US 12,109,567 B2
Robotic liquid handling system
Christian Berweger, Zürich (CH); Ermal Abdulahi, Oftringen (CH); and Mirco Brennwald, Stäfa (CH)
Assigned to TECAN TRADING AG, Männedorf (CH)
Filed by Tecan Trading AG, Männedorf (CH)
Filed on Oct. 26, 2021, as Appl. No. 17/511,021.
Claims priority of application No. 20204248 (EP), filed on Oct. 28, 2020.
Prior Publication US 2022/0126297 A1, Apr. 28, 2022
Int. Cl. B01L 3/00 (2006.01)
CPC B01L 3/523 (2013.01) [B01L 2200/16 (2013.01); B01L 2300/044 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robotic liquid handling system, comprising:
at least one robotic arm;
a controller configured to control the robotic arm to position and operate the robotic arm in a workspace of the robotic liquid handling system; wherein
the controller is configured to, as part of a liquid handling task, control the robotic arm to open a reagent reservoir, wherein the reagent reservoir has an opening which is sealed by a foil, wherein the controller is configured to control the robotic arm to open the foil by controlling the robotic arm to:
(i) using a cutting tip, cut at least two flaps in the foil; and
(ii) using a blunt protrusion, push the at least two flaps downwards into the reagent reservoir to clear at least part of the opening of the reagent reservoir, wherein
the controller is configured to cut the at least two flaps in the foil by controlling the robotic arm to:
with the cutting tip, pierce the foil at an entry position; and
from the entry position, move the cutting tip laterally with the cutting tip inserted into the opening at a first depth past a height of the foil.