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Revision as of 18:23, 1 September 2015

Human Practices

Feasability

Platform

State of the art


Figure 1 - «RapidHit» platform from Hudson Robotics

As of now, there are similar options out on the market for computerized robotic platforms performing laboratory based operations. Some manufacturers offer mainstream platforms such as the «RapidHit» from Hudson Robotics, which is shown in figure 1. This platform is also modular, gives the opportunity to have a visual reference of the process via video camera and has an automated restocking of micro plates feature. However, the robot is not equipped with a multiple tool holding support that allows execution of different manipulations within the same routine. A platform of this kind is detailed at around 50000$, which makes it less likely affordable by smaller laboratories.

Figure 2 - «epMotion 5075v» from Eppendorf

Also available is the «EpMotion 5075v», depicted in figure 2, distributed by Eppendorf [3]. This platform allows for tool interchangeability to be used within a sequence with a tool identifying chip system designed to secure the right choice of tools. It is also equipped with a gripper to move around the different apparatus along the work area. Despite those assets, the platform is dependant regarding the supplying of micro plates or pipette tips, thus needing the presence of human interaction. Additionally, this platform is sold at a considerable 81000$, making it even less affordable for smaller stature laboratories.

Figure 3 - OpenTrons OT.One platform

The platform built by our team was developed in collaboration with the project OpenTrons [4], originating from Genspace [5], a community biolab located in Brooklyn. The latter provided their beta platform to work with and customize it to be modular, while the OpenTrons folks work on their other release, the OT.One, shown in figure 3. The beta platform is now customized with a gripper capable of maneuvering in two planes of movement, able of carrying around micro plates and assures the restocking of the micro plates, as well as a centrifuge completely autonomous with built-in safety devices. The startup platform from OpenTrons is detailed at 2000$. With the modularity developed on this platform, is it significantly cheaper and affordable to a wider potential public.


Specifications

Some specifications were taken in consideration during the designing process of the robotic platform. While respecting those specifications, the thought process behind the design kept as main focus to deliver a customizable platform, low cost but still effective. The principal specifications were:

  • Movements of the robotic platform must have a 1 mm precision due to the narrowness of the micro plates’ spacing between wells
  • Must be able to use different kinds of pipette tools at the same time and change tools with ease.
  • Gripper must be precise enough, without putting excessive force, to grab as small as 1.5 mL tubes and as large as 96-well plates. It also needs to have a range of opening from 0 mm to 85 mm
  • Centrifuge needs to rotate at a speed capable of exerting a minimum gravitational force of 6000G and must be equipped with security devices such as detection of abnormal vibration or securing the lid after closing
  • Complete platform must be fully open-hardware and detailed at no more than 10000$

Specifications achieved

Some specifications have already been achieved (the others will be achieved by December 2015):

  • Movements of the robotic platform must have a 1 mm precision
  • Complete platform must be fully open-hardware and detailed at no more than 10000$

Approximate cost by parts

Parts Cost(USD)
Platform frame’s pieces 600$
Motor’s drive 59$
Cable track 53$
X/Y Motors 65$
Gripper 300$
Screw for the x/y axis 250$
Single channel pipette (not include) 100$
Multi-channel pipette (not include) 300$
Total 1727$
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Modules

State of the art

Actually, there are different robots available on the market that are capable of performing the tasks and the functions that are to be implemented by our modules. However, most of them are only capable of doing one specific task and this, at a significantly higher cost than what is desired for our project. As an example, Table 1 presents different options available on the market to regulate the temperature of a 96-well plate. It is to be noted that these options only control the temperature cycles, which represents only one of the capabilities implemented by our modules.

Table 1: Comparative Table of Temperature Cycling Module

Manufacturer Product Name Price(USD) Temperature range(°C) Temperature speed(°C/s)
Life Technologies SimpliAmpTM Thermal Cycler 4 995,00$ 0 - 100°C ±0.25°C 4°C/s
OpenPCR Open Source PCR Thermalcycler 649,00$ 10 - 105°C ±0.5°C 1°C/s
Eppendorf Mastercycler® nexus 7 200,00$ 4-99°C ±0.2°C 2.5°C/s
Inheco On Deck Thermal Cycle-ODTC 96 On demand 4-99°C ±0.3°C 3.3°C/s
Eppendorf ThermoStat plus Discontinued 1-99°C ±1°C 1.5°C/s

1. OpenPCR cannot withstand a 96-well plate, but is able to cycle 1.5mL tubes.
2. ThermosStat plus is designed to accommodate either 24 x 1.5/2.0mL tubes or 8 x 50mL tubes or 1 x 96-well plate

Specifications