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Figure 2
The CrystalDirect harvesting and processing robot. (a) General view of the crystal-harvesting and processing robot. Its dimensions are 0.8 × 0.8 × 2.3 m (length × width × height). The locations of the laser generator (1), the cryocooling jet (2) and the glue-delivery station (3) are indicated relative to the laser working area (highlighted by a red square). (b) Detail of the laser working area including the optical laser scanner (4), the motorized stage holding a CrystalDirect plate (5), a robotic arm handling X-ray data-collection pins (6) and a motorized stage with three PipeJet droplet dispensers (BioFluidix) (7). (c) Detail of the SPINE-compatible X-ray data-collection pin. In the right panel, the pin is shown right before laser excision for crystal harvesting (the picture is taken through the harvester control software). The hollow inner shaft of the pin and the selected cut shape (dotted red lines) can be appreciated.

Journal logoSTRUCTURAL
ISSN: 2059-7983
Volume 72| Part 4| April 2016| Pages 454-466
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