(12) United States Patent
`Felder et al.
`
`111111
`
`1111111111111111111111111111111111111111111111111111111111111
`US006467285B2
`US 6,467,285 B2
`Oct. 22, 2002
`
`(10) Patent No.:
`(45) Date of Patent:
`
`(54) AUTOMATED STORAGE AND RETRIEVAL
`APPARATUS FOR FREEZERS AND
`RELATED METHOD THEREOF
`
`(75)
`
`Inventors: Robin A. Felder; B. Sean Graves;
`James P. Gunderson, all of
`Charlottesville, VA (US)
`
`(73) Assignee: University of Virginia Patent
`Foundation, Charlottesville, VA (US)
`
`( *) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`
`(21)
`
`Appl. No.: 09/935,488
`
`(22)
`
`Filed:
`
`Aug. 23, 2001
`
`(65)
`
`Prior Publication Data
`
`US 2002/0023444 A1 Feb. 28, 2002
`
`Related U.S. Application Data
`Provisional application No. 60/227,166, filed on Aug. 23,
`2000, and provisional application No. 60/299,597, filed on
`Jun. 20, 2001.
`
`Int. Cl? .......................... F25D 17/00; F25D 25!00
`U.S. Cl. ............................................ 62/177; 62/381
`Field of Search .......................... 62/177, 381, 382,
`62/378, 62, 178, 337, 336; 434/322; 600/544
`
`References Cited
`
`(60)
`
`(51)
`(52)
`(58)
`
`(56)
`
`U.S. PATENT DOCUMENTS
`3,163,994 A *
`3,782,133 A *
`3,787,699 A *
`4,485,641 A
`4,799,358 A
`4,870,829 A
`4,969,336 A
`
`Haumann et a!. ............. 62/218
`Desperier .. ... ... ... ... ... .. . 62/381
`Menachem et a!. ......... 250!507
`Angelier et a!.
`Knopf eta!.
`Oullette et a!. .............. 62/51.1
`Knippscheer et a!.
`
`1!1965
`1!1974
`1!1974
`12/1984
`1!1989
`* 10/1989
`11/1990
`
`5,125,240 A
`5,176,202 A
`5,233,844 A
`5,498,116 A
`5,628,197 A
`5,638,686 A
`5,921,102 A
`6,068,437 A
`
`6/1992 Knippscheer et a!.
`1!1993 Richard
`8/1993 Knippscheer et a!.
`3/1996 Woodruff et a!.
`5/1997 Rada
`6/1997 Coelho eta!.
`7/1999 Vago
`5!2000 Boje eta!.
`
`FOREIGN PATENT DOCUMENTS
`
`6/1991
`2/1991
`12/1998
`
`0411224 A2
`EP
`wo
`WO 91!02202 A
`wo
`WO 98/58215 A
`* cited by examiner
`Primary Examiner-Denise L. Esquivel
`Assistant Examiner-Marc Norman
`(74) Attorney, Agent, or Firm-Robert 1. Decker
`
`(57)
`
`ABSTRACT
`
`An automated cold storage apparatus, and related method
`thereof, provides a sample process management system that
`is a revolutionary approach to the storage and retrieval
`regarding critical samples. The system-a significant tech(cid:173)
`nological breakthrough in laboratory automation-is the
`first ultra low temperature robotic system capable of being
`validated. Samples in containers are stored and retrieved
`robotically through an airlock climate-control chamber that
`is automatically dehumidified by a dry gas purge, such as a
`carbon dioxide or nitrogen purge or the like. This purge
`rapidly reduces ambient humidity to a desirable relative
`humidity (RH), e.g., less than about 15% RH, virtually
`eliminating the accumulation of frost. Microplates are sys(cid:173)
`tematically identified using barcode technology, for
`example. Once through the climate-controlled chamber, the
`containers (i.e., samples) are robotically transferred to the
`rotary mechanism. This mechanism transports the containers
`to a derived nest location upon the storage means, such as a
`carousel or to one of the stationary addresses.
`
`34 Claims, 26 Drawing Sheets
`
`EXTERIOR DOOR OPENS AND TRANSPORT TRAY
`EXITS ANDSTORAGECONTAINERISPLACEDINCHAMBER
`
`601
`
`_.F600
`
`603
`
`604
`
`606
`
`607
`
`THE STORAGE CAROUSEL IS ROTATED TO ROTATIONALLY ALIGN
`CORRECT VERTICAL RACK WITH THE FUTURE POSITION OF THE
`INTERCHANGE MECHANISM
`
`INTERCHANGE MECHANISM IS ACTUATED VERTICALLY BY A VERTICAL
`TRANSPORTER TO VERTICALLY ALIGN WITH CORRECT HEIGHT OF
`TARGETED STORAGE TRAY
`
`A ROTARY TRANSPORTER ROTATES THE INTERCHANGE MECHANISM
`TO ROTATIONALLY ALIGN WITH CORRECT VERTICAL RACK
`
`T0608
`
`Hamilton Ex. 1001
`Page 1
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 1 of 26
`
`US 6,467,285 B2
`
`27
`
`26
`
`CONTROL
`SYSTEM
`80
`
`FIG. 1
`
`Hamilton Ex. 1001
`Page 2
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 2 of 26
`
`US 6,467,285 B2
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`
`Hamilton Ex. 1001
`Page 3
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 3 of 26
`
`US 6,467,285 B2
`
`11
`
`FIG. 2B
`
`Hamilton Ex. 1001
`Page 4
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 4 of 26
`
`US 6,467,285 B2
`
`10
`
`CLIMATE
`CONTROL SYSTEM
`
`66
`
`62
`
`FIG.3
`
`FIG. 4A
`
`68
`
`67
`
`FIG. 48
`
`Hamilton Ex. 1001
`Page 5
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 5 of 26
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`US 6,467,285 B2
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`Page 6
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`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 6 of 26
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`US 6,467,285 B2
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`Hamilton Ex. 1001
`Page 7
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 7 of 26
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`US 6,467,285 B2
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`Page 8
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`

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`66
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`CONTROL
`CLIMATE
`
`FIG. 50
`
`60
`
`Hamilton Ex. 1001
`Page 9
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 9 of 26
`
`US 6,467,285 B2
`
`EXTERIOR DOOR OPENS AND TRANSPORT TRAY
`EXITS, AND STORAGE CONTAINER IS PLACED IN CHAMBER
`
`+
`
`EXTERIOR DOOR CLOSES, TRANSPORT TRAY RETURNS TO CHAMBER
`AND STORAGE CONTAINER'S BARCODE IS SCANNED BY READER
`DEVICE, AND STORAGE LOCATION IS ASSIGNED
`
`+
`EXTERIOR DOOR AND INTERIOR DOOR ARE IN CLOSED POSITION WHILE
`AIR PURGING SYSTEM COOLS AND DEHUMIDIFIES AIR IN CHAMBER
`
`...J 600
`
`v-- 601
`
`v-- 602
`
`_.,-- 603
`
`+
`
`INTERIOR DOOR OPENS, TRANSPORT TRAY TRANSPORTS THE
`CONTAINER INWARD, A PICKING MECHANISM IS ADVANCED INTO THE
`CHAMBER TO PICK UP STORAGE CONTAINERS AND THEN RETRACTS
`TO PLACE CONTAINER ON INTERCHANGE TRAY, INTERIOR DOOR CLOSES
`
`_.,-- 604
`
`!
`
`THE STORAGE CAROUSEL IS ROTATED TO ROTATIONALLY ALIGN
`CORRECT VERTICAL RACK WITH THE FUTURE POSITION OF THE
`INTERCHANGE MECHANISM
`
`v- 605
`
`+
`
`INTERCHANGE MECHANISM IS ACTUATED VERTICALLY BY A VERTICAL
`TRANSPORTER TO VERTICALLY ALIGN WITH CORRECT HEIGHT OF
`TARGETED STORAGE TRAY
`
`_.,-- 606
`
`+
`A ROTARY TRANSPORTER ROTATES THE INTERCHANGE MECHANISM
`TO ROTATIONALLY ALIGN WITH CORRECT VERTICAL RACK
`
`_.,-- 607
`
`+
`T0608
`FIG. 68
`
`FIG. 6A
`
`Hamilton Ex. 1001
`Page 10
`
`

`
`FIG. 68
`
`DOOR, FOR A RESTING STATE
`
`___,-611
`
`IS VERTICALLY ACTUATED TO VERTICALLY ALIGN WITH INTERIOR
`
`INTERIOR DOOR OF THE CHAMBER AND THE INTERCHANGE MECHANISM
`INTERCHANGE MECHANISM IS ROTATED TO ROTATIONALLY ALIGN WITH
`
`!
`
`v 610
`
`PROCESSOR RECORDS RELEVANT STORAGE CONTAINER INFORMATION
`
`IN DATABASE
`
`+
`
`___,-609
`
`RETRACTED SUBSTANTIALLY HORIZONTALLY TO DISENGAGE THE
`
`PICKING MECHANISM IS VERTICALLY LOWERED A NOMINAL HEIGHT AND
`
`STORAGE CONTAINER
`
`!
`
`___,-608
`
`PLACE THE STORAGE CONTAINER ON STORAGE TRAY
`
`PICKING MECHANISM IS ADVANCED SUBSTANTIALLY HORIZONTALLY TO
`
`.../ 600
`
`FIG. 6A
`
`!
`
`FROM 607
`
`US 6,467,285 B2
`
`Sheet 10 of 26
`
`Oct. 22, 2002
`
`U.S. Patent
`
`Hamilton Ex. 1001
`Page 11
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 11 of 26
`
`US 6,467,285 B2
`
`~ 700
`
`v 701
`
`STORAGE CONTAINER ID FOR DESIRED OR TARGETED
`CONTAINER IS ENTERED ELECTRONICALLY
`
`•
`
`CENTRAL PROCESSOR LOCATES RELEVANT STORAGE CONTAINER
`INFORMATION IN THE DATABASE AND LOCATION OF STORAGE
`CONTAINER IN STORAGE CAROUSEL IS DETERMINED
`
`+
`IF SECURITY IS REQUIRED, THEN AN ACCESS CODE IS ENTERED VIA DATA
`INPUT DEVICE AND CONFIRMED BY PROCESSOR TO ALLOW ACCESS
`TO THE DESIRED STORAGE CONTAINER
`
`•
`
`STORAGE CAROUSEL IS ROTATED TO ROTATIONALLY ALIGN THE
`CORRECT VERTICAL RACK, CONTAINING THE DESIRED STORAGE
`CONTAINER, WITH THE FUTURE POSITION INTERCHANGE MECHANISM
`
`t
`
`INTERCHANGE MECHANISM IS ACTUATED VERTICALLY BY A VERTICAL
`TRANSPORTER TO VERTICALLY ALIGN WITH THE CORRECT HEIGHT OF A
`DESIRED STORAGE TRAY
`_!
`ROTARY TRANSPORTER ROTATES THE INTERCHANGE MECHANISM
`TO ROTATIONALLY ALIGN WITH CORRECT VERTICAL RACK
`+
`THE PICKING MECHANISM IS ADVANCED SUBSTANTIALLY HORIZONTALLY
`TO RETRIEVE THE STORAGE CONTAINER FROM STORAGE TRAY
`
`•
`
`THE PICKING MECHANISM IS VERTICALLY RAISED A NOMINAL HEIGHT AND
`RETRACTED HORIZONTALLY TO ENGAGE AND WITHDRAW THE
`STORAGE CONTAINER
`
`•
`
`T0709
`FIG. 78
`
`v- 702
`
`v- 703
`
`../" 704
`
`../" 705
`
`v- 706
`
`v- 707
`
`v 708
`
`FIG. 7A
`
`Hamilton Ex. 1001
`Page 12
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 12 of 26
`
`US 6,467,285 B2
`
`FROM 708
`FIG. 7A
`
`INTERCHANGE MECHANISM IS ROTATED TO ROTATIONALLY
`ALIGN WITH INTERIOR DOOR OF CHAMBER
`
`1
`
`../ 700
`
`/ " 709
`
`EXTERIOR DOOR AND INTERIOR DOOR ARE IN CLOSED POSITION WHILE
`AIR PURGING SYSTEM COOLS AND DEHUMIDIFIES AIR IN CHAMBER
`
`/ " 710
`
`+
`INTERIOR DOOR OPENS, THE TRANSPORT TRAY EXTENDS AS THE PICKING
`MECHANISM ADVANCES INTO CHAMBER TO DISENGAGE THE STORAGE
`CONTAINER IN THE CHAMBER, PICKING MECHANISM WITHDRAWS
`
`/ " 711
`
`•
`BARCODE ID OF THE STORAGE CONTAINER TO CONFIRM THAT IT v- 712
`
`INTERIOR DOOR CLOSES, AND THE READER DEVICE READS THE
`
`MATCHES THE ID THAT WAS ENTERED IN STEP 701
`-
`t
`EXTERIOR DOOR OPENS, ALLOWING ACCESS TO THE
`STORAGE CONTAINER
`
`v-
`
`713
`
`FIG. 78
`
`Hamilton Ex. 1001
`Page 13
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 13 of 26
`
`US 6,467,285 B2
`
`23
`
`FIG. 8
`
`Hamilton Ex. 1001
`Page 14
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 14 of 26
`
`US 6,467,285 B2
`
`~23
`
`28
`
`33
`
`36
`
`36
`
`FIG. 9
`
`FIG. 10A
`
`FIG. 108
`
`28
`
`Hamilton Ex. 1001
`Page 15
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 15 of 26
`
`US 6,467,285 B2
`
`FIG. 11A
`
`Hamilton Ex. 1001
`Page 16
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 16 of 26
`
`US 6,467,285 B2
`
`=
`
`49
`
`43
`
`FIG. 11 B
`
`Hamilton Ex. 1001
`Page 17
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 17 of 26
`
`US 6,467,285 B2
`
`1280 ~
`
`CONTROL
`SYSTEM
`
`1281\
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`COMPUTER
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`..
`-
`
`1282 ~
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`--"'
`
`LABORATORY
`INFORMATION
`MANAGEMENT
`SYSTEMS
`
`~----~~ MOTORS
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`--1283
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`ACTUATORS v- 1284
`
`I ~ 1285
`POSITION
`SENSORS ~
`
`IDENTIFICATION
`SENSORS
`
`--........_ 1286
`
`FIG. 12
`
`Hamilton Ex. 1001
`Page 18
`
`

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`1324--.......
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`.._ _____ •
`
`INTERFACE
`
`1320---
`
`Hamilton Ex. 1001
`Page 19
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 19 of 26
`
`US 6,467,285 B2
`
`~1420
`
`1460
`
`FIG. 14A
`
`Hamilton Ex. 1001
`Page 20
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 20 of 26
`
`US 6,467,285 B2
`
`1440
`
`1444
`
`1420
`
`--1437
`
`1460
`
`FIG. 148
`
`Hamilton Ex. 1001
`Page 21
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 21 of 26
`
`US 6,467,285 B2
`
`1501
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`FIG. 158
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`Hamilton Ex. 1001
`Page 22
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 22 of 26
`
`US 6,467,285 B2
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`1502
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`Hamilton Ex. 1001
`Page 23
`
`

`
`U.S. Patent
`
`Oct. 22,2002
`
`Sheet 23 of 26
`
`US 6,467,285 B2
`
`FIG. 16A
`
`Hamilton Ex. 1001
`Page 24
`
`

`
`U.S. Patent
`
`Oct. 22,2002
`
`Sheet 24 of 26
`
`US 6,467,285 B2
`
`91
`
`65
`
`FIG. 168
`
`Hamilton Ex. 1001
`Page 25
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 25 of 26
`
`US 6,467,285 B2
`
`FIG. 17A
`
`Hamilton Ex. 1001
`
`Page 26
`
`Hamilton Ex. 1001
`Page 26
`
`

`
`U.S. Patent
`
`Oct. 22, 2002
`
`Sheet 26 of 26
`
`US 6,467,285 B2
`
`FIG. 17B
`
`Hamilton Ex. 1001
`
`Page 27
`
`Hamilton Ex. 1001
`Page 27
`
`

`
`US 6,467,285 B2
`
`1
`AUTOMATED STORAGE AND RETRIEVAL
`APPARATUS FOR FREEZERS AND
`RELATED METHOD THEREOF
`
`RELATED APPLICATIONS
`
`This application claims priority from U.S. Provisional
`Application Serial No. 60/227,166, filed on Aug. 23, 2000,
`entitled "Automated Storage and Retrieval Apparatus for
`Freezers and Related Method Thereof," and Ser. No. 60/299,
`597, filed on Jun. 20, 2001, entitled "Automated Storage and
`Retrieval Apparatus for Freezers and Related Method
`Thereof," the entire disclosures of which are hereby incor(cid:173)
`porated by reference herein.
`
`FIELD OF INVENTION
`
`10
`
`This invention relates to an automated storage and
`retrieval apparatus for ultra low temperature freezers, and
`more particularly an apparatus that improves the overall
`quality of the climate associated with storing items therein. 20
`
`BACKGROUND OF INVENTION
`
`2
`freezer door open also allows frost to build up in the freezer
`compartment. With repeated openings of the door, the frost
`eventually can freeze containers to the bottom of the freezer
`compartment or to each other. As a result, the door must be
`5 kept open longer in order to break containers out of the frost,
`which only exacerbates the problem.
`The increasing need for high quality bio-repositories in
`hospitals, research institutions, and pharmaceutical clinical
`research laboratories provides a market for automated ultra(cid:173)
`cold storage devices that will improve sample quality, orga(cid:173)
`nize storage, provide rapid access to all specimens, and
`maintain electronic records of all specimens stored within
`the container.
`U.S. Pat. No. 5,921,102 to Vago, herein incorporated by
`15 reference, utilizes a storage apparatus particularly with auto(cid:173)
`matic insertion and retrieval. Drawbacks of the Vago
`approach, but not limited thereto, are that it fails to provide
`the climate control associated with the freezer and the
`various interchanging devices, and other features and
`aspects.
`There is therefore a need in the art for an automated cold
`storage apparatus, and related method thereof, that can
`provide, among other things a more organized storage and
`25 retrieval apparatus, less accumulation of moisture and frost
`within the cold storage compartment, less temperature fluc(cid:173)
`tuation from sample withdrawal, and rapid random access to
`all specimens.
`
`Advancements in biotechnology and medical science
`require the analysis of ever-increasing numbers of various
`biological samples. Many biological samples must be stored
`at below-freezing temperatures in order to preserve them for
`future reference, analysis, or use. For example, DNA, RNA,
`cells and protein samples, as well as the reagents necessary
`for conducting various analyses of these samples, must be 30
`stored at ultra-cold temperatures to prevent degradation that
`would interfere with reliable analyses of the biological
`products.
`Storage below -80° C. is generally required for successful
`preservation of biomolecules, cells, and tissue (morphology
`and viability) for extended periods of time. However, shelf
`life and the ability to recover living cells are dramatically
`improved at about -196° C. (-196° C. being the boiling
`point of liquid nitrogen). The National Institute of Standards
`and Technology has suggested that the term cryogenics be
`applied to all temperatures below -150° C. ( -238° F. or 123°
`above absolute zero on the Kelvin scale). Some scientists
`regard the normal boiling point of oxygen ( -183 o C. or
`-297° F.), as the upper limit. The term ultra low temperature
`is probably not officially recognized by any standards body.
`However, it is generally agreed that a freezer refers to a
`storage device that operates from about-5° C. to -20° C., an
`ultra low operates from about -50° C. to about -90° C., and
`a cryogenic freezer operates from about -140° C. to -196°
`c.
`There are many problems associated with placement and
`retrieval of samples from ordinary laboratory freezer com(cid:173)
`partments. For instance, in an ordinary freezer compartment,
`containers of samples must be stored in front of and on top
`of each other to maximize use of the available space. Even 55
`if the containers are of standard sizes, and therefore easily
`stackable and even if a positional inventory of the samples
`is kept, it is still necessary to shuffle the containers around
`manually in order to retrieve a desired container. This is
`problematic because it requires keeping the freezer door 60
`open for possibly extended periods of time. Keeping the
`freezer door open causes the interior temperature of the
`freezer compartment to rise temporarily, which can cause
`thawing of samples housed near the door of the freezer.
`Once the freezer is closed and the temperature decreases, the 65
`samples refreeze. This repeated freezing and thawing can
`cause more rapid degradation of samples. Keeping the
`
`SUMMARY OF THE INVENTION
`
`The present invention automated cold storage apparatus,
`and related method thereof, provides a sample process
`management system that is a revolutionary approach to the
`storage and retrieval of critical samples. The system-a
`35 significant technological breakthrough in laboratory
`automation-is the first ultra low temperature robotic sys(cid:173)
`tem capable of being validated. Samples in containers are
`stored and retrieved robotically through an airlock climate(cid:173)
`control chamber (access means) that is automatically dehu-
`40 midified by a dry gas purge, such as a carbon dioxide or
`nitrogen purge or the like. This purge rapidly reduces
`ambient humidity to a desirable relative humidity (RH), e.g.,
`less than about 15% RH, virtually eliminating the accumu(cid:173)
`lation of frost. Microplates or storage containers, or the like,
`45 are systematically identified using barcode technology, for
`example. Once through the climate-controlled chamber, the
`containers (i.e., samples) are robotically transferred to the
`rotary mechanism. This mechanism transports the containers
`to a derived nest location upon the storage means, such as a
`50 carousel or one of the stationary addresses. For illustrative
`purposes only, the carousel and stationary nests may have a
`combined capacity of 1,000 standard microplates. It is
`contemplated that various capacities may be designed.
`The preferred embodiments of the present invention auto(cid:173)
`mated storage and retrieval apparatus, and related method
`thereof, operate at an ultra low temperature of about -50° C.
`to about -90° C. It should be understood that the apparatus
`may operate in a range of -50° C. up to ambient temperature
`or greater. The normal design operating temperature of the
`freezer compartment of the present invention is about -80°
`C. It should be noted that the present invention is contem-
`plated to operate at conditions colder than ultra low tem(cid:173)
`peratures in the range of about -140° C. to about -90° C.
`Conveniently, if the freezer fails for whatever reason(cid:173)
`maintenance or scheduled outage-then liquid carbon diox(cid:173)
`ide can be pumped into the system and keep it at approxi-
`mately -78 o C. The ultra low freezer set point
`
`Hamilton Ex. 1001
`Page 28
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`

`
`US 6,467,285 B2
`
`5
`
`4
`and related method thereof, is that the apparatus can operate
`in a stand-alone mode or can be integrated into a completely
`automated laboratory. It is scalable to meet the needs of
`small laboratories as well as large institutions that will
`require long-term storage of large numbers of samples.
`Another advantage of the present invention is that the
`apparatus can be designed as a slide-in unit for existing
`ultra-cold freezers, which will keep the majority of the
`hardware in the door so as to be insulated from the freezer
`compartment, minimizing both the number of low(cid:173)
`temperature hardware components and the actual alteration
`to the freezer itself. A reduced number of moving compo(cid:173)
`nents is continuously exposed to the design temperature of
`about -80° C., reducing the cost of production.
`Further advantages of the present invention are attributed
`to the improved sample quality, lowered operating costs, and
`reduced maintenance of the automated storage and retrieval
`apparatus.
`Finally, an advantage of the present invention is that it
`provides ultra-low temperature automation or lower and
`user-friendly information technology in a proven reliable
`manner.
`These and other objects, along with advantages and
`features of the invention disclosed herein, will be made more
`apparent from the description, drawings and claims that
`follow.
`
`20
`
`3
`(approximately 78° C.) of the apparatus can be backed up by
`installing a cylinder of liquid carbon dioxide.
`In one aspect, the present invention features an automated
`storage and retrieval apparatus for storing containers at ultra
`low temperatures or other preferred temperatures. The appa-
`ratus comprising: a freezer compartment, the freezer com(cid:173)
`partment having a side wall; a storage carousel disposed
`inside the freezer compartment for holding the containers; a
`climate-controlled chamber disposed on the side wall; a
`climate system for controlling the climate of the chamber; 10
`and an interchange mechanism configured. The interchange
`mechanism is configured to:
`interchange a container
`between the interchange mechanism and the climate(cid:173)
`controlled chamber while in a chamber exchange position,
`and interchange a container between the interchange mecha- 15
`nism and the carousel while in a carousel exchange position.
`The chamber also being configured to: isolate the container
`from the interchange mechanism as container is deposited
`from the exterior or placed into the exterior, and isolate the
`container from the exterior as container is exchanged
`between the chamber and the interchange mechanism.
`In some embodiments, the carousel can be replaced with
`a stationary storage rack, and additional storage racks may
`be added. The interchange mechanism is configured to
`interchange a container between the interchange mechanism 25
`and the rack(s) while in a rack exchange position(s).
`In a second aspect, the present invention provides an
`automated storage and retrieval apparatus for storing con(cid:173)
`tainers at ultra low temperatures or other preferred tempera(cid:173)
`tures. The apparatus comprising: a freezer means for freez- 30
`ing the containers; a storage means disposed inside the
`freezer means for holding the containers; a chamber means
`for interchanging the containers between the exterior and the
`freezer means; a climate system control means for control(cid:173)
`ling the climate of the chamber means; and an interchange 35
`means. The interchange means for: interchanging a con(cid:173)
`tainer between the interchange means and the chamber
`means while in a chamber exchange position, and inter(cid:173)
`changing a container between the interchange means and the
`storage means while in a storage exchange position. The
`chamber means for: isolating the container from the inter(cid:173)
`change means as container is deposited from the exterior or
`placed into the exterior, and isolating the container from the
`exterior as container is exchanged between the chamber
`means and said interchange means.
`In a third aspect, the present invention provides a method
`for automatically depositing and storing containers, as well
`as a method for storing and retrieving containers in a freezer
`compartment of an automated apparatus. The apparatus
`comprising: a freezer means for freezing the containers; a 50
`storage means disposed inside the freezer means for holding
`the containers; a chamber means for interchanging the
`containers between the exterior and the freezer means; a
`climate system control means for controlling the climate of
`the chamber means; and an interchange means. The inter- 55
`change means for: interchanging a container between the
`interchange means and the chamber means while in a
`chamber exchange position, and interchanging a container
`between the interchange means and the storage means while
`in a storage exchange position. The chamber means for: 60
`isolating the container from the interchange means as con(cid:173)
`tainer is deposited from the exterior or placed into the
`exterior, and isolating the container from the exterior as
`container is exchanged between the chamber means and said
`interchange means.
`An advantage of the present invention automated storage
`and retrieval apparatus for ultra low temperature freezers,
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`The foregoing and other objects, features and advantages
`of the present invention, as well as the invention itself, will
`be more fully understood from the following description of
`preferred embodiments, when read together with the accom(cid:173)
`panying drawings, in which:
`FIG. 1 shows a schematic plan view of the automated
`storage and retrieval apparatus.
`FIG. 2A shows a schematic perspective view of the
`automated storage and retrieval apparatus.
`FIG. 2B shows a perspective partial view of the door or
`40 wall of a compartment and/or housing.
`FIG. 3 shows a schematic cross-sectional view of the
`climate controlled chamber with the exterior door in open
`and closed positions.
`FIGS. 4A and 4B show a schematic frontal view and plan
`45 view, respectively, of the related translation mechanisms of
`the climate controlled chamber.
`FIGS. 5A-5D show a schematic representation of select
`positions of the rotational alignment of the interchange
`mechanism.
`FIGS. 6A and 6B comprise a flow chart illustrating the
`operation for depositing and storing a storage container or
`the like in the automated storage and retrieval apparatus.
`FIGS. 7A and 7B comprise a flow chart illustrating the
`operation for retrieving the targeted or desired storage
`container or the like in the automated storage and retrieval
`apparatus.
`FIG. 8 shows a schematic perspective view of the storage
`carousel of the automated storage and retrieval apparatus.
`FIG. 9 shows a perspective view of an individual vertical
`rack from the carousel of FIG. 8, comprised of a plurality of
`storage trays,
`FIGS. lOA and lOB show a schematic perspective view of
`the storage trays and their related cooperation with the
`65 vertical supports of the carousel.
`FIGS. llA and llB are schematic perspective views of
`the interchange mechanism and related components.
`
`Hamilton Ex. 1001
`Page 29
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`

`
`US 6,467,285 B2
`
`5
`FIG. 12 shows a schematic block diagram of the general
`features of the control system of the automated storage and
`retrieval apparatus.
`FIG. 13 shows a schematic block diagram of an exem(cid:173)
`plary computer system associated with an embodiment of 5
`the automated storage and retrieval apparatus.
`FIGS. 14A and 14B show schematic perspective views of
`an alternative embodiment of the automated storage and
`retrieval apparatus.
`FIGS. 15A-15D show schematic plan views of an alter(cid:173)
`native embodiment of the automated storage and retrieval
`apparatus providing expanded network system of cooperat(cid:173)
`ing freezer apparatuses.
`FIG. 16A and 16B show schematic perspective front/
`exterior views of the housing of the climate control chamber
`with related components in both the closed and open
`position, respectively.
`FIG. 17A and 17B show schematic perspective back/
`interior views of the housing of the climate control chamber
`with related components in both the closed and open
`position, respectively.
`
`DETAILED DESCRIPTION OF 1HE
`INVENTION
`Turning now to the drawings, the present invention is
`schematically shown in the plan view of FIG. 1 and per(cid:173)
`spective view of FIG. 2A, which includes an automated
`storage and retrieval apparatus 1 having one or more storage
`carousels 20 disposed in a freezer compartment 10, with one
`or more optional stationary racks 26, 27, an interchange
`mechanism 40, and a climate controlled chamber 60 that is
`generally disposed on a wallll of the freezer compartment
`10 or associated housing 2. A central control system 80 is
`coupled to the storage carousel 20, interchange mechanism
`40, and climate controlled chamber 60 for controlling their
`operations. Generally, the control system 80 controls the
`operation of the apparatus so that the containers can be
`loaded from the exterior into the climate-controlled chamber
`60 for retrieval by the interchange mechanism 40 for inser(cid:173)
`tion onto the carousel 20 in the freezer compartment 10.
`Stored containers subsequently can be retrieved from the
`carousel 20 by the interchange mechanism 40 and available
`to be taken away to the exterior through the climate con(cid:173)
`trolled chamber 60.
`FIG. 2B shows a perspective partial view of the wallll
`of the compartment and/or door of the housing. Mounted on
`the wall 11 are the climate-controlled chamber 60 and a
`touch screen interface 82. As will be discussed later, it is
`envisioned that a control system and computer system can
`be accessed directly by using the touch screen interface 82
`and/or remotely by a stand-alone personal computer or with
`a local area network (LAN).
`Next, details of the climate controlled chamber 60 will be
`provided, as best shown in FIGS. 3 and 4A-4B. A particu(cid:173)
`larly desirable feature is that the climate-controlled chamber
`60 prevents ambient, humid air from entering the interior of
`freezer compartment 10 during storage container insertion
`and retrieval. The Chamber 60 has an interior door 61 to
`allow communication between freezer compartment 10 and
`chamber 60, and an exterior door 62 to allow communica(cid:173)
`tion between the exterior environment (or adjacent area)and
`chamber 60. The chamber 60 has a climate control system 66
`that provides an air purging capability to cool and dehu(cid:173)
`midify the air in the chamber 60 before interior door 61 is
`opened. A scanning reader device 65, preferably a barcode
`reader, is situated in the chamber 60 to identify storage
`
`30
`
`6
`containers as they are inserted into and retrieved from
`chamber 60. Information relative to the storage containers is
`transmitted from reader device 65 to central and/or remote
`processor.
`Still referring to FIGS. 3 and 4A-4B, the storage con-
`tainers 3 are carried by a transport tray 63 that is slidably
`mounted on two channels 67, 68. The transport tray 63 can
`transport the container 3 to the exterior as the exterior door
`62 is open, as indicated by the dashed lines. Alternatively,
`10 the transport tray 63 can transport the container 3 to the
`interior of the freezer compartment 10 as the interior door 61
`is open, as indicated by the dotted lines. In one embodiment,
`the interior door 61 may slide open and close on a track (not
`shown). A climate control system 66 is in communication
`15 with the chamber 60 that dehumidifies and cools the cham(cid:173)
`ber 60 while the container is isolated therein, i.e., both
`exterior and interior doors are closed. The climate control
`system 66 includes a dry gas or dry air purge (i.e., nitrogen,
`carbon dioxide, or the like), that rapidly reduces ambient
`20 humidity to any desired level, e.g., less than about 25%
`relative humidity (RH) and as low as about 1% RH. In fact,
`any compressed gas from which moisture has been removed
`will reduce the humidity in the airlock, and will cool the
`airlock by adiabatic expansion to about -10° .C to about 0°
`25 C., or as desired.
`A preferred embodiments of the present invention auto(cid:173)
`mated storage and retrieval apparatus, and related method
`thereof, operate at an ultra low temperature from about -50°
`C. to about -90° C. It should be understood that the
`apparatus may operate in a range of -50° C. up to ambient
`temperature or greater. The normal design operating tem(cid:173)
`perature of the freezer compartment of the present invention
`is about -80° C. It should be noted that the present invention
`i