Diffraction Structural Biology Synchrotron Radiation High-throughput Operation of Sample-exchange Robots with Double Tongs at the Photon Factory Beamlines
Diffraction Structural Biology Synchrotron Radiation High-throughput Operation of Sample-exchange Robots with Double Tongs at the Photon Factory Beamlines
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衍射结构生物学同步辐射光子工厂光束线双钳样品交换机器人的高通量操作
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通讯作者：
S. Wakatsuki
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作者：
M. Hiraki;Shokei Watanabe;Nobuo Phonda;Yusuke Yamada;N. Matsugaki;N. Igarashi;Y. Gaponov;S. Wakatsuki
样品交换机器人已经开发出来，它可以根据用户的指示将带有蛋白质晶体的冷冻针从实验箱中交换出来。机器人是基于SAM（斯坦福大学同步加速器研究实验室自动安装）系统设计的。为了减少样品交换所需的时间，SAM系统的单钳进行了修改，并开发了一个双钳系统，可以同时持有两个冷冻针。带有双夹钳的机器人可以移动到用一组夹钳固定下一个低温针的测角器头，用另一组夹钳固定实验低温针，然后将下一个针安装到测角器头上，而不离开衍射仪区域。已经安装了两种不同类型的夹具：在光子工厂的光束线BL-5A和AR-NW 12 A处安装了单夹具，在光束线BL-17 A处安装了双夹具系统。然而，用于样品交换机器人操作的相同图形用户界面软件在所有光束线处使用，使得用户不需要考虑系统之间的差异。在一次试验中，带有双钳的机器人可以在10秒内交换样品。
Sample-exchange robots that can exchange cryo-pins bearing protein crystals out of experimental hutches according to user instructions have been developed. The robots were designed based on the SAM (Stanford Synchrotron Research Laboratory automated mounting) system. In order to reduce the time required for the sample exchange, the single tongs of the SAM system were modified and a double-tongs system that can hold two cryo-pins at the same time was developed. Robots with double tongs can move to the goniometer head holding the next cryo-pin with one set of tongs, dismount the experimented cryo-pin with the other set, and then mount the next pin onto the goniometer head without leaving the diffractometer area. Two different types of tongs have been installed: single tongs at beamlines BL-5A and AR-NW12A, and a double-tongs system at beamline BL-17A of the Photon Factory. The same graphical user interface software for operation of the sample-exchange robots is used at all beamlines, however, so that users do not need to consider differences between the systems. In a trial, the robot with double tongs could exchange samples within 10 s.