Automated cryogenic storage and retrieval system
A cryogenic storage system includes a transfer module configured to service one or more cryogenic storage freezers. The transfer module includes a working chamber that maintains a cryogenic environment for the transfer of sample tubes between different sample boxes. One or more freezer ports enable the transfer module to receive a sample box extracted from a respective freezer. An input/output (I/O) port enables external access to samples. A box transport robot operates to transport sample boxes between the freezer ports, the working chamber, and the I/O port. A picker robot operates to transfer sample tubes between sample boxes within the working chamber.
1 . A cryogenic storage system, comprising:
at least one freezer port configured to receive a first sample box extracted from a respective freezer;
a working chamber configured to maintain a cryogenic environment;
an input/output (I/O) port configured to enable external access to samples;
a box transport robot configured to transport the first sample box between the at least one freezer port, the working chamber, and the I/O port; and
a picker robot configured to transport, within the working chamber, a sample tube between the first sample box and a second sample box.
2 . The system of claim 1 , further comprising an ejector configured to transport the first sample box through at least a portion of the at least one freezer port to a position accessible to the box transport robot.
3 . The system of claim 2 , wherein the ejector includes a pair of arms configured to move and guide opposite sides to control positioning of the first sample box.
4 . The system of claim 2 , wherein the ejector includes a floor configured to support the first sample box, at least a portion of the floor being depressible via a force applied by the box transport robot.
5 . The system of claim 2 , wherein the ejector is configured to transport a plurality of different sample box formats.
6 . The system of claim 1 , further comprising a transport chamber, the transport chamber being coupled to the at least one freezer port during access by the box transport robot, the transport chamber housing the box transport robot.
7 . The system of claim 6 , wherein the transport chamber is further configured to maintain an environment above a glass transition temperature of samples of the first sample box.
8 . The system of claim 6 , wherein the transport chamber is connected to the working chamber via an aperture.
9 . The system of claim 8 , wherein the box transport robot is configured to extend into the working chamber via the aperture during transport of the first sample box.
10 . The system of claim 8 , wherein the picker robot is configured to extend into the working chamber via the aperture during transport of the sample tube.
11 . The system of claim 6 , wherein the transport chamber is connected to the working chamber via an intermediate chamber, the intermediate chamber housing at least a portion of the picker robot.
12 . The system of claim 1 , wherein the box transport robot further includes a box gripper assembly configured to grip the first sample box.
13 . The system of claim 12 , wherein the box gripper assembly includes a pair of arms configured to clamp opposing corners of the first sample box, each of the pair of arms including a set of contact points adapted to accommodate a plurality of sample box formats, the pair of arms being further configured to adjust the first sample box to a target rotational and positional orientation.
14 . The system of claim 13 , wherein at least one of the sets of contact points define a W shape, a first portion of the W shape accommodates a first sample box format, and a second portion of the W shape accommodates a second sample box format.
15 . The system of claim 12 , wherein the box transport robot includes a rail assembly on which the box gripper assembly moves.
16 . The system of claim 1 , wherein the picker robot includes a first arm including a tube gripper assembly and a second arm including a push-up pin.
17 . The system of claim 16 , wherein the second arm extends under a platform supporting sample boxes in the working chamber, the second arm being configured to drive the push-up pin into the first sample box to raise a portion of the sample tube from the first sample box.
18 . The system of claim 16 , wherein the tube gripper assembly includes a plurality of teeth, the tube gripper assembly configured to rotate horizontally the plurality of teeth around and toward a center axis to grip the sample tube.
19 . The system of claim 18 , wherein the teeth are thermally isolated from components of the picker robot external to the working chamber via a thermal insulator.
20 . The system of claim 16 , wherein the first arm is configured to move the sample tube to a position enabling an identification (ID) tag of the sample tube to be read by an ID reader.