Patent Description:
Long-term preservation of cells and tissues through cryopreservation has broad impacts in multiple fields including tissue engineering, fertility and reproductive medicine, regenerative medicine, stem cells, blood banking, animal strain preservation, clinical sample storage, transplantation medicine, and in vitro drug testing. This can include the process of vitrification in which a biological sample (e.g., an oocyte, an embryo, a biopsy) contained in or on a specimen holder is rapidly cooled by placing the biological sample and the specimen holder in a substance, such as liquid nitrogen. This results in a glass-like solidification or glassy state of the biological sample (e.g., a glass structure at the molecular level), which maintains the absence of intracellular and extracellular ice (e.g., reducing cell damage and/or death) and, upon thawing, improves post-thaw cell viability. To ensure viability, the vitrified biological samples are then typically continuously stored in a liquid nitrogen dewar or other container, which is at a temperature conducive to cryopreservation, for example negative <NUM> degrees Celsius.

The specimen holder may, for example, take the form of a cryopreservation straw, cryopreservation tube, cryopreservation stick or cryopreservation spatula. The specimen holders are typically placed in a specimen container. The specimen container typically comprises a vial and a cap, the cap selectively removable from the vial to access an interior of the vial. In some instances, two or more specimen holders may be placed in a single specimen container. In other instances, as described in Applicant's own patent applications, a specimen holder may be attached or fixed to the cap. The cap may be removably attached to the vial, for example, via mating threads or a snap fit. As also described in Applicant's own patent applications, the specimen containers and/or even the specimen holder(s) can include identification information, for instance in the form of one or more of: direct markings or indicia made on the specimen containers or specimen holders; one or more labels (e.g., labels bearing printed or hand written indicia); one or more machine-readable symbols (e.g., one-dimensional or barcode symbols; two-dimensional code symbols) and/or one or more wireless transponders (e.g., radio frequency identification (RFID) transponders). While denominated as radio frequency identification, it is noted that RFID typically encompasses wireless transmission in the radio frequency and/or microwave frequency portions of the electromagnetic spectrum. Hence, references herein to radio or radio frequency are not intended to be limited to the radio frequency range of the electromagnetic spectrum unless clearly indicated otherwise, and typically are meant to also include the microwave frequency range of the electromagnetic spectrum.

The ability to accurately identify, manage, inventory, store, and/or retrieve biological specimens is typically considered an objective of any system or facility (e.g., in vitro fertilization (IVF) facility). Vitrification can be damage direct markings or indicia, labels, and/or machine readable symbols. In any case, wireless interrogation of wireless transponders may be preferred as a more fully automated approach to identification.

The specimen containers in many implementations will be closely spaced with respect to one another, for instance to minimize the amount of storage spaced required and/or to maximize the number of specimens that may be stored in a given volume of space (e.g., stored in a volume of a cryogenic freezer or dewar). For example, a plurality of specimen containers may be arrayed in a carrier, tray or shelf, the specimen containers spaced within a few centimeters of one another. A storage space (e.g., a cryogenic freezer or dewar) may contain a plurality of these carriers, trays or shelves, for example arrayed about a central axis, and at two or more levels along the central axis.

Conventionally, entire carriers, trays or shelves that hold a plurality of specimen containers are retrieved from and/or placed into the cryogenic environment. While retrieval of only one or a limited number of specimen containers may be desired, conventional approaches that retrieve entire carriers, trays or shelves expose many more specimen containers to non-cryogenic temperatures then need to be exposed. The close spacing of specimen containers in an array may cause difficulties in picking specimen containers from and/or placing specimen containers into the array. While not limited to cryogenic environments, such difficulties may be exacerbated where the specimen containers are located in a cryogenic environment such as a cryogenic freezer or dewar, as such cryogenic environments typically provided limited access to the interior of the cryogenic environment, typically through a single opening or aperture at a top of the cryogenic freezer or dewar.

<CIT> discloses a cryogenic storage system, which includes a transfer module configured to service one or more cryogenic storage freezers. The transfer module includes a working chamber that maintains a cryogenic environment for the transfer of sample tubes between different sample boxes. One or more freezer ports enable the transfer module to receive a sample box extracted from a respective freezer. An input/output (I/O) port enables external access to samples. A box transport robot operates to transport sample boxes between the freezer ports, the working chamber, and the I/O port. A picker robot operates to transfer sample tubes between sample boxes within the working chamber.

<CIT> discloses an automated cryogenic storage system, which includes a freezer and an automation system to provide automated transfer of samples to and from the freezer. The freezer includes a bearing and a drive shaft though the freezer, the drive shaft being coupled to a rack carrier inside the freezer and adapted to be coupled to a motor. The automation module includes a rack puller that is automatically positioned above an access port of the freezer. The rack puller engages with a sample rack within the freezer, and elevates the rack into an insulating sleeve external to the freezer. From the insulating sleeve, samples can be added to and removed from the sample rack before it is returned to the freezer.

<CIT> discloses an automated cryogenic storage system includes a freezer and an automation system to provide automated transfer of samples to and from the freezer. The freezer includes a bearing and a drive shaft though the freezer, the drive shaft being coupled to a rack carrier inside the freezer and adapted to be coupled to a motor. The automation module includes a rack puller that is automatically positioned above an access port of the freezer. The rack puller engages with a sample rack within the freezer, and elevates the rack into an insulating sleeve external to the freezer. From the insulating sleeve, samples can be added to and removed from the sample rack before it is returned to the freezer.

Various systems, devices and methods are described herein that advantageously address the various issues presented with picking or retrieving individual specimen containers from an array of specimen containers and/or placing individual specimen containers into an array of specimen containers, even where the array of specimen containers is located in a cryogenic freezer or dewar. Such may advantageously reduce or even eliminate exposure of other specimen containers to non-cryogenic temperatures. Such may also advantageously automate retrieval and/or placement of specimen containers, whether from or into cryogenic storage or non-cryogenic storage, reducing manual labor, increasing accuracy and/or improving tracking of specimen container and specimens held by the specimen containers.

A system to pick and/or place individual specimen containers from and/or to an array of specimen containers can be summarized as including: a receiver having a proximate end, a distal end, and a receptacle having an opening at the distal end of the receiver, the receptacle having a principal axis and a set of lateral inner dimensions measured laterally with respect to the principal axis, the lateral inner dimensions of the receptacle sized to accommodate a set of lateral outer dimensions of at least a portion of a single container therein and at least a portion of the receptacle sized to physically prevent rotation of the single one of the specimen containers about the principal axis while allowing translation with respect thereto; a drive shaft having a proximate end and a distal end; and an engagement head at the distal end of the driver shaft and which translates and rotates along with the drive shaft, wherein the drive shaft is translatable parallel with the principal axis to selectively position the engagement head alternatingly distally from and proximate to a first portion of the single one of the specimen containers when the single one of the specimen containers is positioned at least partially in the receptacle of the receiver, and at least when positioned proximate to the first portion of the single one of the specimen containers the drive shaft is selectively rotatable alternatingly in a clockwise and a counterclockwise direction about the principal axis to cause at least a portion of the engagement head to alternatingly engage and disengage the first portion of the single one of the specimen containers while at least a portion of the receptacle of the receiver prevents the single one of the specimen containers from rotating about the principal axis.

The engagement head may include a base and a pair of lugs, each of the lugs comprises a stem extending downwardly from the base and a finger that extends radially inwardly from the stem, the finger having a distal most portion that is spaced radially inwardly of the principal axis. The finger of each of the lugs may be disposed in a same rotational direction about the principal axis as the finger of the other one of the lugs.

The system may further include one or more actuators drivingly coupled to control translation and rotation of the drive shaft and the engagement head, and at least one processor-based control system communicatively coupled to control the one or more actuators. The system may further include one or more sensors, for example positon sensors, orientation sensors, frost detectors and/or resistance sensors or detectors (e.g., to sense or detect resistance to movement for instance resistance to translation).

The system may further include one or more defrosters operable to remove frost build up on one or more components.

The system may further include a manual override mechanism that manually dispenses the single one of the specimen containers from the receiver, for instance even when frost buildup prevents the at least one actuator from successfully dispensing the single one of the specimen containers from the receiver.

The system may include a wireless interrogator to interrogate wireless transponders and/or an optical reader to optically read human-readable and/or machine-readable symbols carried by or on the specimen containers.

A method to pick individual specimen containers from or to an array of specimen containers may employ a system comprising a pick and/or place head comprising a receiver, a drive shaft and an engagement head at a distal end of the drive shaft. The method may be summarized as including: i) moving the pick and/or place head proximate the one of the specimen containers; ii) translating at least the distal portion of the receiver to encompass at least a portion of the single one of the specimen containers; iii) translating the drive shaft from a retracted position to an extended position to position the engagement head proximate the second portion of the single one of the specimen containers; iv) rotating the drive shaft in a first rotational direction about the principal axis to engage the second portion of the single one of the specimen containers with the engagement head while the at least one first engagement feature prevents the single one of the specimen containers from rotating about the principal axis; and v) translating the drive shaft from the extended position to the retracted position to draw the single one of the specimen containers further into the receiver, and vi) translate the pick and place head away from the array of specimen containers.

A method to place individual specimen containers to a destination location may employ a system comprising a pick and/or place head comprising a receiver, a drive shaft and an engagement head at a distal end of the drive shaft. The method may be summarized as including: i) translate the pick and/or place head over the destination location; ii) translate the pick and/or place head to position in which at least the receiver proximate the destination location; iii) rotate the drive shaft in a second rotational direction about the principal axis to disengage the second portion of the single one of the specimen containers from the engagement head while the at least one first engagement feature prevents the single one of the specimen containers from rotating about the principal axis; iv) translate the pick and/or place head away from the position in which at least the receiver is proximate the destination location.

The method may further include translating the drive shaft from the retracted positon to the extended position to push the single one of the specimen containers out of the receiver after iii) rotating the drive shaft in the second rotational direction about the principal axis to disengage the second portion of the single one of the specimen containers from the engagement head and before iv) translating the pick and/or place head away from the position in which at least the receiver is proximate the destination location.

Any of the methods may further include sensing one or more of a position, orientation, or frost build up. The methods may further include defrosting one or more components.

Any of the methods may further include wirelessly interrogating wireless transponders and/or an optical reading human-readable and/or machine-readable symbols carried by or on the specimen containers.

A system to pick and/or place individual specimen containers from an array of specimen containers may be summarized as including: a receiver having a proximate end, a distal end, an interior, a port that provides fluid communication with the interior, and an opening at the distal end that provides access to the interior from an exterior of the receiver, the interior and the opening having a set of lateral internal dimensions sized to receive at least a portion of a single one of the specimen containers therein; a conduit coupled to provide a negative pressure to the interior of the receiver via the port to pneumatically draw a single one of the specimen containers inwardly at least further into the interior of the receiver; a drive shaft rotatable about a principal axes to selectively mechanically retain the single one of the specimen containers in the interior of the receiver; and one or more actuators drivingly coupled to control movement of the drive shaft.

The system may further include a vacuum source fluidly communicatively coupled to the port via the conduit.

The system may further include at least one processor-based control system communicatively coupled to control the one or more actuators and at least one of the vacuum source or a valve fluidly communicatively located between the vacuum source and the port.

A method may employ a system to pick individual specimen containers from an array of specimen containers, the system comprising a pick and/or place head comprising a receiver, a drive shaft and an engagement head at a distal end of the drive shaft. The method may be summarized as including: i) translating the pick and/or place head from a retracted position to an extended position in which at least part of the single one of the specimen containers is received within the receiver via the opening of the receiver; ii) applying a negative pressure within an interior of the receiver to draw the single one of the specimen containers further into the interior of the receiver; and iii) rotating the drive shaft in a first rotational direction about a principal axis to cause a portion of the receiver to retain the single one of the specimen containers in the interior of the receiver by limiting translation of the single one of the specimen containers.

The method may further include withdrawing the pick and/or place head from the array of specimen containers while the single one of the specimen containers remains in the interior of the receiver.

A method may employ a system to place individual specimen containers to a destination location, the system comprising a pick and/or place head comprising a receiver, a drive shaft and an engagement head at a distal end of the drive shaft. The method may be summarized as including: i) positioning the pick and/or place head over the destination location; ii) translating the pick and/or place head from a retracted position to an extended position to reduce a vertical distance to the destination location; iii) rotating the drive shaft in a second rotational direction about a principal axis to cause a portion of the receiver to release the single one of the specimen containers from the interior of the receiver by no longer limiting translation of the single one of the specimen containers.

The method may further include iv) withdrawing the pick and/or place head from the array destination location while the single one of the specimen containers remains at the destination location.

The method may further include applying a positive pressure within an interior of the receiver to push the single one of the specimen containers further out of the interior of the receiver after iii) the drive shaft is rotated in the second rotational direction about the principal axis to cause the portion of the receiver to release the single one of the specimen containers from the interior of the receiver by no longer limiting translation of the single one of the specimen containers.

In the drawings, identical reference numbers identify similar elements or acts. The sizes and relative positions of elements in the drawings are not necessarily drawn to scale. For example, the shapes of various elements and angles are not necessarily drawn to scale, and some of these elements may be arbitrarily enlarged and positioned to improve drawing legibility. Further, the particular shapes of the elements as drawn, are not necessarily intended to convey any information regarding the actual shape of the particular elements, and may have been solely selected for ease of recognition in the drawings.

In the following description, certain specific details are set forth in order to provide a thorough understanding of various disclosed implementations. However, one skilled in the relevant art will recognize that implementations may be practiced without one or more of these specific details, or with other methods, components, materials, etc. In other instances, well-known structures associated with wireless transponders, interrogators or interrogation systems, computer systems, server computers, and/or communications networks have not been shown or described in detail to avoid unnecessarily obscuring descriptions of the implementations.

Unless the context requires otherwise, throughout the specification and claims that follow, the word "comprising" is synonymous with "including," and is inclusive or openended (i.e., does not exclude additional, unrecited elements or method acts).

Reference throughout this specification to "one implementation" or "an implementation" means that a particular feature, structure or characteristic described in connection with the implementation is included in at least one implementation. Thus, the appearances of the phrases "in one implementation" or "in an implementation" in various places throughout this specification are not necessarily all referring to the same implementation. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more implementations.

As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should also be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.

The headings and Abstract of the Disclosure provided herein are for convenience only and do not interpret the scope or meaning of the implementations.

<FIG> show a mechanical system <NUM> to pick and/or place specimen containers, according to one illustrated implementation.

The mechanical system <NUM> includes a pick and/or place head <NUM>. The pick and/or place head <NUM> is mounted to travel along a first rail 104a. The first rail 104a may extend vertically, for example, allowing the pick and/or place head <NUM> to translate vertically. Such may, for example, allow the pick and/or place head <NUM> to be moved between an interior and an exterior of an enclosed cryogenic environment (e.g., cryogenic freezer, dewar or other cryogenic enclosure), for example via a door or access port at a top of cryogenic enclosure.

The pick and/or place head <NUM> includes a receiver <NUM>, a drive shaft <NUM>, an engagement head <NUM>, and one or more actuators, for example a translation motor 112a and a rotation motor 112b.

The receiver <NUM> has a proximate end 114a, a distal end 114b, and a receptacle <NUM> having an opening <NUM> (<FIG>) at the distal end 114b of the receiver <NUM>.

As illustrated the receiver <NUM> and the receptacle <NUM> may be formed of two or more parts, although in some implementations the receiver <NUM> may take the form of a single-piece, unitary structure. As illustrated, the receiver <NUM> comprises a proximate portion 106a and a distal portion 106b.

As best illustrated in <FIG>, the distal portion 106b of the receiver <NUM> is illustrated as a block or sleeve <NUM> with a peripheral flange <NUM> extending lateral therefrom at a proximate end of the block or sleeve <NUM> and with a set of feet or standoffs <NUM> (only one called out in <FIG>) extending or projecting longitudinally therefrom at a distal end of the block or sleeve <NUM>. The block or sleeve <NUM> includes the opening <NUM> which provides access to an interior <NUM> of the block or sleeve <NUM>. The opening <NUM> and/or the interior <NUM> of the block or sleeve <NUM> have a profile that is/are sized and/or shaped to accommodate a profile of a single specimen container <NUM> (<FIG>). The peripheral flange <NUM> of the block or sleeve <NUM> may have throughholes <NUM> (only one called out in <FIG>) to allow the distal portion 106b to be coupled to the proximate portion 106a, for instance via one or more fasteners (not called out in <FIG>, and omitted from <FIG>).

The proximate portion 106a of the receiver <NUM> is illustrated as a frame or cage <NUM>, comprising a base 132a, a top 132b and frame members or struts <NUM> that extend between the base 132a and the top 132b, to define an interior <NUM> therebetween. (Four frame members or struts <NUM> are shown in <FIG>, two of the frame members or struts <NUM> are omitted from <FIG>, to provide a better view of the interior <NUM> and of a portion of the engagement head <NUM>. ) The interior <NUM> of the proximate portion 106a has a profile that is sized and/or shaped to accommodate a profile of a single specimen container <NUM> (<FIG>), although may have higher fit tolerances than that of the interior <NUM> of the block or sleeve <NUM> or opening <NUM>. The interior <NUM> of the proximate portion 106a, or a part thereof, may be open to an exterior or alternatively one or more sidewalls may enclose the interior <NUM>. The base 132a of the proximate portion 106a may have throughholes to allow the proximate portion 106a to be coupled to the distal portion 106a, for instance via one or more fasteners (e.g., threaded fasteners for instance screws or bolts and nuts). The top 132b of the proximate portion 106a may have throughholes (not called out) to allow the proximate portion 106a to be coupled to other portions of the pick and/or place head <NUM> (described below), for instance via one or more fasteners ((e.g., threaded fasteners for instance screws or bolts and nuts, not called out in <FIG>, and omitted from <FIG>).

The receptacle <NUM> has a principal axis <NUM> and a set of lateral inner dimensions <NUM> measured laterally with respect to the principal axis <NUM>. The lateral inner dimensions <NUM> of the receptacle <NUM> are sized to accommodate a set of lateral outer dimensions <NUM> (<FIG>) of at least a portion of a single container <NUM> (<FIG>) therein. At least a portion of the receptacle <NUM> is sized to physically prevent rotation of the single one of the specimen containers <NUM> (<FIG>) about the principal axis <NUM> while allowing translation with respect thereto. For example, the lateral inner dimensions <NUM> of the receptacle <NUM> at a smallest portion is sized to provide either a clearance fit or close fit (e.g., physically contact without deformation while preventing rotation) with a widest portion of the single container <NUM> (<FIG>). For example, the receptacle <NUM> or a portion thereof may have a non-circular profile, for instance a D-shaped profile, rectangular profile, or as illustrated in <FIG> the receptacle <NUM> has a square profile with two pairs of parallel sides (e.g., a rectangular cuboid) and rounded or arcuate corners between pairs of the sides. Such may receive a portion or all of a single specimen container <NUM> (<FIG>), while preventing rotation of or restraining rotation of the single specimen container <NUM> within a set angular range.

As best illustrated in <FIG>, the drive shaft <NUM> has a proximate end 142a and a distal end 142b. The drive shaft <NUM> is a generally elongate member, and may take a variety of forms that allow transmission of translational displacement and rotation. The drive shaft <NUM> may, for example, take the form of a solid rod or a hollow rod. While illustrated as a cylindrical rod, the drive shaft <NUM> can have non-circular profiles, for example a D-shaped profile, rectangular profile including a square profile, or a polygonal profile such as a hexagonal or octagonal profile. The drive shaft <NUM> may be made of a metal, or a plastic, or a combination thereof.

The engagement head <NUM> is located at the distal end 142b of the driver shaft <NUM>, and translates and rotates along with the drive shaft <NUM>. The engagement head <NUM> may be an integral, unitary part of the drive shaft <NUM>, or may be a separate and distinct part physically coupled or otherwise attached directly, or indirectly to the drive shaft <NUM>. The engagement head <NUM> includes or more engagement features to engage a portion of a single one of the specimen containers <NUM> (<FIG>) when the single one of the specimen containers <NUM> is positioned in the receptacle <NUM> of the receiver <NUM>. For example, as best illustrated in <FIG> and <FIG>, the engagement head <NUM> includes a base <NUM> (called out in <FIG>) and a pair of lugs 146a, 146b. Each of the lugs 146a, 146b comprises a stem 148a, 148b (called out in <FIG>) positioned at diametrically opposed locations at a periphery of the base <NUM> and extending longitudinally outwardly (e.g., perpendicularly) from the base <NUM>. Each of the lugs 146a, 146b comprises a finger 150a, 150b (called out in <FIG>) that extends angled radially inwardly from the respective stem 148a, 148b, the fingers 150a, 150b each having a distal most portion that is spaced radially inwardly of the principal axis <NUM> of the receptacle <NUM>. The finger 150a, 150b of each of the lugs 146a, 146b is disposed in a same rotational direction about the principal axis <NUM> as the finger 150a, 150b of the other one of the lugs 146a, 146b. The stems 148a, 148b provide for a gap to exist between the fingers 150a, 150b and the base <NUM>.

Where specimen containers <NUM> (<FIG>) each include a vial and a cap, the cap having a handle, the cap threadedly coupled to vials, and the lugs are disposed about the principal axis <NUM> such that a counterclockwise rotation of the drive shaft <NUM> causes the lugs 146a, 146b, and in particular fingers 150a, 150b, to engage the handle of the cap in a direction in which the cap tightens to the vial, and such that a clockwise rotation of the drive shaft <NUM> causes the lugs 146a, 146b to disengage the handle of the cap. For an oppositely or reverse threaded cap and vial, the inverse directions would apply.

The pick and/or place head <NUM> may optionally include one or more bearings <NUM> (only one shown in <FIG> and <FIG>) that support the drive shaft <NUM> for translation along the principal axis and rotation about the principal axis <NUM> of the receptacle <NUM>. The bearing(s) <NUM> may be supported via one or more brackets 154a (<FIG>) attached for example to a support plate <NUM> (<FIG>). The pick and/or place head <NUM> may optionally include a guide tube <NUM> (<FIG>) through which a portion of the drive shaft <NUM> translates in moving between a retracted position the engagement head <NUM> and an extended position of the engagement head <NUM>. In the extended position, the engagement head <NUM> is positioned distally with respect to the retracted position, for example positioned to contact and engage a portion (e.g., handle on cap) of the single specimen container <NUM> (<FIG>) that is located in the interior of the block or sleeve <NUM>. The guide tube <NUM> may be supported via one or more brackets 154b, for example, attached to the support plate <NUM>.

The translation motor 112a and a rotation motor 112b may be coupled to the drive shaft <NUM> via respective drive trains or transmissions 160a, 160b. For example, the translation motor 112a may be coupled to a second rail 104b, to drive the drive shaft to translate along the second rail 104b, in what would typically be a vertical direction. The translation motor 112a, rotation motor 112b, and/or the respective drive trains or transmissions 160a, 160b (<FIG>) may be supported by the support plate <NUM>. While illustrated as a translation motor 112a and a rotation motor 112b, the actuators of the pick and/or place head <NUM> can take other forms, for example one or more of the actuators may take the form of one or more solenoids. The translation motor 112a and a rotation motor 112b may be controlled or operated via signals supplied by one or more control systems, for instance via one or more motor controllers <NUM> (<FIG>).

The drive shaft <NUM> is translatable, via the translation motor 112a and respective drive train or transmission 160a, parallel with the principal axis <NUM> to selectively position the engagement head <NUM> alternatingly distally from and proximate to a first portion of the single one of the specimen containers <NUM> (<FIG>) when the single one of the specimen containers <NUM> is positioned at least partially in the receptacle <NUM> of the receiver <NUM>. At least when positioned proximate to the first portion of the single one of the specimen containers <NUM>, the drive shaft <NUM> is selectively rotatable, via the rotation motor 112b and respective drive train or transmission 160b, alternatingly in a clockwise and a counterclockwise direction about the principal axis <NUM> to cause at least a portion (e.g., lugs 146a, 146b) of the engagement head <NUM> to alternatingly engage and disengage the first portion of the single one of the specimen containers <NUM> while at least a portion of the receptacle <NUM> of the receiver <NUM> prevents the single one of the specimen containers <NUM> from rotating about the principal axis <NUM>.

As previously noted, the pick and/or place head <NUM> may be driven to translate along the first rail 104a, for example by one or more actuators, for example motors 162a, 162b drivingly coupled via one or more drive trains or transmissions 164a, 164b to translate the pick and/or place head <NUM>. The motors 162a, 162b may be controlled or operated via signals supplied by one or more control systems, for instance via one or more motor controllers <NUM> (<FIG>).

<FIG> and <FIG> show portion of a mechanical system <NUM> to pick and/or place specimen containers, according to another one illustrated implementation. Some of the components are similar or even identical to those of the implementation of <FIG>, and hence the same reference numbers are employed for similar or identical components. Only some of the significant differences are discussed below. In particular, the receiver <NUM> in the implementation of <FIG> and <FIG> has some differences with respect to the receiver <NUM> of the implementations of <FIG>, resulting in a simpler to manufacture design.

A proximate portion 106d of the receiver <NUM> in the implementation of <FIG> and <FIG> is a block with a longitudinally extending cavity. The longitudinally extending cavity of the proximate portion 106d can be sized and shaped to receive an upper portion (e.g., cap <NUM>) of the single specimen container <NUM> when drawn upward by the drive shaft <NUM>, and prevent rotation of the single specimen container <NUM> about a longitudinal axis when received in the longitudinally extending cavity of the proximate portion 106d.

A distal portion 106e of the receiver <NUM> in the implementation of <FIG> and <FIG> is similar to the distal portion 106b of the receiver <NUM> of the implementation of <FIG>, if somewhat more elongated along the longitudinal axis thereof, and with arch shaped slots on the sides between each pair of feet or standoffs <NUM>. The distal portion 106e includes a longitudinally extending cavity. The longitudinally extending cavity of the distal portion 106e can be sized and shaped to receive a lower portion (e.g., vial portion <NUM>) of the single specimen container <NUM> when drawn upward by the drive shaft <NUM>, and prevent rotation of the vial portion <NUM> of single specimen container <NUM> about a longitudinal axis when received in the longitudinally extending cavity distal portion 106e. When drawn upward into a withdrawn position or configuration, a bottom of the vial portion <NUM> may extend just beyond flush with respect to the cavity of the distal portion 106e, protruding slightly therefrom.

An intermediate portion 106f of the receiver <NUM> in the implementation of <FIG> and <FIG> is similar to the proximate portion 106a of the receiver <NUM> of the implementation of <FIG>. The intermediate portion 106f is illustrated as a frame or cage, comprising a set of frame members or struts <NUM> that extend between the proximate portion 106d and the distal portion 106e, to define an interior <NUM> therebetween. (Only two of four frame members or struts <NUM> are visible in <FIG> and <FIG>. ) The interior of the proximate portion 106a has a profile that is sized and/or shaped to accommodate a profile of a single specimen container <NUM> (<FIG>). The interior of the intermediate portion 106f, or a part thereof, may be open to an exterior or alternatively one or more sidewalls may enclose the interior. The intermediate portion 106f may have throughholes to allow the intermediate portion 106f to be coupled to the proximate portion 106d and/or distal portion 106e, for instance via one or more fasteners (e.g., threaded fasteners for instance screws or bolts and nuts).

Also visible in <FIG> is a bushing <NUM> through which the drive rod <NUM> is received and rotatably mounted. The bushing typically is positioned above the distal end 142b and the engagement head 110of the drive rod <NUM>, and is located in guide tube <NUM>.

Also visible in <FIG> and <FIG> is tubing <NUM>. Tubing <NUM> supplies a flow of cryogenic fluid (e.g., liquid nitrogen) to the single specimen container <NUM> in the event of an anomaly or error condition. Such can advantageously flood the single specimen container <NUM> with liquid nitrogen in the event that the single specimen container <NUM> cannot be successfully picked or placed, or the pick and/or place head <NUM> otherwise becomes stuck or non-operable.

The implementations of <FIG>, <FIG> and <FIG> can include one or more magnets positioned to exert an upward (i.e., against the force of gravity) magnetic force, directly or indirectly, on the shaft <NUM>, biasing and thereby retaining the shaft <NUM> in a retracted position unless actively driven downward by a motor (e.g., motors 162a) and thereby preventing the shaft <NUM> from falling downward in the event of a power failure or other loss of control. This can advantageously ensure that access to the containers, vial or beacons will remain at least manually accessible and not blocked by the pick and/or place head <NUM> during any contingencies. The one or more magnets can, for example take the form of permanent magnets or electric magnets, although permanent magnets may be preferred since such would not be adversely effected in the event of a loss of electrical power.

As described with reference to <FIG>, below, the mechanical system <NUM>, the pick and/or place head <NUM> and/or a control system may include one or more sensors (e.g., mechanical encoders, optical encoders, magnetic encoders, electromagnetic induction encoders, rotary encoders, linear encoders, position encoders, level sensors, cameras, infrared transmitter and receiver pairs, Reed switches, Hall effect sensors, temperature sensors or thermocouples, humidity sensors, force sensors, pressure sensors, load cells, vibration sensors, flow rate or volume sensors) positioned to sense various conditions (e.g., position, orientation, mechanical resistance, presence or absence of frost). As described with reference to <FIG>, below, the mechanical system <NUM> and/or the pick and/or place head <NUM> may include one or more defrosters selectively operable to defrost portions of the mechanical system <NUM>, portions of the pick and/or place head <NUM> and/or the specimen containers <NUM> (<FIG>).

In at least some implementations, the mechanical system <NUM> of <FIG>, <FIG>, <FIG> and <FIG> may include a manual override mechanism that manually dispenses the single one of the specimen containers from the receiver, for example even when frost buildup prevents the at least one actuator from successfully dispensing the single one of the specimen containers from the receiver. The manual override mechanism may, for example, include at least one handle, for instance a knob, that extends lateral from the drive shaft. The manual override mechanism may optionally include a slot in a side wall of the receiver and a cover that selectively provides access laterally into the interior of the receiver via the side wall, similar in some respects to a bolt action rifle.

<FIG> and <FIG> show a vacuum-based system <NUM> to pick and/or place specimen containers from an array of specimen containers, which is illustrate along with a single one of the specimen containers <NUM> partially received by a portion of the vacuum-based system <NUM>, according to one illustrated implementation.

The vacuum-based system <NUM> includes a pick and/or place head <NUM>. The pick and/or place head <NUM> may be mounted to travel along a rail (e.g., first rail 104a, <FIG>). The first rail 104a may extend vertically, for example, allowing the pick and/or place head <NUM> to translate vertically. Such may, for example, allow the pick and/or place head <NUM> to be moved between an interior and an exterior of an enclosed cryogenic environment (e.g., cryogenic freezer, dewar or other cryogenic enclosure), for example via a door or access port at a top of cryogenic enclosure.

The pick and/or place head <NUM> includes a receiver <NUM>, a drive shaft <NUM>, a vacuum conduit <NUM>. The pick and/or place head <NUM> may include or may be coupled with one or more actuators, for example one or more solenoids or electric motors 1836a, 1836b, 1836c (<FIG>) and/or one or more vacuum source(s) <NUM> (<FIG>). It is noted that use of the term vacuum herein and in the claims refers to a negative pressure, e.g., a pressure below atmospheric pressure or below ambient pressure in the adjacent surroundings, which typically is somewhat above an absolute vacuum or zero pressure.

The receiver <NUM> has a proximate end 714a, a distal end 714b, and a receptacle <NUM> (called out in <FIG>) having an opening 718b at the distal end 714b of the receiver <NUM>.

As illustrated, the receiver <NUM> and the receptacle <NUM> may be formed of two or more parts, although in some implementations the receiver <NUM> may take the form of a single-piece, unitary structure. As illustrated, the receiver <NUM> comprises a proximate portion 706a, a distal portion 706b, and an intermediate portion 706c, the intermediate portion 706c positioned between the proximate portion 706a and the distal portion 706b.

As best illustrated in <FIG>, the distal portion 706b of the receiver <NUM> is illustrated as a distal block or sleeve 720b with a peripheral flange <NUM> extending laterally therefrom at a proximate end of the distal block or sleeve 720b and with a set of feet or standoffs <NUM> extending or projecting longitudinally therefrom at a distal end of the distal block or sleeve 720b. The distal block or sleeve 720b includes a through-passage 726b with openings 718b that provide access to an interior of the distal block or sleeve 720b, for example from an exterior of the receiver <NUM>. The openings 718b and/or the through-passage 726b of the distal block or sleeve 720b have a profile that is/are sized and/or shaped to accommodate a profile of a single specimen container <NUM> (<FIG> and <FIG>). The peripheral flange <NUM> of the distal block or sleeve 720b may have holes 728b (e.g., threaded holes, only one called out in <FIG>) to allow the distal portion 706b to be coupled to the intermediate portion 106c, for instance via one or more fasteners (e.g., threaded fasteners, not called out in <FIG> and <FIG>), and omitted from <FIG>).

As best illustrated in <FIG>, the intermediate portion 706c of the receiver <NUM> is illustrated as an intermediate block or sleeve 720c. The intermediate block or sleeve 720c includes a through-passage 726c with openings 718c that provide access to an interior of the intermediate block or sleeve 720c. The openings 718c and/or the through-passage 726c of the intermediate block or sleeve 720c have a profile that is/are sized and/or shaped to accommodate a profile of a single specimen container <NUM> (<FIG> and <FIG>). The intermediate block or sleeve 720c may have holes 728c (only two called out in each of <FIG>) to allow the intermediate portion 706c to be coupled to the distal portion 706a and coupled to proximate portion 706b, for instance via one or more fasteners (not called out in <FIG> and <FIG>), and omitted from <FIG>). As best illustrated in <FIG>, one or more bearings <NUM> may be coupled to a proximate end of the intermediate portion 706c of the receiver <NUM>.

As best illustrated in <FIG> and <FIG>, the proximate portion 706a of the receiver <NUM> is illustrated as a proximate block or sleeve 720b. The proximate block or sleeve 720a comprises a tubular main body portion <NUM> with a distal flange 732a extending laterally from a distal end thereof and a proximate flange 732b extending laterally from a proximate end thereof. The proximate block or sleeve 720b includes a through-passage 726a with openings 718a that provide access to an interior of the proximate block or sleeve 720a. The openings 718a and/or through-passage 726a of the proximate portion 706a may have a profile that is sized and/or shaped to accommodate a profile of a single specimen container <NUM> (<FIG> and <FIG>), although may have higher fit tolerances than that of the openings 718b and/or through-passage 726b of the distal block or sleeve 720b or corresponding openings 718c and/or through-passage 726c of the intermediate block or sleeve 720c. The interior or through-passage 736a of the proximate portion 706a is laterally enclosed, with the opening 718c at the proximate end providing a vacuum port which allows a vacuum or negative pressure to be established in the interior of the proximate portion 706a, which can advantageously be used to draw a single specimen container <NUM> (<FIG> and <FIG>) inwards into the interior of the through-passage 726a from a position in which a portion of the single specimen container <NUM> was received in the distal and/or intermediary blocks or sleeves 702a, 720c.

The distal flange 732a of the proximate portion 706a may have holes 728a (e.g., threaded holes) to allow the proximate portion 706a to be coupled to the intermediate portion 706c, for instance via one or more fasteners (e.g., threaded fasteners, for instance screws or bolts, not illustrated in <FIG> and <FIG>) and/or via one or more bearings <NUM> (<FIG>) and a pivot plate <NUM> (as described below). The proximate flange 732b of the proximate portion 706a may have holes 728a to allow the proximate portion 706b to be coupled to a cover <NUM> (<FIG>) of the pick and/or place head <NUM> (described below), for instance via one or more fasteners (e.g., threaded fasteners, not called out in <FIG>, and omitted from <FIG> and <FIG>).

As noted above, the proximate end of the proximate portion 706a of the receiver <NUM> may be coupled to a pivot plate <NUM>. As best seen in <FIG>, the pivot plate <NUM> may, for example, take the form of a disk, and has a central passage <NUM>. The central passage <NUM> has a profile that is sized and/or shaped to accommodate a profile of a single specimen container <NUM> (<FIG> and <FIG>). The central passage <NUM> aligns with the through-passages 726a, 726b, 726c of the proximate portion 706a, distal portion 706b and intermediate portion 706c of the receiver <NUM> (<FIG> and <FIG>) such that single specimen container <NUM> (<FIG> and <FIG>) can pass within or extend through the distal portion 706b, intermediate portion 706c, pivot plate <NUM>, and proximate portion 706a.

The pivot plate <NUM> may also have a number (e.g., four) of arcuate slots 1206a, 1206b, 1206c, 1206d (collectively <NUM>) spaced radially outward of central passage <NUM>. The arcuate slots <NUM> have a width sized to receive respective ones of the bearings <NUM>. The pivot plate <NUM> allows pivoting through a defined range of angles.

The pivot plate <NUM> also include a number of holes 728d (e.g., threaded holes) to allow the pivot plate <NUM> to be physically coupled to a torque coupler <NUM> (<FIG>, <FIG>) described below.

As best illustrated in <FIG> and <FIG>, the torque coupler <NUM> has a proximate end 1304a, a distal end 1304b. The torque coupler <NUM> has an annular base <NUM> at the distal end 1304b and a plate <NUM> in the form of a disk at the proximate end 1304a. The torque coupler <NUM> has a plurality of strands <NUM> (four shown) that couple the annular base <NUM> with the plate <NUM>. The strands <NUM> are spaced radially outward of a longitudinal axis <NUM>, to define a space <NUM> in which the intermediate portion 706c (<FIG>, <FIG>) can be received. Each of the strands <NUM> may, for example, have a helical shape, the plurality of strands <NUM> forming a helical cage <NUM> about the intermediate portion 706c. The plurality of strands <NUM> are sufficiently stiff in rotation about the longitudinal axis <NUM> to transmit torque, yet may be compliant to axial forces (e.g., compression and/or tension along the longitudinal axis <NUM>) to dampen vibration.

The annular base <NUM> at the distal end 1304b of the torque coupler <NUM> has a plurality of holes 728e (e.g., threaded holes, <FIG>), which allows the annular base <NUM> to be physically coupled to the pivot plate <NUM> (<FIG>), for instance via fasteners (not shown in <FIG>, <FIG>), for instance threaded screws or bolts.

The plate <NUM> at the proximate end 1304a of the torque coupler <NUM> includes a number (e.g., three) arcuate slots <NUM> spaced radially outward of the longitudinal axis <NUM>. The arcuate slots <NUM> extend through an entire thickness of the plate <NUM> so constitute through-slots. The arcuate slots <NUM> are sized, shaped and/or positioned to receive respective arcuate projections of the cover <NUM> (<FIG>) described below, that is itself attached to the proximate portion 706a of the receiver <NUM> at the proximate end thereof, thereby rotationally coupling the torque coupler <NUM> with the intermediate portion 706c of the receiver <NUM> and providing for fluid (e.g., airflow, negative pressure or vacuum) as described below.

As best illustrated in <FIG>, the cover <NUM> includes a base <NUM>, for example a circular plate having a number of arcuate projections 1406a, 1406b, 1406c (three shown, collectively <NUM>) extending upwardly (e.g., perpendicularly from a top surface <NUM> of the base <NUM>. The base <NUM> may also include a number of holes 728f (e.g., threaded holes), which allows the base <NUM> to be fastened to the proximate portion 706a of the receiver <NUM> at the proximate end thereof, hereby creating a chamber at the proximate end of the proximate portion 706a of the receiver <NUM>.

The arcuate projections <NUM> are spaced radially outward of a longitudinal axis. The arcuate projections <NUM> may each have an arcuate face 1410a that faces radially toward the longitudinal axis and an arcuate face 1410b that faces radially outward with respect to the longitudinal axis. The positions of the arcuate projections <NUM> of the cover <NUM> both radially and angular about the longitudinal axis, as well as the shape and size of the arcuate projections <NUM> of the cover <NUM> match the positions and shapes and sizes of the arcuate slots <NUM> of the plate <NUM> of the torque coupler <NUM>, to mate with or be closely receive by respective ones of the arcuate slots <NUM> of the plate <NUM> of the torque coupler <NUM>.

Each of the arcuate projections <NUM> includes one or more throughholes <NUM> (only a few called out) which also pass through the base to provide a conduit for an airflow or pressure (e.g., negative pressure or vacuum, positive pressure) to be applied to the interior (e.g., enclosed cavity) of the intermediate portion of the receiver. Thus, the cover <NUM> may alternatively be described as a manifold.

Proximate-most portions of the arcuate projections <NUM> of the cover <NUM> interface with a distal surface of a head <NUM> (described below) of the drive shaft <NUM> (<FIG> and <FIG>), the drive shaft <NUM> and head <NUM> best illustrated in <FIG>.

As best illustrated in <FIG>, the drive shaft <NUM> may take the form of an elongated member, for instance a rod, with a head <NUM> at a distal end <NUM> of the drive shaft <NUM>. The head <NUM> may take the form of a plate <NUM>, for example a disk, with an upstanding peripheral wall or edge <NUM> to define a recess or interior volume <NUM>. The drive shaft <NUM> may terminate at a floor <NUM> or may extend through the plate <NUM>. The plate <NUM> has a number of throughholes <NUM> that are positioned, oriented, sized, and/or shaped to align or couple with respective throughholes <NUM> of the cover <NUM>, to provide a fluidly conductive paths therethrough.

The head <NUM> may also include a number of holes <NUM> (e.g., threaded holes) which allow the head <NUM> to be physically coupled or fastened to a collar <NUM> (best illustrated in <FIG>), described below.

As best illustrated in <FIG>, the collar <NUM> includes a stem <NUM> with a flange <NUM> that extends radially outward from a distal end of the stem <NUM> and collar <NUM>. The flange <NUM> may include a number of holes <NUM> (e.g., threaded holes) which allow the collar <NUM> to be physically coupled or fastened to the head <NUM>. When coupled to the head <NUM>, the collar <NUM> and the head <NUM> form a cavity therebetween. The stem <NUM> has a central passage <NUM> which provides a fluidly conductive path into an interior of the cavity formed by the collar <NUM> and the head <NUM>.

As best illustrated in <FIG> and <FIG>, a vacuum conduit <NUM> in the form of a tube or sheath receives a portion the drive shaft <NUM>, allowing rotation of the drive shaft <NUM> relative to the vacuum conduit <NUM>. The vacuum conduit <NUM> also provides a conduit for airflow, including a negative pressure or even a positive pressure, in a volume of the interior of the vacuum conduit <NUM> that is not occupied by the drive shaft <NUM>. The vacuum conduit <NUM> may have a coupler 750a at a proximal end thereof to provide a detachable or even permanent coupling to a supply line from a vacuum source (e.g., vacuum pump, Venturi). The vacuum conduit <NUM> may have a coupler 750b at a distal end thereof to provide a detachable or even permanent coupling to the collar <NUM>.

The described pick and/or place head <NUM> of the vacuum-based system <NUM> provides a fluidly conductive path that allows a pressure (e.g., negative pressure or vacuum, positive pressure) generated or produced by a source to be communicated into the interior of the receiver <NUM>. For example, a vacuum is supplied at the proximate end of the vacuum conduit <NUM>. The vacuum is supplied by the central passage <NUM> (<FIG>) of the collar <NUM> into the chamber formed by the head <NUM> (<FIG>) and cover <NUM>. The throughholes <NUM> in the base <NUM> of the head <NUM> supply the vacuum into the interior volume defined at the proximate end of the proximate portion 706a (<FIG>, <FIG>) of the receiver <NUM>. The through-passage 726a of the proximate portion 706a of the receiver <NUM> fluidly communicatively couples the vacuum from the proximate portion 706a of the receiver <NUM> to the through-passage 726c of the intermediate portion 706c (<FIG>) of the receiver <NUM>, which in turn fluidly communicatively couples the vacuum to the through-passage 726b of the distal portion 706b (<FIG>) of the receiver <NUM>. Supplying a negative pressure at a proximate end can draw a single specimen container <NUM> into, or further into, the receiver <NUM>, for example drawing a cap <NUM> of the single specimen container <NUM> (<FIG>) into the through-passage 726a of the proximate portion 706a. Additionally, or alternatively, supplying a positive pressure at a proximate end, can push a single specimen container <NUM> out of, or further out of the receiver <NUM>.

<FIG> illustrates a portion of the vacuum-based system <NUM> of <FIG> and <FIG> showing a single specimen container <NUM> positioned in a receiver <NUM> thereof, according to at least one illustrated implementation.

A cap <NUM> of the single specimen container <NUM> is positioned in the through-passage 726a of the proximal portion 706a of the receiver <NUM>, while most of the vial portion <NUM> extends through the through-passages 726c, 726b of the intermediate and distal portions 706c, 706b, respectively, of the receiver <NUM>. Notably, the cap <NUM> may have larger outer dimensions than corresponding outer dimensions of the vial <NUM> of the single specimen container <NUM>.

In use, the torque coupler <NUM> transmits rotation of the drive shaft <NUM> into rotation of the proximate portion 706a of the receiver <NUM>, while the intermediate and distal portions 706c, 706b of the receiver <NUM> remain fixed due to the pivot plate <NUM>. The application of torque rotates the proximate portion 706a. The internal passage 726a of the proximate portion 706a engages portions of the cap <NUM>, hence the single specimen container <NUM> rotates along with the proximate portion 706a. The rotation of the single specimen container <NUM> relative to the intermediate and distal portions 706c, 706b, causes a profile of an opening at a proximate end of the intermediate portion 706c and/or through-passage 726c thereof to no longer align with a corresponding profile of a distal portion of the cap <NUM> of the single specimen container <NUM>, and thereby prevents translation of the single specimen container <NUM> with respect to the longitudinal axis of the receiver <NUM>. At this point, application of the vacuum may be stopped since translation of the single specimen container <NUM> is physically prevented.

In at least some implementations, the vacuum-based system <NUM> of <FIG> and <FIG> may include a manual override mechanism that manually dispenses the single one of the specimen containers from the receiver, for example even when frost buildup prevents the at least one actuator from successfully dispensing the single one of the specimen containers from the receiver. The manual override mechanism may, for example, include at least one handle, for instance a knob, that extends lateral from the drive shaft. The manual override mechanism may optionally include a slot in a side wall of the receiver and a cover that selectively provides access laterally into the interior of the receiver via the side wall, similar in some respects to a bolt action rifle.

<FIG> shows a control system <NUM> which may be part of, or communicatively coupled to the mechanical system <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) and/or the vacuum-based system <NUM> (<FIG> and <FIG>), according to at least one illustrated implementation.

The control system 1802may include one or more processors, for example one or more of: one or more microprocessors <NUM>, one or more digital signal processors (DSPs) <NUM>, one or more application specific integrated circuits (ASICs) and/or one or more field programmable gate array (FPGAs) operable to execute programmed logic. The control system <NUM> may also include nontransitory processor-readable storage media, for example nonvolatile memory such as read only memory (ROM) and/or FLASH <NUM> and/or volatile memory such as random access memory (RAM) <NUM>. The ROM/FLASH <NUM> and RAM <NUM> are communicatively coupled to the microprocessor <NUM> via one or more communications channels, for example a power bus, instruction bus, address bus, command bus, etc. The microprocessor <NUM> executes logic, for example logic stored in the nontransitory processor-readable media (e.g., ROM/FLASH <NUM>, RAM <NUM>) as one or more sets of processor-executable instructions and/or data. The microprocessor <NUM> may also be communicatively coupled to a communications radio <NUM> and associated antenna <NUM> and/or wired communications port <NUM> to provide information and data to external systems and/or to receive instructions therefrom. In at least some implementations, the control system <NUM> can include one or more antenna positioned to interrogate the single specimen container. The control system <NUM> can also include an interrogator, for example a radio frequency identification (RFID) interrogator, communicatively coupled to the one or more antenna and operable to transmit interrogation signals and receive response signals from one or more wireless transponders physically coupled to the single specimen container. In some implementations, at least one shield is positioned to shield all specimen containers other than the single specimen container from the at least one antenna, allowing a selected single specimen container to be interrogated and identified.

The control system <NUM> may include one or more sensors.

For example, the control system <NUM> may include one or more position sensors <NUM> (two shown) communicatively coupled with the processor(s) <NUM>, <NUM>. The position sensor(s) <NUM> may be positioned and/or oriented to detect a position of the pick and/or place head <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) or pick and/or place head <NUM> (<FIG> and <FIG>), for example with respect to one or more specimen containers <NUM>. The position sensor(s) <NUM> may be positioned and/or oriented to detect a position of the engagement head <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) relative to the single one of the specimen containers <NUM>. The position sensor(s) <NUM> may be positioned and/or oriented to detect a position of the single one of the specimen containers <NUM> with respect to the receiver <NUM> (<FIG>, <FIG>, <FIG> and <FIG>), <NUM> (<FIG> and <FIG>) or portion thereof. The processor(s) <NUM>, <NUM> provide control signals based on positions detected by the position sensor(s) <NUM>, for example providing control signals to at least one actuator (e.g., translation motor) to translate the pick and/or place head <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) or pick and/or place head <NUM> (<FIG> and <FIG>), or a portion thereof (e.g., drive shaft <NUM>).

For example, the control system <NUM> may include one or more orientation sensors <NUM> (two shown) communicatively coupled with the processor(s) <NUM>, <NUM>. The orientation sensor(s) <NUM> may be positioned and/or oriented to detect an orientation of the single one of the specimen containers <NUM> or a portion thereof (e.g., handle <NUM> on cap <NUM>) relative to a portion of the pick and/or place head <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) or pick and/or place head <NUM> (<FIG> and <FIG>), for example with respect to one or more specimen containers <NUM>. For instance the orientation sensor(s) <NUM> may detect an orientation of the handle <NUM> on cap <NUM> with respect to the engagement head or lugs thereof. For instance, the control system <NUM> can employ feedback from one or more encoders to determine an orientation of a specimen container <NUM> and/or a handle <NUM> on cap <NUM> thereof, for example employing timing feedback from the encoder(s) that, for example, represents a stalling of a motor (e.g., rotation motor 162b) on engagement with a portion of the specimen container <NUM> to determine the orientation of the specimen container <NUM>. The processor(s) <NUM>, <NUM> provides control signals based on positions detected by the orientation sensor(s) <NUM>, for example providing control signals to at least one actuator (e.g., rotation motor) to rotate a portion of the pick and/or place head <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) or pick and/or place head <NUM> (<FIG> and <FIG>), for instance to rotate a drive shaft <NUM>, <NUM>.

For example, the control system <NUM> may include one or more frost detectors that detects frost build up on one or more portions of the system, the at least one frost detector communicatively coupled with the processor(s) <NUM>, <NUM>, wherein with the processor(s) <NUM>, <NUM> provides control signals based at least in part on detected frost build up. The frost detectors can take a variety of forms, for example one or more frost sensors <NUM> (two shown) and/or one or more resistance sensor(s) <NUM>.

The frost sensors <NUM> may detect a frost build up, for example on a portion of the receiver <NUM>, <NUM>, on a drive shaft <NUM>, <NUM> and/or a portion of a single specimen container <NUM>. The frost sensor(s) <NUM> may, for instance optically detect the presence and/or absence of frost, for example using ambient light or via active lighting of specific wavelengths that may differ from the mixture of wavelengths comprising conventional white light. The frost sensor(s) <NUM> may for example employ LIDAR to detect not only a presence, but also an extend of frost buildup.

The resistance sensor(s) <NUM> may detect a resistance or change of resistance to motion of one or more components of the pick and/or place head <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) or pick and/or place head <NUM> (<FIG> and <FIG>), for instance resistance to or change of resistance in the translation and/or rotation of the drive shaft <NUM>, <NUM>. The resistance sensor(s) <NUM> may, for example, include circuitry (e.g., torque sensor or transducer, torque cell, strain gauge) that detects electromotive force or reaction torque.

The processor(s) <NUM>, <NUM> provide control signals based on frost detected by the frost sensors <NUM> and/or resistance sensor(s) <NUM>, for example providing control signals to at least one actuator (e.g., translation motor, rotation motor) to translate and/or rotate a portion of the pick and/or place head <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) or pick and/or place head <NUM> (<FIG> and <FIG>), for instance to translate or rotate a drive shaft <NUM>, <NUM>. Additionally or alternatively, the processor(s) <NUM>, <NUM> provide control signals based on frost detected by the frost sensors <NUM> and/or resistance sensor(s) <NUM> to, for instance, cause activation of one or more defrosters <NUM> (two shown), to defrost a frost build up, for example on a portion of the receiver <NUM>, <NUM>, on a drive shaft <NUM>, <NUM> and/or a portion of a single specimen container <NUM>. Additionally or alternatively, the processor(s) <NUM>, <NUM> provide control signals based on frost detected by the frost sensors <NUM> and/or resistance sensor(s) <NUM> to, for instance cause a notification or alert to be presented, notifying an end user of a potential issue which may require manual service or manual intervention.

For example, the control system <NUM> may include one or more optical sensors <NUM> (two shown) communicatively coupled with the processor(s) <NUM>, <NUM>. The optical sensor(s) <NUM> may be positioned and/or oriented to detect the single one of the specimen containers <NUM> or a portion thereof, and/or to detect or optically read information (e.g., one-dimensional or two-dimensional machine-readable symbols) carried by or on the single one of the specimen containers <NUM>. The optical sensor(s) <NUM> may be positioned and/or oriented to detect the single one of the specimen containers <NUM> or a portion thereof, and/or to image an interior of the single one of the specimen containers <NUM> to determine or assess the contents thereof. The optical sensor(s) <NUM> may take a variety of forms. For example, the optical sensor(s) <NUM> may take the form of a linear or two-dimensional array of charged-coupled devices (CCDs), for use with imaging of a machine-readable symbol using ambient lighting or active lighting. Also for example, the optical sensor(s) <NUM> may take the form of a photo-diode, for use with "flying spot" machine-readable symbol reader using active lighting in which a spot of light is moved across the machine-readable symbol. The information may include information that uniquely identifies the single one of the specimen containers <NUM> or the contents thereof.

For example, the control system <NUM> may include one or more wireless interrogators <NUM> communicatively coupled with the processor(s) <NUM>, <NUM>. The wireless interrogator(s) <NUM> may include one or more interrogation radios <NUM> and one or more interrogation antennas <NUM> communicatively coupled to the interrogation radios <NUM>. The wireless interrogator(s) <NUM> may include one or more mixers, filters, amplifier analog-to-digital converters and/or other electrical and electronic components operable to cause transmission of interrogation signals and processing of return signals, for example components employed in RFID interrogators. One or more processors, for example the DSP <NUM> may be communicatively coupled to the interrogation radio <NUM>, for example to control a transmitter section and to receive signals (e.g., I/Q signals) from a receiver section of the interrogation radio <NUM>. The DSP <NUM> may perform preprocessing on the received signals (e.g., I/Q signals) to extract information (e.g., unique identifier) from the received signals, for example including a baseband filter to filter a baseband from the received signals.

The interrogation antenna(s) <NUM> may be positioned and/or oriented to interrogate wireless transponders (e.g., radio frequency identification (RFID) transponders) carried by or on the single one of the specimen containers <NUM> when the single one of the specimen containers <NUM> is correctly positioned in the receiver <NUM>, <NUM>, to wirelessly detect or read information encoded in the wireless transponder(s) carried by or on the single one of the specimen containers <NUM>. The information may include information that uniquely identifies the single one of the specimen containers <NUM> or the contents thereof. The information may, for example, include any one or more of identification information (e.g., unique identifier for the specimen container <NUM>, the specimen, patient name or identifier and/or date of birth, clinic identifier, clinician identifier, procedure, times, dates).

Sensors may, for example, include one or more of contact switches, momentary switches, optical detectors for instance an infrared light emitting diode and sensor pair, range finder, time of flight camera.

The interrogation (e.g., an interrogation cycle) or optical reading may by automatic and autonomous triggered, for example in response to detection of the specimen container <NUM> being in a certain position (e.g., fully inserted) in the receiver <NUM>, <NUM>. Automatic and autonomously triggered interrogation and/or optical reading may improve overall information capture since such is triggered based on correct positioning of the antenna of the wireless transponder carried by the specimen container <NUM> with respect to the interrogation antenna(s) <NUM>. The automatic and autonomous triggered optical capture of information from the specimen container <NUM> may improve overall optical capture of information from the specimen container <NUM> since such is triggered based on correct positioning of a portion of the specimen container <NUM> bearing optically readable information with respect to the optical sensors <NUM>.

The control system <NUM> may include one or more actuators or transducers.

For example, the control system <NUM> may include one or more electric motors (e.g., stepper motors) 1836a, 1836b, 1836c. The electric motors 1836a, 1836b, 1836c may, for example correspond to the translation motor 112a, rotation 112b, and motors 162a, 162b (<FIG>, <FIG>, <FIG> and <FIG>). For example, one or more motors (e.g., 162a, 162b) can be drivingly coupled to move (e.g., translate) the pick and/or place head <NUM> along one or more rails with respect to a target (e.g., array of containers, vials or beacons), while one or more motors (e.g., 112a) can be drivingly coupled to move (e.g., translate) the shaft <NUM> and hence the engagement head <NUM> thereof with respect to a target (e.g., a single container, vial or beacon) and one or more motors (e.g., 112b) can be drivingly coupled to move (e.g., rotate) the shaft <NUM> and hence the engagement head <NUM> thereof with respect to a target (e.g., a single container, vial or beacon) to cause at least a portion (e.g., lugs 146a, 146b) of the engagement head <NUM> to alternatingly engage and disengage the first portion of the single one of the specimen containers <NUM>. The control system <NUM> may include one or more motor controllers <NUM> communicatively coupled to receive control signals from the processor <NUM>, and communicatively coupled to provide signals to control the motors 1836a, 1836b, 1836c accordingly.

For example, the control system <NUM> may include one or more vacuum subsystems <NUM> (one shown). The vacuum subsystem <NUM> may, for example, include a vacuum source, for instance a vacuum pump <NUM> or a Venturi, which is operated to generate a negative pressure. The vacuum subsystem <NUM> may, for example, include a reservoir <NUM> fluidly communicatively coupled to the vacuum source (e.g., vacuum pump <NUM>) to maintain a low pressure reservoir of fluid (e.g., air) thereon. The vacuum subsystem <NUM> may, for example, include one or more ports <NUM> fluidly communicatively coupleable to the vacuum conduit <NUM> of the pick and/or place head <NUM> to induce a negative pressure or vacuum therein. The port(s) <NUM> may include any of a large variety of mechanical couplers, for example threaded couplers, bayonet couplers, detents, etc., which may allow detachable physical coupling or even permanent physical coupling. The vacuum subsystem <NUM> may, for example, include one or more values <NUM> operable to control fluid communication between the reservoir <NUM> and the port(s) <NUM>, for example either manually and/or in response to control signals provided by the processor <NUM>. The valves <NUM> may take any of a large variety of forms commonly employed with control of fluid flow, and in particular gas flow.

For example, the control system <NUM> may include one or more defrosters <NUM> selectively operable to defrost or remove a frost build up, for example on a portion of the receiver <NUM>, <NUM>, on a drive shaft <NUM>, <NUM> and/or a portion of a single specimen container <NUM>. The defroster(s) <NUM> may include one or more heat sources <NUM> that is or are selectively operable to provide heat to at least one location in the system. The heat source(s) <NUM> may take any of a large variety of forms, for instance electric-resistance radiant heat elements. The defroster(s) <NUM> may include one or more blowers or fans <NUM>, selectively operable to conductively circulate heat generated by the heat source(s) <NUM> to one or more components on which frost has built up or on which frost is expected to buildup. The heat source(s) <NUM> and/or blowers or fans <NUM> may be communicatively coupled with the at least one processor <NUM>, for control thereby.

The control system <NUM> may include a user interface (UI) <NUM>. The UI <NUM> may include one or more user interface (UI) components, for example one or more switches, triggers, display screens (e.g., LCD display), lights (e.g., LEDs), speakers, microphones, haptic engines, graphical user interfaces (GUIs) with via a touch-sensitive display screen which displays user-selectable icons operable to allow input to the control system <NUM> and/or output from the control system <NUM>. The UI components allow a user to control operation and/or optionally to receive information. For example, a user may press a button, key or trigger to cause operation of pick and/or place head <NUM>, <NUM>.

While the above is described and illustrated with respect to automated operation including translating the pick and/or place head <NUM> (<FIG>, <FIG>, <FIG> and <FIG>), <NUM> (<FIG> and <FIG>) along a rail 104a, in some implementations the pick and/or place head <NUM> (<FIG> <FIG>, <FIG> and <FIG>), <NUM> (<FIG> and <FIG>) may take the form of an end of arm tool or end effector (not illustrated) mounted to, or part of, a robotic appendage, and the positioning and triggering may be fully automated (i.e., performed autonomously by a robot), for example as part of a pick and place operation in response to signals from the at least one processor-based control system.

While the above is described with respect to automatic or autonomous operation, in some implementations the interrogation device or system may allow manual operation of one or more aspects.

<FIG> shows a holder <NUM> include a plurality of specimen containers <NUM> arranged in an array, according to one illustrated implementation.

The holder <NUM> may include an array of positions 1900a (only one called out) in which respective ones of the specimen containers <NUM> may be located and held, for example in a vertical orientation.

Each specimen container <NUM> may comprises a vial <NUM> and cap <NUM>. The vial <NUM> is generally tubular, and includes one or more walls that delineate an interior or interior volume from an exterior thereof. The wall or a portion thereof may, for example, be transparent. The vial <NUM> typically includes an opening (not visible) at a top thereof which provides access to the interior from the exterior. The vial <NUM> may include a coupler feature (not visible) proximate the top thereof to detachable secure the cap <NUM> thereto. The coupler feature may, for example, take the form of a thread, a detent, or a portion of a bayonet mount.

While illustrated as having a square with rounded corners cross-section or profile, the vial <NUM> may in some implementations have other non-circular cross-sections or profiles, for example an oval cross-section or profile, a rectangular cross-section or profile, a square cross-section or profile, a D-shape cross-section or profile, hexagonal cross-section or profile, or octagonal cross-section or profile. In some instances, the vial <NUM> may have a two or more different cross-sections or profiles that vary from one another along a longitudinal axis or length thereof.

The cap <NUM> couples to the vial at a top thereof, and is moveable to provide and alternatingly prevent access to the interior from the exterior. In some implementations, the cap <NUM> is completely removably from the vial <NUM>, while in other implementations the cap <NUM> may remain tethered to the vial <NUM> even when removed from the opening. The cap <NUM> may include a complementary coupler feature <NUM>, that is complementary to the coupler feature of the vial <NUM>. The complementary coupler feature may, for example, take the form of a thread, a detent, or a portion of a bayonet mount sized, positioned or otherwise configured to engagingly mate with the coupler feature of the vial <NUM>.

The specimen container <NUM> including the vial <NUM> and cap <NUM> may take any of a large variety of forms, and may be composed of any of a large variety of materials (e.g., plastics), for example materials which are suitable to withstand cryogenic temperatures and/or repeated cycling between room temperatures and cryogenic temperatures. The vial <NUM> and/or the cap <NUM> may include one or more ports <NUM> a and/or vents 1910b to allow ingress and egress of fluid (e.g., liquid nitrogen, air) into and out of the interior of the vial. In some implementations, the cap <NUM> may include one or more engagement features that facilitate engagement, for example a handle <NUM>.

The specimen container <NUM> has a set of outer dimensions <NUM> that represent the outer dimensions of at least one portion (e.g., cap <NUM>, vial <NUM>) of the specimen container <NUM> measure at one or more positions along a longitudinal axis of the specimen container <NUM>. For example, <FIG> illustrates a set of outer dimensions <NUM> of the cap <NUM>, which includes a first dimension between outer portions of a first pair of parallel sides, a second dimension between outer portions of a second pair of parallel sides, and a third dimension between outer portions of two corners that extend between perpendicular sides (e.g., third dimension extends across diametrically opposed corners). The set of outer dimensions <NUM> may, for example, be the outer lateral dimensions of a largest portion of the single one of the specimen containers <NUM> to be received in the receiver <NUM>, <NUM>. In at least some implementations, the vial <NUM> and the cap <NUM> will have the similar or even the same profile, although the outer lateral dimensions of the cap <NUM> will typically be slightly larger than the corresponding outer lateral dimensions of the vial <NUM>. As noted earlier, an interior passage of the receiver <NUM>, <NUM> has a shape or profile and interior dimensions that allow the outer dimensions of at least a portion of a single one of the specimen containers <NUM> to be received therein, and in at least some implementations prevent or restrain the single one of the specimen containers <NUM> from rotating within the receiver <NUM>, <NUM>. For instance, the interior passage 726a of the proximate portion 706a of the receiver <NUM> may have inner lateral dimensions to closely receive the outer lateral dimensions of the cap <NUM>. In contrast the receiver <NUM> may not restrain rotation of the single one of the specimen containers <NUM>, relying rather on the engagement head <NUM> to restrain such. Thus, the receiver <NUM> may have inner lateral dimensions to loosely receive the outer lateral dimensions of the cap <NUM>.

The specimen container <NUM> may hold one or more specimen holders (not visible), which may take any of a large variety of forms capable of retaining a biological specimen, according to one illustrated implementation. For example, the specimen holders may take the form of cryopreservation straws, cryopreservation tubes, sticks or spatulas. The specimen holders may be composed of any of a large variety of materials (e.g., plastics), for example materials which are suitable to withstand cryogenic temperatures and/or repeated cycling between room temperatures and cryogenic temperatures.

One or more wireless transponders (not visible), for example radio frequency identification (RFID) transponders, are physically associated with the specimen container <NUM>. For example, one or more wireless transponders may be physically secured to the vial <NUM>, for instance molded thereon, secured thereto via adhesive and/or fasteners, or via an interference fit or even a shrink fit. Also for example, one or more wireless transponders may be physically secured to the cap <NUM>, for instance molded thereon, secured thereto via adhesive and/or fasteners, or via an interference fit or even a shrink fit. Additionally or alternatively, one or more wireless transponders may, for example, be physically secured to the specimen holders <NUM>, for instance molded thereon, secured thereto via adhesive and/or fasteners, or via an interference fit or even a shrink fit.

Typically, the wireless transponder(s) will have an antenna and will be secured to the such that a principal axis of transmission of the antenna is aligned with the longitudinal axis or length of the vial <NUM>, although such is not necessary to operation of the described embodiments. The antenna of the wireless transponder(s), whether attached to the vial <NUM>, cap <NUM>, or specimen holders will also be located at a defined distance along the longitudinal axis or length of the vial <NUM> from some fixed point (e.g., a top of the cap <NUM>, or top of the vial <NUM>).

One or more optically readable symbols (not visible), for example machine-readable symbols (e.g., one- or two-dimensional machine-readable symbols for instance barcode symbols or QR code symbols) and/or human-readable symbols (e.g., alphanumeric symbols) may be carried by or inscribed in or on the specimen container <NUM>.

<FIG> shows a method <NUM> of operating a mechanical system <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) with a pick and/or place head <NUM> to pick a single one of the specimen containers from an array of specimen containers, according to at least one illustrated implementation.

The method may start at <NUM>, for example in response to a powering ON event, a user input, or an invocation from a calling routine.

At <NUM>, a pick and/or place head <NUM> is moved to be positioned over a location of selected single specimen container in an array of specimen containers.

At <NUM>, a control system of the mechanical system <NUM> determines a rotational orientation of the selected single one of the specimen containers or portion thereof. For example, the control system may employ an image (e.g., image of top plane view) of a portion (e.g., handle of cap) of the selected single one of the specimen containers, performing image processing to determine an orientation of the portion.

At <NUM>, the control system of the mechanical system <NUM> positions the receiver over/about at least portion of selected single specimen container in an array of specimen containers or portion thereof, with at least the portion of the selected single specimen container received within a portion of receptacle. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head <NUM> toward (e.g., downward) the single specimen container until at least a portion of the single specimen container is positioned within the internal passage of a portion of the receiver <NUM>.

At <NUM>, the control system of the mechanical system <NUM> positions the engagement head proximate a portion (e.g., handle on cap) of the single specimen container. For example, the control system may send signals to a motor controller that causes a motor to extend the drive shaft toward (e.g., downward) the handle on the cap of the single specimen container. The control system may translate the drive shaft a defined distance, or may rely on signals from one or more sensors to determine when the engagement head is properly positioned with respect to the portion of the portion of the single specimen container.

At <NUM>, the control system of the mechanical system <NUM> the rotates the drive shaft to cause a portion (e.g., lugs) of engagement head to engage a portion (e.g., handle on cap) of the single specimen container. For example, the control system may send signals to a motor controller that causes the motor to rotate (e.g., counterclockwise, clockwise) the drive shaft such that the lugs physically engage the handle on the cap of the single specimen container.

At <NUM>, the control system of the mechanical system <NUM> retracts the drive shaft to withdraw container from array and further into the receiver. For example, the control system may send signals to a motor controller that causes a motor to retract the drive shaft (e.g., upward) with the lugs physically engaged with the handle on the cap of the single specimen container. The control system may translate the drive shaft a defined distance, or may rely on signals from one or more sensors to determine when the engagement head is properly positioned with respect to a portion of the receiver.

At <NUM>, the control system of the mechanical system <NUM> withdraws or retracts the pick and/or place head <NUM>, for example to move the pick and/or place head <NUM> out of the cryogenic freezer or dewar along with the single specimen container located in the receiver. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head <NUM> away (e.g., upward) from the array of specimen containers, for example until the pick and/or place head <NUM> is clear of the array and optionally clear of the cryogenic freezer or dewar.

The method <NUM> may terminate at <NUM>, for example until invoked again. Alternatively, the method <NUM> may repeat to pick or retrieve additional specimen containers from the array of specimen containers.

<FIG> shows a method <NUM> of operating a mechanical system <NUM> (<FIG>, <FIG>, <FIG> and <FIG>) with a pick and/or place head <NUM> to place a single one of the specimen containers, according to at least one illustrated implementation.

At <NUM>, a pick and/or place head <NUM> is moved to be positioned over a destination location at which a single specimen container will be placed, for example placed into an array of specimen containers.

At <NUM>, the control system of the mechanical system <NUM> positions the pick and/or place head <NUM> along a Z-axis with respect to the target location. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head <NUM> toward (e.g., downward) the target location, positioning a distal end of a receiver proximate the target location.

At <NUM>, the control system of the mechanical system <NUM> the rotates the drive shaft to cause a portion (e.g., lugs) of engagement head to disengage from a portion (e.g., handle on cap) of the single specimen container. For example, the control system may send signals to a motor controller that causes the motor to rotate (e.g., clockwise, counterclockwise) the drive shaft such that the lugs physically disengage the handle on the cap of the single specimen container.

Optionally at <NUM>, the control system of the mechanical system <NUM> pushes the single specimen container out of the receiver <NUM>. For example, the control system may send signals to a motor controller that causes a motor to extend the drive shaft toward (e.g., downward), for example overcoming any natural resistance or resistance due to the formation of frost. The control system may translate the drive shaft a defined distance, or may rely on signals from one or more sensors to determine when the engagement head is properly positioned with respect to pushing the single specimen container out of the receiver.

At <NUM>, the control system of the mechanical system <NUM> moves the pick and/or place head <NUM> into a standby position, for example translating the pick and/or place head <NUM> along the Z-axis, away from the target location. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head <NUM> away (e.g., upward) the target location. As part of such, the control system may also, optionally, translate the engagement head of the drive shaft upward to a proximate portion of the receiver.

<FIG> shows a method <NUM> of operating a vacuum-based system <NUM> (<FIG> and <FIG>) with a pick and/or place head <NUM> to pick a single one of the specimen containers from an array of specimen containers, according to at least one illustrated implementation.

At <NUM>, the control system of the mechanical system <NUM> applies a negative pressure or vacuum to withdraw a single one of the specimen containers from array and further into the receiver <NUM>. For example, the control system may send signals to control a vacuum source and/or a valve controller that causes the negative pressure or vacuum to be applied via the through-passage of the proximate portion 706a of the receiver <NUM>.

At <NUM>, the control system of the mechanical system <NUM> the rotates the drive shaft to cause a portion of receiver to prevent translation (e.g., downward or outward of receiver) of the single specimen container. For example, the control system may send signals to a motor controller that causes the motor to rotate (e.g., counterclockwise, clockwise) the drive shaft <NUM> such that the proximate portion 706a of the receiver <NUM> rotates with respect to an intermediary portion 706c and/or distal portion 706b of the receiver <NUM>, where an inner profile of a through-passage 726c, 726b thereof no longer aligns with an inner profile of a through-passage of the proximate portion 706a and/or an outer profile of the single specimen container.

Optionally at <NUM>, the control system of the mechanical system <NUM> stops the application of the negative pressure or vacuum, with the single one of the specimen containers physically retained in the receiver <NUM>. For example, the control system may send signals to control a vacuum source and/or a valve controller that causes application of the negative pressure or vacuum to be stopped.

At <NUM>, the control system of the mechanical system <NUM> withdraws or retracts the pick and/or place head <NUM>, for example to move the pick and/or place head <NUM> out of the cryogenic freezer or dewar along with the single specimen container located in the receiver <NUM>. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head <NUM> away (e.g., upward) from the array of specimen containers, for example until the pick and/or place head <NUM> is clear of the array and optionally clear of the cryogenic freezer or dewar.

<FIG> shows a method <NUM> of operating a vacuum-based system <NUM> (<FIG> and <FIG>) with a pick and/or place head <NUM> to place a single one of the specimen containers, according to at least one illustrated implementation.

At <NUM>, the control system of the mechanical system <NUM> the rotates the drive shaft to cause a portion of receiver to stop preventing translation (e.g., downward or outward of receiver) of the single specimen container. For example, the control system may send signals to a motor controller that causes the motor to rotate (e.g., clockwise, counterclockwise) the drive shaft <NUM> such that the proximate portion 706a of the receiver <NUM> rotates with respect to an intermediary portion 706c and/or distal portion 706b of the receiver <NUM>, where an inner profile of a through-passage 726c, 726b thereof aligns with an inner profile of a through-passage of the proximate portion 706a and/or an outer profile of the single specimen container.

At <NUM>, the control system of the mechanical system <NUM> moves the pick and/or place head <NUM> into a standby position, for example translating the pick and/or place head <NUM> along the Z-axis, away from the target location. For example, the control system may send signals to a motor controller that causes a motor to translate the pick and/or place head <NUM> away (e.g., upward) the target location.

The foregoing detailed description has set forth various implementations of the devices and/or processes via the use of block diagrams, schematics, and examples. Insofar as such block diagrams, schematics, and examples contain one or more functions and/or operations, it will be understood by those skilled in the art that each function and/or operation within such block diagrams, flowcharts, or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. In one implementation, the present subject matter may be implemented via Application Specific Integrated Circuits (ASICs). However, those skilled in the art will recognize that the implementations disclosed herein, in whole or in part, can be equivalently implemented in standard integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more controllers (e.g., microcontrollers) as one or more programs running on one or more processors (e.g., microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and/or writing the code for the software and or firmware would be well within the skill of one of ordinary skill in the art in light of this disclosure.

Those of skill in the art will recognize that many of the methods or algorithms set out herein may employ additional acts, may omit some acts, and/or may execute acts in a different order than specified.

In addition, those skilled in the art will appreciate that the mechanisms taught herein are capable of being distributed as a program product in a variety of forms, and that an illustrative implementation applies equally regardless of the particular type of signal bearing media used to actually carry out the distribution. Examples of signal bearing media include, but are not limited to, the following: recordable type media such as floppy disks, hard disk drives, CD ROMs, digital tape, and computer memory.

The various implementations described above can be combined to provide further implementations. For further reading to better understand the general technology, reference is made to <CIT>; <CIT>, now published as <CIT>; <CIT>; <CIT>; <CIT>; <CIT>; International (PCT) Application Serial No. <CIT>;<CIT>; <CIT>; <CIT>; <CIT>; <CIT>; and <CIT>. Aspects of the implementations can be modified, if necessary, to employ systems, circuits and concepts of the various patents, applications and publications to provide yet further implementations.

Claim 1:
A system (<NUM>) to pick and/or place individual specimen containers (<NUM>) from and/or to an array of specimen containers (<NUM>), the system (<NUM>) comprising:
a receiver (<NUM>) having a proximate end (114a), a distal end (114b), and a receptacle (<NUM>) having an opening at the distal end (114b) of the receiver (<NUM>), the receptacle (<NUM>) having a principal axis (<NUM>) and a set of lateral inner dimensions measured laterally with respect to the principal axis (<NUM>), the lateral inner dimensions of the receptacle (<NUM>) sized to accommodate a set of lateral outer dimensions of at least a portion of a single container (<NUM>) therein and at least a portion of the receptacle (<NUM>) sized to physically prevent rotation of the single one of the specimen containers (<NUM>) about the principal axis (<NUM>) while allowing translation with respect thereto;
a drive shaft (<NUM>) having a proximate end (142a) and a distal end (142b); and
an engagement head (<NUM>) at the distal end (142b) of the drive shaft (<NUM>) and which translates and rotates along with the drive shaft (<NUM>),
wherein the drive shaft (<NUM>) is translatable parallel with the principal axis (<NUM>) to selectively position the engagement head (<NUM>) alternatingly distally from and proximate to a first portion of the single one of the specimen containers (<NUM>) when the single one of the specimen containers (<NUM>) is positioned at least partially in the receptacle (<NUM>) of the receiver (<NUM>), and at least when positioned proximate to the first portion of the single one of the specimen containers (<NUM>) the drive shaft (<NUM>) is selectively rotatable alternatingly in a clockwise and a counterclockwise direction about the principal axis (<NUM>) to cause at least a portion of the engagement head (<NUM>) to alternatingly engage and disengage the first portion of the single one of the specimen containers (<NUM>) while at least a portion of the receptacle (<NUM>) of the receiver (<NUM>) prevents the single one of the specimen containers (<NUM>) from rotating about the principal axis (<NUM>).