SE2051480A1 - A biodispensing or bioprinting system comprising an apparatus for handling a sample container having a lid - Google Patents

Abstract

A lid retaining system (1) for handling a sample container (100) with lid (101). The system (1) comprises a first and second gripping member (2a, 2b) moveably connected relative to each other by a support arm (3, 3'), each gripping member being provided with a gripping surface. In a first position, the gripping members (2a, 2b) grip a sample container lid (101) between the two gripping surfaces, and when moved away from each other towards a second position, a lid (101) being gripped between the two gripping surfaces in the first position is released. A drive unit (4) is operatively connected with the support arm (3, 3') and arranged to via the support arm (3, 3') move the first and second gripping members (2a, 2b) relative to each other between the first and second position. A lid detection mechanism (5) is arranged to detect if/when a lid (101) is gripped between the first and second gripping surfaces of the gripping members (2a, 2b).

Description

A LID RETAINING SYSTEl\/l FOR HANDLING A SAl\/IPLE CONTAINER WITH LID TECHNICAL FIELD 1. 1. 1. id="p-1" id="p-1"

[001] The present disclosure relates to a lid retaining system for handling a samplecontainer with lid, and to an apparatus for handling a sample container with lid and whichapparatus comprises the lid retaining system. The disclosure is also related to a biodispensingor bioprinting system comprising the apparatus, and to a method of de-lidding and lidding a sample container using the lid retaining system.

BACKGROUND ART 2. 2. 2. id="p-2" id="p-2"

[002] 3D bioprinting is based on a process in which a biomaterial can be depositedlayer-by-layer using a 3D bioprinter. Biomaterials such as hydrogels or other polymers can becombined with cells and growth factors to imitate natural tissues. The technology is used inthe fields of bioengineering and medicine. The 3D bioprinter is capable of extruding materialwith or without cells while moving in three directions, which enables the building of complexstructures. lt offers unlimited possibilities in applications from drug screening to organregeneration.[003] Sterility is a critical factor in bioprinting and biodispensing applications and cangreatly affect the results of studies, experiments, and assays dealing with bioprinted mediaand the cells within them. Contamination of any form, such as the introduction of unwantedbacterial, viral, or cross-contamination involving outside cellular material such as skin cells, oreven unwanted biomaterial, such as gelatin methacrylate, collagen, or other typicalbiomaterials will completely invalidate the results of such studies. For this reason, minimizinghuman interaction with biological sample containers into/onto which bioprinting orbiodispensing actions are performed is necessary before, after and during such actions. Forexample, reducing or removing human interaction with the sample container during removaland replacement ofthe protective lid of a container before and after a dispensing/printingaction is necessary. 4. 4. 4. id="p-4" id="p-4"

[004] A lid retaining system holds the lid of a biological sample container away while actions are being performed on the sample container. Once those actions are complete, the 2 lid is returned to the container. The lid retaining system limits human interaction with thecontainer, thereby preventing possible contamination issues during biological studies.[005] A lid retaining system is for example described in EP2788033B1, which disclosesa system comprising means for removing a well plate lid for example using suction, gluing,articulated arms, fasteners, magnets, and electromagnets. 6. 6. 6. id="p-6" id="p-6"

[006] Another lid retaining system is shown in US6998094B2, which discloses anapparatus for handling biological sample containers each having a lid. The apparatuscomprises a conveyor assembly operable to convey containers between a first position and asecond position, and a lid handling assembly operable to remove lids from containers beingconveyed through the lid handling assembly from the first position to the second position, andto replace the lids onto containers being conveyed through the lid handling assembly from thesecond position to the first position. Lid removal and replacement being effected by mechanical interaction between the lids and the lid handling assembly as the containers are conveyed through the lid handling assembly.

SUMMARY OF THE INVENTION 7. 7. 7. id="p-7" id="p-7"

[007] lt is an object of the present disclosure to provide an improved or at least analternative lid retaining system for handling a sample container with lid. Further objects are toprovide an apparatus for handling a sample container with lid and comprising the lid retainingsystem, a biodispensing or bioprinting system comprising the apparatus, and also a method ofde-lidding and lidding a sample container using the lid retaining system. 8. 8. 8. id="p-8" id="p-8"

[008] The invention is defined by the appended independent patent claims. Non-limiting embodiments emerge from the dependent patent claims, the appended drawings andthe following description. 9. 9. 9. id="p-9" id="p-9"

[009] According to a first aspect there is provided a lid retaining system for handling asample container with lid. The system comprises a first and second gripping member, eachgripping member being provided with a gripping surface. The system further comprises asupport arm, wherein the first and second gripping members are moveably connected relativeto each other by said support arm. The first and second gripping members are arranged to, in a first position relative to each other, grip a sample container lid between the two gripping surfaces, such that the gripping surfaces abut against a peripheral edge/peripheral edges of 3 the lid substantially perpendicular to a major surface of the lid. The first and second grippingmembers are arranged to when moved away from each other from the first position towards asecond position, release a lid being gripped between the two gripping surfaces in the firstposition. A drive unit is operatively connected with the support arm and arranged to via thesupport arm move the first and second gripping members relative to each other between thefirst and second position. A lid detection mechanism is arranged to detect if/when a lid isgripped between the first and second gripping surfaces ofthe gripping members. . . . id="p-10" id="p-10"

[0010] The lid retaining system grips and holds the lid of a sample container, such as abiological sample container, for example a petri dish or a well plate. Thereby, it is possible toseparate the container and the lid from each other as the lid is held by the lid retainingsystem, such that actions, e.g. a biodispensing or bioprinting action, may be performedonto/into the sample container. 11. 11. 11. id="p-11" id="p-11"

[0011] The lid retaining system eliminates human interaction with the container and lidsuch as before and after a bioprinting/biodispensing action into/onto the sample container,and thereby eliminates possible contamination through human error. The lid retaining systemalso simplifies processing by automatically handling lidding and de-lidding operations 12. 12. 12. id="p-12" id="p-12"

[0012] The lid detection mechanism is arranged to detect if/when a lid is grippedbetween the first and second gripping surfaces. This information may be used to tell that thecontainer and lid are ready to be moved/separated from each other. The lid detectionmechanism could also be used to stop actuation of the gripping members once a lid has beendetected.[0013] Due to the lid detection mechanism, containers of a wide variety of sizes can beinserted in the lid retaining system and without crushing the lids. 14. 14. 14. id="p-14" id="p-14"

[0014] Detection ofthe presence of a lid may be used in the system and may also becommunicated to a user of the system. . . . id="p-15" id="p-15"

[0015] The drive unit may be selected from an electromagnetic, a pneumatic, ahydraulic, and an inductive drive unit 16. 16. 16. id="p-16" id="p-16"

[0016] The lid detection mechanism may be selected from one or more of a vacuumprobe, a touch sensitive sensor, a distance measuring sensor, a vision-based sensor and aforce measuring mechanism. 17. 17. 17. id="p-17" id="p-17"

[0017] The lid detection mechanism may comprise one or several of the listed detection mechanisms. 4[0018] The lid detection mechanism may be a force measuring mechanism andcomprise the drive unit, the support arm and the gripping members, wherein a force neededby the drive unit to move the two gripping members from the second position towards thefirst position is registered, and a change in the registered force indicates that a lid has beengripped between the two gripping surfaces.[0019] This embodiment utilizes a feedback system for detecting the presence of a lid.The drive unit may be an electromagnetic drive unit and the feedback registered may be aback electromotive force. When resistance increases, the electromotive force of the drive unitchanges, indicating the presence of an object/lid. This detected presence may send a signal totrigger drive unit power cut-off. This closed-loop feedback system can be used alone ortogether with one or more of the other lid detection mechanisms mentioned above.[0020] The support arm may be a thread driven rod or a gear driven rod.[0021] According to a second aspect there is provided an apparatus for handling asample container with a lid. The apparatus comprises a housing, a carrier operable to bring asample container from a first positon to a second position arranged in the housing, and the lidretaining system described above arranged at the second position in the housing. The lidretaining system being arranged to grip a lid ofthe sample container when the samplecontainer is in the second position. A processor is arranged to receive a signal from the liddetection mechanism ofthe lid retaining system when a lid is gripped between the first andsecond gripping surfaces. When such a signal has been received the processor is arranged toactuate a movement ofthe carrier and/or at least a portion of the lid retaining system suchthat the lid and the sample container are separated and moved from each other.[0022] When the container and lid has been separated and moved from each other, actions may be performed onto/into the sample container, such as dispensing or printing actions.[0023] The housing may be comprise a clean, sterile environment.[0024] When dispensing or printing actions have been completed, the carrier and/or the at least a portion ofthe lid retaining system are actuated such that that the lid and the container are moved towards each other and aligned such that the lid can be released from the lid retaining system and put back on the container again, protecting it from contamination.

Thereafter, the container with lid is moved back to the first position by means of the carrier. . . . id="p-25" id="p-25"

[0025] According to a third aspect there is provided a biodispensing or bioprintingsystem comprising the apparatus described above and further a dispensing system or printingsystem arranged in the housing of the apparatus.[0026] The dispenser/printing system may be a 3D biodispensing/3D bioprinting systemarranged in the housing.[0027] ln 3D bioprinting a biomaterial can be deposited layer-by-layer using a 3Dbioprinter. Biomaterials such as hydrogels or other polymers can be combined with cells andgrowth factors to imitate natural tissues.[0028] The 3D bioprinter is capable of extruding material with or without cells whilemoving in three directions, which enables the building of complex structures.[0029] Sterility is a critical factor in biodispensing/bioprinting applications and cangreatly affect the results of studies, experiments, and assays dealing with bioprinted mediaand the cells within them. Contamination of any form such as the introduction of unwantedbacterial, viral, or cross-contamination involving outside cellular material such as skin cells, oreven unwanted biomaterial, such as gelatin methacrylate, collagen, or other typicalbiomaterials will completely invalidate the results of such studies. With the presentbiodispensing/bioprinting system comprising the automatic lid retaining system, humaninteraction with sample containers during the removal and replacement of the protective lid isavoided.[0030] According to a fourth aspect there is provided a method of de-lidding and liddinga sample container. The method comprises: at a first position to load a sample container withlid onto a carrier; by means of the carrier transporting the sample container to a secondposition within a housing; by means ofthe lid retaining system described above and arrangedat the second position in the housing, grip the lid of the sample container. Upon detection of asignal that a lid is gripped by the lid retaining system, actuate a movement ofthe carrierand/or at least a portion ofthe lid retaining system such that the lid and the container areseparated and moved from each other; optionally performing a dispensing or printing actioninto/onto the container; by means of the carrier and/or at least a portion ofthe lid retainingsystem aligning the lid and the container in the second position; releasing the lid from the lid retaining system such that the lid is placed back onto the sample container, and by means of the carrier moving the lidded container to the first position.

BRIEF DESCRIPTION OF THE DRAWINGS 31. 31. 31. id="p-31" id="p-31"

[0031] Fig. 1 shows an embodiment of a lid retaining system where gripping membersclamp onto the sides of a petri dish lid. 32. 32. 32. id="p-32" id="p-32"

[0032] Fig. 2 shows an embodiment of a lid retaining system where the grippingmembers clamp onto the sides of a well plate lid. 33. 33. 33. id="p-33" id="p-33"

[0033] Fig. 3 shows an embodiment of a lid retention system where the grippingmembers are actuated by a screw driven by an electromagnetic motor. 34. 34. 34. id="p-34" id="p-34"

[0034] Figs 4 and 5 demonstrate the lid retention system shown in any of Figs 1-3 in anapparatus for handling a sample container, such as in a biodispensing or bioprinting system.[0035] Fig. 6 schematically illustrates a method of de-lidding and lidding a sample container.

DETAILED DESCRIPTION 36. 36. 36. id="p-36" id="p-36"

[0036] Sterility is a critical factor in bioprinting and biodispensing applications, whyminimizing human interaction with biological sample containers into/onto which bioprintingor biodispensing actions are performed is necessary before, after and during such actions.[0037] A lid retaining system holds the lid of a biological sample container away whileactions, such a biodispensing or bioprinting, are being performed into/onto the samplecontainer. Once those actions are complete, the lid is returned to the container. The lidretaining system limits human interaction with the container, thereby preventing possiblecontamination issues. 38. 38. 38. id="p-38" id="p-38"

[0038] ln Figs 1-3 are shown a lid retaining system 1 for handling a sample container 100with lid 101. The sample container may be a biological sample container such as a petri dish(Fig. 1) or a well plate (Fig. 2). 39. 39. 39. id="p-39" id="p-39"

[0039] The lid retaining system 1 comprises a first and second gripping member 2a, 2b,wherein each gripping member is provided with a gripping surface. The gripping members 2a,2b are moveably connected relative to each other by a support arm 3, 3'. 40. 40. 40. id="p-40" id="p-40"

[0040] The gripping surfaces may at least partially comprise a friction material such asrubber or silicon and/or comprise a friction enhancing pattern/surface structure. The gripping surface may be constituted by a portion ofthe gripping member 2a, 2b. Alternatively, the 7 gripping surface is a separate member attached to a portion of the gripping member 2a, 2b bymeans of for example gluing, nailing or welding. Each gripping member may comprise at leastone gripping surface. ln some embodiments each gripping member 2a, 2b comprises two ormore gripping surfaces or gripping surface portions. A gripping surface may be a continuousgripping surface or may comprise two or more distinct gripping surface portions. The systemmay comprise two or more gripping members 2a, 2b, such as three or four gripping membersconnected to each other through the support arm 3, 3'. Both gripping members 2a, 2b may bemoveable. Alternatively, only one of the gripping members is moveable, but still moveablerelative to each other. 41. 41. 41. id="p-41" id="p-41"

[0041] The support arm 3, 3'may comprise a support arm assembly comprising two ormore connected support arm entities. The support arm may be a thread driven rod or a geardriven rod actuated by a drive unit 4. 42. 42. 42. id="p-42" id="p-42"

[0042] The first and second gripping members 2a, 2b are arranged to, in a first positionrelative to each other, grip a sample container lid 101 (see Figs 1 and 2) between the twogripping surfaces, such that the gripping surfaces abut against a peripheral edge/peripheraledges of the lid 101 substantially perpendicular to a major surface ofthe lid 101. 43. 43. 43. id="p-43" id="p-43"

[0043] The first position of the gripping members 2a, 2b relative to each other may bedetermined by the dimensions ofthe container/lid. When a lid has been gripped between thetwo gripping surfaces, the first position is reached. Alternatively, the first position can bedetermined by user input into the system 1 on container type/size. 44. 44. 44. id="p-44" id="p-44"

[0044] The gripping surfaces are arranged to mainly abut against the peripheral edge(s)of the container 100. ln some embodiments, a portion of the gripping surfaces may also abutagainst a major surface ofthe sample container 100. 45. 45. 45. id="p-45" id="p-45"

[0045] The first and second gripping members 2a, 2b are arranged to when moved awayfrom each other from the first position towards a second position, release a lid 101, which wasgripped between the two gripping surfaces in the first position. Before the lid 101 is released,the lid 101 and the container 100 are preferably aligned by the system 1 such that the lid iscorrectly placed back onto the sample container. A position ofthe lid gripping members 2a, 2band the container 100 may be registered by a processor ofthe system. The processor may actuate the movement of the lid and/or the container such that the lid can be correctly put back onto the container after a printing/dispensing action is finished. 8[0046] The second position of the two gripping members 2a, 2b relative to each othermay be at a fixed distance from each other. Alternatively, the second position may vary anddepend on predetermined or measured factors such as container size etc.[0047] When the |id retaining system 1 is in a waiting mode, i.e. there is no container inthe system, the gripping members 2a, 2b, may be brought to/waiting in the first positionrelative to each other, in the second position relative to each other, in any position in betweenthe first and second position, or in a position wherein the two gripping members 2a, 2b arecloser to each other than when in a first position relative to each other. The drive unit 4 mayactuate the gripping members 2a, 2b when a container reaches the |id retaining system 1 andthe gripping members 2a, 2b are then brought into a position such that the |id can be grippedbetween the gripping surfaces. When a container with |id approaches the |id retaining systemthe gripping members may be brought into the second position relative to each other. Thissecond position being determined for example by known dimensions of the container or bymeans of distance sensors etc. ln one embodiment a start position/waiting mode position ofthe gripping members 2a, 2b can be measured using for example an endstop. Alternatively,the start position/waiting mode position of the two gripping members 2a, 2b can bedetermined by means of a distance sensor or an encoder on a shaft of the drive unit 4.[0048] The drive unit 4 is operatively connected with the support arm 3, 3' and arrangedto via the support arm 3, 3' move the first and second gripping members 2a, 2b relative toeach other between the first and second position.[0049] The drive unit 4 may be selected from an electromagnetic, a pneumatic, ahydraulic, and an inductive drive unit.[0050] The |id retaining system 1 also comprises a |id detection mechanism 5 arrangedto detect if/when a |id 101 is gripped between the first and second gripping surfaces of thegripping members 2a, 2b. This information may be used to tell that the container 100 and |id101 are ready to be moved/separated from each other. The |id detection mechanism 5 couldalso be used to stop actuation of the gripping members 2a, 2b once a |id has been detected.Due to the |id detection mechanism 5, containers 100 of a wide variety of sizes can be inserted in the |id retaining system 1 and without crushing the lids. Detection ofthe presence of a |id 101 may be used in the system 1 and may also be communicated to a user of the system. 9[0051] The lid detection mechanism 5 may be selected from one or more of a vacuumprobe, a touch sensitive sensor, a distance measuring sensor, a vision-based sensor and aforce measuring mechanism.[0052] A vacuum-based probe may be arranged such that it can be moved until itencounters an object, the gripped lid, and then would draw vacuum. I\/lost container |ids areflat and smooth and made from either glass or plastic. |fthe probe was to encounter a lidsurface, a vacuum would be registered, indicating the presence of a lid.[0053] A touch sensitive sensor or a distance measuring sensor, such as an end-stop,switch, time-of-flight, laser, lidar, optical, inductive, magnetically actuated, or infrared sensormay be used to detect the lid. Such sensors may for example be arranged in contact with or invicinity of the first and/or second gripping member.[0054] A vision-based sensor would test for the presence of |ids using algorithms thattest for certain edge differences or differences between reflective surfaces. There are manydifferent conditions to test for with an adaptable vision sensor that could be used todetermine the presence of a lid.[0055] A force measuring lid detection mechanism may measure a force needed formoving the gripping members 2a, 2b towards the first position, wherein a change in forceindicates that a lid has been gripped between the gripping surfaces. Such a force measuringmechanism 5 may comprise the drive unit 4, the support arm 3 and the gripping members 2a,2b. A force needed by the drive unit 4 to move the two gripping members 2a, 2b from thesecond position towards the first position is registered and a change in the registered forceindicates that a lid 101 has been gripped between the two gripping surfaces.[0056] This embodiment utilizes a feedback system for detecting the presence of a lid101. The drive unit 4 may be an electromagnetic drive unit and the feedback registered maybe a back electromotive force. When resistance increases, the electromotive force of the driveunit changes, indicating the presence of an object/lid. This detected presence may send asignal to trigger drive unit power cut-off. This closed-loop feedback system can be used aloneor together with one or more ofthe other lid detection mechanisms.[0057] With the above described lid retaining system 1, it is possible to separate thecontainer 100 and the lid 101 from each other as the lid 101 is held by the lid retaining system 1, such that actions, e.g. a biodispensing or bioprinting action, may be performed onto/into the sample container 100. The lid retaining system 1 eliminates human interaction with the container 100 and lid 101 before and after a bioprinting/biodispensing action into/onto thesample container, and thereby eliminates possible contamination through human error. Thelid retaining system 1 also simplifies processing by automatically handling lidding and de-lidding operations. 58. 58. 58. id="p-58" id="p-58"

[0058] As is illustrated in Figs 4 and 5, the lid retaining system may be integrated in anapparatus 10 for handling a sample container 100 having a lid 101. A biodispensing orbioprinting system 30 may comprise the apparatus 10 and further a dispensing system orprinting system 31 arranged in a housing 22 ofthe apparatus 10. 59. 59. 59. id="p-59" id="p-59"

[0059] The apparatus 10 comprises a housing 22 and a carrier 21 operable to bring asample container from a first positon to a second position arranged in the housing 22. Thehousing may be comprise a clean, sterile environment. The second position is arranged insidethe housing. The first position may be arranged outside the housing (as illustrated in Figs 4, 5)or inside the housing 22. Preferably, the first position is arranged outside the housing 22 andthe carrier 21 arranged to bring the container 100 from the first position outside the housinginto the housing and to the second position. 60. 60. 60. id="p-60" id="p-60"

[0060] The lid retaining system 1 may be arranged at the second position in the housing22 and arranged to grip a lid 101 ofthe sample container 100 when the sample container 100is in the second position. The lid retaining system 1 may be stationary. Alternatively, at least aportion thereof could be moveable relative the container 100, for example by use of a gantrysystem.[0061] A processor is arranged to receive a signal from the lid detection mechanism 5 ofthe lid retaining system 1 when a lid 101 is gripped between the first and second grippingsurfaces, and when such a signal has been received arranged to actuate a movement ofthecarrier 21 and/or at least a portion of the lid retaining system 1 such that the lid 101 and thesample container 100 are separated and moved from each other. 62. 62. 62. id="p-62" id="p-62"

[0062] When the container 100 and lid 101 has been separated and moved from eachother, actions may be performed on the sample container, such as dispensing or printingactions. Such actions may take place at the second position in the chamber (if the lid retainingsystem 5 with gripped lid 101 is moved away from the second position). Alternatively, such actions may take place at a third position within the housing 22, spatially separate from the second position, to which position the sample container 100 has been moved by the carrier 21 11 after the lid has been gripped by the gripping members 2a, 2b. The container 100 being movedto the third position by means ofthe carrier 21. 63. 63. 63. id="p-63" id="p-63"

[0063] When dispensing or printing actions, for example by means of a 3Dbiodispensing/3D bioprinting system arranged in the housing 22, have been completed, thecarrier 21 and/or the lid retaining system 5 are actuated such that that the lid 101 and thecontainer 100 are moved towards each other and aligned such that the lid can be releasedfrom the lid retaining system and put back on the container again, protecting it fromcontamination. Thereafter, the container 100 with lid 101 is moved back to the first positionby means of the carrier 21. 64. 64. 64. id="p-64" id="p-64"

[0064] Sterility is a critical factor in biodispensing/bioprinting applications. With thepresent biodispensing/bioprinting system 30 comprising the automatic lid retaining system 5,human interaction with sample containers 100 during the removal and replacement oftheprotective lid 101 is avoided. 65. 65. 65. id="p-65" id="p-65"

[0065] ln Fig. 6 is a method of de-lidding and lidding a sample container 100 illustrated.The method comprises to load 300 a sample container 100 with lid 101 onto a carrier 21 at afirst position. By means of the carrier 21, the sample container 100 is transported 301 to asecond position within a housing 22. By means ofthe lid retaining system 1 described aboveand arranged at the second position in the housing 22 the lid 101 of the sample container 100is gripped 302. Upon detection 303 ofa signal that a lid 101 is gripped by the lid retainingsystem 1, a movement ofthe carrier 21 and/or at least a portion ofthe lid retaining system 1is actuated 304 such that the lid 101 and the container are separated and moved from eachother. Optionally, a dispensing or printing action 305 is performed into/onto the container100. By means of the carrier 21 and/or at least a portion ofthe lid retaining system 1 the lid101 and the container 100 are aligned 306 in the second position. Thereafter, the lid 101 isreleased 307 from the lid retaining system 5 such that the lid 101 is placed back onto the sample container 100, and by means ofthe carrier 21 the lidded container 100 is moved 308 to the first position.

Claims (8)

1. CLAIMS A lid retaining system (1) for handling a sample container (100) with lid (101), the systemcomprising: a first and second gripping member (2a, 2b), each gripping member being provided witha gripping surface, a support arm (3, 3'), wherein the first and second gripping members (2a, 2b) aremoveably connected relative to each other by said support arm (3, 3'), wherein the first and second gripping members (2a, 2b) are arranged to, in a firstposition relative to each other, grip a sample container lid (101) between the twogripping surfaces, such that the gripping surfaces abut against a peripheraledge/peripheral edges ofthe lid (101) substantially perpendicular to a major surface ofsaid lid, the first and second gripping members (2a, 2b) being arranged to when moved awayfrom each other from the first position towards a second position, release a lid (101)being gripped between the two gripping surfaces in the first position, a drive unit (4) operatively connected with the support arm (3, 3') and arranged to viathe support arm (3, 3') move the first and second gripping members (2a, 2b) relative toeach other between the first and second position, a lid detection mechanism (5) arranged to detect if/when a lid (101) is gripped between the first and second gripping surfaces of the gripping members (2a, 2b).

2. The lid retaining system (1) of claim 1, wherein the drive unit (4) is selected from an electromagnetic, a pneumatic, a hydraulic, and an inductive drive unit.

3. The lid retaining system (1) of claim 1 or 2, wherein the lid detection mechanism (5) is selected from one or more of a vacuum probe, a touch sensitive sensor, a distance measuring sensor, a vision-based sensor and a force measuring mechanism.

4. The lid retaining system (1) of claim 3, wherein the lid detection mechanism (5) is a force measuring mechanism and comprises the drive unit (4), the support arm (3) and the gripping members (2a, 2b), wherein a force needed by the drive unit (4) to move the two 13gripping members (2a, 2b) from the second position towards the first position is registeredand a change in the registered force indicates that a |id (101) has been gripped between the two gripping surfaces.

5. The |id retaining system (1) of any of claims 1-4, wherein the support arm (3) is a thread driven rod or a gear driven rod.

6. An apparatus (10) for handling a sample container (100) having a |id (101), theapparatus comprising: a housing (22), a carrier (21) operable to bring a sample container from a first positon to asecond position arranged in the housing (22), the |id retaining system (1) of any of claims 1-5 arranged at said second positionin the housing (22) and arranged to grip a |id (101) ofthe sample container (100) when saidsample container (100) is in the second position, a processor arranged to receive a signal from the |id detection mechanism (5) ofthe |id retaining system (1) when a |id (101) is gripped between the first and second grippingsurfaces, and when such a signal has been received arranged to actuate a movement ofthecarrier (21) and/or at least a portion ofthe |id retaining system (1) such that the |id (101) and the sample container (100) are separated and moved from each other.

7. A biodispensing or bioprinting system (30) comprising the apparatus (10) of claim6, and further a dispensing system or printing system (31) arranged in the housing (22) ofthe apparatus (10).

8. I\/|ethod of de-lidding and lidding a sample container (100), the method comprising to:at a first position load (300) a sample container (100) with |id (101) onto a carrier (21),by means of the carrier (21) transporting (301) the sample container (100) to a second position within a housing (22),by means of the |id retaining system (1) of any of claims 1-5 arranged at said second position in the housing (22) grip (302) the |id (101) ofthe sample container (100),upon detection (303) of a signal that a lid (101) is gripped by the lid retaining system (1)actuate (304) a movement of the carrier (21) and/or the lid retaining system (1) such that thelid (101) and the container are separated and moved from each other, optionally performing a dispensing or printing action (305) into/onto the container 5 (100), by means of the carrier (21) and/or the lid retaining system (1) aligning (306) the lid(101) and the container (100) in the second position, releasing (307) the lid from the lid retaining system such that the lid is placed back onto the sample container, 10 by means of the carrier (21) moving (308) the |idded container (100) to the first position.