# US 11,897,144 B2 · Adapting robotic protocols between labs > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,144 B2 - Document ID: US11897144B2 - Status: Granted - Kind: B2 - Application number: 17/392,113 - Filed: 2021-08-02 - Published: 2022-02-10 - Granted: 2024-02-13 - Earliest claimed: 2020-08-04 - Assignees: Artificial, Inc. - Applicants: Artificial, Inc. - Inventors: Jeff Washington; Geoffrey J. Budd; Nikhita Singh; Jake Sganga; Alexander Li Honda - Web page: https://patentgrep.com/patent/US11897144B2 ## CPC - B25J 9/1671: {characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems} - B25J 9/1605: {Simulation of manipulator lay-out, design, modelling of manipulator} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - B25J 9/1656: {characterised by programming, planning systems for manipulators} - B25J 9/1658: {characterised by programming language} - B25J 9/1661: {characterised by task planning, object-oriented languages} - B25J 9/1679: {characterised by the tasks executed} - B25J 9/1692: {Calibration of manipulator} - B25J 9/1697: {Vision controlled systems} - B25J 13/089: {Determining the position of the robot with reference to its environment} - B25J 19/023: {including video camera means} - G01N 35/0099: {comprising robots or similar manipulators (robots per se B25J)} - G06F 3/04812: Interaction techniques based on cursor appearance or behaviour, e.g. being affected by the presence of displayed objects - G06F 3/04815: Interaction with a metaphor-based environment or interaction object displayed as three-dimensional [3D], e.g. changing the user viewpoint with respect to the environment or object - G06F 3/04842: Selection of displayed objects or displayed text elements (G06F3/0482 takes precedence) - G06F 40/10: Text processing (natural language analysis G06F40/20; semantic analysis G06F40/30; processing or translation of natural language G06F40/40) - G06F 40/40: Processing or translation of natural language (natural language analysis G06F40/20; semantic analysis G06F40/30) - G06N 20/00: Machine learning - G06T 7/50: Depth or shape recovery - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 7/73: using feature-based methods - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - G01N 2035/0091: {GUI [graphical user interfaces]} - G01N 2035/0491: {Position sensing, encoding; closed-loop control} - G05B 2219/40392: Programming, visual robot programming language - G05B 2219/40393: Learn natural high level command, associate its template with a plan, sequence - G06T 2207/30204: Marker - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A lab system accesses a first protocol for performance by a first robot in a first lab. The first protocol includes a set of steps, each associated with an operation, reagent, and equipment. For each of one or more steps, the lab system modifies the step by: (1) identifying one or more replacement operations that achieve an equivalent or substantially similar result as a performance of the operation, (2) identifying replacement equipment that operates substantially similarly to the equipment, and/or (3) identifying one or more replacement reagents that, when substituted for the reagent, do not substantially affect the performance of the step. The lab system generates a modified protocol by replacing one or more of the set of steps with the modified steps. The lab system selects a second lab including a second and configures the second robot to perform the modified protocol in the second lab. ## Claims ### Claim 1 A method comprising: accessing a first lab protocol to be performed by a first robot in a first lab, the first lab protocol including a set of steps, each step associated with one or more of an operation, lab equipment within the first lab, and a reagent within the first lab; for each of one or more of the set of steps, modifying the step by one or more of: identifying one or more replacement operations that, when performed, achieve an equivalent or substantially similar result as a performance of the operation associated with the step; identifying replacement equipment that operates substantially similar to the lab equipment associated with the step; and identifying one or more replacement reagents that, when substituted for the reagent associated with the step, do not substantially affect the performance of the step; generating a modified lab protocol by replacing one or more of the set of steps of the first lab protocol with the one or more modified steps; selecting, from a set of candidate labs, a second lab including a second robot that can perform the modified lab protocol, wherein each of the set of candidate labs include the identified replacement equipment and one or more identified replacement reagents for each of the replaced steps; and configuring the second robot to perform the modified lab protocol in the second lab. ### Claim 2 (depends on 1) The method of claim 1, further comprising: determining a set of candidate labs for the modified lab protocol, each candidate lab including one or more of the identified replacement equipment and identified replacement reagents; determining, for each of the set of labs, an experimentation time for performing the modified lab protocol, the time based on equipment and reagents available at the lab and a schedule of the lab; and selecting the second lab from the set of labs based on the determined experimentation times. ### Claim 3 (depends on 1) The method of claim 1, wherein identifying replacement equipment comprises: selecting, from an index of equipment associated with operations, equipment that can perform at least one of the one or more replacement operations. ### Claim 4 (depends on 1) The method of claim 1, further comprising: simulating steps for the modified lab protocol being performed in the second lab; and mirroring performance of modified lab protocol in a virtual representation of the second lab, the virtual representation displayed via a graphic user interface. ### Claim 5 (depends on 4) The method of claim 4, further comprising: receiving a selection of a virtual representation of equipment within the virtual representation of the second lab via the graphic user interface; and modifying the modified lab protocol to use equipment associated with the selected virtual representation to perform one or more of the steps. ### Claim 6 (depends on 1) The method of claim 1, wherein selecting the second lab comprises: displaying, via a graphic user interface, a selectable list of the set of candidate labs; and receiving a selection of the second lab via the graphic user interface. ### Claim 7 A non-transitory computer-readable storage medium storing instructions executable by a processor, the instructions comprising: instructions for accessing a first lab protocol to be performed by a first robot in a first lab, the first lab protocol including a set of steps, each step associated with one or more of an operation, lab equipment within the first lab, and a reagent within the first lab; instructions for, for each of one or more of the set of steps, modifying the step by one or more of: identifying one or more replacement operations that, when performed, achieve an equivalent or substantially similar result as a performance of the operation associated with the step; identifying replacement equipment that operates substantially similar to the lab equipment associated with the step; and identifying one or more replacement reagents that, when substituted for the reagent associated with the step, do not substantially affect the performance of the step; instructions for generating a modified lab protocol by replacing one or more of the set of steps of the first lab protocol with the one or more modified steps; instructions for selecting, from a set of candidate labs, a second lab including a second robot that can perform the modified lab protocol, wherein each of the set of candidate labs include the identified replacement equipment and one or more identified replacement reagents for each of the replaced steps; and instructions for configuring the second robot to perform the modified lab protocol in the second lab. ### Claim 8 (depends on 7) The non-transitory computer-readable storage medium of claim 7, the instructions further comprising: instructions for determining a set of candidate labs for the modified lab protocol, each candidate lab including one or more of the identified replacement equipment and identified replacement reagents; instructions for determining, for each of the set of labs, an experimentation time for performing the modified lab protocol, the time based on equipment and reagents available at the lab and a schedule of the lab; and instructions for selecting the second lab from the set of labs based on the determined experimentation times. ### Claim 9 (depends on 7) The non-transitory computer-readable storage medium of claim 7, wherein the instructions for identifying replacement equipment comprise: instructions for selecting, from an index of equipment associated with operations, equipment that can perform at least one of the one or more replacement operations. ### Claim 10 (depends on 7) The non-transitory computer-readable storage medium of claim 7, the instructions further comprising: instructions for simulating steps for the modified lab protocol being performed in the second lab; and instructions for mirroring performance of modified lab protocol in a virtual representation of the second lab, the virtual representation displayed via a graphic user interface. ### Claim 11 (depends on 10) The non-transitory computer-readable storage medium of claim 10, the instructions further comprising: instructions for receiving a selection of a virtual representation of equipment within the virtual representation of the second lab via the graphic user interface; and instructions for modifying the modified lab protocol to use equipment associated with the selected virtual representation to perform one or more of the steps. ### Claim 12 (depends on 7) The non-transitory computer-readable storage medium of claim 7, wherein the instructions for selecting the second lab comprise: instructions for displaying, via a graphic user interface, a selectable list of the set of candidate labs; and instructions for receiving a selection of the second lab via the graphic user interface. ### Claim 13 A computer system comprising: a processor; and a non-transitory computer-readable storage medium storing instructions that, when executed, cause the processor to: access a first lab protocol to be performed by a first robot in a first lab, the first lab protocol including a set of steps, each step associated with one or more of an operation, lab equipment within the first lab, and a reagent within the first lab; for each of one or more of the set of steps, modify the step by one or more of: identifying one or more replacement operations that, when performed, achieve an equivalent or substantially similar result as a performance of the operation associated with the step; identifying replacement equipment that operates substantially similar to the lab equipment associated with the step; and identifying one or more replacement reagents that, when substituted for the reagent associated with the step, do not substantially affect the performance of the step; generate a modified lab protocol by replacing one or more of the set of steps of the first lab protocol with the one or more modified steps; select, from a set of candidate labs, a second lab including a second robot that can perform the modified lab protocol, wherein each of the set of candidate labs include the identified replacement equipment and one or more identified replacement reagents for each of the replaced steps; and configure the second robot to perform the modified lab protocol in the second lab. ### Claim 14 (depends on 13) The computer system of claim 13, the instructions further causing the processor to: determine a set of candidate labs for the modified lab protocol, each candidate lab including one or more of the identified replacement equipment and identified replacement reagents; determine, for each of the set of labs, an experimentation time for performing the modified lab protocol, the time based on equipment and reagents available at the lab and a schedule of the lab; and select the second lab from the set of labs based on the determined experimentation times. ### Claim 15 (depends on 13) The computer system of claim 13, wherein the instructions that cause the processor to identify replacement equipment further cause the processor to: select, from an index of equipment associated with operations, equipment that can perform at least one of the one or more replacement operations. ### Claim 16 (depends on 13) The computer system of claim 13, the instructions further causing the processor to: simulate steps for the modified lab protocol being performed in the second lab; and mirror performance of modified lab protocol in a virtual representation of the second lab, the virtual representation displayed via a graphic user interface. ### Claim 17 (depends on 16) The computer system of claim 16, the instructions further causing the processor to: receive a selection of a virtual representation of equipment within the virtual representation of the second lab via the graphic user interface; and modify the modified lab protocol to use equipment associated with the selected virtual representation to perform one or more of the steps.