Devices and methods for programmable manipulation of pipettes

Abstract

The present invention is directed generally to devices and methods for manipulating laboratory pipettes in a programmable manner. The present invention is directed to an apparatus and methods for allowing a user to instruct the device to perform a specific process; identifying the type, location and identity of the consumables to be used; manipulating a plurality of pipettes for performing the liquid handling; monitoring the process during and after its execution; generating a detailed report for the plurality of actions. Other aspects of this invention include optimization of the liquid dispensing performances of a pipette; monitoring and controlling individual actions by means of vision; virtualization of the protocol definition by means of a reality augmented software interface; integration of the system in a conventional laboratory environment workflow.

1 . An apparatus for processing biological or chemical fluids, comprising
 at least one pipette, wherein said at least one pipette is configured to allow for a pipette volume to be determined by vision feedback;   at least one mechanical arm to manipulate at least one pipette said manipulation is assisted by computer vision feedback; and   a software interface governing the manipulation of the pipettes.   
     
     
         2 .- 5 . (canceled) 
     
     
         6 . The apparatus according to  claim 1 , wherein the software interface allows for programming of a liquid handling protocol. 
     
     
         7 . (canceled) 
     
     
         8 . The apparatus according to  claim 1 , wherein the arm manipulation includes movement of the at least one pipette, tip insertion and ejection, setting of the desired volumes, aspiration and dispensing of liquids. 
     
     
         9 . The apparatus according to  claim 8 , wherein the manipulation of the at least one pipette by sequences of aspiration and dispenses allows for liquid mixing. 
     
     
         10 .- 36 . (canceled) 
     
     
         37 . A method for improving the volumetric reproducibility of a pipette in a liquid handling android, comprising:
 actuating the thumb action for aspirating and dispensing;   monitoring at least one among the thumb position, pressure and speed; and   modulating at least one among the group consisting of the thumb position, pressure and speed as a function of the liquid volume and of the liquid being used.   
     
     
         38 . The method according to  claim 37 , where the thumb speed is function of the thumb position. 
     
     
         39 . The method according to  claim 37 , wherein the pipette is calibrated by dispensing a plurality of pre-set volumes of samples into at least one consumable; and
 evaluating the actual volume of sample being dispensed wherein the consequent notion of calibration is incorporated into a software interface without physical modifications to the pipette.   
     
     
         40 .- 44 . (canceled) 
     
     
         45 . A method for processing heterogeneous fluids comprising:
 manipulating a pipette by a liquid handling android;   imaging with a camera the tip position; and   imaging with a camera the separation within the fluid wherein the relative position of the tip with respect to the fluid components is used to control the manipulation of the pipette with the purpose of aspiration or dispensing of separate fluid components.   
     
     
         46 .- 62 . (canceled)