Efficient and effective path for automated dispensing of bio-precipitant solutions

There is a strong need for setting up high-throughput crystallization screens to determine the optimum conditions for protein crystal growth. In the protein structure determination process, it is required to prepare precipitant solutions to obtain well-diffraction quality crystals. In the precipitant solutions preparation procedure, a set of precipitating salts or polyethylene glycol, buffers and additives are delivered in a set of wells depending on the concentration and composition of precipitant solution. In this paper, we have implemented various heuristics to provide an efficient and effective path for the dispensing tip of robotic system to deliver the solutions for achieving high-throughput. An extensive analysis of these heuristics in providing sub-optimal paths for different precipitant solution setups is conducted. We have also presented results showing the improvement in total distance traveled by the robot in setting up precipitant solution preparation in the high-throughput mode.