Automated visual pipetting

Abstract

A system and method is described for Automated Visual Pipetting on a machine such as a three dimensional fabrication device like a 3D Printer or other computer numerical control (CNC) machine tools, for improved speed, accuracy and reliability in pipetting procedures. A camera is mounted on a pipette or another type of tool that may be a deposition or non-deposition tool (e.g., milling). A camera feed and recognition software can enable users to replace existing micro-pipetting techniques with a computerized process that may be controlled with a few simple mouse clicks, while the user can directly visualize a live experimental setup. The embodiment also allows for integration with common molecular biology procedure “kits,” and enables the process to be automated and visualized without requiring constant interaction by the user.

What is claimed is: 
     
         1 . A three dimensional pipetting device, comprising:
 a control unit for receiving instructions from a pipetting command unit and operating a pipetting tool head; and   a plurality of interchangeable pipetting tips that can be affixed to the pipetting tool head;   wherein the control unit can operate the pipetting tool head to selectively use one of the plurality of interchangeable pipetting tips; and   wherein the control unit can operate the pipetting tool head to selectively draw up liquid from one or more containers on a work surface;   wherein the control unit can operate the pipetting tool head to selectively dispense liquid into the one or more containers on the work surface.   
     
     
         2 . A three dimensional pipetting device, comprising:
 a control unit for receiving instructions from a pipetting command unit and operating a pipetting tool head; and   a camera for recording data including the position of one or more containers on a work surface;   wherein the control unit can operate the pipetting tool head to selectively draw up liquid from the one or more containers on the work surface; and   wherein the control unit can operate the pipetting tool head to selectively dispense liquids into the one or more containers on the work surface.   
     
     
         3 . A three dimensional pipetting device of  claim 2 , wherein the pipetting command unit is configured to receive and process data recorded by the camera to determine the location and size of at least one container on the work surface. 
     
     
         4 . A three dimensional pipetting device of  claim 2 , wherein the pipetting command unit is configured to receive and process data recorded by the camera to generate a digital image of a plurality of items on the work surface. 
     
     
         5 . A three dimensional pipetting device of  claim 4 , wherein the digital image of the plurality of items on the work surface can be output to an external monitor to display a virtual arrangement of the items that is different from the physical arrangement of the items on the work surface. 
     
     
         6 . A three dimensional pipetting device of  claim 2 , wherein the pipetting command unit is configured to receive data recorded by the camera and visually simulate the performance of a procedure that can be performed by the pipetting tool head. 
     
     
         7 . A three dimensional pipetting device of  claim 2 , wherein the pipetting command unit is configured to receive and process a visual indicator recorded by the camera to identity an item on the work surface. 
     
     
         8 . A three dimensional pipetting device of  claim 2 , wherein the pipetting command unit is configured to receive and process a visual indicator recorded by the camera as an instruction to use the pipetting tool head and selectively draw up liquid from at least one container on the work surface. 
     
     
         9 . A three dimensional pipetting device of  claim 2 , wherein the pipetting command unit is configured to receive and process a visual indicator recorded by the camera as an instruction to use the pipetting tool head and selectively deposit liquid into at least one container on the work surface. 
     
     
         10 . A three dimensional pipetting device of  claim 2 , wherein the three dimensional pipetting device is also a three dimensional fabricating system. 
     
     
         11 . A method for using a three dimensional pipetting device, comprising the steps of:
 transmitting instructions for operating a camera from a pipetting command unit to a control unit;   operating the camera with the control unit to record image data of one or more containers on a work surface;   transmitting recorded image data from the control unit to the pipetting command unit;   transmitting instructions for operating a pipetting tool head from a pipetting command unit to a control unit; and   operating the pipetting tool head to selectively draw up liquid from the one or more containers on the work surface.   
     
     
         12 . The method of  claim 11 , further comprising the step of the pipetting command unit processing recorded image data received from the control unit and determining the location of at least one container on the work surface. 
     
     
         13 . The method of  claim 11 , further comprising the step of the pipetting command unit processing recorded image data received from the control unit and generating a digital image of a plurality of items on the work surface. 
     
     
         14 . The method of  claim 13 , wherein the digital image includes a virtual arrangement of the items that is different from the physical arrangement of the items on the work surface. 
     
     
         15 . The method of  claim 11 , wherein after said step of transmitting recorded image data from the control unit to the pipetting command unit, and before said step of transmitting instructions for operating a pipetting tool head from a pipetting command unit to a control unit, the pipetting command unit processes recorded image data received from the control unit and simulates performance of a procedure that can be performed by the pipetting tool head. 
     
     
         16 . The method of  claim 11 , further comprising the steps of:
 the pipetting command unit processing recorded image data received from the control unit;   detecting a visual indicator in at least one of the recorded images; and   identifying an item on the work surface.   
     
     
         17 . The method of  claim 16 , wherein said visual indicator is a QR code. 
     
     
         18 . The method of  claim 11 , further comprising the steps of:
 the pipetting command unit processing recorded image data received from the control unit;   detecting a visual indicator in at least one of the recorded images as an instruction to use the pipetting tool head; and   selectively drawing up liquid from at least one container on the work surface in response to said instruction.   
     
     
         19 . The method of  claim 11 , further comprising the steps of:
 the pipetting command unit processing recorded image data received from the control unit;   detecting a visual indicator in at least one of the recorded images as an instruction to use the pipetting tool head; and   selectively depositing liquid into at least one container on the work surface in response to said instruction.   
     
     
         20 . The method of  claim 11 , further comprising the steps of:
 the pipetting command unit processing recorded image data received from the control unit; and   detecting whether a prescribed amount of liquid has been aspirated from the one or more containers on the work surface by the pipetting tool head.