Patent Description:
The present invention relates generally to laboratory systems and, more particularly, to automated laboratory systems for performing scientific processes such as assays.

Conventional automated laboratory systems include one or more tabletops with a lab automation robot positioned thereon and a variety of instruments positioned on the one or more tabletops around the lab automation robot. The lab automation robot may be, for example, a selective compliance articulated robot arm (SCARA) type, and the instruments may include, for example, a liquid handler, an incubator, a reagent dispenser, a sealer, a microplate spectrophotometer, a thermocycler, a thermocycler controller, or any other suitable instrument for performing a desired scientific process such as an assay. In order to perform an assay, the robot may grip a microtiter plate containing samples and transfer the samples between the various instruments. In some instances, such as when space around the robot is limited, the robot may be placed on a horizontal track in order to increase the working envelope of the robot so that the robot may access instruments positioned on the tabletop along the track. In any event, conventional automated laboratory systems typically require a relatively large horizontal footprint. In particular, such systems require sufficient horizontal space to accommodate each of the robot and instruments. Thus, each automated laboratory system may leave little space in the laboratory for peripheral equipment, laboratory personnel, and/or other automated laboratory systems, for example. This may be particularly problematic for automated laboratory systems having a large number of instruments.

Conventional automated laboratory systems also fail to enable laboratory personnel to safely, conveniently, and efficiently access the various instruments of the system without compromising the performed assay.

Thus, it would be desirable to provide an improved automated laboratory system.

US patent application <CIT> discloses a storage system in which one or more receptacles for storing articles are pivotally supported on a support shaft. Each receptacle is provided with a bracket arranged to support the receptacle and coupled to the shaft in a manner to allow the bracket to pivot about the shaft.

US patent application <CIT> discloses an automated processing system, particularly for use in biotechnology, which is modular in construction and allows for a wide variety of instruments to be inserted and/or removed without having to reprogram the system and methods of using such a system.

US patent application <CIT> discloses a sample rack transport system comprising: a plurality of transport apparatuses which are connected so as to transport a sample rack to a plurality of sample processing apparatuses; and a control apparatus which communicates with the plurality of transport apparatuses and controls the transport of the sample rack by the plurality of transport apparatuses, wherein at least one of the plurality of transport apparatuses includes a transmission switch which is operated by a user to transmit a signal to the control apparatus, and when the transport of the sample rack has stopped due to a trouble which occurred in one of the plurality of transport apparatuses, responsive to an operation of a transmission switch of another transport apparatus, the control apparatus restarts the transport of the sample rack by the plurality of transport apparatuses.

According to the invention there is provided a vertical shelving system according to claim <NUM>, and an automated laboratory system according to claim <NUM>.

Various additional features and advantages of the invention will become more apparent to those of ordinary skill in the art upon review of the following detailed description of one or more illustrative embodiments taken in conjunction with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate one or more embodiments of the invention and, together with the general description given above and the detailed description given below, serve to explain the one or more embodiments of the invention.

With reference to <FIG>, an exemplary automated laboratory system <NUM> including a vertical shelving system <NUM> for use with a robotic device <NUM> to perform at least one scientific process is shown in accordance with one embodiment of the present invention. The robotic device <NUM> may be a SCARA type robotic device, such as that sold by Thermo Fisher Scientific Inc. under the trademark Spinnaker XT. Other types of robotic devices may be used, such an articulated robotic device, a spider robotic device, or any other suitable types of robotic device. As set forth in further detail below, the automated laboratory system <NUM>, including the vertical shelving system <NUM>, provides a reduced horizontal footprint as compared to conventional automated laboratory systems, thereby allowing an increase in available space in the laboratory for peripheral equipment, laboratory personnel, and/or other automated laboratory systems, for example. The automated laboratory system <NUM> also enables laboratory personnel to safely, conveniently, and efficiently access various instruments (<FIG>) carried by the vertical shelving system <NUM> while minimizing the risk of compromising the performed assay. The features of the automated laboratory system <NUM> and vertical shelving system <NUM> are set forth in further detail below to clarify each of these functional advantages and other benefits provided in this disclosure.

Further referring to <FIG>, the illustrated vertical shelving system <NUM> is modular and includes a frame <NUM> including at least one vertically extending post <NUM> and a plurality of shelves <NUM> selectively attachable to the at least one post <NUM> for carrying one or more scientific instruments (<FIG>) or lab consumables, for example. In the embodiment shown, four vertically extending posts <NUM> are arranged in a generally rectangular configuration such that the posts <NUM> may be circumferentially positioned about the robotic device <NUM>, thereby providing the robotic device <NUM> with complete <NUM>° access to the instruments carried by the various shelves <NUM> on the posts <NUM>. In one embodiment, at least four posts <NUM> may be used. In addition or alternatively, the number of posts <NUM> may be selectively varied to contribute to the modularity of the vertical shelving system <NUM>. In any event, a foot <NUM> is provided at a lower end of each of the illustrated posts <NUM> for mounting the posts <NUM> in an upright position. In one embodiment, each post <NUM> may be integrally formed with the respective foot <NUM> as a unitary piece. Alternatively, each post <NUM> may be formed separately from the respective foot <NUM> and coupled thereto. For example, each post <NUM> may be received in a bore (not shown) of the respective foot <NUM> and secured to the frame foot <NUM> by suitable means.

In the embodiment shown, the posts <NUM> are operatively coupled to each other via a cross member <NUM> including a plurality of end caps <NUM> positioned over and fixed to the upper end of each of the posts <NUM> to assist in stabilizing the frame <NUM>. For example, one or more fasteners (not shown) may couple each of the end caps <NUM> to the respective post <NUM>. In addition or alternatively, each of the end caps <NUM> may be clamped over the respective post <NUM>. As shown, one or more tie bars <NUM> may operatively couple adjacent posts <NUM> to each other along the lengths thereof, such as at or near the top ends, bottom ends and/or midpoints thereof. For example, one or more fasteners (not shown) may couple each of the tie bars <NUM> to the respective posts. In addition or alternatively, each of the tie bars <NUM> may be clamped over the respective posts <NUM>. The tie bars <NUM> may be used to support additional components of the vertical shelving system <NUM>. For example, the tie bars <NUM> may support one or more hotel mounting platforms <NUM> for carrying one or more random access and/or sequential access stacks or hotels <NUM> for storing microtiter plates (not shown). In addition, or alternatively, the tie bars <NUM> may support one or more guard panels <NUM> for providing a barrier at or near the periphery of the frame <NUM>.

As shown, a conduit <NUM> having a generally C-shaped cross section (see <FIG>) is positioned radially inwardly of, or behind, each of the posts <NUM>. The end caps <NUM> of the cross member <NUM> may be positioned over and fixed to the upper end of each of the conduits <NUM>. For example, a friction fit may be provided between each of the end caps <NUM> and respective conduits <NUM>. In addition, or alternatively, the lower end of each conduit <NUM> may be coupled to the foot <NUM> of the corresponding post <NUM>. In one embodiment, each conduit <NUM> may be integrally formed with the respective end cap <NUM> and/or respective foot <NUM> as a unitary piece.

The illustrated automated lab system <NUM> includes three decks <NUM>, <NUM>, <NUM> for supporting and/or housing various components of the automated lab system <NUM>. In this regard, each deck <NUM>, <NUM>, <NUM> includes a deck frame <NUM> and a plurality of side cover plates <NUM> defining an at least partially enclosed interior space (not shown) for housing components of the automated lab system <NUM>, such as one or more uninterruptable power supplies <NUM> (<FIG>) for providing power to other components of the automated lab system <NUM>, such as the robotic device <NUM> and/or instruments. In the embodiment shown, the cover plates <NUM> are perforated for venting the interior space to prevent the uninterruptable power supplies <NUM> from overheating. The cover plates <NUM> may be removable in order to provide access to the contents of the interior space. Each of the illustrated decks <NUM>, <NUM>, <NUM> includes one or more platforms <NUM> positioned on the corresponding deck frame <NUM> for supporting various components of the automated lab system <NUM>. In the embodiment shown, the center deck <NUM> includes outriggers <NUM> for assisting in stabilizing the deck <NUM> and components positioned thereon to prevent the deck <NUM> from tipping over. A plurality of leveling feet <NUM> are provided at lower ends of each of the deck frames <NUM> and/or outriggers <NUM> and are extendable therefrom and retractable thereinto for selectively adjusting the effective heights of the leveling feet <NUM>. A plurality of casters <NUM> provided at or near lower ends of each of the deck frames <NUM> may assist in transporting the decks <NUM>,<NUM>, <NUM> across a surface such as a floor of a laboratory. In one embodiment, any or all of the decks <NUM>, <NUM>, <NUM> may be coupled together to form a single unit(s). In the embodiment shown, the platforms <NUM> are each fixed against movement relative to the respective deck frames <NUM>. Alternatively, one or more of the platforms <NUM> may be movable relative to the respective deck frame(s) <NUM>. For example, one of the platforms <NUM> may be linearly or rotatably movable relative to the respective deck frame <NUM>.

In the embodiment shown, the vertical shelving system <NUM> is positioned on the center deck <NUM>. In this regard, the feet <NUM> and/or lower ends of the posts <NUM> may be received by and/or coupled to the deck frame <NUM>, such as at or near the corners of the illustrated deck frame <NUM>. The robotic device <NUM> is also positioned on the center deck <NUM> in a generally central location relative to the four posts <NUM> of the frame <NUM>. One or more instruments may be positioned on the left-hand deck <NUM> and/or on a table <NUM> on the right-hand deck <NUM> to elevate the instrument(s) placed thereon to a desired height such as for improved access by the robotic device <NUM>. The illustrated table <NUM> includes a plurality of table posts <NUM> terminating at feet <NUM> in a manner similar to the posts <NUM> and feet <NUM> of the vertical shelving system <NUM>. In the embodiment shown, the table <NUM> is fixed against movement relative to the right-hand deck <NUM>. Alternatively, the table <NUM> may be movable relative to the respective right-hand deck <NUM>. For example, the table <NUM> may be linearly or rotatably movable relative to the right-hand deck <NUM>. In other embodiments, the table <NUM> and/or any of the decks <NUM>, <NUM>, <NUM> may be eliminated.

In the illustrated embodiment, a total of four shelves <NUM> are selectively attached to the posts <NUM> on the side of the frame <NUM> opposite the table <NUM>, with one shelf <NUM> selectively attached to one of the left-hand posts <NUM> (when facing the frame <NUM> from the side opposite the table <NUM>) and three shelves <NUM> selectively attached to one of the right-hand posts <NUM> (when facing the frame <NUM> from the side opposite the table <NUM>). The number of shelves <NUM> attached to each of the posts <NUM> of the frame <NUM> may be selectively varied to contribute to the modularity of the vertical shelving system <NUM>. In one embodiment, each post <NUM> may be configured to support a maximum of five shelves <NUM>. In any event, each shelf <NUM> is attached to the respective post <NUM> in a cantilevered, articulating manner, as described in greater detail below.

Referring now to <FIG>, and with continuing reference to <FIG>, each shelf <NUM> includes a tray <NUM> for carrying at least one instrument or lab consumable, for example. In this regard, each tray <NUM> includes a carrying surface <NUM> for receiving the corresponding instrument and at least one rim <NUM> extending upwardly from the carrying surface <NUM> at or near the periphery thereof in order to discourage the instrument carried by the shelf <NUM> from falling off of the carrying surface <NUM> and/or to prevent liquids spilled onto the carrying surface <NUM> from leaking. In addition, or alternatively, the rim <NUM> may be configured to receive one or more clips <NUM> for supporting an object such as a shelf guard <NUM> to provide a barrier at or near the periphery of the shelf <NUM>.

In the embodiment shown, a handle <NUM> is operatively coupled to the rim <NUM> via a handle clip <NUM> having a collar <NUM> for receiving the handle <NUM>. The handle <NUM> of each shelf <NUM> includes a body portion <NUM> which provides a gripping point for laboratory personnel to manipulate the shelf <NUM> by exerting a force thereon. In the embodiment shown, the body portion <NUM> is made of a suitable material, such as glass or plastic, so as to be generally translucent and generally cylindrical in shape, and is coupled to the rim <NUM> of the tray <NUM> in a substantially vertical orientation. In other embodiments, the body portion <NUM> may be configured and/or coupled to the tray <NUM> in any other suitable manner or orientation. For example, the body portion <NUM> may be oriented substantially horizontally.

Each shelf <NUM> includes a shelf frame <NUM> for providing support to the tray <NUM> to assist in maintaining the tray <NUM> substantially level relative to horizontal. As shown, the shelf frame <NUM> may also operatively couple the tray <NUM> to a bearing pack <NUM>, which may selectively and/or rotatably secure the shelf <NUM> to a post <NUM> of the frame <NUM>. For example, each shelf frame <NUM> may be coupled to the respective tray <NUM> and bearing pack <NUM> by one or more fasteners <NUM>.

Referring now to <FIG>, each shelf <NUM> includes a controller housing <NUM> for housing a dedicated shelf controller <NUM> (<FIG>). In one embodiment, the shelf controller <NUM> includes a single-board computer having a central processing unit, such as that sold under the trademark Raspberry Pi. In the embodiment shown, the controller housing <NUM> is mounted to a bottom surface <NUM> of the tray <NUM> opposite the carrying surface <NUM>. The features of the shelf controller <NUM> are discussed in greater detail below.

Each bearing pack <NUM> is configured to selectively attach to any of the posts <NUM> at a desired vertical position therealong and to allow the respective shelf <NUM> to be movable and, more particularly, rotatable relative to the respective post <NUM>. The releasable adjustability of the vertical positioning of the shelves <NUM> may contribute to the modularity of the vertical shelving system <NUM>. In this regard, each bearing pack <NUM> includes a rotatable bearing pack body <NUM> fixedly secured to the tray <NUM> via the shelf frame <NUM>, and substantially non-rotatable upper and lower caps <NUM>, <NUM> each having a generally cylindrical sleeve <NUM> for receiving one of the posts <NUM> and a flange <NUM> extending radially outwardly from the sleeve <NUM> to rotatably sandwich the bearing pack body <NUM> on the post <NUM> between the flanges <NUM> of the upper and lower caps <NUM>, <NUM> at a desired vertical position, as best shown in <FIG>.

As shown in <FIG>, at least a portion of the sleeve <NUM> is bifurcated by a diametrically extending slot <NUM> into first and second clamping sections <NUM>, <NUM> which are movable relative to each other in a radial direction. For example, the first and second clamping sections <NUM>, <NUM> may be moved away from each other thereby increasing the width of the slot <NUM>, such as to provide clearance for fitting the sleeve <NUM> over an object such as one of the posts <NUM>. Conversely, the first and second clamping sections <NUM>, <NUM> may be moved toward each other thereby decreasing the width of the slot <NUM>, such as to exert a clamping action for securing the sleeve <NUM> to an object such as the post <NUM>. In this regard, a pair of bores <NUM> and corresponding counterbores <NUM> are provided in the first clamping section <NUM> and extend transverse to the slot <NUM>, and a pair of threaded bores <NUM> are provided in the second clamping section <NUM> and aligned with the bores <NUM> of the first clamping section <NUM>. A pair of bolts <NUM> is inserted through the pair of bores <NUM> and counterbores <NUM> and threadably engage the threaded bores <NUM> of the second clamping section <NUM>, such that loosening the bolts <NUM> from the respective threaded bores <NUM> may cause the first and second clamping sections126, <NUM> to move away from each other and tightening the bolts <NUM> in the respective threaded bores <NUM> may cause the first and second clamping sections <NUM>, <NUM> to move toward each other. With the respective first and second clamping sections <NUM>, <NUM> moved toward each other sufficiently to exert a clamping action on the post <NUM>, the upper and lower caps <NUM>, <NUM> may each be secured to one of the posts <NUM> at desired heights, and the vertical positions of the upper and lower caps <NUM>, <NUM> may be readily adjusted by moving the respective first and second clamping sections <NUM>, <NUM> away from each other to allow the caps <NUM>, <NUM> to slide along the posts <NUM>.

In addition to maintaining the respective cap <NUM>, <NUM> at the desired height, the clamping action of the first and second clamping sections <NUM>, <NUM> on the post <NUM> may be sufficient to fix the respective cap <NUM>, <NUM> against rotation relative to the corresponding post <NUM>. In the embodiment shown, each of the upper and lower caps <NUM>, <NUM> includes a radially outwardly extending tab <NUM>. Each tab <NUM> may be received by the conduit <NUM> behind the corresponding post <NUM>, and may be in abutment or in near abutment with a pair of opposed flanges <NUM> extending inwardly on the conduit <NUM> to limit lateral movement of the tab <NUM> between the flanges <NUM>. In this manner, the interaction between the tab <NUM> and the flanges <NUM> may assist in fixing the respective cap <NUM>, <NUM> against rotation relative to the corresponding post <NUM>.

While the upper and lower caps <NUM>, <NUM> of the illustrated embodiment are clamped to the posts <NUM> via the respective first and second clamping sections <NUM>, <NUM> and bolts <NUM>, the upper and lower caps <NUM>, <NUM> may be secured to the posts <NUM> in any suitable manner.

As shown, the sleeve <NUM> of each of the upper and lower caps <NUM>, <NUM> includes an outer bearing surface <NUM> for allowing the bearing pack body <NUM> to rotate thereabout. In this regard, the bearing pack body <NUM> includes at least one inner journal surface <NUM> configured to confront the outer bearing surface <NUM> of the sleeve <NUM> such that the inner journal surface <NUM> may rotatably slide along the outer bearing surface <NUM>. In this manner, the bearing pack body <NUM>, which is fixedly secured to the tray <NUM> of the shelf <NUM>, may rotate relative to the upper and lower caps <NUM>, <NUM>, which are secured against rotation relative to the post <NUM>. Consequently, the tray <NUM> of the shelf <NUM> may rotate relative to the post <NUM>.

In one embodiment, the shelf <NUM> may be selectively attached to a desired post <NUM> at a desired height by first placing the lower cap <NUM> over the post <NUM> at the upper end of the post <NUM> (with the respective end cap <NUM> removed) such that the sleeve <NUM> of the lower cap <NUM> receives the post <NUM>, and advancing the lower cap <NUM> along the post <NUM> to a desired vertical position. The bolts <NUM> of the lower cap <NUM> may then be tightened such that the first and second clamping sections <NUM>, <NUM> of the sleeve <NUM> exert a clamping action on the post <NUM> to secure the lower cap <NUM> on the post <NUM> at the desired vertical position. The bearing pack body <NUM> may then be placed over the post <NUM> at the upper end thereof and advanced along the post <NUM> until the bearing pack body <NUM> rests against the flange <NUM> of the lower cap <NUM>, whereat the journal surface <NUM> of the bearing pack body <NUM> confronts the bearing surface <NUM> of the sleeve <NUM> of the lower cap <NUM>. Subsequently, the upper cap <NUM> may be placed over the post <NUM> at the upper end thereof such that the sleeve <NUM> of the upper cap <NUM> receives the post <NUM>, and may be advanced along the post <NUM> until the flange <NUM> of the upper cap <NUM> rests against the bearing pack body <NUM>, whereat the journal surface <NUM> of the bearing pack body <NUM> confronts the bearing surface <NUM> of the sleeve <NUM> of the upper cap <NUM>. The bolts <NUM> of the upper cap <NUM> may then be tightened such that the first and second clamping sections <NUM>, <NUM> of the sleeve <NUM> exert a clamping action on the post <NUM> to secure the upper cap <NUM> on the post <NUM>. With the bolts <NUM> of the upper and lower caps <NUM>, <NUM> sufficiently tightened, a cover <NUM> may be coupled to the bearing pack body <NUM> via fasteners <NUM> to conceal the bolts <NUM>. In order to adjust the vertical position of the shelf <NUM>, the cover <NUM> may be removed to provide access to the bolts <NUM>, of the upper and lower caps <NUM>, <NUM>, which may be loosened sufficiently to allow the upper and lower caps <NUM>, <NUM> to slide along the post <NUM> to the desired vertical position. The bolts <NUM> may then be tightened and the cover <NUM> replaced.

Thus, the exemplary vertical shelving system <NUM> may be modular, at least with respect to the number of posts <NUM>, the number of shelves <NUM> rotatably attached to each of the posts <NUM>, and the vertical positioning of each of the shelves <NUM> along the respective posts <NUM>.

As best shown in <FIG> and <FIG>, each shelf <NUM> is rotatable about the respective post <NUM> between a docked position (<FIG>) and at least one undocked position (<FIG>). Rotation of the shelf <NUM> between the docked and undocked positions may be achieved by a user U (<FIG>) gripping and manipulating the handle <NUM> of the respective shelf <NUM> via the user's hand H. The illustrated shelf <NUM> is attached to a right-hand post <NUM> of the frame <NUM> (when facing the frame <NUM> from the position of the shelf <NUM>) and is rotatable from the docked position to the undocked position in a counterclockwise direction, as indicated by the arrow A. Conversely, a shelf <NUM> attached to a left-hand post <NUM> of the frame <NUM> (when facing the frame <NUM> from the position of the shelf <NUM>) may be rotatable from the docked position to the undocked position in a clockwise direction (not shown). The illustrated undocked position is angularly displaced from the docked position by approximately <NUM>°. The shelf <NUM> may be rotated to an undocked position having a greater or less angle of displacement from the docked position. The maximum angle of displacement of an undocked position from the docked position may be limited by an external obstacle, such as an adjacent post <NUM>, and/or by an internal stop (not shown). In one embodiment, the undocked position may be angularly displaced from the docked position by approximately <NUM>°.

In any event, when a shelf <NUM> is in the docked position, the instrument carried by the shelf <NUM> may be readily accessible by the robotic device <NUM> for use in an assay, for example, and may be substantially inaccessible to laboratory personnel, such as due to the shelf guard <NUM> providing a barrier between the laboratory personnel and the instrument. When in the undocked position, the instrument carried by the shelf <NUM> may be readily accessible by laboratory personnel and the robotic device <NUM> may be blocked from accessing the instrument, as discussed in greater detail below. Each shelf <NUM> may be individually undocked as needed for providing laboratory personnel access to the particular instrument carried thereon.

Referring now to <FIG>, each shelf <NUM> includes a locking mechanism <NUM> for selectively locking the shelf <NUM> against rotation relative to the post <NUM> when in the docked position. In this regard, the illustrated locking mechanism <NUM> includes a pair of indents <NUM> at the periphery of the flange <NUM> of the upper cap <NUM> and a pin <NUM> extendable from and/or retractable into the bearing pack body <NUM> to engage one of the indents <NUM> when the shelf <NUM> is in the docked position. For example, the pin <NUM> may be coupled to an actuator, such as a linear solenoid (not shown) for selectively extending the pin <NUM> from and/or retracting the pin <NUM> into the bearing pack body <NUM>. In one embodiment, the pin <NUM> may be biased toward one of the extended or retracted positions. For example, the pin <NUM> may be spring-loaded toward the extended position to urge the pin <NUM> into engagement with the indent <NUM> when aligned therewith, in order to automatically lock the shelf <NUM> when the shelf <NUM> is rotated into the docked position. In this case, the actuator may be configured to selectively retract the pin <NUM> by overcoming the spring loading to thereby disengage the pin <NUM> from the indent <NUM> and unlock the shelf <NUM>, and thus may be referred to as a lock release.

When the pin <NUM> and indent <NUM> are engaged, the shelf <NUM> may be locked against rotation relative to the post <NUM>, such that a user may be unable to rotate the shelf <NUM> out of the docked position. Thus, the shelf <NUM> may be both docked and locked. When the pin <NUM> and indent <NUM> are disengaged, the shelf <NUM> may be unlocked and freely rotatable relative to the post <NUM>, such that the shelf <NUM> may be rotated between the docked and undocked positions. Upon initial retraction of the pin <NUM>, the shelf <NUM> may be docked and unlocked. When rotated by the user out of the docked position, the shelf <NUM> may be undocked and unlocked, as shown in <FIG>. In the embodiment shown, the pair of indents <NUM> allows the locking mechanism <NUM> to function when the shelf <NUM> is positioned on any of the four posts <NUM> (e.g., regardless of whether the post <NUM> is on the right-hand or left-hand side of the frame <NUM>). In other embodiments, more or less indents <NUM> may be provided as may be desired, such as for locking the shelf <NUM> in an undocked position. Various other configurations of the locking mechanism <NUM> may be used to selectively lock the shelf <NUM> against rotation relative to the respective post <NUM>.

In the embodiment shown, each bearing pack <NUM> includes at least one power port <NUM> and at least one data port <NUM> for receiving respective power and data cables (not shown) from the instrument carried by the shelf <NUM> on an exterior side of the bearing pack <NUM>. The power port <NUM> is configured to receive a power cable <NUM> from the shelf controller <NUM> on an interior side of the bearing pack <NUM> such that the instrument may be in electrical communication with the shelf controller <NUM> to receive power therefrom. In this manner, the power port <NUM> and power cable <NUM> may supply electrical power to the instrument, and the shelf controller <NUM> may be configured to turn the power supply to the instrument on or off. The data port <NUM> is configured to receive at least one data cable, such as a serial data cable (not shown) on an interior side of the bearing pack <NUM>. As best shown in <FIG>, a passageway <NUM> is defined by the bearing pack body <NUM> and the cover <NUM> for allowing the cables <NUM> to pass therethrough to an aperture <NUM> in the tab <NUM> to exit the bearing pack <NUM> into the conduit <NUM>, for example, which may route the cables <NUM> to their respective destinations. In this manner, the vertical shelving system <NUM> may provide integrated cable management and each shelf <NUM> may provide integrated power and communication for the instrument(s) carried thereby.

Referring now to <FIG>, the automated lab system <NUM> includes a main controller <NUM> which may communicate with the shelf controller <NUM> and/or the instrument carried by the shelf <NUM> via a USB hub <NUM>, an Ethernet switch <NUM>, and/or any other suitable channel of communication. In the embodiment shown, the main controller <NUM> communicates with the shelf controller <NUM> via the Ethernet switch <NUM>, and communicates with an instrument module <NUM> of the instrument via the Ethernet switch <NUM>, an Ethernet converter <NUM>, and the data port <NUM>. One of the uninterruptable power supplies <NUM> provides power to the shelf controller <NUM>. As shown, the power and one or more data cables may each be routed to the respective destinations via the conduit <NUM> behind the post <NUM> on which the shelf <NUM> is mounted. For example, the power and data cables may each be routed upwardly from the bottom end of the conduit <NUM> to their respective destinations. Alternatively, one or more of the power and/or data cables may be routed downwardly from the top end of the conduit <NUM> to their respective destinations. As shown, the shelf controller <NUM> may be in communication with a handle module <NUM>, discussed in greater detail below. While not shown, the main controller <NUM> may be in communication with the robotic device <NUM> in a known manner, such as through a serial connection. Although communications between the main controller <NUM>, the shelf controllers <NUM>, the instruments, the handle module <NUM>, and/or the robotic device <NUM> are described as using certain communication protocols, the invention is not so limited. Thus, it should be understood that in alternative embodiments of the invention, communication between the shelf controllers <NUM>, the main controller <NUM>, the instrument modules <NUM>, the handle modules <NUM>, and/or the robotic device <NUM> may be configured to use any suitable communication protocol including, but not limited to serial, parallel, and/or wireless protocols.

Referring now to <FIG>, the exemplary main controller <NUM> may include a controller application <NUM> for running a shelf module <NUM> and at least one instrument driver <NUM>. The shelf module <NUM> is in communication with the shelf controller <NUM> for transmitting data therebetween, and the instrument driver <NUM> is in communication with the instrument module <NUM> of the instrument carried on the respective shelf <NUM> for transmitting data therebetween. In the embodiment shown, a single instrument driver <NUM> is provided. Additional instrument drivers <NUM> may be provided, such as in cases where a shelf <NUM> carries more than one instrument.

As shown, each shelf controller <NUM> is in communication with a docking sensor <NUM> configured to determine whether the shelf is in the docked position, and is in communication with a lock sensor <NUM> configured to determine whether the shelf <NUM> is locked against rotation, such that the sensors <NUM>, <NUM> may notify the shelf controller <NUM> of the respective docked and/or locked states of the shelf <NUM>. In the embodiment shown, each shelf controller <NUM> is also in communication with the locking mechanism <NUM> and, more particularly, with the actuator of the locking mechanism <NUM> such that the shelf controller <NUM> may activate and/or deactivate the actuator or lock release in order to lock and/or unlock the shelf <NUM>. In the embodiment shown, each shelf controller <NUM> is further in communication with a shelf power controller <NUM> for switching the power supply to the shelf <NUM> on or off.

Each handle module <NUM> includes at least one sensor for detecting contact or proximity between the body portion <NUM> of the handle <NUM> and an object such as a user's hand H. In the exemplary embodiment, each handle module <NUM> includes a top touch sensor <NUM> and a top ambient light sensor <NUM> which may be positioned in an upper section of the body portion <NUM>, and a bottom touch sensor <NUM> and a bottom ambient light sensor <NUM> which may be positioned in a lower section of the body portion <NUM>. Each of the top and bottom touch sensors <NUM>, <NUM> may be infrared proximity sensors configured to detect a change in infrared radiation resulting from a user's hand H being positioned around or removed from the body portion <NUM> of the handle <NUM>. In other embodiments, the handle module <NUM> may include additional touch sensors <NUM>, <NUM> or fewer touch sensors <NUM>, <NUM> of various suitable types for detecting contact with or proximity to a user's hand H, as may be desired. For example, optical sensors and/or capacitive sensors may be used. As discussed in greater detail below, the touch sensors <NUM>, <NUM> may receive input from the user to request to unlock the respective shelf <NUM>, and may receive input from the user indicating whether to wait until the instrument carried by the shelf <NUM> is not being used by automation or to unlock the shelf <NUM> while being used by automation. The proximity of the handle <NUM> to the instrument carried by the respective shelf <NUM> may assist the user in providing input to the proper handle <NUM> associated with the target instrument of the automated lab system <NUM>.

As shown, each handle module <NUM> also includes at least one indicator for providing a discernible indication to a user. More particularly, each handle module <NUM> includes one or more light sources such as first and second top light emitting diodes (LEDs) <NUM>, <NUM> which may be positioned in an upper section of the body portion <NUM>, and first and second bottom LEDs <NUM>, <NUM> which may be positioned in a lower section of the body portion <NUM>. Each of the LEDs <NUM>, <NUM>, <NUM>, <NUM> may be configured to provide a visual indication to a user. In one embodiment, each of the LEDs <NUM>, <NUM>, <NUM>, <NUM> may be independently controllable and/or may be multicolored so as to be capable of emitting multiple colors of light to provide a variety of visual indications. The ambient light sensors <NUM>, <NUM> may be optical sensors configured to regulate the intensity of the LEDs <NUM>, <NUM>, <NUM>, <NUM> in order to provide sufficient and consistent contrast of the lighting of the handle <NUM> relative to the ambient light levels. In the illustrated embodiment, each handle module <NUM> further includes a vibration source such as a vibration motor <NUM> configured to provide a tactile indication to the user. As discussed in greater detail below, the LEDs <NUM>, <NUM>, <NUM>, <NUM> may indicate whether the instrument carried by the respective shelf <NUM> can be used by the user, whether the instrument is needed for automation, or whether the instrument is in an error state. The vibration motor <NUM> may provide tactile feedback to the user indicating that the user has held the handle module <NUM>, such as the body portion <NUM> thereof, for a sufficient duration of time to initiate a request or demand for the instrument carried by the respective shelf <NUM> to be taken offline, as discussed in greater detail below. The proximity of the handle <NUM> to the instrument carried by the respective shelf <NUM> may assist the user in recognizing the particular instrument of the automated lab system <NUM> that is the subject of the provided indication.

Referring now to <FIG>, the LEDs <NUM>, <NUM>, <NUM>, <NUM> of the handle <NUM> may be dormant when the instrument carried on the respective shelf <NUM> is not powered, such that the handle <NUM> is not illuminated (<FIG>). When powered on, the LEDs <NUM>, <NUM>, <NUM>, <NUM> may be activated in response to a signal(s) received from the respective shelf controller <NUM> by the handle module <NUM>, such that the handle <NUM> is illuminated (<FIG>). The handle <NUM> may be illuminated in a variety of manners to indicate a variety of states of the shelf <NUM> and/or instrument carried by the shelf <NUM>. For example, the handle <NUM> may be illuminated white to indicate that the instrument is powered but not yet in communication with the main controller <NUM>. The handle <NUM> may be illuminated blue to indicate that the instrument is in communication with the main controller <NUM> and ready for automation ("online"). The handle <NUM> may be illuminated green to indicate that the shelf <NUM> is ready for unlocking and/or the instrument is ready for access by a user ("offline"). The handle <NUM> may be illuminated yellow to indicate a warning state of the instrument and may be illuminated red to indicate an error state of the instrument. The handle <NUM> may be illuminated in a flashing manner when gripped by a user's hand H to acknowledge the user's input and/or to indicate that the instrument is transitioning between states (<FIG>) and may be illuminated in a breathing or gently pulsating manner to indicate that the instrument is ready for user handling (<FIG>). It will be appreciated that the invention is not limited to these exemplary indications. In other embodiments, the various indications provided by the handle <NUM> may be configured in any suitable manner. For example, a variety of dynamic effects, such as changes in illumination colors, illumination patterns and/or vibrations, may be provided by the LEDs <NUM>, <NUM>, <NUM>, <NUM> and/or vibration motor <NUM> to indicate a variety of statuses and/or transitions between statuses of various components of the automated lab system <NUM>.

In one embodiment, the handle module <NUM> may be configured to send an offline request to the main controller <NUM>, such as via the shelf controller <NUM>, that the instrument carried by the respective shelf <NUM> be taken offline. This may be done in preparation for unlocking the shelf <NUM>. For example, the request may be triggered by one or more of the touch sensors <NUM>, <NUM> of the handle <NUM> detecting a relatively short hold of the handle <NUM> by the user's hand H.

In addition, or alternatively, the handle module <NUM> may be configured to send a request cancellation to the main controller <NUM>, such as via the shelf controller <NUM>, cancelling a request to take the instrument carried by the shelf <NUM> offline. For example, the request cancellation may be triggered by one or more of the touch sensors <NUM>, <NUM> of the handle <NUM> detecting a subsequent contact or proximity between the handle <NUM> and the user's hand H following the short hold.

In addition, or alternatively, the handle module <NUM> may be configured to send an immediate unlock request to the shelf controller <NUM> that the locking mechanism <NUM> be immediately disengaged so that the shelf <NUM> may swing out from the docked position to the undocked position. For example, the immediate unlock request may be triggered by one or more of the touch sensors <NUM>, <NUM> of the handle <NUM> detecting a relatively long hold of the handle <NUM> by the user's hand H. The handle module <NUM> may be configured to acknowledge the relatively long hold of the handle <NUM> by activating the vibration motor <NUM> to provide tactile feedback to the user's hand H. The shelf controller <NUM> may, in turn, send an offline request to the main controller <NUM> that the instrument carried by the shelf <NUM> be taken offline.

Various exemplary methods of using the handle <NUM> to interact with the automated lab system <NUM> will now be described.

A method of taking the instrument carried by a shelf <NUM> offline when the instrument is available is shown schematically in <FIG>. The handle <NUM> is initially illuminated blue by the LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the instrument is online and ready for automation. The user then grips the handle <NUM>. In response to the user gripping the handle <NUM>, the instrument is taken offline. At this time, the handle <NUM> is illuminated green to indicate that the instrument is offline. The shelf <NUM> is then unlocked. At this time, the handle <NUM> is illuminated green in a flashing manner to indicate that the shelf <NUM> is unlocked. With the shelf <NUM> unlocked, the user may swing the shelf <NUM> out to the undocked position to access the instrument. At this time, the handle <NUM> is illuminated green in a breathing or gently pulsating manner to indicate that the instrument is ready for user handling.

A method of requesting the instrument carried by a shelf <NUM> to be taken offline when the instrument is busy is shown schematically in <FIG>. The handle <NUM> is initially illuminated blue by the LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the instrument is online and ready for automation. The user then grips the handle <NUM>. In response to the user gripping the handle <NUM>, the handle <NUM> is illuminated blue in a flashing manner. At this time, the user may release the handle <NUM>. In response to the user gripping and releasing the handle <NUM>, or applying a "short hold" to the handle <NUM>, the instrument is taken offline when the instrument becomes available. At this time, the handle <NUM> is illuminated green to indicate that the instrument is offline. The user again grips the handle <NUM> while the handle <NUM> is illuminated green. The shelf <NUM> is then unlocked. At this time, the handle <NUM> is illuminated green in a flashing manner to indicate that the shelf <NUM> is unlocked. With the shelf <NUM> unlocked, the user may swing the shelf <NUM> out to the undocked position to access the instrument. At this time, the handle <NUM> is illuminated green in a breathing or gently pulsating manner to indicate that the instrument is ready for user handling.

Operation of the automated laboratory system <NUM> is illustrated in greater detail in <FIG>, which depicts a sequence diagram showing the exemplary steps without implying the direction of communication. Initially, the shelf <NUM> is docked and locked, the instrument carried on the shelf <NUM> is online and busy, and the user U desires to undock the shelf <NUM>. At the conclusion of the method, the shelf <NUM> is undocked, the instrument carried on the shelf <NUM> is offline, and the robotic device <NUM> is blocked from accessing the shelf <NUM>.

In response to the user U gripping A1 the handle <NUM>, the touch is detected A2 by one or more of the touch sensors <NUM>, <NUM>. In response to one or more of the touch sensors <NUM>, <NUM> detecting a short hold A3, the short hold trigger A4 is communicated by the touch sensors <NUM>, <NUM> to the shelf controller <NUM>. In response to receiving the short hold trigger, the shelf controller <NUM> sends a request A5 to the main controller <NUM> to unlock, while the instrument carried on the shelf <NUM> is busy. In response to receiving the request A5, the main controller <NUM> blocks A6 the robotic device <NUM> from accessing the shelf <NUM>. The main controller <NUM> then communicates a notification A7 of the success to the shelf controller <NUM>. In response to receiving the notification A7, the shelf controller <NUM> commands A8 the handle LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the shelf <NUM> is pending unlock. In response to receiving the command A8, the LEDs <NUM>, <NUM>, <NUM>, <NUM> provide a visual indication A9 to the user U that unlock is pending. The user U may then release A10 the handle <NUM>, which may occur at any time after the short hold has been detected. The main controller <NUM> waits A11 for the instrument carried on the shelf <NUM> to become idle before communicating A12 to the shelf controller <NUM> that the shelf <NUM> is safe to unlock. The shelf controller <NUM> communicates A13 the success to the main controller <NUM>. The shelf controller <NUM> commands A14 the handle LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the shelf <NUM> is ready to unlock. The user U may then grip A15 the handle <NUM>, thereby causing the touch sensors <NUM>, <NUM> to communicate A16 the touch trigger to the shelf controller <NUM>. The shelf controller <NUM> may then wait A17 until the touch is detected. In response to detecting the touch, the shelf controller <NUM> commands A18 the locking mechanism <NUM> to engage the lock release. The shelf controller <NUM> may then command A19 the handle LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the shelf <NUM> is unlocked. In response, the LEDs <NUM>, <NUM>, <NUM>, <NUM> may provide a visual indication A20 to the user U that the shelf <NUM> can be moved out of the docked position.

In response to the touch sensors <NUM>, <NUM> detecting a short hold A21,the touch sensors <NUM>, <NUM> may communicate A22 the short hold trigger to the shelf controller <NUM>, which will ignore the short hold in this case. In response to the user U pulling A23 the handle <NUM>, the undock sensor <NUM> may detect A24 undocking of the shelf <NUM>. The undock sensor <NUM> may then communicate A25 to the shelf controller <NUM> that the shelf <NUM> is undocked. The shelf controller <NUM> waits A26 for the undock sensor <NUM> to communicate that the shelf <NUM> is undocked. In response to the user U releasing A27 the handle <NUM>, the shelf controller <NUM> commands A28 the locking mechanism <NUM> to disengage the lock release. The shelf controller <NUM> may then command A29 the handle LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the shelf <NUM> is undocked. The shelf controller <NUM> may then communicate A30 to the main controller <NUM> that the shelf <NUM> is undocked.

A method of taking the instrument carried by a shelf <NUM> offline when the instrument is busy is shown schematically in <FIG>. The handle <NUM> is initially illuminated blue by the LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the instrument is online and ready for automation. The user U then grips and holds the handle <NUM>. In response to the user U continuing to hold the handle <NUM>, or applying a "long hold" to the handle <NUM>, the handle <NUM> may vibrate via the vibration motor <NUM> to indicate that the handle <NUM> has been held long enough to make a demand to undock, and the shelf <NUM> is unlocked. At this time, the handle <NUM> is illuminated blue in a flashing manner to indicate that the shelf <NUM> is unlocked. With the shelf <NUM> unlocked, the user U may swing the shelf <NUM> out to the undocked position to access the instrument. At this time, the handle <NUM> is illuminated blue to indicate that the instrument is still online. Eventually, the device goes offline. At this time, the handle <NUM> is illuminated green in a breathing or gently pulsating manner to indicate that the instrument is ready for user handling.

Operation of the automated laboratory system <NUM> is illustrated in greater detail in <FIG>, which depicts a sequence diagram showing the exemplary steps without implying the direction of communication. Initially, the shelf <NUM> is docked and locked, the instrument carried on the shelf <NUM> is online and busy, and the user U desires to undock the shelf <NUM>. At the conclusion of the method, the shelf <NUM> is undocked, the instrument carried on the shelf <NUM> is still busy, and the robotic device <NUM> is blocked from accessing the shelf <NUM>.

In response to the user U gripping B1 the handle <NUM>, the touch is detected B2 by one or more of the touch sensors <NUM>, <NUM>. In response to one or more of the touch sensors <NUM>, <NUM> detecting a short hold B3, the short hold trigger B4 is communicated by the touch sensors <NUM>, <NUM> to the shelf controller <NUM>. In response to receiving the short hold trigger, the shelf controller <NUM> sends a request B5 to the main controller <NUM> to unlock, while the instrument carried on the shelf <NUM> is busy. In response to receiving the request B5, the main controller <NUM> blocks B6 the robotic device <NUM> from accessing the shelf <NUM>. The main controller <NUM> then communicates a notification B7 of the success to the shelf controller <NUM>. In response to receiving the notification B7, the shelf controller <NUM> commands B8 the handle LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the shelf <NUM> is pending unlock and send an activation signal B9 to the vibration motor. In response to receiving the command B8, the LEDs <NUM>, <NUM>, <NUM>, <NUM> provide a visual indication B10 to the user U that unlock is pending, while the vibration motor provides a tactile indication B11 to the user U that a demand request has been made.

In response to one or more of the touch sensors <NUM>, <NUM> detecting a long hold B12, since the user U has not released the handle <NUM>, the long hold trigger B13 is communicated by the touch sensors <NUM>, <NUM> to the shelf controller <NUM>. The shelf controller <NUM> commands B14 the handle LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the shelf <NUM> is ready to unlock. The shelf controller <NUM> waits B15 for the touch trigger (the user U is still holding the handle <NUM>). The shelf controller <NUM> commands B16 the locking mechanism <NUM> to engage the lock release, and then commands B17 the handle LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the shelf <NUM> is unlocked. In response to receiving the command B17, the LEDs <NUM>, <NUM>, <NUM>, <NUM> provide a visual indication B18 to the user U that the shelf <NUM> can be moved out of the docked position. In response to the user U pulling B19 the handle <NUM>, the undock sensor <NUM> may detect B20 the undocking of the shelf <NUM>. The undock sensor <NUM> may then communicate B21 to the shelf controller <NUM> that the shelf <NUM> is undocked. The shelf controller <NUM> waits B22 for the undock sensor <NUM> to communicate that the shelf <NUM> is undocked. In response, the shelf controller <NUM> commands B23 the locking mechanism <NUM> to disengage the lock release and commands B24 the handle LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the shelf <NUM> is undocked. The shelf controller <NUM> may then communicate B25 to the main controller <NUM> that the shelf <NUM> is undocked. The user U may then release B26 the handle <NUM>. The main controller <NUM> waits B27 for the instrument carried on the shelf <NUM> to become idle. The touch sensors <NUM>, <NUM> communicate B28 to the shelf controller <NUM> that no touch is detected. The shelf controller <NUM> may then clear B29 the touch states of the touch sensors <NUM>, <NUM>.

A method of redocking the shelf <NUM> and the instrument carried thereon is shown schematically in <FIG>. The handle <NUM> is initially illuminated green by the LEDs <NUM>, <NUM>, <NUM>, <NUM>. The user grips the handle <NUM> and closes the shelf <NUM> by swinging the shelf <NUM> back into the docked position. In response to the shelf <NUM> being returned to the docked position, the shelf <NUM> is locked. At this time, the handle <NUM> is illuminated blue in a flashing manner to indicate that the shelf <NUM> is docked and locked. The instrument subsequently goes online. At this time, the handle <NUM> is illuminated blue to indicate that the instrument is ready for automation.

Operation of the automated laboratory system <NUM> is illustrated in greater detail in <FIG>, which depicts a sequence diagram showing the exemplary steps without implying the direction of communication. Initially, the shelf <NUM> is undocked and unlocked, and the user U desires to dock the shelf <NUM>. At the conclusion of the method, the shelf <NUM> is docked and locked.

In response to the user U gripping C1 the handle <NUM> to start pushing the shelf <NUM> toward the docked position, the touch is detected C2 by one or more of the touch sensors <NUM>, <NUM>. In response to one or more of the touch sensors <NUM>, <NUM> detecting a short hold B3, the short hold trigger C4 is communicated by the touch sensors <NUM>, <NUM> to the shelf controller <NUM>. The shelf controller <NUM> ignores C5 the short hold trigger because the shelf <NUM> is undocked. In response to the user U docking the shelf <NUM>, the undock sensor <NUM> communicates C6 to the shelf controller <NUM> that the shelf <NUM> is docked, and the locking mechanism <NUM> locks the shelf <NUM> against rotation and communicates C7 to the shelf controller <NUM> that the shelf <NUM> is locked. The shelf controller <NUM> commands C8 the handle LEDs <NUM>, <NUM>, <NUM>, <NUM> to indicate that the shelf <NUM> is docked and locked. In response, the LEDs <NUM>, <NUM>, <NUM>, <NUM> provide a visual indication C9 to the user U that the shelf <NUM> is docked and locked. The shelf controller <NUM> may communicate C10 to the main controller <NUM> that the shelf <NUM> is docked. The user U may then release C11 the handle <NUM>. The main controller <NUM> eventually places the instrument carried by the shelf <NUM> online C12. The touch sensors <NUM>, <NUM> communicate C13 to the shelf controller <NUM> that no touch is detected. The shelf controller <NUM> may then clear C14 the touch states of the touch sensors <NUM>, <NUM>.

A method of recovering an instrument carried by a shelf <NUM> from an error is shown schematically in <FIG>. The handle <NUM> is initially illuminated red to indicate an error state of the instrument. The user then grips and holds the handle <NUM>. In response to the user continuing to hold the handle <NUM>, or applying a long hold to the handle <NUM>, the shelf <NUM> is unlocked. At this time, the handle <NUM> is illuminated red in a flashing manner to indicate that the shelf <NUM> is unlocked. With the shelf <NUM> unlocked, the user may swing the shelf <NUM> out to the undocked position to access the instrument. At this time, the handle <NUM> is illuminated red to indicate that the instrument is still in an error state. The user may address the error state of the instrument and then perform the redocking method discussed above.

A method of canceling an offline request, such as that discussed above with respect to <FIG> and <FIG>, is shown schematically in <FIG>. The user taps the handle <NUM>. In response to the user tapping the handle <NUM>, the handle <NUM> is illuminated blue in a flashing manner. The request to take offline is canceled. At this time, the handle <NUM> is illuminated blue to indicate that the request has been canceled. The instrument then stays online, and the handle <NUM> remains illuminated blue.

Referring now to <FIG>, in one embodiment, a variety of scientific instruments and, more particularly, a liquid handler <NUM>, an incubator <NUM>, a reagent dispenser <NUM>, a sealer <NUM>, a microplate spectrophotometer <NUM>, a thermocycler <NUM>, and a thermocycler controller <NUM> are each positioned on or next to the vertical shelving system <NUM> such that the scientific instruments may be accessed by the robotic device <NUM> for performing a desired assay or procedure.

For example, the illustrated automated lab system may perform a DNA replication procedure. In one embodiment, the robotic device <NUM> may grip a sample plate (not shown) containing a target DNA and stored on one of the hotels <NUM>, for example, and load the sample plate into the liquid handler <NUM>. The robotic device <NUM> may also grip a polymerase chain reaction (PCR) plate for replicating the target DNA in and stored on one of the hotels <NUM>, for example, and load the PCR plate into the liquid handler <NUM>. New tips (not shown) for transferring the target DNA to the PCR plate may also be loaded onto the liquid handler <NUM> from a tip box (not shown) stored on one of the hotels <NUM>, for example, by the robotic device <NUM>. Next, the liquid handler <NUM> may transfer some of the target DNA from the sample plate as well as the necessary reagents to the PCR plate via the new tips. The robotic device <NUM> may change out the tips for a different set of new tips and transfer the necessary reagents to the PCR plate via the different set of new tips. The robotic device <NUM> may then grip the PCR plate and transfer the PCR plate from the liquid handler <NUM> to the sealer <NUM>, which may seal the openings to the wells in the PCR plate. The robotic device <NUM> may grip the sample plate and transfer the sample plate from the liquid handler <NUM> to the incubator <NUM> for storage. The tips may be ejected into a receptacle (not shown), which may be gripped by the robotic device <NUM> and transferred to one of the hotels <NUM> for storage. After the openings to the wells of the PCR plate have been sealed, the robotic device <NUM> may grip the PCR plate and transfer the PCR plate from the sealer <NUM> to the thermocycler <NUM>, whereat the target DNA sample is amplified in the PCR plate through a series of cycles in the thermocycler <NUM>. The robotic device <NUM> may then grip a product assay plate (not shown) stored on one of the random access hotels <NUM>, for example, and load the product assay plate into the reagent dispenser <NUM>, which may pre-load the product assay plate with a Tris EDTA buffer ("TE buffer") reagent. Next, the robotic device <NUM> may grip the product assay plate and transfer the product assay plate to the liquid handler <NUM>. The robotic device <NUM> may also grip the PCR plate and transfer the PCR plate from the thermocycler <NUM> to the liquid handler <NUM>, with a new set of tips loaded therein, whereat the amplified DNA may be combined with the TE buffer reagent in the product assay plate. In one embodiment, the robotic device <NUM> may first transfer the PCR plate to a peeler (not shown) positioned on any of the shelves <NUM> or platforms <NUM>, for example, to unseal the PCR plate so that the liquid handler <NUM> may aspirate some of the amplified DNA. However, the peeler (not shown) may be optional as the tips of the liquid handler <NUM> may be capable of piercing the seal provided on the PCR plate. Next, the robotic device <NUM> may grip the product assay plate and transfer the product assay plate from the liquid handler <NUM> to the microplate spectrophotometer <NUM> to verify amplification of the DNA and to determine the quantity. The robotic device <NUM> may grip the PCR plate and transfer the PCR plate from the liquid handler <NUM> to the incubator <NUM> for storage. The robotic device may grip the product assay plate and transfer the product assay plate from the spectrophotometer <NUM> to one of the hotels <NUM> for storage. The robotic device <NUM> may also grip the used tips and transfer the used tips to one of the hotels for <NUM> storage.

While the automated lab system <NUM> has been described as performing a DNA replication procedure via the liquid handler <NUM>, incubator <NUM>, reagent dispenser <NUM>, sealer <NUM>, microplate spectrophotometer <NUM>, thermocycler <NUM>, and thermocycler controller <NUM>, any combination of suitable scientific instruments or lab consumables may be positioned on or next to the vertical shelving system <NUM> for access by the robotic device <NUM> to perform any desired assay or procedure. The vertical distribution of at least some of the scientific instruments on the vertical shelving system <NUM> significantly reduces the horizontal footprint of the automated lab system <NUM> as compared to conventional automated lab systems. In one embodiment, the robotic device <NUM> may be eliminated, and the assay or procedure may be performed manually or via one or more electromechanical devices directly incorporated into one or more of the scientific instruments, storage units, or other features of the automated lab system <NUM>, for example.

While the handle <NUM> has been described for use with articulating shelves <NUM>, it will be appreciated that the handle <NUM> may be used with a various other types of shelves. For example, the handle <NUM> may be used with linearly sliding shelves. Alternatively, the handle <NUM> may be used with permanently fixed shelves. In such cases, the handle may be used for communicating an offline request, for example.

Referring now to <FIG>, the embodiments of the invention described above may be implemented using one or more computer devices or systems, such as exemplary computer system <NUM>. The computer system <NUM> may include a processor <NUM>, a memory <NUM>, a mass storage memory device (not shown), an input/output (I/O) interface <NUM>, and a user interface <NUM>. The computer system <NUM> may also be operatively coupled to one or more external resources <NUM> via the I/O interface <NUM> and/or a network <NUM>.

In one embodiment, the computer system <NUM> may be configured to operate the Momentum software commercially available from Thermo Fisher Scientific Inc for providing parallel or sequential processing operations using the automated laboratory system <NUM> of the present invention. Such software may enable standardized real-time, data-driven decision making that eliminates customized data handling, and may allow a user to define, execute and monitor complex processes in a powerful yet easy-to-use visual environment. Such software may also enable multiple workflows via real-time, data-driven decision-making, and may enable a user to specify the design, configuration and operation of their individual system and plug-in different schedulers to support a broad range of processes and workflows.

The processor <NUM> may include one or more devices selected from microprocessors, micro-controllers, digital signal processors, microcomputers, central processing units, field programmable gate arrays, programmable logic devices, state machines, logic circuits, analog circuits, digital circuits, or any other devices that manipulate signals (analog or digital) based on operational instructions that are stored in the memory <NUM>. Memory <NUM> may include a single memory device or a plurality of memory devices including but not limited to read-only memory (ROM), random access memory (RAM), volatile memory, non-volatile memory, static random access memory (SRAM), dynamic random access memory (DRAM), flash memory, cache memory, or any other device capable of storing information. The mass storage memory device <NUM> may include data storage devices such as a hard drive, optical drive, tape drive, non-volatile solid state device, or any other device capable of storing information. A database <NUM> may reside on the mass storage memory device <NUM>, and may be used to collect and organize data used by the various systems and modules described herein.

Processor <NUM> may operate under the control of an operating system <NUM> that resides in memory <NUM>. The operating system <NUM> may manage computer resources so that computer program code embodied as one or more computer software applications, such as application <NUM> residing in memory <NUM> may have instructions executed by the processor <NUM>. In an alternative embodiment, the processor <NUM> may execute the applications <NUM> directly, in which case the operating system <NUM> may be omitted. One or more data structures <NUM> may also reside in memory <NUM>, and may be used by the processor <NUM>, operating system <NUM>, and/or application <NUM> to store or manipulate data.

The I/O interface <NUM> may provide a machine interface that operatively couples the processor <NUM> to other devices and systems, such as the network <NUM> and/or external resource <NUM>. The application <NUM> may thereby work cooperatively with the network <NUM> and/or external resource <NUM> by communicating via the I/O interface <NUM> to provide the various features, functions, and/or modules comprising embodiments of the invention. The application <NUM> may also have program code that is executed by one or more external resources <NUM>, or otherwise rely on functions and/or signals provided by other system or network components external to the computer system <NUM>. Indeed, given the nearly endless hardware and software configurations possible, persons having ordinary skill in the art will understand that embodiments of the invention may include applications that are located externally to the computer system <NUM>, distributed among multiple computers or other external resources <NUM>, or provided by computing resources (hardware and software) that are provided as a service over the network <NUM>, such as a cloud computing service.

The user interface <NUM> may be operatively coupled to the processor <NUM> of computer system <NUM> in a known manner to allow a user to interact directly with the computer system <NUM>. The user interface <NUM> may include video and/or alphanumeric displays, a touch screen, a speaker, and any other suitable audio and visual indicators capable of providing information to the user. The user interface <NUM> may also include input devices and controls such as an alphanumeric keyboard, a pointing device, keypads, pushbuttons, control knobs, microphones, etc., capable of accepting commands or input from the user and transmitting the entered input to the processor <NUM>.

Claim 1:
A vertical shelving system (<NUM>) for use with a robotic device (<NUM>) in an automated laboratory system, the vertical shelving system comprising:
a frame (<NUM>) including at least one post (<NUM>) extending in a vertical direction;
a plurality of shelves (<NUM>) selectively attachable to the at least one post;
a handle (<NUM>) having at least one body portion (<NUM>) configured to be operatively attached to at least one of a plurality of shelves, wherein the at least one body portion is grippable by a user's hand for receiving a force exerted by the user's hand to move the at least one shelf between a docked position and an undocked position, the at least one shelf being configured to carry at least one instrument; and the at least one shelf being configured to be rotatable relative to the at least one post between the docked position and the undocked position when attached to the at least one post, characterized by:
at least one indicator included in the handle for providing a discernible indication of a status of the at least one shelf or the at least one instrument to a user.