United States Patent [19J
`Vago
`
`111111
`
`1111111111111111111111111111111111111111111111111111111111111
`US005921102A
`[11] Patent Number:
`[45] Date of Patent:
`
`5,921,102
`Jul. 13, 1999
`
`[54] STORAGE APPARATUS PARTICULARLY
`WITH AUTOMATIC INSERTION AND
`RETRIEVAL
`
`[75]
`
`Inventor: Robert E. Vago, Northbrook, Ill.
`
`[73] Assignee: Cryo-Cell International, Inc.,
`Clearwater, Fla.
`
`[21] Appl. No.: 08/828,402
`
`[22]
`
`Filed:
`
`Mar. 28, 1997
`
`[51]
`
`[52]
`
`[58]
`
`[56]
`
`Int. Cl.6
`
`............................ F25D 23/12; F25D 23/02;
`B65G 1/06
`U.S. Cl. ................................. 62/337; 62/266; 62/381;
`62/51.1
`Field of Search ............................... 62/51.1, 62, 337,
`62/381, 266
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`
`2,599,173
`2,695,729
`2,928,705
`3,004,408
`3,034,845
`3,088,787
`3,163,994
`3,456,817
`3,662,565
`3,696,631
`3,782,133
`3,787,699
`4,245,483
`
`6/1952 Hamilton .
`11/1954 Hornish ................................. 62/381 X
`3/1960 Goldsmith .
`10/1961 Dros et a!. ............................ 62/381 X
`5/1962 Haumann .
`5/1963 Perkins .. ... ... ... .... ... ... ... ... ... .... 62/381 X
`1!1965 Haumann eta!. .................... 62/381 X
`7/1969 Irazoqui .
`5/1972 Gram .
`10/1972 Valdes .
`........................ 62/381
`1!1974 Desperier et a!.
`1!1974 Menachem et a!. .................. 62/381 X
`1!1981 Murai.
`
`4,340,263
`4,870,829
`4,969,336
`5,125,240
`5,176,202
`5,233,844
`5,638,686
`
`7/1982 Webb .
`10/1989 Oullette et a!. .
`11/1990 Knippscheer eta!. ................ 62/337 X
`6/1992 Knippscheer et a!. .
`1!1993 Richard ................................. 62/337 X
`8/1993 Knippscheer et a!. .
`........................ 62/337 X
`6/1997 Coelho et a!.
`
`FOREIGN PATENT DOCUMENTS
`
`40979/89
`2421387
`
`4/1990 Australia .
`5/1974 Germany .
`
`Primary Examiner-Christopher B. Kilner
`Attorney, Agent, or Firm-Henry D. Coleman; R. Neil
`Sudol
`
`[57]
`
`ABSTRACT
`
`A storage unit includes a housing with a storage chamber, a
`carrier disposed inside the chamber for supporting a plural(cid:173)
`ity of specimens in a predetermined array, and an access port
`on the housing for enabling access to the chamber for
`insertion and retrieval of specimens from the carrier. The
`access port includes an opening in the housing and a plug
`member removably located in the opening. The carrier is
`provided with a seat for receiving the plug member during
`an access operation, so that the plug member is located in the
`chamber during the access operation. A drive is operatively
`connected to the carrier for moving the carrier in the
`chamber to juxtapose different specimens to the access port.
`An insertion and removal mechanism is coupled to the
`housing for alternately inserting and removing specimens
`from the chamber via the access port during the access
`operation.
`
`43 Claims, 11 Drawing Sheets
`
`73 114
`
`71
`
`156
`
`Hamilton Ex. 1015
`Page 1
`
`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 1 of 11
`
`5,921,102
`
`20a
`
`FIG. 1
`
`30
`
`31
`
`28
`
`32
`
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`
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`
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`
`42
`
`FIG.2
`
`20a
`
`50 a
`
`Hamilton Ex. 1015
`Page 2
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 2 of 11
`
`5,921,102
`
`22-------
`
`54
`
`28
`
`44
`
`42
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`20b
`
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`56
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`58
`
`FIG.4
`
`SOa
`20a
`FIG.5
`
`Hamilton Ex. 1015
`Page 3
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 3 of 11
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`5,921,102
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`
`Hamilton Ex. 1015
`Page 4
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 4 of 11
`
`5,921,102
`
`SERVO MOTOR
`AND
`GEAR BOX
`
`.,
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`L.
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`FIG. 7
`
`Hamilton Ex. 1015
`Page 5
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 5 of 11
`
`5,921,102
`
`SERVO MOTOR
`AND
`GEAR BOX
`
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`
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`
`73
`
`Hamilton Ex. 1015
`Page 6
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 6 of 11
`
`5,921,102
`
`.,
`
`SERVO MOTOR
`AND
`GEAR BOX
`
`ROBOT
`CONTROLLER
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`Hamilton Ex. 1015
`Page 7
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 7 of 11
`
`5,921,102
`
`r-20
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`FIG.10
`
`Hamilton Ex. 1015
`Page 8
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 8 of 11
`
`5,921,102
`
`ROBOT
`CONTROLLER
`
`30a
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`
`Hamilton Ex. 1015
`Page 9
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 9 of 11
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`5,921,102
`
`/130
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`126
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`Hamilton Ex. 1015
`Page 10
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 10 of 11
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`5,921,102
`
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`Hamilton Ex. 1015
`Page 11
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`

`

`U.S. Patent
`
`Jul. 13, 1999
`
`Sheet 11 of 11
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`5,921,102
`
`258
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`260
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`232 248 254 v
`
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`Hamilton Ex. 1015
`Page 12
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`

`

`5,921,102
`
`1
`STORAGE APPARATUS PARTICULARLY
`WITH AUTOMATIC INSERTION AND
`RETRIEVAL
`
`BACKGROUND OF THE INVENTION
`
`This invention relates to a storage apparatus. More
`particularly, this invention relates to an apparatus with
`automatic insertion and retrieval of samples from a storage
`container. More specifically, this invention relates to an
`apparatus for the preservation of biological specimens at
`various temperatures, including but not limited to the tem(cid:173)
`perature of liquid nitrogen. This invention also relates to an
`associated method for storing a multitude of samples, e.g.,
`biological samples.
`When properly treated, biological specimens can be
`stored almost indefinitely at temperatures approaching that
`of liquid nitrogen so long as that temperature is maintained.
`However, once the temperature of a specimen is raised,
`especially to a level where thawing occurs, the integrity of 20
`the specimen suffers if the specimen is then refrozen.
`Many conventional cryogenic storage units are simple
`containers with removable racks having multiple shelves.
`Specimens are inserted and removed from the storage units
`manually through a door in the top of the unit. Retrieval
`operations always necessitate the removal of many speci(cid:173)
`mens in the same rack as the desired specimen.
`A considerable advance in the mass cryogenic storage of
`biological specimens was made with U.S. Pat. No. 4,969,
`336. That patent disclosed the automated moving of speci(cid:173)
`mens along a predetermined path inside a storage tank, with
`automated insertion and retrieval operations under comput(cid:173)
`erized tracking control.
`A further significant improvement in the cryogenic stor(cid:173)
`age arts was introduced with U.S. Pat. No. 5,233,844. That
`patent discloses a cryogenic storage unit comprising a
`plurality of independently rotatable storage shelves located
`one above the other in an insulated chamber. Each shelf
`supports several pie-slice-shaped trays each carrying a mul(cid:173)
`tiplicity of specimens in vials. The shelves each have a
`pie-slice-shaped opening, with these openings being dis(cid:173)
`posed one above the other to define a vertical access path. To
`retrieve a particular vial or specimen from the storage unit,
`the shelf containing the desired specimen is rotated so that
`the tray containing the specimen is located in the access
`path. A lift mechanism raises the tray to the top of the unit
`where a robotic arm retrieves the desired specimen.
`The cryogenic storage unit of U.S. Pat. No. 5,233,844,
`although superior to conventional cryogenic storage units
`which are manually operated, is subject to the disadvantage 50
`of having a significant number of moving parts. Such
`moving parts suffer from wear and thus require substantial
`repair and maintenance efforts.
`Moreover, automated storage units pursuant to U.S. Pat.
`No. 5,233,844 suffer from the formation of ice at the access
`openings to the storage units. This problem is overcome in
`existing machines by the utilization of heating elements at
`the access openings. Heating, of course, militates against
`maintaining desired low temperatures in the storage units.
`
`OBJECTS OF THE INVENTION
`An object of the present invention is to provide an
`improved storage unit with automatic insertion and retrieval.
`An additional object of the present invention is to provide
`such a storage unit which has reduced insertion and retrieval
`times.
`
`2
`A further object of the present invention is to provide an
`automatic storage device which is has a simpler construction
`than prior cryogenic storage devices.
`Another object of the present invention is to provide a
`5 storage apparatus which has fewer moving parts than con(cid:173)
`ventional storage units used for the same purpose.
`A more specific object of the present invention is to
`provide a cryogenic storage apparatus wherein the formation
`of ice at an access opening to the apparatus is substantially
`10 reduced if not eliminated.
`Related objects of the invention pertain to a method of
`storage.
`These and other objects of the present invention will be
`15 apparent from the drawings and descriptions herein.
`SUMMARY OF THE INVENTION
`A storage unit comprises, in accordance with the present
`invention, housing defining a storage chamber, a carrier
`disposed inside the chamber for supporting a plurality of
`specimens in a predetermined array, and an access port on
`the housing for enabling access to the chamber for insertion
`and retrieval of specimens from the carrier. The access port
`includes an opening in the housing and a plug member
`25 removably located in the opening. The carrier is provided
`with a seat for receiving the plug member during an access
`operation, so that the plug member is located in the chamber
`during the access operation. A drive is operatively connected
`to the carrier for moving the carrier in the chamber to
`30 juxtapose different specimens to the access port. An inser(cid:173)
`tion and removal mechanism is coupled to the housing for
`alternately inserting and removing specimens from the
`chamber via the access port during the access operation.
`Where the storage unit is a cryogenic storage apparatus,
`35 the formation of ice at the access port is minimized. This
`reduction in ice is achieved largely because of the disposi(cid:173)
`tion of the plug or door member inside the cryogenic storage
`apparatus during insertion and retrieval operations. In prior
`machines, the door of the access port is retracted outwardly
`40 away from the machine, thus inducing the formation of ice
`crystals on the cold surfaces of the door member. The ice
`crystals must be removed prior to the refitting of the door to
`the access port. In a cryogenic storage apparatus in accor(cid:173)
`dance with the present invention, the door or plug member
`45 is temporarily stored inside the apparatus, thereby prevent(cid:173)
`ing the formation of ice crystals during the access operation.
`In accordance with a particular feature of the present
`invention, the plug or door member of the access port has a
`loose fit to the housing of the storage apparatus. For
`example, where the plug member is made of Styrofoam, the
`closure of the access port is not gas tight. Thus, cryogenic
`vapors (cooled N2) can leak around the edges of the plug
`member. This leakage effectively serves as a safety valve,
`preventing an overpressurization of the cryogenic storage
`55 apparatus. Also, it is to be noted that the plug member is
`made of insulating material which inhibits the formation of
`ice along an outer surface.
`It is contemplated that the plug member and the insertion
`and removal mechanism have cooperating elements for
`60 enabling the insertion and removal mechanism to move the
`plug member from the opening radially inwardly into the
`seat in the carrier prior to the access operation and for
`enabling the insertion and removal mechanism to move the
`plug member from the seat radially outwardly into the
`65 opening after the access operation. The cooperating ele(cid:173)
`ments may take the form of a suction device on the insertion
`and retrieval mechanism and a smooth surface, for example,
`
`Hamilton Ex. 1015
`Page 13
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`5,921,102
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`5
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`3
`in a recess in the plug member. Thus, although a separate
`mechanism may be provided for shifting the plug member
`alternately into and out of the seat in the carrier member, it
`is more efficient to have this operation performed by the
`same mechanism used to insert and remove vials or speci-
`mens.
`Preferably, the carrier includes a drum and a cylinder
`connected thereto with the cylinder coaxially surrounding
`and being spaced from the drum. The drive is connected to
`the drum and the cylinder for rotating the drum and the
`cylinder about a vertical axis. The cylinder is provided with
`an array of horizontally and radially extending openings for
`receiving respective ones of the specimens.
`The storage chamber is located between the drum and the
`inner surface of the housing. This layout reduces, if not
`minimizes, the volume of the storage chamber and thus
`increases cooling efficiency where the storage unit is a
`cryogenic storage apparatus. Also, the locations of the
`specimens are precisely defined and cannot shift, whether
`during normal usage or during extraordinary circumstances
`such as earthquakes.
`Where the storage unit is a cryogenic storage apparatus,
`the housing is provided with a sump for holding a supply of
`a low-temperature liquid (e.g., liquid N2 ). Also, the drum
`and the cylinder are made of a heat conductive material for
`facilitating a low-temperature storage of the specimens. It is
`preferred that the drum and the perforated cylinder are made
`of aluminum. Aluminum is a good thermal conductor and
`will reduce the thermal gradient from the top to the bottom
`of the storage chamber.
`According to another feature of the present invention, the
`housing is provided with a retainer for cooperating with the
`plug member to hold the plug member in the opening. The
`retainer may comprise a magnet for exerting an attractive 35
`force on a magnetic or magnetizable element mounted to the
`plug member.
`To facilitate storage of large numbers of specimens, the
`insertion and retrieval operations and the tracking of stored
`specimens are implemented by a computer. The computer is 40
`operatively connected to the insertion and retrieval mecha(cid:173)
`msm.
`A storage unit comprises, in accordance with the present
`invention, a housing with a sidewall defining a storage
`chamber, a carrier disposed inside the chamber for support- 45
`ing a plurality of specimens in a predetermined cylindrical
`array, a drive operatively connected to the carrier for rotating
`the carrier about a vertical axis, an access port on the
`sidewall for enabling lateral access to the chamber for
`insertion and retrieval of specimens from the carrier, and an 50
`insertion and removal mechanism coupled to the housing for
`alternately inserting and removing specimens from the
`chamber via the access port.
`The cylindrical array for the specimens is a particularly
`simple configuration. Access to an entire column of speci- 55
`mens is obtained through a longitudinal, vertical slot in the
`sidewall of the housing. The slot is preferably substantially
`coextensive with the carrier in a vertical direction. An
`elongate plug or door member is removably located in the
`slot. As discussed above, the plug member is temporarily 60
`stored in the storage chamber during access operations. To
`that end, the carrier is provided with a seat for receiving the
`plug member.
`A method for storing a multitude of samples in accor(cid:173)
`dance with the present invention utilizes a storage unit 65
`having a housing defining a storage chamber and further
`having a carrier disposed inside the chamber for supporting
`
`4
`a plurality of specimens in a predetermined array. The
`method includes shifting a plug member inwardly into the
`storage chamber and away from an opening in the housing,
`moving the carrier to dispose a predetermined specimen
`receiving location on the carrier adjacent to the opening,
`inserting a specimen through the opening to the predeter-
`mined location on the carrier, and depositing the specimen
`at the predetermined location on the carrier. After the
`depositing of the specimen, the plug member is relocated
`10 back to the opening in the housing and thereafter shifting the
`plug member outwardly into the opening to thereby close the
`opening.
`Preferably, the shifting of the plug member inwardly into
`the chamber and away from the opening includes shifting
`15 the plug member into a seat on the carrier and further
`includes moving the carrier to relocate the shifted plug
`member away from the opening. Also, the relocating of the
`plug member includes again moving the carrier to relocate
`the plug member back to the opening and to simultaneously
`20 transfer the deposited specimen away from the opening.
`In accordance with a feature of the present invention, the
`shifting of the plug member includes operating an insertion
`and retrieval mechanism, while the inserting and depositing
`of the specimen includes operating the same insertion and
`25 retrieval mechanism. The insertion and retrieval mechanism
`preferably includes a suction device. An advantage of a
`suction device over mechanical or electromechanical servo(cid:173)
`mechanisms is that the suction or vacuum feed line can be
`designed to retain the applied vacuum even in the event of
`30 a loss of power.
`A storage unit with automatic insertion and retrieval in
`accordance with the present invention presents numerous
`and substantial benefits over existing technologies. The
`storage unit is more efficient, more reliable, and significantly
`less prone to accidents and failure. The storage unit has
`reduced insertion and retrieval times and a simpler construc(cid:173)
`tion than prior cryogenic storage devices. The storage unit
`has fewer moving parts than conventional cryogenic storage
`devices and accordingly has less need for maintenance. The
`formation of ice at the access opening to the apparatus is
`substantially reduced if not eliminated.
`In a cryogenic storage unit in accordance with the present
`invention, liquid nitrogen use is decreased and temperature
`control is improved. Where electrical power or the liquid
`nitrogen supply is interrupted, temperature control remains
`in place for substantially longer periods than in prior cryo(cid:173)
`genic storage units.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`FIG. 1 is a schematic perspective view of a cryogenic
`storage installation with two cylindrical storage units in
`accordance with the present invention.
`FIG. 2 is a schematic plan view of a cryogenic storage
`module including a single cylindrical storage unit in accor(cid:173)
`dance with the invention.
`FIG. 3 is a plan view of the cryogenic storage module of
`FIG. 2, including an additional cylindrical storage unit in
`accordance with the invention.
`FIG. 4 is a schematic plan view of two cryogenic storage
`modules according to FIG. 3, including a total of three
`cylindrical storage units in accordance with the invention.
`FIG. 5 is a schematic plan view of the two cryogenic
`storage modules of FIG. 4, with an additional cylindrical
`storage unit in accordance with the invention.
`FIG. 6 is a side elevational view of a cryogenic storage
`unit in accordance with the present invention.
`
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`

`5,921,102
`
`5
`FIG. 7 is a vertical cross-sectional view of the cryogenic
`storage unit of FIG. 6, showing a plug member (86) wedged
`into an elongate vertical access opening.
`FIG. 8 is a cross-sectional view similar to FIG. 7, showing
`the plug member (86) inserted into a slot provided in a 5
`cylindrical specimen carrier in the storage unit.
`FIG. 9 is a cross-sectional view similar to FIGS. 7 and 8,
`showing the cylindrical specimen carrier rotated to a posi(cid:173)
`tion to dispose specimen-containing vials adjacent to the
`access opening.
`FIG. 10 is a cross-sectional view of the storage unit
`similar to FIG. 9, additionally showing in elevational view
`a robotic insertion and retrieval mechanism.
`FIG. 11 is a top plan view of the storage unit and robotic
`insertion and retrieval mechanism of FIG. 10.
`FIG. 12 is a longitudinal or vertical cross-sectional view
`of another embodiment of a cryogenic storage apparatus in
`accordance with the present invention, showing differently
`sized biological containers in storage.
`FIG. 13 is a partial side-elevational view of the specimen
`carrier of FIGS. 8 and 9.
`FIG. 14 is a top plan view of a tray for multiple specimen-
`containing vials.
`FIG. 15 is a side elevational view of the tray of FIG. 14.
`FIG. 16 is an end elevational view of the tray of FIG. 14.
`FIG. 17 is a vertical cross-sectional view of a modified
`cryogenic storage unit in accordance with the present inven(cid:173)
`tion.
`
`20
`
`10
`
`6
`inside enclosure 24 for reading the bar code and transmitting
`the encoded information to computer 30. In response to a
`preprogrammed storage sequence and/or in response to
`instructions from the operator, computer 30 controls the
`storage of the vial in a predetermined location in storage
`units 20a and 20b. When a specimen is to be extracted from
`storage units 20a or 20b, controller 30a (FIG. 11) accesses
`an internal data base on instructions from computer 30 to
`determine the location of the desired specimen in storage
`units 20a and 20b. The identity of a retrieved specimen or
`vial is verified by the bar code reader and computer 30 and
`the retrieved specimen or vial is deposited into a tray 46 for
`removal by the operator.
`As depicted in FIG. 2, a primary module 48 for a
`cryogenic storage facility includes a platform 50a on which
`15 cryogenic storage unit 20a is placed. Another platform 52 is
`disposed contiguously to platform 50a for supporting a
`robotic insertion and retrieval arm or mechanism 54.
`FIG. 3 shows the primary module 48 of FIG. 2 with
`cryogenic storage unit 20b disposed on a respective platform
`SOb which is positioned adjacent to platform 52 to enable
`accessing of storage unit 20b by robotic insertion and
`retrieval mechanism 54.
`In FIG. 4, the cryogenic storage facility of FIG. 3 has been
`25 expanded to incorporate another robotic insertion and
`retrieval mechanism 56 and an additional cryogenic storage
`unit 20c supported on respective mutually contiguous plat(cid:173)
`forms 58 and SOc. The enclosure walls 22 of the storage
`facility of FIGS. 2 and 3 have been extended to have longer
`30 side walls 60 and 62.
`A further storage facility expansion is shown in FIG. 5.
`Another platform SOd with a respective additional storage
`unit 20d has been placed in contiguity with platform 58 for
`enabling automatic access to storage unit 20d by insertion
`35 and retrieval mechanism 56. Also, longer side walls 64 and
`66 are provided. Each robotic insertion and retrieval mecha(cid:173)
`nism 54 and 56 serves a maximum of two storage units 20a
`and 20b or 20c and 20d. Personal computer 30 serves a
`maximum or two robotic insertion and retrieval mechanisms
`40 54 and 56 and four storage units 20a, 20b, 20c, and 20d.
`Access to storage units 20a, 20b, 20c, and 20d by inser(cid:173)
`tion and retrieval mechanisms 54 and 56 is effectuated under
`the control of a single computer 30 (FIG. 1) at operator desk,
`station 28. To that end, insertion and retrieval mechanisms
`45 54 and 56 cooperate with one another to transfer specimen(cid:173)
`containing vials from one insertion and retrieval mecha(cid:173)
`nisms 54 or 56 to the other in the event that storage unit 20c
`or 20d is used for storage. A transfer platform 68 may be
`provided for establishing a transfer location. Transfer plat-
`50 form my be provided with a holder 70 for temporarily
`keeping a vial.
`Storage units 20a-20d are individually realizable as a
`cryogenic storage unit 20 illustrated in FIGS. 6-9. Storage
`unit 20 is disposed on an aluminum two-inch platform 71
`55 (e.g., platforms 50a-50d) provided with ground or floor
`supports 73 which are adjustable for leveling purposes.
`Platform 71 is provided with bores 75 for receiving con(cid:173)
`nector pins or dowel bolts (not shown) for fixing the
`platform to an adjacent platform 156 (FIG. 10). Storage unit
`60 20 includes an insulated dewar-type outer housing or vessel
`72 provided in a cylindrical sidewall 74 with an elongate
`access slot or opening 76 (FIGS. 6, 8, 9, 10) defined or
`framed by elongate lateral flanges 78 and 80 and arcuate
`upper and lower flanges or retention plates 82 and 84 all of
`65 which extend outwardly from sidewall 74.
`Access opening 76 is closed by an elongate plug member
`or sealing wedge 86. Plug member 86 is made of an
`
`DESCRIPTION OF THE PREFERRED
`EMBODIMENTS
`
`As illustrated in FIG. 1, a cryogenic storage installation
`includes a pair of cylindrical storage units 20a and 20b. Each
`unit 20a and 20b stores up to approximately 17,500
`specimen-containing vials. Prefabricated walls 22 define a
`custom enclosure or space 24 containing storage units 20a
`and 20b. Walls 22 are modularly expandable to define one or
`more additional enclosures 26 for containing further cryo(cid:173)
`genic storage units (see FIGS. 2-5).
`The storage installation includes an operator desk or
`station 28 with a utility cabinet 29 and a computer 30
`including a monitor 31 and a keyboard 32. Computer 30
`tracks the locations of specimens in storage units 20a and
`20b and, by means of providing unique bar code identifi(cid:173)
`cations to a robot controller 30a (FIG. 11), controls access
`to storage units 20a and 20b in response to operator instruc(cid:173)
`tions. Walls 22 are provided with a window 34 enabling the
`operator to view the access operations from desk 28. Walls
`22 are also provided with at least one opening 36 accessed
`via a door 38 for receiving a vial to be stored from the
`operator. During an automatic specimen storage or retrieval
`process, the operator monitors the process via window 34
`and, if a malfunction is detected, will instruct computer 30
`to abort the process. Alternatively, computer 30 may be
`bypassed by interrupting robot movements via a dedicated
`pushbutton 40. An additional abort control 42 (FIGS. 1 and
`2) is provided outside a normally locked service door 44.
`Control 42 must be actuated to abort robot motion prior to
`an unlocking of door 44 to permit operator entry into
`enclosure 24.
`As disclosed in U.S. Pat. Nos. 4,969,336 and 5,233,844,
`the disclosures of which are hereby incorporated by
`reference, the specimen-containing vials are provided with
`bar codes individually identifying the specimens or vials. A
`laser implemented bar code reader (not shown) is disposed
`
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`

`5,921,102
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`7
`insulating material such as Styrofoam. As illustrated in FIG.
`6, plug member 86 may comprise an inner wedge element 88
`and an outer wedge element 90 which surrounds the inner
`element 88. This bipartite configuration of plug member 86
`enables a variation in the size of specimen-containing vials 5
`stored in unit 20. Where all vials stored in vessel 72 are up
`to one inch in diameter, outer wedge element 90 remains in
`place lining access opening 76, thereby reducing the width
`of the access opening. When the stored inventory includes
`vials with a diameter between one and two inches, outer 10
`wedge element 90 is locked to inner wedge element 88 and
`moves therewith during access operations.
`Alternatively, rather than having a bipartite construction,
`plug member 86 may be a unitary piece, as depicted in FIGS.
`7 and 8. At upper and lower ends, along inner surfaces of 15
`upper and lower flanges 78 and 80, access opening 76 (FIG.
`6) is provided with magnetic retainers 92 and 94 (FIG. 7,
`etc.) which cofunction with magnetic elements 96 and 98 in
`plug member 86 to retain the plug member in access opening
`76.
`As illustrated in FIGS. 7-9, vessel 72 contains a cylin(cid:173)
`drical aluminum specimen carrier 100 rigidly mounted to
`and spaced from a thin-walled aluminum drum 102. Drum
`102 is evacuated to a high vacuum and sealed and, together
`with sidewall 74, defines a cylindrical storage space or
`chamber 104. Drum 102 is fixed to an aluminum drive shaft
`106 which extends vertically through the drum and is
`welded thereto at 108 and 110, thereby sealing the drum. A
`lower panel112 of drum 102 is spaced from a base 114 of
`vessel 72 to define a sump 116 containing a supply of a 30
`cryogenic fluid such as liquid nitrogen (N2 ).
`At an upper end, drive shaft 106 is rotatably journaled in
`a sleeve bearing 117 made of polytetrafluoroethylene and is
`provided with an externally threaded portion 118. A nut 120
`is threaded to shaft portion 118 and cooperates with a
`medium-duty thrust roller bearing 122 in suspending drive
`shaft 106, as well as drum 102 and specimen carrier 100,
`from an upper panel124 of vessel 72. The relative vertical
`locations of drive shaft 106 and nut 120 are adjustable
`during an installation procedure to set the vertical position of
`specimen carrier 100 relative to vessel 72 and particularly
`with respect to access opening 76. Nut 120 is locked to drive
`shaft 106 by a jam nut 126.
`Drive shaft 106 is rotated by an extremely low lost motion
`(backlash) servomotor and gear box 128. Preferably, a right
`angled configuration of the servomotor and gear box is
`employed, as indicated in phantom lines 130 in FIG. 6. The
`servomotor is energized under the control of robot controller
`30a as instructed by computer 30.
`At a lower end, drive shaft 106 is trapped and guided by
`a spherical bearing 132 made of polytetrafluoroethylene and
`disposed in a housing 134 welded to base 114 of vessel 72.
`Specimen carrier 100 is formed with a multitude of
`perforations or holes 136 in a close packed accurately
`machined array, as illustrated in FIG. 13. In FIGS. 7-10,
`perforations 136 are only shown in the sectioned portions of
`carrier 100, for purposes of simplifying the drawing. Per(cid:173)
`forations 136 are intended to receive and hold respective
`specimen-containing vials 138 so that the vials are oriented 60
`horizontally and radially relative to carrier 100, drum 102
`and drive shaft 106. The radial positions of vials 138 are
`restricted along an inner side by drum 102 and along an
`outer side by an inner surface (not separately designated) of
`vessel sidewall 74. During a deposition operation, vials 138 65
`are inserted into respective perforations 136 so that the
`radially inner ends of the vials are placed in contact with
`
`8
`drum 102. Because drum 102 and carrier 100 are made of
`aluminum, which is an efficient thermal conductor, the
`specimens are easily maintained at cryogenic temperatures
`and the thermal gradient from the top to the bottom of
`storage chamber 104 is minimized. Because storage cham(cid:173)
`ber 104 has a small volume (less than 113 that of a compa-
`rably sized machine having a structure disclosed in U.S. Pat.
`No. 5,233,844), the utilization of liquid nitrogen is reduced.
`In addition, evaporation of the liquid nitrogen is reduced
`because of improved dewar sealing techniques.
`As illustrated in FIG. 7, carrier 100 is provided with an
`elongate vertical slot 140 which together with the outer
`surface of drum 102 defines a seat for receiving plug
`member 86 during an access op