Automated pelletized sample decanting apparatus and methods

An automated sample tube decanting system comprising:

• a tube strip;
• a first decanting gripper having a first holder configured to mate with a first interface on a first side of the tube strip, and a second decanting gripper having a second holder configured to mate with a second interface on a second side of the tube strip, the first and second decanting grippers being rotatable between a first position in which the tube strip is upright and a second position in which the tube strip is inverted;
• a decant waste receptacle;
• a transporter operatively connected to the one or more decanting grippers and the decant waste receptacle and configured to move the one or more decanting grippers in a lateral direction from a starting location to a location above the decant waste receptacle;
• and
• rotation means for selectively rotating the decanting grippers from the first position to the second position to pour supernatant from the tube strip;
• wherein each decanting gripper comprises a base attached to the transporter and an arm rotatably mounted to the base, and the first holder and the second holder are located on the respective arm of the first decanting gripper and the second decanting gripper;
• and
• wherein each decanting gripper further comprises one or more magnets positioned to resiliently hold the arm in at least one predetermined orientation with respect to the base.

An automated sample tube decanting system comprising:

• a tube strip;
• a first decanting gripper having a first holder configured to mate with a first interface on a first side of the tube strip, and a second decanting gripper having a second holder configured to mate with a second interface on a second side of the tube strip, the first and second decanting grippers being rotatable between a first position in which the tube strip is upright and a second position in which the tube strip is inverted;
• a decant waste receptacle;
• a transporter operatively connected to the one or more decanting grippers and the decant waste receptacle and configured to move the one or more decanting grippers in a lateral direction from a starting location to a location above the decant waste receptacle;
• and
• rotation means for selectively rotating the decanting grippers from the first position to the second position to pour supernatant from the tube strip;
• wherein each decanting gripper comprises a base attached to the transporter and an arm rotatably mounted to the base, and the first holder and the second holder are located on the respective arm of the first decanting gripper and the second decanting gripper;
• and
• the rotation means comprises a gear rack separate from the transporter and decanting grippers and fixed at a location adjacent the decant waste receptacle, and a gear drivingly connected to the arm of the first decanting gripper, the gear being engageable with the gear rack such that translational motion of the first decanting gripper relative to the gear rack causes the gear to rotate the arm of the first decanting gripper.