To further illustrate exemplary embodiments of the invention, FIGS. 4 A-G schematically depict a portion of a representative system for nucleic acid amplification product desalting and molecular mass measurement that includes microplate handling system 100 as a sub-system component. The measured molecular masses of the amplification products are typically used to determine base compositions of the corresponding amplification products, which are then generally correlated with the identities or organismal sources of the initial template nucleic acids, for example, as part of a research or in-vitro diagnostic application, among many others.
As shown in FIGS. 4 A-G, components of representative system 400 include microplate handling system 100, material transfer component 402, mixing station 404, wash stations 406 and 408, sample processing component 410, and sample injector 412. During operation, microplates are typically stored in input non-priority microplate storage unit 102, output non-priority microplate storage unit 104, and priority microplate storage unit 106 of microplate handling system 100. In some embodiments, for example, non-priority microplates are stored in input non-priority microplate storage unit 102 and priority microplates are stored in priority microplate storage unit 106 after target regions of template nucleic acids in those plates have been amplified, e.g., at a separate thermocycling station. Essentially any thermal cycling station or device is optionally adapted for use with a system of the invention, such as system 400. Examples of suitable thermocycling devices that are optionally utilized are available from many different commercial suppliers, including Mastercycler® devices (Eppendorf North America, Westbury, N.Y., U.S.A.), the COBAS® AMPLICOR Analyzer (Roche Molecular Systems, Inc., Pleasanton, Calif., U.S.A.), MyCycler and iCycler Thermal Cyclers (Bio-Rad Laboratories, Inc., Hercules, Calif., U.S.A.), and the SmartCycler System (Cepheid, Sunnyvale, Calif. U.S.A.), among many others. In other exemplary embodiments, sample preparation, thermal cycling, and related fluid handling components are integrated with the systems described herein, e.g., to fully automate a given nucleic acid amplification and analysis process. Instruments that can be adapted for this purpose include, for example, the m2000TM automated instrument system (Abbott Laboratories, Abbott Park, Ill., U.S.A.), the GeneXpert System (Cepheid, Sunnyvale, Calif. U.S.A.), and the COBAS® AmpliPrep® System (Roche Molecular Systems, Inc., Pleasanton, Calif., U.S.A.), and the like.
Microplates are transferred from input non-priority microplate storage unit 102 or priority microplate storage unit 106 to microplate processing area 108 using platform 118 of microplate transport mechanism 116. As referred to above and as shown in, e.g., FIGS. 4 F and G, platform 118 is operably connected to X-axis linear motion component 128. X-axis linear motion component 128 includes gantry 130. Platform 118 is operably connected to carriage 132, which moves along gantry 130. As further shown in FIGS. 4 F and G, microplate transport mechanism 116 also includes Y-axis linear motion component 134 operably connected to carriage 132 and to platform 118. Y-axis linear motion component 134 is configured to raise and lower platform 118 along the Y-axis. Suitable linear motion components, motors, and motor drives are generally available from many different commercial suppliers including, e.g., Techno-Isel Linear Motion Systems (New Hyde Park, N.Y., U.S.A.), NC Servo Technology Corp. (Westland, Mich., USA), Enprotech Automation Services (Ann Arbor, Mich., U.S.A.), Yaskawa Electric America, Inc. (Waukegan, Ill., U.S.A.), ISL Products International, Ltd. (Syosset, N.Y., U.S.A.), AMK Drives & Controls, Inc. (Richmond, Va., U.S.A.), Aerotech, Inc. (Pittsburgh, Pa., U.S.A.), HD Systems Inc. (Hauppauge, N.Y., U.S.A.), and the like. Additional detail relating to motors and motor drives are described in, e.g., Polka, Motors and Drives, ISA (2002) and Hendershot et al., Design of Brushless Permanent-Magnet Motors, Magna Physics Publishing (1994), which are both incorporated by reference.
Material transfer component 402 includes sample input gantry 414 and sample output gantry 416. Input gantry head 418 is configured to move along sample input gantry 414, whereas output gantry head 420 is configured to move along sample output gantry 416. Input gantry head 418 and output gantry head 420 each include needles that are configured to aspirate and dispense fluidic materials. Further, input gantry head 418 and output gantry head 420 are each configured to be raised and lowered along the Y-axis. During operation of exemplary system 900, the needle or pipetting tip of input gantry head 418 is typically used to aspirate an aliquot of magnetically responsive particles (e.g., magnetically responsive beads, such as BioMag®Plus Amine superparamagnetic microparticles available from Bangs Laboratories, Inc., Fishers, Ind., U.S.A.) that bind nucleic acids from magnetically responsive particle source (e.g., a magnetically responsive particle mixing cartridge) positioned at mixing station 404. Magnetically responsive particle sources and mixing stations are also described in, e.g., Ser. No. 12/560,982, entitled “MIXING CARTRIDGES, MIXING STATIONS, AND RELATED KITS, SYSTEMS, AND METHODS” filed Sep. 16, 2009 by Hofstadler et al., which is incorporated by reference in its entirety. Nucleic acid purification involving magnetically responsive particles is also described in, e.g., U.S. Patent App. Pub. No. US 2005/0164215, entitled “METHOD FOR RAPID PURIFICATION OF NUCLEIC ACIDS FOR SUBSEQUENT ANALYSIS BY MASS SPECTROMETRY BY SOLUTION CAPTURE,” filed May 12, 2004 by Hofstadler et al., and U.S. Patent App. Pub. No. US 2005/0130196, entitled “METHOD FOR RAPID PURIFICATION OF NUCLEIC ACIDS FOR SUBSEQUENT ANALYSIS BY MASS SPECTROMETRY BY SOLUTION CAPTURE,” filed Sep. 17, 2004 by Hofstadler et al., which are both incorporated by reference in their entirety. Optionally before, but typically after aspirating the aliquot of magnetically responsive particles (e.g., to minimize the possibility of cross-contaminating samples), the needle of input gantry head 418 is also generally used to aspirate an aliquot of an amplification product sample from a selected well of a microplate positioned in microplate processing area 108 of microplate handling system 100. The resulting mixture of magnetically responsive particle and amplification product sample aliquots disposed within the needle of input gantry head 418 is then typically transferred to sample processing component 410 along sample input gantry 414. After dispensing the mixture at sample processing component 410, the needle of input gantry head 418 is typically washed at wash station 406, e.g., to minimize the probability of cross-contaminating samples, prior to repeating this transfer cycle for other amplification product samples contained in the wells of a given microplate (e.g., priority or non-priority microplates) positioned in microplate processing area 108 of microplate handling system 100.
In the embodiment shown, sample processing component 410 is a desalting station that is used to desalt or otherwise purify nucleic acid amplification products in the sample mixture prior to mass spectrometric analysis. Sample processing component 410 includes carrier mechanism 422 (shown as a carousel), which includes a plurality of sample processing units 424. In the illustrated embodiment, each sample processing unit 424 includes cuvette 426 and magnet 428. After a mixture of magnetically responsive particle and amplification product sample aliquots is dispensed into a given cuvette 426, that cuvette is typically rotated in a counter clockwise direction on carrier mechanism 422 to various positions within sample processing component 410 where various reagents are added to and/or removed from that cuvette (e.g., via various fluidic handling components of manifold 430) as part of the process of purifying the amplification products captured or otherwise bound to the magnetically responsive particles in the mixture. When fluidic materials are removed from the cuvette at a given position within sample processing component 410, the cuvette is typically moved proximal to the magnet of the particular sample processing unit (e.g., cuvette 426 is moved proximal to magnet 428 of sample processing unit 424) using a conveyance mechanism to establish sufficient magnetic communication between the magnet and the magnetically responsive particles such that the magnetically responsive particles are moved to and retained on an internal surface of the cuvette while fluidic materials are removed from the cuvette. At the conclusion of a purification process for a given sample, the purified amplification products are then typically aspirated from the particular cuvette using the needle of output gantry head 420. During or prior this step, the nucleic acid amplification products are eluted from the magnetically responsive particles. After purified amplification products have been removed from a given cuvette, that cuvette is then generally rotated on carrier mechanism 422 into communication with cuvette wash station 427, where the cuvette is washed prior to commencing another purification cycle involving the cuvette and another sample. Sample processing components, such as sample processing component 410 and related desalting/purification methods are also described in, e.g., 61/097,525, entitled “SAMPLE PROCESSING UNITS, SYSTEMS, AND RELATED METHODS” filed Sep. 16, 2008 by Hofstadler et al., U.S. Patent App. Pub. No. US 2005/0164215, entitled “METHOD FOR RAPID PURIFICATION OF NUCLEIC ACIDS FOR SUBSEQUENT ANALYSIS BY MASS SPECTROMETRY BY SOLUTION CAPTURE,” filed May 12, 2004 by Hofstadler et al., and U.S. Patent App. Pub. No. US 2005/0130196, entitled “METHOD FOR RAPID PURIFICATION OF NUCLEIC ACIDS FOR SUBSEQUENT ANALYSIS BY MASS SPECTROMETRY BY SOLUTION CAPTURE,” filed Sep. 17, 2004 by Hofstadler et al., and Hofstadler et al. (2003) “A highly efficient and automated method of purifying and desalting PCR products for analysis by electrospray ionization mass spectrometry” Anal Biochem. 316:50-57, which are each incorporated by reference in their entirety.
Purified and eluted amplification products that have been aspirated from a particular cuvette of sample processing component 410 are typically transported along sample output gantry 416 to sample injector 412 (shown as a two channel time-of-flight injector) using output gantry head 420. That is, the amplification products are typically dispensed from the needle or pipetting tip of output gantry head 420 into one of the two channels of sample injector 412, which generally comprise two independent sample injection syringe pumps that are configured to receive the amplification products. After dispensing the amplification products at sample injector 412, the needle of output gantry head 420 is typically washed at wash station 408 prior to aspirating another purified amplification product sample from sample processing component 410, e.g., to reduce the potential for carryover contamination between samples.
Now referring to FIG. 5, which schematically shows additional components of representative system 400 (sample processing component 410 not shown) from a perspective view. As shown, the additional components include dual sprayer module 432, which includes two independent electrospray ionization sprayers, and time-of-flight mass spectrometer 434. Amplification product samples received at sample injector 412 are typically injected into one of the two sprayers of dual sprayer module 432 for electrospray ionization and mass measurement in time-of-flight mass spectrometer 434. As further shown, the additional components of representative system 400 also include input/output device 436 (shown as a touch screen monitor), computer 437, output device 439 (shown as a printer), reagents and waste module 438, and chassis 440. Input/output device 436, computer 437, and output device 439 are components of a controller of system 400. Controllers are described further herein. Reagents and waste module 438 provide reagent sources and waste receptacles for system 400. Chassis 440 provides mechanical support for microplate handling system 100, sample processing component 410, and other components of system 400. To further illustrate, FIGS. 6 A-C schematically show representative system 400 with an external covering from various views. In addition, other exemplary methods of using the microplate handling systems and other aspects, as well as related computer program products are also described further herein.
In some embodiments, the base compositions of amplification products are determined from detected molecular masses. In these embodiments, base compositions are typically correlated with the identity of an organismal source, genotype, or other attribute of the corresponding template nucleic acids in a given sample. Suitable software and related aspects, e.g., for determining base compositions from detected molecular masses and for performing other aspects of base composition analysis are commercially available from Ibis Biosciences, Inc. (Carlsbad, Calif., U.S.A.). Nucleic acid base composition analysis is also described in many of the publications referred to herein, including, e.g., U.S. Pat. Nos. 7,255,992, entitled “METHODS FOR RAPID DETECTION AND IDENTIFICATION OF BIOAGENTS FOR ENVIRONMENTAL AND PRODUCT TESTING,” which issued Aug. 14, 2007 to Ecker et al., U.S. Pat. No. 7,226,739, entitled “METHODS FOR RAPID DETECTION AND IDENTIFICATION OF BIOAGENTS IN EPIDEMIOLOGICAL AND FORENSIC INVESTIGATIONS,” which issued Jun. 5, 2007 to Ecker et al., U.S. Pat. No. 7,217,510, entitled “METHODS FOR PROVIDING BACTERIAL BIOAGENT CHARACTERIZING INFORMATION,” which issued May 15, 2007 to Ecker et al., and U.S. Pat. No. 7,108,974, entitled “METHOD FOR RAPID DETECTION AND IDENTIFICATION OF BIOAGENTS,” which issued Sep. 19, 2006 to Ecker et al., which are each incorporated by reference in their entirety.
V. Exemplary Microplate Handling Methods
To further illustrate, FIG. 7 is a flow chart that schematically shows the handling or management of microplates in a microplate handling system according to one embodiment of the invention. Referring now also to FIGS. 8 A-G, which schematically depicts aspects of the process illustrated in FIG. 7 in the context of microplate handling system 100. As shown, the illustrated process commences with query 700, which asks whether a priority microplate (PM) is stored or positioned in a priority microplate storage unit (PMSU) of the microplate handling system. If a priority microplate is stored in the priority microplate storage unit, the priority microplate is transported to the microplate processing area (MPA) from the priority microplate storage unit using the microplate transport mechanism of the microplate handling system (step 702). The priority microplate is processed in the microplate processing area (step 704). Microplate processing generally includes positioning a microplate relative to the material handling component of the system so that materials can be added to and/or removed from selected wells of the microplate. After a processing step is concluded (e.g., fluidic material is added to or removed from a selected well), query 706 asks whether the processing of the priority microplate is completed. If processing is not complete, then processing continues. If the processing of the priority microplate is completed, however, the microplate transport mechanism transports the processed priority microplate to the output non-priority microplate storage unit (ONPMSU) (step 708) and as shown, the process starts over.
As further shown in FIG. 7, if no priority microplate is stored in the priority microplate storage unit (query 700), the process also includes querying whether a non-priority microplate (NPM) is stored in the input non-priority microplate storage unit (INPMSU) (query 710). As shown, if no non-priority microplate is present, then the process ends. If a non-priority microplate is stored in the input non-priority microplate storage unit, then the microplate transport mechanism of the system transports the non-priority microplate to the microplate processing area (step 712) and processing of the non-priority microplate commences (step 714). To illustrate, FIG. 8A schematically shows non-priority microplates stored in input non-priority microplate storage unit 102 of microplate handling system 100, and FIG. 8B schematically shows non-priority microplate 101 positioned in microplate processing area 108 of microplate handling system 100 after being transported from input non-priority microplate storage unit 102. After a given processing step is concluded, query 716 asks whether there is a priority microplate in the priority microplate storage unit. If no priority microplate is stored in the priority microplate storage unit, the process continues with query 718, which asks whether the processing of the non-priority microplate is completed. If the processing of the non-priority microplate is not completed, then processing continues. In contrast, if the processing of the non-priority microplate is completed, then the non-priority microplate is transported to the output non-priority microplate storage unit using the microplate transport mechanism (step 736) and as illustrated, the process starts over.
If the answer to query 716 is that a priority microplate is stored in the priority microplate storage unit, then the non-priority microplate currently positioned in the microplate processing area is transported to the non-priority microplate holding area (NPMHA) using the microplate transport mechanism (step 720). The microplate transport mechanism then transports the priority microplate from the priority microplate storage unit to the microplate processing area (step 722) where processing of the priority microplate begins (step 724). To illustrate, FIG. 8C schematically shows priority microplate 103 stored in priority microplate storage unit 106, while non-priority microplate 101 is positioned in microplate processing area 108 of microplate handling system 100. FIG. 8D schematically depicts priority microplate 103 positioned in microplate processing area 108 of microplate handling system 100 after non-priority microplate 101 has been transported and positioned in non-priority microplate holding area 110. After a processing step is concluded, query 726 asks whether the processing of the priority microplate is completed. As shown, if processing of the priority microplate is not completed, then the processing continues. If processing of the priority microplate is completed, however, the priority microplate is transported to the output non-priority microplate storage unit using the microplate transport mechanism (step 728). The microplate transport mechanism then returns to the non-priority microplate holding area and transports the non-priority microplate, whose processing had been interrupted, to microplate processing area (step 730) to resume processing (step 732). To illustrate, FIG. 8E schematically shows platform 118 in microplate processing area 108 of microplate handling system 100 after the microplate transport mechanism transported priority microplate 103 to output non-priority microplate storage unit 104. To further illustrate, FIG. 8F schematically depicts non-priority microplate 101 positioned in microplate processing area 108 to resume processing after the microplate transport mechanism of microplate handling system 100 transported non-priority microplate 101 from non-priority microplate holding area 110. After a given processing step is concluded, query 734 asks whether the processing of the non-priority microplate is complete. If processing of the non-priority microplate is not completed, then the processing continues. If processing of the non-priority microplate is completed, however, then the microplate transport mechanism transports the non-priority microplate output non-priority microplate storage unit (step 736) and as shown, the process starts over. To further illustrate, FIG. 8G schematically shows microplates in output non-priority microplate storage unit 104 after all of the microplates have been processed using microplate handling system 100.
VI. Additional Exemplary Microplate Handling System Embodiments
To illustrate additional representative embodiments, FIGS. 9 A-H schematically depict a portion of the representative system schematically shown in FIGS. 4 A-G in which microplate handling system 900 has been substituted for microplate handling system 100. As shown, microplate handling system 900 includes input non-priority microplate storage unit 902 and output non-priority microplate storage unit 904, which each removably attach to microplate handling system support base 905. As also shown, microplate handling system 900 also includes priority microplate storage unit 906 (shown as a stat tray drawer). Support structure 908 of priority microplate storage unit 906 is operably connected to movement mechanism 910 (shown as guide tracks). Support structure 908 is configured to slide relative to movement mechanism 910 between open and close positions. Priority microplates are typically loaded in priority microplate storage unit 906 when support structure 908 is in an open position. Microplate transport mechanism 116 typically moves priority microplates from priority microplate storage unit 906 when support structure 908 is in a closed position. Additional system features and components are described further herein.
VII. Exemplary Fabrication Methods and Materials
System components (e.g., microplate storage units, microplate transport mechanisms, support bases, etc.) are optionally formed by various fabrication techniques or combinations of such techniques including, e.g., machining, embossing, extrusion, stamping, engraving, injection molding, cast molding, etching (e.g., electrochemical etching, etc.), or other techniques. These and other suitable fabrication techniques are generally known in the art and described in, e.g., Molinari et al. (Eds.), Metal Cutting and High Speed Machining, Kluwer Academic Publishers (2002), Altintas, Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design, Cambridge University Press (2000), Stephenson et al., Metal Cutting Theory and Practice, Marcel Dekker (1997), Fundamentals of Injection Molding, W. J. T. Associates (2000), Whelan, Injection Molding of Thermoplastics Materials, Vol. 2, Chapman & Hall (1991), Rosato, Injection Molding Handbook, 3.sup.rd Ed., Kluwer Academic Publishers (2000), Fisher, Extrusion of Plastics, Halsted Press (1976), and Chung, Extrusion of Polymers: Theory and Practice, Hanser-Gardner Publications (2000), which are each incorporated by reference. In certain embodiments, following fabrication, system components are optionally further processed, e.g., by coating surfaces with a hydrophilic coating, a hydrophobic coating (e.g., a Xylan 1010DF/870 Black coating available from Whitford Corporation (West Chester, Pa.), etc.), or the like, e.g., to prevent interactions between component surfaces and reagents, samples, or the like.
While the foregoing invention has been described in some detail for purposes of clarity and understanding, it will be clear to one skilled in the art from a reading of this disclosure that various changes in form and detail can be made without departing from the true scope of the invention. For example, all the techniques and apparatus described above can be used in various combinations. All publications, patents, patent applications, and/or other documents cited in this application are incorporated by reference in their entirety for all purposes to the same extent as if each individual publication, patent, patent application, and/or other document were individually indicated to be incorporated by reference for all purposes.

## Claims

1. A microplate handling system, comprising:
at least first and second non-priority microplate storage units that each store two or more microplates;
at least one priority microplate storage unit that stores at least one microplate;
at least one microplate processing area;
at least one non-priority microplate holding area;
at least one microplate transport mechanism configured to transport one or more microplates between the first and second non-priority microplate storage units, the priority microplate storage unit, the microplate processing area, and/or the non-priority microplate holding area; and,
at least one controller operably connected at least to the microplate transport mechanism, which controller is configured to selectively direct the microplate transport mechanism to:
(a) transport a non-priority microplate from the first non-priority microplate storage unit to the microplate processing area;
(b) position the non-priority microplate while in the microplate processing area;
(c) transport the non-priority microplate from the microplate processing area to the non-priority microplate holding area when a priority microplate is stored in the priority microplate storage unit;
(d) transport the priority microplate from the priority microplate storage unit to the microplate processing area;
(e) position the priority microplate while in the microplate processing area;
(f) transport the priority microplate from the microplate processing area to the second non-priority microplate storage unit or to the priority microplate storage unit;
(g) transport the non-priority microplate from the non-priority microplate holding area to the microplate processing area; and
(h) transport the non-priority microplate from the microplate processing area to the second non-priority microplate storage unit.

2. The microplate handling system of claim 1, wherein the first and second non-priority microplate storage units each store two or more stacked microplates.

3. The microplate handling system of claim 1, wherein the controller is configured to selectively direct the microplate transport mechanism to execute (c) prior to (d) and/or (f) prior to (g).

4. The microplate handling system of claim 1, comprising at least one barcode reader or radio frequency identification (RFID) reader configured to read barcodes or radio frequency tags disposed on microplates when the microplates are disposed in or proximal to the first non-priority microplate storage unit, the second non-priority microplate storage unit, the priority microplate storage unit, the microplate processing area, and/or the non-priority microplate holding area.

5. The microplate handling system of claim 1, comprising at least one material transfer component configured to transfer material to and/or from selected wells disposed in at least one microplate when the microplate is disposed in the microplate processing area.

6. The microplate handling system of claim 5, wherein the material transfer component is configured to transfer fluidic material.

7. The microplate handling system of claim 5, comprising at least one magnetically responsive particle source, wherein the material transfer component is configured to aspirate an aliquot of magnetically responsive particles from the magnetically responsive particle source prior to or after aspirating an aliquot of material from a selected well of the microplate when the microplate is disposed in the microplate processing area.

8. The microplate handling system of claim 5, comprising at least one wash station configured to wash the material transfer component or a portion thereof.

9. The microplate handling system of claim 5, wherein the material transfer component comprises at least one gantry.

10. The microplate handling system of claim 5, comprising at least one sample processing component, wherein the material transfer component is configured to transfer the material from the selected wells disposed in the microplate to the sample processing component.

11. The microplate handling system of claim 10, wherein the sample processing component comprises a desalting station.

12. The microplate handling system of claim 5, wherein the material transfer component comprises at least one gantry head.

13. The microplate handling system of claim 12, wherein the material transfer component comprises one or more needles.

14. The microplate handling system of claim 1, wherein the first and second non-priority microplate storage units each comprise a support structure that defines a cavity that is configured to store two or more stacked microplates.

15. The microplate handling system of claim 14, wherein at least a lower surface of the support structure comprises an opening that communicates with the cavity, wherein dimensions of the opening are sufficient to accommodate microplates moving into or out of the cavity.

16. The microplate handling system of claim 14, comprising at least one retaining mechanism operably connected to the support structure, which retaining mechanism is configured to reversibly retain at least one microplate in the cavity.

17. The microplate handling system of claim 1, wherein the priority microplate storage unit comprises a support structure that defines a cavity that is configured to store the microplate.

18. The microplate handling system of claim 17, comprising at least one movement mechanism operably connected to the support structure, which movement mechanism is configured to move the support structure relative to the first and second non-priority microplate storage units.

19. The microplate handling system of claim 17, wherein at least a lower surface of the support structure comprises an opening that communicates with the cavity, wherein dimensions of the opening accommodate microplates moving into or out of the cavity.

20. The microplate handling system of claim 17, comprising at least one retaining mechanism operably connected to the support structure, which retaining mechanism is configured to reversibly retain at least one microplate in the cavity.

21. The microplate handling system of claim 1, comprising a support base on which the first and second non-priority microplate storage units, the priority microplate storage unit, the microplate processing area, and the non-priority microplate holding area are disposed.

22. The microplate handling system of claim 21, wherein the non-priority microplate holding area comprises at least one non-priority microplate holding component that is structured to hold one or more non-priority microplates above the support base.

23. The microplate handling system of claim 21, wherein at least the first and second non-priority microplate storage units are detachable from the support base.

24. The microplate handling system of claim 23, wherein the first and/or second non-priority microplate storage unit comprises a handle.

25. The microplate handling system of claim 1, wherein the microplate transport mechanism comprises:
at least one platform that is structured to support one or more microplates;
at least a first linear motion component operably connected to the platform, which first linear motion component selectively moves the platform along a first axis; and,
at least a second linear motion component operably connected to the platform, which second linear motion component selectively moves the platform along a second axis.

26. The microplate handling system of claim 25, wherein the platform comprises a nest.

27. The microplate handling system of claim 25, wherein the first linear motion component is configured to selectively raise and lower the platform.

28. The microplate handling system of claim 25, wherein the first linear motion component comprises a stepper motor.

29. The microplate handling system of claim 25, wherein the second linear motion component is configured to selectively move the platform between the first non-priority microplate storage unit, the second non-priority microplate storage unit, the priority microplate storage unit, the microplate processing area, and/or the non-priority microplate holding area.

30. The microplate handling system of claim 25, wherein the second linear motion component is configured to move the platform beneath the first non-priority microplate storage unit, the second non-priority microplate storage unit, and the priority microplate storage unit.

31. The microplate handling system of claim 25, wherein the second linear motion component comprises at least one gantry.

32. The microplate handling system of claim 25, wherein the second linear motion component comprises at least one encoder and at least one stepper motor.