US 11,940,456 B2
Robotic sample preparation system for diagnostic testing with automated position learning
Christopher John Tesluk, Baltimore, MD (US); Kevin Bailey, Monkton, MD (US); Matthew Wesly, Sunnyvale, CA (US); and John Moore, Deerfield, NH (US)
Assigned to BECTON DICKINSON AND COMPANY, Franklin Lakes, NJ (US)
Appl. No. 17/250,820
Filed by BECTON DICKINSON AND COMPANY, Franklin Lakes, NJ (US)
PCT Filed Sep. 10, 2019, PCT No. PCT/US2019/050315
§ 371(c)(1), (2) Date Mar. 5, 2021,
PCT Pub. No. WO2020/055801, PCT Pub. Date Mar. 19, 2020.
Claims priority of provisional application 62/729,531, filed on Sep. 11, 2018.
Prior Publication US 2021/0311082 A1, Oct. 7, 2021
Int. Cl. G01N 35/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); G01N 35/10 (2006.01); G01N 35/04 (2006.01)
CPC G01N 35/0099 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1664 (2013.01); B25J 13/089 (2013.01); G01N 35/1011 (2013.01); G01N 2035/00801 (2013.01); G01N 2035/0491 (2013.01)] 26 Claims
OG exemplary drawing
 
1. An apparatus for biological sample preparation, preprocessing and/or diagnostic assay performed by one or more analyzers of the apparatus comprising:
a fiducial beacon within a workspace of an automated apparatus for biological sample preparation, preprocessing and/or diagnostic assay performed by one or more analyzers of the automated apparatus;
a robotic sample handler comprising a first motor and a second motor for moving the robotic sample handler in the workspace;
a sensor configured to generate a field detection signal when in a near vicinity of the fiducial beacon, the sensor adapted to couple with the robotic sample handler;
a controller, comprising at least one processor, the controller configured to operate the first and second motors to move the robotic sample handler in the workspace, the controller configured to move the robotic sample handler in the workspace in a search pattern, the search pattern comprising first movement along a first axis in a first direction, the search pattern further comprising a second movement along the first axis in a second direction, the second direction opposite the first direction;
the controller further configured with a sensing module to, during the search pattern, (a) receive, via the sensor, the field detection signal produced in a near vicinity of the fiducial beacon, and (b) to determine a first count on the first axis correlating with a location of a first detection of the fiducial beacon during the first movement, and (c) to determine a second count on the first axis correlating with a location of a second detection of the fiducial beacon during the second movement; and
the controller further configured with a position calculating module to calculate a third count on the first axis based on the first count and the second count, the third count correlating with a location of the fiducial beacon on the first axis.