Systems and methods for automatic plate washing
10562032 ยท 2020-02-18
Assignee
Inventors
Cpc classification
B08B3/024
PERFORMING OPERATIONS; TRANSPORTING
B01L2300/0829
PERFORMING OPERATIONS; TRANSPORTING
B08B9/00
PERFORMING OPERATIONS; TRANSPORTING
B01L3/5085
PERFORMING OPERATIONS; TRANSPORTING
B08B9/093
PERFORMING OPERATIONS; TRANSPORTING
B01L2300/069
PERFORMING OPERATIONS; TRANSPORTING
B01L9/523
PERFORMING OPERATIONS; TRANSPORTING
International classification
B08B3/02
PERFORMING OPERATIONS; TRANSPORTING
B01L99/00
PERFORMING OPERATIONS; TRANSPORTING
Abstract
The present disclosure relates to automated systems and methods for washing microtiter plates that offer advantages such as increased efficiency and decreased contamination during the washing process. In an exemplary embodiment, an automated system for washing multiwell plates comprises an arm having a metal portion and having a multiwell plate holder for holding a multiwell plate; a first rotational servo configured to rotate the multiwell plate about a first axis; a second rotational servo configured to rotate the arm about a second axis; and a controller configured to operate the system to dispels fluid in the multiwell plate.
Claims
1. An automated system for washing a multiwall plate, the automated system comprising: an arm having a metal portion and having a multiwell plate holder for holding the multiwell plate; a first rotational servo configured to rotate the multiwell plate about a first axis; a second rotational servo configured to rotate the arm about a second axis; and a first electromagnet; a first stop; a fluid manifold adapted to dispense a wash fluid into a corresponding plurality of wells in the multiwell plate; and a controller configured to: operate the first rotational servo as a first closed loop servo to rotate the multiwell plate about the first axis from an upward position to a downward position; operate the second rotational servo as a second closed loop servo to rotate the arm about the second axis such that the metal portion moves towards the first electromagnet and to transition the second rotational servo to operating as an open loop servo; and activate the first electromagnet to cause the first electromagnet to pull the metal portion towards the first electromagnet while the second rotational servo operates as the open loop servo, wherein a deceleration impulse caused by the arm contacting the first stop dispels fluid in the multiwell plate.
2. The automated system for washing a multiwell plate of claim 1, wherein the first stop comprises the first electromagnet.
3. The automated system for washing a multiwell plate of claim 2, wherein the first electromagnet pulls the metal portion towards the first electromagnet and holds the metal portion against the first electromagnet.
4. The automated system for washing a multiwell plate of claim 1, wherein the metal portion comprises a metal plate.
5. The automated system for washing a multiwell plate of claim 1, further comprising at least one of a removal basin and an absorbent material, wherein the deceleration impulse caused by the arm contacting the first stop dispels fluid from the multiwell plate into the at least one of the removal basin and the absorbent material.
6. The automated system for washing multiwell plate of claim 5, wherein the automated system comprises both the removal basin and the absorbent material, and wherein the automated system further comprises: a second electromagnet; a second stop; and a linear servo configured to move the arm between the removal basin and the absorbent material; wherein the controller is further configured to: operate the second rotational servo as the second closed loop servo to rotate the arm about the second axis such that the metal portion of the arm moves towards the second electromagnet and transition the second rotational servo to operating as the open loop servo; and activate the second electromagnet to pull the metal portion of the arm towards the second electromagnet while the second rotational servo operates as the open loop servo, wherein a deceleration impulse caused by the arm contacting the second stop dispels fluid from the multiwell plate into at least the other of the absorbent material and the removal basin.
7. The automated system for washing a multiwell plate of claim 1, wherein the controller activates the first electromagnet 20 to 40 milliseconds before the arm contacts the first stop.
8. The automated system for washing a multiwell plate of claim 6, wherein the absorbent material is placed on top of a support for the absorbent material.
9. The automated system for washing a multiwell plate of claim 8, further comprising a source wheel that supplies clean absorbent material to the support.
10. The automated system for washing a multiwell plate of claim 8, further comprising a take-up wheel that removes used absorbent material from the support.
11. The automated system for washing a multiwell plate of claim 1, wherein the fluid manifold has a base and a plurality of dispense needles adapted to dispense the wash fluid into the corresponding plurality of wells in the multiwell plate, the fluid manifold configured to dispense the wash fluid across rows of columns of the multiwell plate.
12. The automated system for washing a multiwell plate of claim 1, wherein the arm is configured to move along a linear axis allowing movement of the multiwell plate underneath the fluid manifold.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) Exemplary embodiments are described with reference to the following figures, which are presented for the purpose of illustration only and are not intended to be limiting.
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DETAILED DESCRIPTION
(19) The present disclosure relates to automated systems and methods for washing microtiter plates that offer advantages such as increased efficiency and decreased contamination during the washing process.
(20) It will be appreciated that while a particular sequence of steps is described herein for purposes of explanation, the sequence may be varied in certain respects, or the steps may be combined, while still obtaining the desired configuration. Additionally, modifications to the disclosed embodiments are possible and within the scope of this disclosure.
(21) All scientific and technical terms used herein, unless otherwise defined, are intended to have the same meaning as commonly understood by one of ordinary skill in the art. References to techniques employed herein are intended to refer to the techniques as commonly understood in the art, including variations on those techniques or substitutions of equivalent or later-developed techniques which would be apparent to one of skill in the art. In addition, to more clearly and concisely describe the subject matter described herein, the following explanations are provided for certain terms which are used in the specification and appended claims.
(22) As used herein, the terms microtiter plate, assay plate, and multiwell plate are understood to include any microtiter or multiwell plate of 2, 6, 8, 24, 48, 96, 384, or 1536 well formats, or any other number of wells.
(23) As used herein, the term absorbent material includes any type of material that can be used to wick fluid or moisture from the plate. The suitability of the material may depend on the plate material as well as the type of fluid to be removed from the plate. In some embodiments, the absorbent material may be a paper product such as tissue paper, such as but not limited to napkins, paper towels, or bath tissue. The tissue may also be of variable thickness. In other embodiments, the tissue may be any suitable cloth made from any suitable fabric, such as but not limited to cotton, polyester, nylon, felt, rayon, acetate, or wool. In further embodiments, the absorbent material can be made from either woven or knitted natural, cellulose, or synthetic cloth.
(24) As used herein, the term manifold is used to describe a member used to dispense fluid into wells of a multiwell plate. The manifold may, for example, consist of a row or rows of 4, 8 or 16 pins or dispense tubes, each pin or dispense tube having an opening to allow passage of fluid.
(25) As used herein, the term fluid includes a wash fluid, sample, reagent, or other liquids provided within each of the wells of an assay plate. The type of fluid used may depend on the type of residual material that is to be removed from the sample wells. In some embodiments, the fluid may be a liquid such as water, which may or may not also be distilled or deionized to any suitable degree. In other embodiments, the fluid may be or include a liquid such as an acid, a base, any suitable ionic solution, organic solvent, suspension, emulsion, or any combination thereof. Additionally, any combination of the above mentioned substances may be used as a fluid. Different fluids may also be flowed into the assay plate. Fluid may be distributed suitably as desired and does not have to be supplied to all the wells of an assay plate at once.
(26) General Considerations
(27) Embodiments of the present disclosure disclose automated systems and methods for washing microtiter plates. In some embodiments, the automated systems and methods address problems such as inconsistent washing of the plate due to cross contamination and ineffective removal of fluid from the plate's wells during the wash process.
(28) In one embodiment, a manifold contains dispense tubes. The manifold may omit aspirate tubes or needles, eliminating the potential for cross contamination from aspirate needles entering multiple wells across multiple plates. A robotic or automatic mechanism may be used to impact plates onto a surface, such as a horizontal surface, to expel most or all residual material, such as fluid, from the wells. In some embodiments, this may advantageously enable the assays to achieve increased diagnostic precision and increased sensitivity.
(29) In an exemplary embodiment of the present disclosure, a plate washer robotically washes microtiter assay plates (e.g., 96 or 384 well plates). A robot arm expels the fluid into a removal basin and subsequently dispels residual fluid from the well plate by impacting it onto an absorbent material such as multiple layers of tissue paper. In some embodiments, upon impact, the plate is parallel to a horizontal surface. The impact expels a substantial amount of fluid from the wells of the plate, which improves the diagnostic precision and sensitivity of the assays.
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(31) As shown in
(32) In some embodiments, the plate washing system includes a rotation servo (for the plate) 260 and a rotational servo (for the arm) 270. The rotation servo (for the plate) 260 rotates the assay plate 150 about the plate rotational axis 280. The rotation servo (for the plate) 260 rotates the assay plate 150 from an upward position to a downward position. The rotation servo (for the plate) 260 also rotates the assay plate 150 between other positions. The rotational servo (for the arm) 270 rotates the arm assembly 130 about the arm rotational axis 240.
(33) In some embodiments, the rotational servo (for the arm) 270 is a hybrid servo that operates in a closed loop to rotate the arm assembly 130 and transitions to an open loop servo before the residual material in the assay plate 150 is removed into the removal basin 160 or before the assay plate 150 impacts the support 110. For example, to remove the residual material in the assay plate 150 into the removal basin 160, the rotational servo (for the arm) 270 begins as a closed loop servo that rotates the arm assembly 130 about the arm rotational axis 240. As the plate 200 of the arm assembly 130 gets closer to the electromagnet dump 220, the electromagnet dump 220 is activated and begins to pull the plate 200 toward the electromagnet dump 220. Before the plate 200 impacts the electromagnet dump 220, the rotational servo (arm) 270 becomes an open loop servo (e.g., by powering-off the rotational servo), which allows the arm to rotate freely. This allows the plate 200 to be accelerated towards the electromagnet dump 220 by the electromagnet dump 220, to impact the electromagnet dump 220, and to be held against the electromagnet dump 220. This in turn allows the arm to be accelerated toward the removal basin 160 and to dispel the fluid into the removal basin 160. Following impact, the electromagnet dump 220 is deactivated and the rotational servo (for the arm) 270 transitions back to a closed loop servo to rotate the arm assembly 130 to move the assay plate 150 away from the dump basin 160. In some embodiments, this process of accelerating and impacting the plate 200 against the electromagnet dump 220 to remove material in the assay plate 150 into the removal basin 160 using the rotational servo (arm) 270 and the electromagnet dump 220 may be repeated multiple times to increase the portion of the liquid that is removed into the removal basin. In some embodiments, this process is performed a single time. In other embodiments it is repeated two, three, or four times. In some embodiments, it is repeated more than twice. In some embodiments, it is repeated more than four times.
(34) In some embodiments, to dry the assay plate 150 with the absorbent material in the support 110, the rotational servo (arm) 270 begins as a closed loop servo that rotates the arm assembly 130 about the arm rotational axis 240. As the plate 200 of the arm assembly 130 gets closer to the electromagnet (for drying) 230, the electromagnet dry 230 begins to pull the plate 200 toward the electromagnet (for drying) 230. Before the assay plate 150 impacts the absorbent material in the support 110, the rotational servo (arm) 270 becomes an open loop servo which allows the arm to rotate freely. This allows the plate 200 to be accelerated towards the electromagnet (for drying) 230, to impact the electromagnet (for drying) 230, and to be held against the electromagnet (for drying) 230. This in turn allows the arm to be accelerated toward the absorbent material in the support 110 and to dispel the fluid into the absorbent material. Advantageously, by transitioning from a closed loop servo to an open loop servo before impact, strain on the servo from impact of the assay plate 150 with the removal basin 160 or the absorbent material in the support 110 may be reduced. Following impact, the electromagnet (for drying) 230 is deactivated and the rotational servo (for the arm) 270 transitions back to a closed loop servo to rotate the arm assembly 130 to move the assay plate 150 away from the absorbent material in the support 110. In some embodiments, this process of accelerating and impacting the assay plate 150 against the absorbent material in the support 110 using the rotational servo (arm) 270 and the electromagnet dry 230 may be repeated multiple times to increase the portion of the liquid that is removed by the absorbent material. In some embodiments, this process is performed a single time. In other embodiments it is repeated two, three, or four times. In some embodiments, it is repeated more than twice. In some embodiments, it is repeated more than four times.
(35) In an exemplary embodiment, the electromagnets and servos may be controlled through a hardware and/or software controller. The controller may control the timing when the electromagnet (for removal) 220 and the electromagnet (for drying) 230 activate and deactivate and when the rotational servo (arm) 270 transitions from a closed loop servo to an open loop servo and back to a closed loop servo. In some embodiments, the controller is implemented by one or more processors executing a computer program to perform functions by operating on input data and/or generating output data. One or more of the modules can be implemented in hardware using an ASIC (application-specific integrated circuit), PLA (programmable logic array), DSP (digital signal processor), FPGA (field programmable gate array), or other integrated circuit. In some embodiments, two or more modules can be implemented on the same integrated circuit, such as ASIC, PLA, DSP, or FPGA, thereby forming a system on chip. Subroutines can refer to portions of the computer program and/or the processor/special circuitry that implement one or more functions. In some embodiments, the controller is implemented in digital and/or analog electronic circuitry, or in computer hardware, firmware, software, or in combinations of them. In some embodiments, the implementation is as a computer program product, e.g., a computer program tangibly embodied in a machine-readable storage device, for execution by, or to control the operation of, a data processing apparatus, e.g., a programmable processor, a computer, and/or multiple computers. A computer program can be written in any form of computer or programming language, including source code, compiled code, interpreted code and/or machine code, and the computer program can be deployed in any form, including as a stand-alone program or as a subroutine, element, or other unit suitable for use in a computing environment. A computer program can be deployed to be executed on one computer or on multiple computers at one or more sites.
(36) In some embodiments, the arm assembly 130 may be positioned between 15 and 30 degrees above a horizontal plane and rotate to between 20 and 40 degrees below the horizontal plane where the plate 200 impacts the electromagnet (for removal) 220 or electromagnet (for drying) 230, causing the assay plate 150 to dispel the fluid into the removal basin 160 or the support 110. In some embodiments, the arm assembly 130 may be positioned 20 degrees above the horizontal plane and rotate to 30 degrees below the horizontal plane where the plate 200 impacts the electromagnet (for removal) 220 or electromagnet (for drying) 230, causing the assay plate 150 to dispel the fluid into the removal basin 160 or the support 110. In some embodiments, the plate 200 may be secured with fasteners including but not limited to steel screws, nuts and bolts, and other suitable fasteners to a plate holder for holding the plate 200. In some embodiments, the rotation above the horizontal plane is greater than 30 degrees or less than 15 degrees. In some embodiments, the rotation below the horizontal plane is greater than 40 degrees or less than 20 degrees.
(37) In some embodiments, the arm rotational servo 270 (as shown in
(38) In some embodiments, as shown in
(39) In some embodiments, four wash cycles each of dispensing fluid via a manifold and removing fluid by impacting the plate is completed in under 100 seconds. In some embodiments, four wash cycles are completed in under 93 seconds. In further embodiments, four wash cycles are completed in under 120 seconds. In some embodiments, four complete wash cycles are completed in longer than 120 seconds and in some embodiments, other numbers of wash cycles are performed.
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(41) The following examples illustrate some preferred modes of practicing the present disclosure, but are not intended to limit the scope of the claimed invention. Alternative materials and methods may be used to obtain similar results.
EXAMPLE 1
(42) Performing an ELISA Assay
(43) The Ciraplex immunoassay kit is a multiplex sandwich ELISA (Enzyme-Linked ImmunoSorbent Assay) for the quantitative measurement of target proteins in serum, EDTA/heparin/sodium citrate-recovered plasma, and tissue culture supernatants. According to the immunoassay kit, each well of a 96-well microplate was pre-spotted with protein-specific antibodies and these antibodies, as depicted in
(44) TABLE-US-00001 TABLE 1 Standard Curve Concentrations IL-12p70 TNF (Active IFN IL-1 IL-1 IL-4 IL-6 IL-8 IL-10 (heterodimer) Trimer) pg/ml pg/ml pg/ml pg/ml pg/ml pg/ml pg/ml pg/ml pg/ml Standard 1 50 1800 200 200 114 400 200 1200 400 Standard 2 12.5 450 50 50 28.5 100 50 300 100 Standard 3 3.125 112.5 12.5 12.5 7.125 25 12.5 75 25 Standard 4 0.781 28.125 3.125 3.125 1.781 6.25 3.125 18.75 6.25 Standard 5 0.195 7.031 0.781 0.781 0.445 1.562 0.781 4.688 1.562 Standard 6 0.049 1.758 0.195 0.195 0.111 0.391 0.195 1.172 0.391 Standard 7 0.012 0.439 0.049 0.049 0.028 Not Used 0.049 0.293 Not Used for Curve for Curve Standard 8 0 0 0 0 0 0 0 0 0
Materials and Methods
Reagent PreparationWash Buffer
(45) The 25X Wash Buffer was diluted to a 1X concentration using deionized (DI) water and stored at room temperature (20-25 C.).
(46) Reagent PreparationRecombination Standards
(47) Each vial of lyophilized Standard was reconstituted with the volume of Sample Diluent as indicated in Table 3 below.
(48) TABLE-US-00002 TABLE 3 Lot Specific Reconstitution Volumes for Standards Analyte Reconstitution Volume (L) IFN 823 IL-1 601 IL-1 714 IL-4 617 IL-6 835 IL-8 1101 IL-10 750 IL-12p70 (heterodimer) 354 TNF (Active Trimer) 513
(49) After standing for 15 minutes, the Standard was inverted or gently vortexed to mix completely and used within one hour of reconstitution. As illustrated in
(50) TABLE-US-00003 TABLE 4 Serial Dilutions of Standards Sample Serial Final Tube Diluent.sup.2 Standard Dilution Dilution Standard 1 350 L 50 L from each 1:1 1:1 reconstituted Standard vial Standard 2 300 L 100 L of Standard 1 1:4 1:4 Standard 3 300 L 100 L of Standard 2 1:4 1:16 Standard 4 300 L 100 L of Standard 3 1:4 1:64 Standard 5 300 L 100 L of Standard 4 1:4 1:256 Standard 6 300 L 100 L of Standard 5 1:4 1:1024 Standard 7 300 L 100 L of Standard 6 1:4 1:4096 Standard 8 400 L N/A 1:0 1:0
MicroClime Lid Preparation
(51) To prevent edge effects and improve well-to-well consistency during assay processing, MicroClime lids are used in place of traditional plate seals.
(52) Before adding the standards and diluted samples to the pre-coated plate, the MicroClime lid was removed from the packing material and positioned so that the filling trough (i.e. the groove around the margin of the lid) and corners are face up. 4 ml of deionized or distilled water was carefully dispensed into the filling trough on the top of the long edge of the lid. This procedure was repeated for the filling trough on the bottom of the long edge of the lid so that a total of 8 ml was added to the lid. Excess water from the filling troughs was removed with a lint-free lab wiper and the filled lid was placed on top of the assay plate.
(53) Assay Procedure
(54) Thawed samples were mixed by gently inverting the tube or vortexing. A plate layout similar to the template provided in
(55) Results
(56) For the first five plates run sequentially on the BioTek plate washer model number ELX405US with an attached plate loader model BIOSTACK2WR, no significant residue from contamination or ineffective removal of fluid were detected in plates 1-5. However, on subsequent plates 6-9 (as shown in
EXAMPLE 2
(57) Results with Wash Steps Disclosed Herein Using Automatic Plate Washing Systems
(58) Example 2 describes the same methods in Example 1 for performing an ELISA assay using the Ciraplex immunoassay kit, but where the plates were washed using an embodiment of the disclosed automatic plate washing system. The wash parameters were as follows. First, a plate was loaded onto the washer and dumped. The plates were then washed four times (filling the plate, dumping the contents of the plates, and then drying the plate on the absorbent material, as described for the exemplary embodiments described herein). The total wash time was less 120 seconds.
(59) In contrast to the results in Example 1 and
EQUIVALENTS
(60) While this disclosure has been particularly shown and described with references to embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure and the appended claims. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific embodiments described specifically herein. Such equivalents are intended to be encompassed in the scope of the appended claims.