Patent Description:
The present technology relates to labware and, more particularly, to the apparatus and methods for handling labware.

Laboratory liquid handling systems are used to transport and operate on volumes of liquid. One or more liquid samples may be provided in a labware container (e.g., microwell plate or sample tube holder) in a liquid handling system. The liquid handling system may include one or more pipettors that are used to remove (e.g., by aspirating) portions of the samples from the labware and/or to add (e.g., by dispensing) material to the samples in the labware. In some cases, it may be desirable or necessary to move labware or tools within the system. It may be desirable or necessary to move and place the labware robotically and/or to execute a procedure on the labware robotically and, in some cases, automatically and programmatically. It may also be desirable or necessary to mount pipette tips on the pipettors and/or remove pipette tips from the pipettors. <CIT> and <CIT> disclose labware handling systems similar to the preamble of claim <NUM>.

The invention is defined in the independent claims <NUM> and <NUM>.

In some embodiments, the biasing mechanism comprises a spring.

In some embodiments, the frame comprises a barrier adjacent the seat and opposing the pusher and, when the labware is positioned in the seat and the actuator linkage permits the pusher to move from the open position toward the closed position, the biasing mechanism forces the pusher to push the labware against the barrier.

According to some embodiments, when the labware is positioned in the seat and the actuator linkage permits the pusher to move from the open position toward the closed position, the pusher displaces the labware into an alignment with the seat.

In some embodiments, the pusher comprises a sloped bearing surface facing laterally inward toward the seat and upwardly away from the seat.

According to some embodiments, the actuator linkage comprises an engagement member that is configured to be displaced by an operator to displace the actuator linkage to move the pusher from the closed position toward the open position.

In some embodiments, the actuator linkage is configured to permit the pusher to move from the open position toward the closed position when the operator releases the engagement member.

In some embodiments, the engagement member is mechanically linked to the pusher.

In some embodiments, the engagement member comprises a lever member and redirects movement of the operator in a first direction to translational movement of the pusher in a second direction transverse to the first direction.

In some embodiments, the first direction is vertical and the second direction is horizontal.

According to some embodiments, the actuator linkage comprises a guide feature that constrains movement of the pusher to linear translation along a pusher travel axis.

According to some embodiments, the labware aligning system further comprises a detector system operative to determine a position of the pusher.

In some embodiments, the detector system comprises a photoemitter to generate a light beam, and a photodetector configured to receive the light beam. The pusher prevents the light beam from reaching the photodetector when the pusher is in the closed position. The pusher permits the light beam to reach the photodetector when the pusher is displaced by the labware in the seat.

According to some embodiments, the labware is at least one of a tip box, pipette tip box, a well plate, a microwell plate, and a rack configured to hold a plurality of fluid receptacles.

According to embodiments, the method comprises mechanically displacing the actuator linkage by displacing the engagement member with the carrier.

The accompanying drawings, which form a part of the specification, illustrate embodiments of the technology.

The present technology now will be described more fully hereinafter with reference to the accompanying drawings, in which illustrative embodiments of the technology are shown. In the drawings, the relative sizes of regions or features may be exaggerated for clarity. This technology may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the technology to those skilled in the art.

It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the present technology.

Spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The device may be otherwise oriented (rotated <NUM>° or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless expressly stated otherwise. It will be further understood that the terms "includes," "comprises," "including" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The term "automatically" means that the operation is substantially, and may be entirely, carried out without human or manual input, and can be programmatically directed or carried out.

The term "programmatically" refers to operations directed and/or primarily carried out electronically by computer program modules, code and/or instructions.

The term "electronically" includes both wireless and wired connections between components.

With reference to <FIG>, an example labware handling system <NUM> according to certain embodiments of the present technology is shown. The illustrated labware handling system <NUM> forms a part of a liquid handling system <NUM> (<FIG>) according to the illustrated embodiments of the present technology, however it shall be understood that the disclosed methods, systems, and apparatus are not limited to liquid handling systems and/or applications, and the present disclosure is applicable to other systems and applications where it is desired to align labware. For the <FIG> embodiment, the labware handling system <NUM> transports and positions a labware <NUM> within the system <NUM>.

As discussed in more detail below, the example illustrated labware handling system <NUM> includes a labware transport system <NUM> and a labware aligning system or labware holder <NUM> (hereinafter, referred to as the labware holder <NUM>). In some embodiments, the labware transport system <NUM> transports the labware <NUM> and places the labware <NUM> in the labware holder <NUM>. In other embodiments or uses, the labware transport system <NUM> is not provided or is not used to transport the labware <NUM> and/or install the labware <NUM> in the labware holder <NUM>.

With reference to <FIG>, the illustrated system <NUM> includes a platform or deck <NUM>, a frame <NUM>, a controller <NUM>, an analytical instrument <NUM>, a liquid handler <NUM>, a pipetting module <NUM>, and a pipetting module positioner <NUM>.

For the purpose of discussion and as indicated in <FIG> and <FIG>, the workspace defines a Z-axis corresponding to vertical, and orthogonal X- and Y-axes that together define a horizontal plane.

In the illustrated embodiments, the labware <NUM> is a container that is transportable in a work area (relative to the deck <NUM>), although the present disclosure is not limited to a type of labware. The illustrated labware includes a tray, rack, carrier or platter <NUM> (<FIG>) and a plurality of target units or objects <NUM> (<FIG>) mounted in the platter <NUM>. In some embodiments such as the illustrated embodiments, the objects <NUM> are pipette tips.

However, the labware may take other forms in accordance with embodiments of the technology. In some embodiments, the labware <NUM> is a container that is configured to hold one or more liquid samples to be operated on by the system <NUM>. The labware <NUM> may include a plurality of receptacles each configured to hold a respective liquid sample. The receptacles may be individual vials or other vessels removably seated in the platter <NUM> in place of the pipette tips <NUM>. By way of further example, the labware <NUM> may be or include a well plate or microwell plate including integral recesses or receptacles to directly contain liquid samples. However, it will be understood that the disclosed methods, systems and apparatus are not limited to use with labware that holds objects (e.g., pipette tips) or liquid samples.

The labware <NUM> may be or include a platter or rack of another configuration that holds pipette tips, vials or other suitable types of liquid containers or vessels.

The illustrated platter <NUM> of <FIG> includes carrier engagement features in the form of grooves <NUM> extending horizontally along either side of the platter <NUM>. The illustrated platter <NUM> also includes a plurality of receptacles or slots <NUM>, each accessible from the top side of the platter <NUM>. In such a system, the pipette tips <NUM> may each be mounted in a respective one of the slots <NUM>. In some embodiments, the slots <NUM> are arranged in a prescribed X-Y array. For example, the illustrated platter <NUM> includes an <NUM> by <NUM> array of the slots <NUM> (for <NUM> slots total).

For an embodiment of the disclosure according to <FIG>, a liquid handler <NUM> may be understood to be any apparatus that can aspirate and/or dispense a desired amount of a liquid from or into a container. Example liquid handlers <NUM> may include, for example, a syringe or pump fluidly connected to the pipetting module <NUM> by one or more lengths of tubing 30A. The illustrated liquid handler <NUM> may be controlled by the controller <NUM>.

The illustrated pipetting module <NUM> may include a housing or base <NUM> and a plurality of pipettors <NUM> mounted on the base <NUM>. The pipettors <NUM> may be arranged in a single row or in a prescribed X-Y array, for example.

A pipetting module positioner <NUM> may be provided in such an embodiment to move the pipetting module <NUM> about the deck <NUM>. The pipetting module <NUM> may include one or more pipettor actuators 49A to selectively lower and raise (extend and retract) the pipettors <NUM> with respect to the base <NUM> and/or to raise and lower the base <NUM> with respect to the deck <NUM>. The pipetting module positioning system <NUM> and the actuator(s) 49A may be controlled by the controller <NUM>.

With reference to <FIG>, and with continued reference to the illustrative embodiment of <FIG>, each pipettor <NUM> may be understood to have a lengthwise axis T-T and a distal end portion <NUM>. Similarly, each pipettor <NUM> may be understood to include an axially extending passage 48B that terminates at an opening 48A at its distal end portion <NUM>. In use in accordance with a system according to <FIG>, each pipettor <NUM> can be raised and lowered along its lengthwise axis T-T by the pipettor actuator(s) 49A. In some embodiments, the axis T-T is substantially parallel to the vertical axis Z-Z. In some embodiments, one or more of the pipettors <NUM> are fluidly connected to the liquid handler <NUM> by the tubing 30A.

Each pipettor <NUM> may also include a pipette tip ejector mechanism <NUM> (schematically illustrated in <FIG>).

With continued reference to <FIG>, each illustrated pipette tip <NUM> is tubular and has a distal end 60A and an opposing proximal end 60B. Each pipette tip <NUM> includes a through passage <NUM> that extends fully through the pipette tip <NUM> and terminates at a terminal opening <NUM> at its distal end 60A. Each pipette tip <NUM> also includes a coupling base <NUM> on its proximal end 60B. Each pipette tip <NUM> is seated in a respective one of the slots <NUM> such that its coupling base <NUM> faces upward.

The distal end portions <NUM> of the pipettors <NUM> and the coupling bases <NUM> are cooperatively adapted or configured to releasably or detachably secure each pipette tip <NUM> to a respective distal end portion <NUM>. In some embodiments, the pipettors <NUM> and the pipette tip coupling bases <NUM> are configured such that, when a distal end portion <NUM> is inserted axially into a coupling base <NUM>, the coupling base <NUM> will grip (e.g., by interference fit and/or by an O-ring (e.g., elastomeric O-ring) mounted on the distal end portion <NUM> or on the coupling base <NUM>) or interlock with the distal end portion <NUM>. In some embodiments, the grip or interlock is sufficient to retain the pipette tip <NUM> on the end portion <NUM> during operations as described herein, but also permits the pipette tip <NUM> to be detached and removed from the end portion <NUM> when deliberately acted upon in a removal operation. In some embodiments, the pipette tip ejector mechanism <NUM> is configured to selectively and forcibly push each pipette tip <NUM> off of its associated pipettor <NUM>.

With reference to <FIG>, in some embodiments, the labware <NUM> is provided as a tip box or pipette tip box including the platter <NUM> and pipette tips <NUM> may be pre-installed therein by, e.g., a manufacturer.

The illustrated transport system <NUM> (<FIG>) includes an articulating robotic transport arm <NUM>, a carrier <NUM> (provided as an end effector on the transport arm <NUM>), and one or more transport arm actuators <NUM>. The transport arm actuators <NUM> are operable to move the carrier <NUM> about the deck <NUM>, including raising and lowering the carrier <NUM>.

In some embodiments, the carrier <NUM> is a robotic gripper. The illustrated carrier <NUM> (<FIG>) includes a carrier base <NUM> and a pair of opposed carrier fingers or arms <NUM> mounted on the base <NUM>. The illustrated carrier arms <NUM> are cantilevered from the carrier base <NUM> and extend along a lengthwise axis A-A. The illustrated arms <NUM> are spaced apart about the axis A-A to define an open space therebetween. Each arm <NUM> is provided with a support feature or tab <NUM> that projects laterally inwardly toward the opposing arm <NUM>. In the illustrated embodiment, the support arms <NUM> and tabs <NUM> define a carrier seat <NUM>, however such example is provided for illustration and not limitation.

The example carrier <NUM> further includes a carrier actuator <NUM> configured selectively to displace the arms <NUM> laterally along a lateral axis A-A toward one another (in convergent directions DG) and laterally apart (in divergent directions DR). In this way, the carrier actuator <NUM> can be used to place the carrier <NUM> in an open position (<FIG>) wherein the arms <NUM> are spread apart a first distance and, alternatively, in a closed position (<FIG>) wherein the arms <NUM> are laterally spread apart a second distance that is less than the first distance.

It will be appreciated from the disclosure herein that the transport system <NUM> and the carrier <NUM> may have different configurations than shown herein. For example, the transport system <NUM> may include a rail and gantry mechanism in place of or in addition to the transport arm <NUM>.

The construction and functionality of the liquid handler <NUM>, pipetting module <NUM>, pipetting module positioner <NUM>, and labware transport system <NUM> are only exemplary, and it will be appreciated that these systems and components may be otherwise constructed and operated in accordance with embodiments of the technology.

The illustrated labware holder <NUM> includes a frame <NUM> and a fixation system <NUM> that define a labware holder seat <NUM>, although the present disclosure is not limited to such an embodiment. The labware holder <NUM> may further include a labware presence detection system <NUM> (<FIG>).

The <FIG> frame <NUM> includes a frame base <NUM> and three rigid stops 116A, 116B, 116C.

The example frame <NUM> has a first or main axis M-M (<FIG>), a second or lateral axis L-L, and a third or heightwise axis H-H (<FIG>). In some embodiments, the heightwise axis H-H is substantially vertical, and the main axis M-M and the lateral axis L-L are substantially perpendicular to one another and to the heightwise axis H-H.

Returning to <FIG>, the illustrated frame base <NUM> includes a planar, horizontally oriented support surface <NUM> (<FIG>) bounded by a front end side 112A, an opposing rear end side 112B, a first lateral side 112C, and an opposing second lateral side 112D. A recess <NUM> (<FIG>) is defined in one corner of the base <NUM>. The support surface <NUM> defines a holder base plane that is substantially horizontal.

The stop 116A is located at the edge of the rear end side 112B proximate the corner between the sides 112B and 112D. In this embodiment, a stop 116B is located at the edge of the lateral side 112D proximate the corner between the sides 112B and 112D so that the stops 116A and 116B are oriented perpendicular with one another and collectively define a corner seat <NUM>. The stop 116C is also located at the edge of the lateral side 112D and axially spaced apart from the stop 116B. The stops 116B and 116C collectively form a lateral side barrier. The stop 116A forms an end barrier. Other configurations of stops may be used, and the present disclosure is not limited to the illustrated embodiments that are provided for illustration and not limitation.

Referring to <FIG>, the illustrated fixation system <NUM> includes a pusher <NUM>, a mount assembly <NUM>, a pusher actuator linkage <NUM>, and a spring <NUM>. The actuator linkage <NUM> and the spring <NUM> cooperatively form a pusher actuator.

For the purposes of the present disclosure, a pusher may be understood to be a mechanism that is responsible for and/or capable of urging a labware component into a seat of a frame. The illustrated pusher <NUM> of <FIG> and <FIG> includes a body or base <NUM> having a planar, horizontally oriented support surface 132A. The illustrated pusher <NUM> further includes an integral stop, post, or bearing feature <NUM> projecting upwardly from the support surface 132A and having a bearing surface <NUM>. The bearing surface <NUM> (<FIG>) includes a lower face 136A and a chamfer or sloped upper face 136B. As discussed below, the pusher <NUM> is slidably coupled to the base <NUM> to slide in an inward direction DC and an opposing outward direction DO along a substantially horizontal slide or pusher travel axis P-P. The pusher travel axis P-P is substantially parallel to the main axis M-M.

Referring to <FIG>, the lower face 136A of the pusher <NUM> is substantially planar and defines a pusher lower face plane. The pusher lower face plane extends substantially parallel to vertical Z-Z (i.e., substantially perpendicular to the horizontal base plane of the support surface <NUM>). The pusher lower face plane forms an oblique angle A1 (<FIG>) with the pusher travel axis P-P.

The illustrated pusher <NUM> upper face 136B is substantially planar and defines a pusher upper face plane. The pusher upper face plane extends at an oblique angle A2 (<FIG>) relative to vertical Z-Z. The upper face plane 136B forms an oblique angle A3 (<FIG>) with the pusher travel axis P-P. The upper face 136B of the bearing surface <NUM> faces laterally inward toward the seat <NUM> and upwardly away from the seat <NUM>.

It will be appreciated that the shape and construction of the pusher <NUM> is exemplary, and the pusher may have a different configuration in accordance with other embodiments of the technology.

A lever guide slot <NUM> (<FIG>) is defined the outer lateral side of the illustrated pusher <NUM>. The lever guide slot <NUM> extends substantially vertically.

An integral linear guide rail <NUM> (<FIG><FIG>extends along the inner lateral side of the pusher <NUM>. The guide rail <NUM> extends along a substantially horizontal axis.

An integral detection tab <NUM> (<FIG><FIG>projects forwardly from the front end of the pusher <NUM>.

A mount assembly <NUM> (<FIG>) includes a fixation block <NUM> and a guide track <NUM>. The fixation block <NUM> is affixed to the base <NUM>, and the guide track <NUM> is in turn affixed to the fixation block <NUM>. The guide track <NUM> defines a guide groove 154A in which the guide rail <NUM> is slidably received. The illustrated guide rail <NUM>, and thereby the pusher <NUM>, are thereby coupled to the base <NUM> to be slid along the pusher travel axis P-P. The engagement between the guide track <NUM> and the guide rail <NUM> (<FIG><FIG>constrains the pusher <NUM> to linear movement along the pusher travel axis P-P.

A spring <NUM> may serve as a biasing mechanism, although such is merely an example of a biasing mechanism. For the illustrated embodiment, the spring <NUM> may be any suitable type of spring. In some embodiments and as illustrated, the spring <NUM> is a wound coil spring. One end 156A of the spring <NUM> is anchored to the pusher <NUM> (e.g., by a spring pin). The opposing end 156B of the spring <NUM> is anchored to the base <NUM> (e.g., by an attachment feature or fastener).

Referring to <FIG> and <FIG>-<NUM>, a pusher actuator linkage <NUM> includes an engagement member or lever member <NUM>, a lever holder <NUM>, a pivot pin <NUM>, and a guide pin <NUM>. The lever member <NUM> includes an upper leg <NUM>, a lower leg <NUM>, a pivot hole <NUM>, and an engagement feature <NUM>. The lever holder <NUM> is rigidly mounted on the base <NUM>. The lever member <NUM> is pivotably coupled to the lever holder <NUM> by the pivot pin <NUM> for rotation about a horizontal pivot axis Q-Q (<FIG>). The upper leg <NUM> is laterally offset from the pivot axis Q-Q.

The guide pin <NUM> is affixed to the lower leg <NUM> and extends laterally inward. The guide pin <NUM> is slidably seated in the guide slot <NUM> (<FIG><FIG>of the pusher <NUM> and mechanically links the lever member <NUM> to the pusher <NUM>.

The engagement feature <NUM> is located on the upper end of the upper leg <NUM>. The engagement feature <NUM> includes an engagement surface on the top side thereof and having an inner section 176A extending toward the base <NUM>, and an outer section 176B extending away from the base <NUM>.

Referring now to <FIG>, a detection system <NUM> includes an engagement member or photoemitter 178A and a photosensor 178B that may be spaced apart to define a slot <NUM> therebetween. As discussed below, when the pusher <NUM> is slid inward toward a closed position, the detection tab <NUM> is received in the slot <NUM> and, when the pusher <NUM> is slid outward toward an open position, the detection tab <NUM> is removed from the slot <NUM>.

With reference to <FIG>, the illustrated seat <NUM> is bounded by the base <NUM>, the stops 116A-C, the lever holder <NUM>, and the pusher <NUM>. The seat <NUM> has a front end 102A proximate the base front end 112A, a rear end 102B proximate the base rear end 112B, a first lateral side 102C proximate the base side 112C, and a second lateral side 102D proximate the base lateral side 112D. The illustrated seat <NUM> also includes a top opening 102E (<FIG>).

Exemplary operation of a system <NUM> and labware handling system <NUM> and use of a holder <NUM> in accordance with methods of the present technology will now be described with reference to <FIG>. It will be appreciated that the following procedure is exemplary and may be modified depending on the desires of the operator.

Initially, the labware holder <NUM> is empty and no labware is disposed in the carrier seat <NUM>. The spring <NUM> retains the pusher <NUM> in a closed position (as shown in <FIG> and <FIG>). The front end of the pusher <NUM> abuts an edge of the recess <NUM> (<FIG>). In some embodiments, the spring <NUM> is in tension (i.e., stretched from its relaxed state) when the pusher <NUM> is in its closed position so that the spring <NUM> exerts a persistent load drawing the pusher <NUM> in the forward direction DR.

With continued reference to <FIG>, the labware <NUM> may be disposed on the deck <NUM> or elsewhere. For example, the labware <NUM> may be a tip box stacked on one or more other tip boxes in a location accessible by the transport system <NUM>. The transport system <NUM> is operated to grab the labware <NUM>, transport the labware <NUM> to the holder <NUM>, deposit the labware <NUM> in the holder <NUM>, and release the labware <NUM>. These operations may be executed by the controller <NUM>.

More particularly, and as exemplified in <FIG> and <FIG>, the arms <NUM> of the carrier <NUM> are spread apart in direction DR by the carrier actuator <NUM> into an open position. In the open position, the arms <NUM> are spaced apart a prescribed distance. In the open position, the spacing between the support tabs <NUM> is greater than a corresponding width of the labware <NUM>.

As shown in <FIG> for the illustrated embodiment, the transport arm <NUM> is then driven by the transport arm actuator <NUM> to position the support tabs <NUM> in alignment with the labware grooves <NUM> (<FIG> and <FIG>). The carrier actuator <NUM> (<FIG>) then displaces the arms <NUM> inwardly into a gripping position. In the gripping position, the arms <NUM> are spaced apart a distance that is less than the first arm spacing distance, and the support tabs <NUM> are received in the grooves <NUM>. The labware <NUM> is thereby gripped by the carrier <NUM>. The support tabs <NUM> are positioned under portions of the labware <NUM> so that the weight of the labware <NUM> is supported by the support tabs <NUM>.

The <FIG> transport arm <NUM> is then driven by the transport arm actuator <NUM> to position the carrier <NUM> and the gripped labware <NUM> over the seat <NUM> and generally (but, typically, imprecisely) in alignment with the seat <NUM> (e.g., as shown in <FIG>). For example, in some embodiments, the labware <NUM> is substantially centered relative to the lateral side boundaries 102A-D (<FIG>) of the seat <NUM>.

The transport arm <NUM> is then driven by the transport arm actuator <NUM> to lower the carrier <NUM> (in direction D4, <FIG>) and the gripped labware <NUM> into the seat <NUM>. As the carrier <NUM> is lowered, the left arm <NUM> contacts the inner section 176A of the <FIG> lever arm engagement feature <NUM>. As the arm drive <NUM> further moves the carrier <NUM> downward, the arm <NUM> applies a downward vertical force to the engagement features <NUM>. This force mechanically displaces the lever member <NUM> to rotate about the pivot axis Q-Q (<FIG>) in direction D5 (<FIG>). The rotation of the lever member <NUM> displaces the <FIG> guide pin <NUM> rearward (direction DO, <FIG>) and upward so that the guide pin <NUM> slides upward in the guide slot <NUM> while pushing the pusher <NUM> in the rearward direction DO. The linkage <NUM> thereby redirects movement of the carrier arm <NUM> in a first direction to translational movement of the pusher <NUM> in a second direction transverse to the first direction. More particularly, the linkage <NUM> thereby redirects or converts the vertical downward translational movement of the carrier arm <NUM> into horizontal outward translational movement of the pusher <NUM>. In some embodiments, the pusher travel axis P-P (<FIG>) is substantially perpendicular to the axis of downward movement of the arm <NUM>. The displacement of the pusher <NUM> stretches the spring <NUM> and the return force of the spring <NUM> maintains the lever member <NUM> in firm contact with the arm <NUM>.

The illustrated <FIG> transport arm actuator <NUM> lowers the carrier <NUM> into the seat <NUM> until the pusher <NUM> is displaced into an open position (<FIG>) and the labware <NUM> rests on the support surface <NUM> (<FIG>) of the base <NUM>.

The <FIG> lever member <NUM>, the arm <NUM>, and the labware <NUM> are relatively configured and arranged such that contact between the labware <NUM> and the pusher <NUM> is prevented. The arm <NUM> (via the linkage <NUM>, <FIG> and <FIG>-<NUM>) displaces the pusher <NUM> outward in advance of the labware <NUM> entering the volume occupied by the pusher <NUM> in the closed position, and holds the pusher <NUM> in this more open position until the labware <NUM> is resting on the support surface <NUM>. That is, the linkage <NUM> places and maintains the pusher <NUM> in a position that obviates contact or interference between the pusher <NUM> and the labware <NUM> as the labware <NUM> is lowered into the seat <NUM>. In the open position of the pusher <NUM>, the spring <NUM> is stretched from its relaxed position.

The pusher <NUM> travels a distance L2 (<FIG>) from its closed position (<FIG>; i.e., with the lever member <NUM> in its upright, ready position) to its open position (<FIG>; i.e., with the carrier arm <NUM> in its lowest position on the lever member <NUM>).

With the labware <NUM> in placed on the support surface <NUM> (<FIG>), the actuator <NUM> moves the arms <NUM> back apart into the carrier open position. In doing so, the left arm <NUM> slides outwardly (direction D6; <FIG>) along the lever member engagement feature <NUM> from the inner section 176A to the outer section 176B (<FIG>). The support tabs <NUM> are thereby withdrawn from the labware grooves <NUM> and positioned laterally clear of the labware <NUM>. The vertical position of the left arm <NUM> remains the same during this transition so that the position of the lever member <NUM> is not changed and the pusher <NUM> is thereby maintained in its open position.

With the carrier arms <NUM> in the open position, the transport arm actuator <NUM> raises the carrier <NUM> vertically away from the seat <NUM> and the lever member <NUM>. As the left carrier arm <NUM> is lifted, the engagement feature <NUM> is no longer displaced by the left carrier arm <NUM> and is permitted to move upward. As a result, the lever member <NUM> rotates in a direction opposite the direction D5. This release of the lever member <NUM> permits the spring <NUM> to force the pusher <NUM> to slide in a closing direction DC (<FIG>) toward its closed position.

The return force of the spring <NUM> is applied to the labware <NUM> by the pusher <NUM>. As the pusher <NUM> moves toward its closed position, the pusher <NUM> engages the proximate corner of the labware <NUM>. As the pusher <NUM> continues to move toward its closed position, the force of the spring <NUM> causes the pusher <NUM> to align the labware <NUM> in the seat <NUM>. More particularly, the spring-loaded pusher <NUM> displaces the labware into an alignment with the seat <NUM>.

Although the displacement of the pusher <NUM> is in direction DC, the biased bearing face 136A distributes the force on the labware <NUM> both forwardly (direction DF1; <FIG>) and laterally (direction DF2) toward the corner seat <NUM>. The corner and sides of the labware <NUM> furthest from the pusher <NUM> are thereby pushed up against and loaded against the stops 116A-C.

As shown in <FIG>, the illustrated pusher <NUM> travels a distance L3 in the direction DC until it assumes a fixing position, wherein the pusher <NUM> is prevented by the labware <NUM> from travelling further. In the fixing position (<FIG> and <FIG>), the lever member <NUM> is partially returned toward its upright, ready position. The return travel distance L3 is less than the opening travel distance L2 (<FIG>). The distance between the pusher <NUM> and the seat rear end 102B (<FIG>) in the fixing position is less than the distance between the pusher <NUM> and the seat rear end 102B in the open position, but greater than the distance between the pusher <NUM> and the seat rear end 102B in the closed position.

The spring-loaded pusher <NUM> clamps the labware <NUM> between the pusher <NUM> and the stops 116A-C. In this manner, the labware <NUM> is forcibly aligned in, positioned in and registered with the holder <NUM> and the seat <NUM>. The labware <NUM> is captured between the bearing face 136A (<FIG>) of the pusher <NUM> and the stops 116A-C. In some embodiments, the spring <NUM> remains stretched in the fixing position so that it continues to apply a load to the labware <NUM> via the pusher <NUM>, thereby fixing the labware in position in the seat <NUM>.

The labware <NUM> may then be operated on by the system <NUM> while secured in the holder <NUM>. In some embodiments, the system <NUM> uses the pipetting module <NUM> to execute an operation while the labware is fixed in the seat <NUM>.

In some embodiments, the pipetting module <NUM> is used to execute a pipette tip loading operation while the labware <NUM> is fixed in the seat <NUM>. For example, in some embodiments, the pipetting module positioner <NUM> moves the pipetting module <NUM> into vertical alignment or registry with the labware <NUM> as shown in <FIG>. The pipettor actuators 49A then lower the pipettor distal end portions <NUM> into respective ones of the coupling bases <NUM> of the pipette tips <NUM>. The pipette tips <NUM> are thereby secured to the pipettor distal end portions <NUM>. The pipettor actuators 49A then raise the pipettors <NUM> to remove the secured pipette tips <NUM> from the slots <NUM>. In <FIG>: the leftmost pipettor <NUM>-<NUM> is shown raised after insertion into its pipette tip <NUM>, with the pipette tip <NUM> installed on the pipettor's <NUM>-<NUM> distal end portion <NUM> and ready for use; the next adjacent pipettor <NUM>-<NUM> is shown lowered into a pipette tip <NUM> that is still seated in its slot <NUM>; and the remaining pipettors <NUM> are shown in their raised positions without having retrieved a pipette tip <NUM>.

The pipettors <NUM> with the pipette tips <NUM> installed thereon can thereafter be used to execute further operations. Such further operations may include aspirating and/or dispensing liquid through the pipette tips <NUM> using the liquid handler <NUM> (e.g., as described below).

The illustrated ejector mechanisms <NUM> of <FIG> can thereafter be used to eject the pipette tips <NUM> from the pipettors <NUM>. For example, the pipetting module positioner <NUM> (<FIG>) may again move the pipetting module <NUM> into vertical alignment or registry with the labware <NUM> as shown in <FIG>. With the pipetting module <NUM> so aligned, the ejector mechanisms <NUM> can push the pipette tips <NUM> off the pipettors <NUM> and into respective ones of the slots <NUM>.

In further embodiments, the labware <NUM> may be provided with empty slots <NUM> (i.e., slots <NUM> without pipette tips <NUM> disposed therein) and installed in the holder seat <NUM> as described herein. Then, the pipetting module positioner <NUM> and the ejector mechanisms <NUM> can be used to deposit pipette tips <NUM> (that were otherwise installed on the pipettors <NUM>) in the slots <NUM>. For example, the labware <NUM> may be an empty tray that is used to collect used pipette tips <NUM> to be discarded.

When it is thereafter desired to remove the labware <NUM> from the holder <NUM>, the carrier <NUM> may be positioned by the transport arm actuator <NUM> (<FIG>) over the seat <NUM> and generally in alignment with the seat <NUM> (e.g., as shown in <FIG>). If the carrier arms <NUM> are not already in their open position, the carrier actuator <NUM> (<FIG>) places the arms <NUM> in the open position. The transport arm <NUM> is then driven by the transport arm actuator <NUM> to lower the carrier <NUM> (in direction D4) toward the seat <NUM>. As the carrier <NUM> is lowered, the left arm <NUM> contacts the outer section 176B (<FIG>) of the lever arm engagement feature <NUM>. As the transport arm actuator <NUM> further moves the carrier <NUM> downward, the arm <NUM> applies a downward vertical force to the engagement feature <NUM>. In the illustrated embodiments, this force causes the lever member <NUM> to rotate about the pivot axis Q-Q in direction D5 and push the pusher <NUM> in the opening direction DO against the return force of the spring <NUM>, as described above. In such an embodiment, the labware <NUM> is thereby released (i.e., no longer clamped between the pusher <NUM> and the stops 116A-C). The transport arm actuator <NUM> lowers the carrier <NUM> into the seat until the pusher <NUM> is displaced into the fully open position (<FIG>) and carrier support tabs <NUM> are aligned with the labware grooves <NUM>.

The actuator <NUM> then displaces the arms <NUM> inwardly into the gripping position. In doing so, the left arm <NUM> slides inwardly (direction DG, <FIG>) along the lever member surface of the engagement feature <NUM> from the outer section 176B to the inner section 176A. The support tabs <NUM> are thereby inserted into the labware grooves <NUM> and the labware <NUM> is thereby gripped by the carrier <NUM>. The vertical position of the left arm <NUM> remains the same during this transition so that the position of the lever member <NUM> is not changed and the pusher <NUM> is thereby maintained in its open position.

With the carrier arms <NUM> gripping the labware <NUM> and the pusher <NUM> in the open position, the transport arm actuator <NUM> raises the carrier <NUM> (and the labware <NUM>) vertically away from the seat <NUM> and the lever member <NUM>. As the left carrier arm <NUM> is lifted, the engagement feature <NUM> is permitted to move upward and the lever member <NUM> rotates in a direction opposite the direction D5 (<FIG>). This permits the spring <NUM> to force the pusher <NUM> to slide in the closing direction DC (<FIG>). Because the labware <NUM> has been removed from the seat, in the illustrated embodiment, the pusher <NUM> is permitted to return to its fully closed position (<FIG>). The labware <NUM> can then be transported to another location by the carrier <NUM>.

A photosensor 178B (<FIG>) of the detection system <NUM> may be monitored by the controller <NUM> (<FIG>) and the output of the photosensor used by the controller <NUM> to determine whether the holder <NUM> (<FIG>) is occupied (i.e., whether a labware is present or not present). For example, a photoemitter 178A (<FIG>) directs a light beam to the photosensor 178B to form a light barrier across the slot <NUM>. When the pusher <NUM> is in the closed position, the detection tab <NUM> will be disposed in the slot <NUM> and will occlude the light from the photoemitter 178A to the photosensor 178B, thereby indicating to the controller <NUM> that the seat is empty. When a labware <NUM> is fixed in the seat <NUM>, the width of the labware <NUM> holds the pusher <NUM> in a fixing position wherein the detection tab <NUM> is withdrawn from the slot <NUM>. In this case, the detection tab <NUM> does not occlude the light from the photoemitter 178A to the photosensor 178B, thereby indicating to the controller <NUM> that the seat is occupied.

Thus, it will be appreciated that the pusher actuator linkage <NUM> is configured to move the pusher <NUM> from its closed position (<FIG> and <FIG>) to an open position (<FIG>) when the pusher actuator linkage <NUM> is displaced by an operator (e.g., by the carrier <NUM> or manually). The pusher actuator linkage <NUM> is also configured to permit the pusher <NUM> to move back from the open position toward the closed position when the pusher actuator linkage <NUM> is no longer displaced by an operator. The spring <NUM> is operative to force the pusher <NUM> toward the closed position when the pusher actuator linkage <NUM> is not displaced by the operator and to thereby cause the pusher <NUM> to align the labware <NUM> in the seat <NUM>. When the labware <NUM> is positioned in the seat <NUM> and the pusher actuator linkage <NUM> permits the pusher <NUM> to move from the open position toward the closed position, the pusher <NUM> displaces the labware into an alignment with the seat <NUM> (e.g., as shown in <FIG>).

With reference to <FIG>, in still further embodiments the labware <NUM> may be replaced with an alternative labware <NUM>'. The labware <NUM>' may be constructed and used in the same manner as the labware <NUM>, except as follows.

The labware <NUM>' includes a platter <NUM>' corresponding to the platter <NUM> and having slots <NUM>' corresponding to the slots <NUM>. The labware <NUM>' also includes vials or other vessels or receptacles <NUM> configured to hold one or more liquid samples to be operated on by the system <NUM>. The vials <NUM> are each removably seated in a respective one of the slots <NUM>' in place of pipette tips <NUM>. Each vial <NUM> has an opening at its proximal end 68A and facing upward.

The pipettors <NUM> may have pipette tips <NUM> mounted thereon. The pipetting module positioner <NUM> (<FIG>) moves the <FIG> pipetting module <NUM> into vertical alignment or registry with the labware <NUM>' as shown in <FIG>. The pipettor actuators 49A (<FIG>) then lower the pipettor tips <NUM> into respective ones of the vials <NUM>.

In some embodiments, the system <NUM> then aspirates liquid from vials <NUM> into the inserted pipettors <NUM>. In some embodiments, the system <NUM> then dispenses liquid into the vials <NUM> from the inserted pipettors <NUM>.

The aspirating and/or dispensing can be enabled using the liquid handler <NUM>. For example, in some embodiments, the liquid handler <NUM> generates a vacuum to aspirate a volume of liquid from each vial <NUM> into the corresponding pipettor <NUM>. The aspirated liquid may be transferred through the tubing 30A to another device such as the analytical instrument <NUM>, or may be subsequently dispensed from the pipettor <NUM>. In some embodiments, a volume of liquid is supplied to the pipettors <NUM> from the liquid handler <NUM> through the tubing 30A and dispensed into the vials <NUM> from the pipettors <NUM>.

By way of further example, the labware <NUM>' may be or include a well plate or microwell plate including integral recesses or receptacles to contain liquid samples. In this case, the liquid samples are dispensed directly into or aspirated directly from the slots <NUM>', which do not contain separate vials.

The foregoing examples are not exhaustive, and the system <NUM> may perform any suitable operations on the secured labware <NUM>, <NUM>' or other suitable labware.

Operations described herein can be executed by or through the controller <NUM>. The actuators <NUM>, 49A, <NUM>, <NUM> and other devices of the system <NUM> can be electronically controlled. According to some embodiments, the controller <NUM> programmatically executes some, and in some embodiments all, of the steps described. According to some embodiments, the movements of the actuators <NUM>, 49A, <NUM>, <NUM> are fully automatically and programmatically executed by the controller <NUM>. The controller <NUM> may be provided with an HMI <NUM> to receive user commands.

In some embodiments, the controller <NUM> automatically and programmatically executes the steps of gripping the labware <NUM>, <NUM>' with the carrier <NUM>, transporting the labware <NUM>, <NUM>' in the carrier <NUM> to the holder <NUM>, and placing the labware <NUM>, <NUM>' into the seat <NUM> (including opening the pusher <NUM> via the linkage <NUM> as described above).

In some embodiments, the controller <NUM> automatically and programmatically executes the steps of positioning the pipetting module <NUM> over the labware <NUM>, <NUM>' installed in the holder <NUM>, inserting the pipettors <NUM> into the pipette tips <NUM> or the vials <NUM>. In some embodiments, the controller <NUM> also automatically and programmatically executes the step of aspirating liquid from the vials <NUM> or dispensing liquid into the vials <NUM> as described above.

In some embodiments, the controller <NUM> automatically and programmatically executes the steps of inserting the carrier <NUM> into the seat <NUM> (including opening the pusher <NUM> via the linkage <NUM> as described above), gripping the labware <NUM>, <NUM>' with the carrier <NUM> in the seat <NUM>, lifting the labware <NUM>, <NUM>' out of the holder <NUM>, and transporting the labware <NUM>, <NUM>' in the carrier <NUM> away from the holder <NUM>.

In some embodiments, the labware <NUM>, <NUM>' is manually placed in and/or removed from the holder <NUM> rather than using the carrier <NUM> or another robotic mechanism. This may be accomplished using either of two techniques. The labware <NUM> is referred to below; however, it will be appreciated that this discussion likewise applies to other labware (e.g., the labware <NUM>').

According to a first technique, the operator (i.e., a human user) presses down (direction D4; <FIG>) and/or sideways (direction D5; <FIG>) on the upper leg <NUM> of the lever member <NUM> to thereby force the pusher <NUM> into its open position. The operator may press or displace the lever member <NUM> in this manner manually using the operator's finger or hand directly, or indirectly, using a handheld tool, for example. The operator or user then places the labware <NUM> on the base support surface <NUM> in the seat <NUM> while maintaining the lever member <NUM> in the open position. Once the labware <NUM> is placed or positioned in the seat <NUM>, the operator manually releases the lever member <NUM>, which allows the pusher <NUM> (under the force of the spring <NUM>) to retract and positively position the labware <NUM> in the seat in the same manner as described herein.

According to another technique, the human operator manually places or presses the labware <NUM> into the seat <NUM> without pressing the lever member <NUM>. In this case, a corner of the labware <NUM> contacts the sloped face 136B (<FIG>) of the pusher <NUM>. The vertically downwardly directed load from the labware <NUM> is redirected by the sloped face 136B and forces the pusher <NUM> to slide outward (direction DO) against the return force of the spring <NUM> until the labware <NUM> clears the lower edge of the sloped face 136B. When the labware <NUM> is seated on the support surface <NUM> and released by the operator, the pusher <NUM> (under the force of the spring <NUM>) will positively position the labware <NUM> in the seat in the same manner as described above.

The labware <NUM> can be removed from the holder <NUM> by simply lifting the labware by hand out of the seat <NUM>, thereby permitting the pusher <NUM> to return to its closed position. If desired, the lever member <NUM> (<FIG>) can be pressed by hand to force the pusher <NUM> away from the labware <NUM> before lifting, in order to ease removal.

In a system including a transport system, such as the transport system <NUM>, labware may be loaded into and/or removed from the holder <NUM> both robotically and by hand.

According to further embodiments, the holder <NUM> can be used in a system, apparatus or procedure that does not include or employ a transport system or carrier. In this case, the labware may be installed in and removed from the holder solely by hand.

In embodiments, the holder <NUM> and the kinematic, spring-loaded fixation mechanism <NUM> can provide a number of benefits and advantages. For example, the holder <NUM> enables precise labware placement and positioning. Precise positioning of the labware may be important, and even critical, for successive operations such as taking pipette tips <NUM> or pipetting from the receptacles <NUM> using automatically positioned pipettors <NUM>. High positioning accuracy may be required for pipettors to enable accurate registry between the pipettors <NUM> and the pipette tips <NUM> or the receptacles <NUM>. Such precise alignment also enables precise transfer back to a carrier when it is desired to remove the labware from the holder <NUM>.

By pushing the pusher <NUM> far out from the seat <NUM>, the holder <NUM> provides increased tolerance for initially placing the labware in the seat <NUM>. Nonetheless, as a result of the disclosed positioning systems and methods, the labware is thereafter precisely aligned after the labware is initially placed in the seat <NUM>. In embodiments, the labware is free of external forces during transfer into and out of the holder <NUM>, and is locked in the holder <NUM> when the carrier <NUM> moves out. Therefore, the risk of tilting or tipping the labware <NUM>, <NUM>' during transfer may also be reduced or eliminated. Displacing the pusher <NUM> far out allows for imprecise or rough alignment between the labware and the seat <NUM> during initial placement.

The spring-loaded fixation mechanism can enable insertion and effective fixation of labware of different sizes in a given holder <NUM> without requiring adjustments by the operator.

The spring-loaded fixation mechanism <NUM> is passive and its operation is not electronic. The illustrated fixation mechanism <NUM> does not include or require a separate active actuator, sensor or switch to open and close the positioning mechanism. As a result, it is not necessary to coordinate the action or timing of actuation of a holder actuator with the movement of the carrier <NUM> or the labware <NUM>, <NUM>'. The holder <NUM> may not depend on precise positioning of the carrier or precise manipulation of the holder <NUM> by the robot or manual operator. It is not necessary to alter the robot, its end effector, or its typical movement path in order to operate the fixation mechanism <NUM>.

The labware holder <NUM> can accommodate labware that is gripped at or near its midsection. When the holder <NUM> is loaded using a robotic carrier, the fixation mechanism <NUM> is operated without loading the labware <NUM>, <NUM>' until the labware is released by the carrier. The carrier grip force is not limiting because spring force is not applied to the labware while the labware is gripped. Therefore, the carrier can hold the labware with little or limited gripping force. The fixation mechanism <NUM> can be designed to use an amount of spring force on the pusher optimizes fixation without concern about compromising the grip of the carrier on the labware.

The precise, consistent, and repeatable positioning of the labware in the holder <NUM> can ensure proper matching between the X-Y orientations of the holder <NUM>, the labware <NUM>, <NUM>', and the pipettors <NUM>.

Systems and holders according to embodiments of the technology can be used in biochemical and chemical processing, liquid handling, and analysis of samples in laboratories, for example. The analytical instrument <NUM> may be any suitable apparatus or instrument.

Embodiments of the controller <NUM> logic may take the form of an entirely software embodiment or an embodiment combining software and hardware aspects, all generally referred to herein as a "circuit" or "module. " In some embodiments, the circuits include both software and hardware and the software is configured to work with specific hardware with known physical attributes and/or configurations. Furthermore, controller logic may take the form of a computer program product on a computer-usable storage medium having computer-usable program code embodied in the medium. Any suitable computer readable medium may be utilized including hard disks, CD-ROMs, optical storage devices, a transmission media such as those supporting the Internet or an intranet, or other storage devices.

<FIG> is a schematic illustration of a circuit or data processing system <NUM> that can be used in the controller <NUM>. The circuits and/or data processing systems may be incorporated in a digital signal processor <NUM> in any suitable device or devices. The processor <NUM> communicates with the HMI <NUM> and memory <NUM> via an address/data bus <NUM>. The processor <NUM> can be any commercially available or custom microprocessor. The memory <NUM> is representative of the overall hierarchy of memory devices containing the software and data used to implement the functionality of the data processing system. The memory <NUM> can include, but is not limited to, the following types of devices: cache, ROM, PROM, EPROM, EEPROM, flash memory, SRAM, and DRAM.

<FIG> illustrates that the memory <NUM> may include several categories of software and data used in the data processing system: the operating system <NUM>; the application programs <NUM>; the input/output (I/O) device drivers <NUM>; and data <NUM>.

The data <NUM> can include equipment-specific data. <FIG> also illustrates that the data <NUM> can include labware data <NUM>, labware holder data <NUM>, pipetting module data <NUM>, and procedure data <NUM>.

The labware data <NUM> can include data relating to or representing characteristics of the labware <NUM>, <NUM>'. This data may include, for example, a unique identifier (e.g., serial number) and/or name for the labware <NUM>, <NUM>' name for the labware <NUM>, <NUM>', a unique identifier and/or name for the pipette tips <NUM>, a unique identifier and/or name for each vial <NUM>, and/or description of an analyte or analytes contained in the labware <NUM>, <NUM>' or each vial <NUM> or slot/receptacle <NUM>. The labware data <NUM> can include dimensions of the labware <NUM>, <NUM>', the pipette tips <NUM>, the vials <NUM>, and/or the slots or receptacles <NUM>. The labware data <NUM> can include location data representing spatial or geometric layout or positions of the slots <NUM>, the pipette tips <NUM>, or the vials <NUM> relative to the outer boundaries of the labware <NUM>, <NUM>'.

The labware holder data <NUM> can include identification of the location of the seat <NUM> relative to the deck <NUM> or another reference structure of the system <NUM>.

The pipetting module data <NUM> can include pipettor location data representing spatial or geometric layout or positions of the pipettors <NUM> relative to the base <NUM>.

The procedure data <NUM> can include data representing a protocol or sequence of steps to execute the procedures described herein. The sequence of steps may include all or some of the steps described above as executed by the controller <NUM>. The sequence of steps may include an analytical sequence, for example.

<FIG> also illustrates that application programs <NUM> can include a carrier positioning control module <NUM> (to control the actuators <NUM>, <NUM>), a pipettor positioning control module <NUM> (to control the actuators <NUM>, 49A), and a liquid handler control module <NUM> to control the liquid handler <NUM>, and an analytical instrument control module <NUM> to control operation of the analytical instrument <NUM>.

As will be appreciated by those of skill in the art, the operating system <NUM> may be any operating system suitable for use with a data processing system. The I/O device drivers <NUM> typically include software routines accessed through the operating system <NUM> by the application programs <NUM> to communicate with devices such as I/O data port(s), data storage and certain memory components. The application programs <NUM> are illustrative of the programs that implement the various features of the data processing system and can include at least one application, which supports operations according to embodiments of the present technology. Finally, the data <NUM> represents the static and dynamic data used by the application programs <NUM>, the operating system <NUM>, the I/O device drivers <NUM>, and other software programs that may reside in the memory <NUM>.

As will be appreciated by those of skill in the art, other configurations may also be utilized while still benefiting from the teachings of the present technology. For example, one or more of the modules may be incorporated into the operating system, the I/O device drivers or other such logical division of the data processing system. Thus, the present technology should not be construed as limited to the configuration of <FIG>, which is intended to encompass any configuration capable of carrying out the operations described herein. Further, one or more of the modules can communicate with or be incorporated totally or partially in other components, such as the controller <NUM>.

Claim 1:
A labware handling system (<NUM>) for use with a labware (<NUM>), the labware handling system comprising:
a transport system (<NUM>) operable to move the labware, the transport system comprising a carrier (<NUM>) configured to releasably hold the labware; and
an aligning system (<NUM>) comprising:
a frame (<NUM>) comprising a seat (<NUM>); and
a fixation system (<NUM>) comprising:
a pusher (<NUM>) movable relative to the frame between an open position and a closed position; and,
a pusher actuator comprising:
an actuator linkage (<NUM>) configured to:
move the pusher (<NUM>) from the closed position toward the open position when the actuator linkage is displaced by the carrier; and,
permit the pusher to move toward the closed position when the actuator linkage is not displaced; and
a biasing mechanism (<NUM>) operative to force the pusher toward the closed position when the actuator linkage is not displaced and to thereby cause the pusher to align the labware in the seat (<NUM>);
characterized in that the transport system is configured to:
displace the actuator linkage (<NUM>) using the carrier to move the pusher from the closed position toward the open position to receive the labware in the seat with the pusher in the open position.