Methods and systems for determining a position of a probe
View Patent ↗The present methods and systems include aligning at least two sensors with one or more known locations, selecting at least two of the at least two sensors, electrically driving the probe, based on signals received by the selected sensors, determining whether the probe is aligned with the known location(s), and, optionally adjusting the probe position based on the determination. The methods and systems also include repeatedly returning to electrically driving and positioning the probe until the probe is aligned with the selected sensors, and/or repeatedly returning to selecting at least two of the at least two sensors. The relative position of the probe with respect to the selected sensors may also be determined.
1. A method for determining the position of a probe, the method comprising:
distributing an electrical signal to the probe,
positioning at least two sensors in electrical communication with the electrical signal from the probe,
generating an electrical signal at the at least two sensors based on electrical communication with the probe, and,
determining the position of the probe relative to the at least two sensors based on at least one of:
a sum signal based on the sum of the generated electrical signals at the at least two sensors, and,
a difference signal based on the difference of the generated electrical signals at the at least two sensors.
2. A method according to claim 1 , where determining the position includes determining the position based on the distance between the at least two sensors.
3. A method according to claim 1 , where determining the position includes:
associating the at least two sensors with a coordinate system,
identifying at least two sensors positioned along at least one of the axes of the coordinate system, and,
generating at least one of the sum signal and the difference signal based on the respective sum or difference of the generated electrical signals associated with the at least two identified sensors.
4. A method according to claim 3 , where the coordinate system is multi-dimensional.
5. A method according to claim 3 , where determining the position includes:
determining the position of the probe by comparing the sum signal and the difference signal.
6. A method according to claim 5 , where determining the position of the probe by comparing includes at least one of:
attenuating the sum signal, and,
adjusting the DC offset of the sum signal.
7. A method according to claim 5 , where determining the position of the probe by comparing includes providing at least one output indicative of which of the identified at least two sensors the probe is nearest.
8. A method according to claim 1 , further comprising adjusting the position of the probe based on the determined probe position.
9. A method according to claim 1 , where the at least two sensors include a capacitive sensor.
10. A method according to claim 1 , where the at least two sensors are in electrical communication with a printed circuit board.
11. A method according to claim 10 , where the probe is configured to travel substantially orthogonal to a plane containing the printed circuit board.
12. A method according to claim 10 , where the printed circuit board includes an orifice for receiving the probe.
13. A method according to claim 1 , where the probe is a pipette.
14. A method according to claim 1 , further comprising:
prior to distributing, aligning the at least two sensors with at least one known location.
15. A method according to claim 1 , further comprising:
extrapolating the determined position to at least one other location in a coordinate system associated with the at least two sensors.
16. A method according to claim 1 , further comprising:
extrapolating the determined position to at least one other location in a coordinate system associated with the probe.
17. A method according to claim 1 , further comprising:
repeatedly returning to distributing until the probe is aligned with the at least two sensors.