CN101717719A - In-vitro cell pressure loading device and in-vitro cell pressure loading method thereof - Google Patents
In-vitro cell pressure loading device and in-vitro cell pressure loading method thereof Download PDFInfo
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- CN101717719A CN101717719A CN200910216647A CN200910216647A CN101717719A CN 101717719 A CN101717719 A CN 101717719A CN 200910216647 A CN200910216647 A CN 200910216647A CN 200910216647 A CN200910216647 A CN 200910216647A CN 101717719 A CN101717719 A CN 101717719A
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Abstract
The invention discloses an in-vitro cell pressure loading device and an in-vitro cell pressure loading method thereof. The in-vitro cell pressure loading device is characterized by comprising a pneumatic source (1), an air inlet electromagnetic valve (2), a filter (3), a decompressing valve (4), a pressure cavity (5) and a digital regulation and control system, wherein the pneumatic source is connected with the pressure cavity by the air inlet electromagnetic valve, the filter and the decompressing valve; one end of the pressure cavity (5) is connected with an air outlet electromagnetic valve (6); the air outlet electromagnetic valve is connected with a computer (14) by a drive circuit (7) and a multifunctional data acquisition card (8); the other side of the drive circuit (7) is connected with the air inlet electromagnetic valve (2); the other end of the pressure cavity (5) is connected with a pressure sensor (9); the pressure sensor is connected with the computer (14) by a programmable gain amplifier (10) and the multifunctional data acquisition card (8); and the pressure cavity (5) is connected with the computer (14) by a standard cylinder (11), a linear stepping motor (12), a power amplifier (13) and the multifunctional data acquisition card (8).
Description
Technical field
The present invention relates to a kind of cell in vitro pressure-loaded device and cell in vitro pressure-loaded method thereof, belong to organizational project and cell engineering field.
Background technology
Cyto-mechanics is one of basis of organizational project and cell engineering, usually will study the influence of mechanics factor pair cell metamorphosis and growth.Because the structure of bio-tissue and organ is extremely complicated, also have bigger difference between the biont, cause in somatic mechanical environment complexity various, thereby be increased in the difficulty of somatocyte mechanical behavior research.At body tissue, cell pressurized is the common a kind of bearing mode of organism, and in musculoskeletal system, bone is the main bearing structure of human body, and it provides support framework for human body, protects internal organs, and finishes the transmission of power; The human body cartilage of joint part often bears the pressure load that transmits through bone, and the effect of pressure is most important to the growth of joint cartilage, metabolism etc.Therefore, the mechanical behavior of cell has crucial meaning under the research pressure load.The basis of cyto-mechanics research and key are the cell loading techniques, because the size of human body cell is between tens to tens microns, the thickness of cytolemma only has several nanometers to tens nanometer, conventional macromechanics loading method and experimental technique can't directly be used, therefore, the in-vitro separation cell is the matter of utmost importance that cyto-mechanics faces with setting up suitable loading culture model.
When cells in vitro was cultivated, by the ambient stress of simulation cell in body tissue, the experimental technique of the mechanical characteristic of cell can be traced back to early stage Glucksmann (Anatomical Record, 1939 under the research pressure load; Research work 73:39-56): chicken embryo shin bone endo cell is cultivated on intercostal muscle matrix, and along with the atrophy of muscle, rib is close to each other, the cell effect of being under pressure.Rodan (Science, 1975; 189:467-469; Calcifid Tissue Research, 1975; 18:125-131; Journal of Cellular Physiology, 1976; 88 (3): 353-361) research of Denging has epoch making significance, and the static pressure that they utilize gas or liquid to produce makes cell be subjected to corresponding action of compressive stress, and research enters quantization stage.Through improving for many years and developing, the augmenter of multiple cultured cell in vitro is developed out.Be broadly divided into the centrifugal force deceleration loading device, the fluid shearing force loading device, air liquid static pressure deceleration loading device, substrate deformation deceleration loading device (brachmorphy substrate tension deceleration loading device, static membrane type cell distraction force deceleration loading device, Flexercell cell loader (Bone Miner Res, 1998,13:218-28), Petriperm elastic force film culture dish deceleration loading device (Am J OrthodDentofac Orthop, 1991,99:226-40)) etc., the commercialization of part deceleration loading device, but all these devices all respectively have relative merits, and are applicable to the cell type that will study separately.As the real physiological status of reacting cells of centrifugal force deceleration loading device, Flexercell cell loader, Petriperm elastic force film culture dish deceleration loading device complex structure, cost an arm and a leg, the fluid shearing force loading device is only applicable to external loading experiment of studying vascular endothelial cell etc.
Summary of the invention
The objective of the invention is provides a kind of cell in vitro pressure-loaded device and cell in vitro pressure-loaded method thereof at the deficiencies in the prior art, be characterized in culturing cell being carried out pressure-loaded under specified culture condition, size, effect frequency and the acting duration etc. of on-load pressure are quantitatively controlled external.It has friendly interface, stable performance, advantage simple to operate.
The used cell loader of the present invention is the controllable pressure cell loader, is used for simulating the ambient stress of cell in body tissue.The principle of work of system is: culture dish and the cultured cells thereof that will keep cells in vitro existence and growth are put into pressure chamber, the high pressure gas of high-pressure gas indoor (steel cylinder) are entered in the pressure chamber with stable pressure by the pressure maintaining valve regulation and control after the two-stage decompression device reduces pressure certain pressure intensity, when the pressure in the pressure chamber reaches preset value, close the air inlet magnetic valve, form stable closed environment in the pressure chamber, pressure-loaded part principle drives the cylinder pressurization for utilizing linear stepping motor, make and form certain frequency in the pressure chamber, the periodicity pressure variation of size, thus make the cell in the pressure chamber be subjected to corresponding pressure effect.Experiment finishes, and opens exhaust solenoid valve, and gas is discharged through it.The homo(io)thermism of environment guaranteed the biological activity of cell in the experimentation at 37 ℃ in system's use Water Tank with Temp.-controlled control device made.
The purpose of invention is realized by following technical measures:
This device comprises pneumatic supply, air inlet magnetic valve, strainer, reducing valve, pressure cavity and digital regulator control system, and pneumatic supply is connected with pressure cavity by air inlet magnetic valve, strainer, reducing valve; One end of pressure cavity is connected with the magnetic valve of giving vent to anger, and the magnetic valve of giving vent to anger is connected with computer by driving circuit, multifunctional data acquisition card; The driving circuit opposite side is connected with the air inlet magnetic valve; The other end of pressure cavity is connected with pressure transmitter; Pressure transmitter is connected with computer by program-controlled gain amplifier, multifunctional data acquisition card; Pressure cavity is by standard cylinder, linear stepping motor, power amplifier.Multifunctional data acquisition card is connected with computer.
Establish multilayer culture dish dish in the pressure cavity, every layer of culture dish dish is provided with a plurality of sample grooves, the culture dish layer is fixing on the cover board, cover plate is fastening by sealing-ring and pressure cavity, cover plate is provided with inlet mouth, air outlet and pressure transmitter import, pressure cavity is supported by mount holder, and cover plate pushes away, spur and make the culture dish layer free in and out pressure cavity.
Driving circuit is by phase inverter, and current-limiting resistance, solid state relay, fly-wheel diode are formed and the magnetic valve composition.The control signal of multifunctional data acquisition card output is logic level U1N, when U1N=5V, the phase inverter output low level, make lumination of light emitting diode in the solid state relay, the inner silicon controlled rectifier conducting of punishment solid state relay, magnetic valve gets electric work, and when U1N=0V, phase inverter is output as high level, the solid state relay photodiode is not luminous, silicon controlled rectifier ends in the solid state relay, and magnetic valve ends, and computer receives the pressure variation signal by multifunctional data acquisition card, after program calculating, instruction is fed back to multifunctional data acquisition card, give vent to anger and the air inlet magnetic valve, reach the purpose of regulating the pressure intracavity gas by driving circuit control.
The cell in vitro pressure-loaded method of cell in vitro pressure-loaded device may further comprise the steps:
(1) opens Steel cylinder gas valve, make to cultivate in the cavity to be full of 95% air and 5%CO
2Mixed gas;
(2) subject cell is put into pressure cavity together with culture dish, by computer, the seal-off pressure chamber;
(3) set lasting pressure and the variation waveform that needs, computer expert's overdrive circuit control air inlet magnetic valve, the magnetic valve of giving vent to anger is regulated pressure in pressure cavity with this;
(4) pressure in pressure cavity is communicated to program-controlled gain amplifier by pressure transmitter, is converted into electronic signal, feeds back to computer by multifunctional data acquisition card, carries out the pressure adjustment and keeps by program;
(5) for the loading regime that requires pressure variation in wave shape, the computer expert crosses multifunctional data acquisition card, program-controlled gain amplifier, power amplifier, the control linear stepping motor, by promoting the standard cylinder, regulate the pressure intracavity gas and change, and pressure in pressure cavity also passes through pressure transmitter, program-controlled gain amplifier, multifunctional data acquisition card feeds back to computer, and meticulous adjustment air pressure reaches requirement of experiment.
Stress loads the pneumatic supply of flow system and selects 5%CO
2With 95% Air mixing gas, utilize the air filter Purge gas, guarantee the gas gnotobasis; In view of the singularity of cell cultures, pressure chamber is selected for use, and pollution-free, avirulent medical acid-resistant stainless steel materials processing forms.
Numeral regulation and control part comprises four processes: multifunctional data acquisition card is finished the information transmission between computer and the observing and controlling passage, just the mutual conversion between analog quantity and the digital quantity; Program-controlled gain amplifier cooperates pressure transmitter to constitute measurement passage, the pressure in the test pressure chamber; Power amplifier and topworks's stepper-motor constitute control channel, drive steam cylinder piston; Computer is finished demonstration, storage and the processing of data.
Software design is the core of numeral regulation and control, uses Borland C++ builder5 to write the pressure-loaded computer control software, and its function is as follows:
Solenoid control function: any time, open or close the respective electrical magnet valve at the magnetic valve of selecting to regulate.
Step motor control function: set pulse-repetition (unit is Hz) or motor and promote the operation of piston range ability (unit is mm) dual mode control step motor.Detect the displacement of motor piston simultaneously, monitor the running status of linear stepping motor.According to detected situation,, make system be in perfect condition by the pressure parameter of computer sampling pilot circuit automatic regulating device.
Data gathering: point sampling modes such as sample mode employing, finish the A/D conversion of pressure signal.
Data storage function: for manually storing and timing acquiring deposit dual mode.Under the manual mode, any time presses the button, and program is deposited automatically at 10 all after dates of collection, under the timing acquiring deposit mode, by menu item is set the pitch time of depositing earlier, starts the timing acquiring memory function then.
Data processing function: the cycle that drives with linear stepping motor is the timed interval, after the data gathering of finishing one-period, calculates maximum value, mean value and the minimum value of this cycle pressure, and shows in corresponding display box.
The data presentation function: data acquisition module is finished the data collection task to pressure in pressure cavity, and the data that the collect mode with digital oscilloscope is shown in real time.
The present invention has following advantage:
1. this device is divided into four parts with system, connects with lead or airway mutually, accomplishes remote control, can experiment be regulated and control in good time not influencing under the successional prerequisite of whole culture systems.
2. adopt computer to control force value, the clamping time of loading, have convenience, accurate.
3. frequency control program COM amplifies the opening-closing valve of back regulation and control magnetic valve again by the little electric current of serial ports by direct current, makes the CYCLIC LOADING that reaches comparatively objective, credible.
4. friendly control panel also makes easy and simple to handle; Furthermore applying pressure transmitter, the effect of the size of control pressure value, so pressure is exactly studied the variation characteristics of cell under the effect of different pressures value accurately and reliably, and clamping time is adjustable, and experimentation can be set as required.
Description of drawings
Fig. 1 is cell in vitro pressure stowage unit figure
1, steel cylinder, 2, the air inlet magnetic valve, 3, air filter, 4, reducing valve, 5, pressure chamber, 6, the magnetic valve of giving vent to anger, 7, vibrating circuit, 8, multifunctional data acquisition card, 9, transmitter, 10, program-controlled gain amplifier, 11, standard cylinder, 12, linear stepping motor, 13, power amplifier, 14, computer, 15, housing.
Fig. 2 is a stress LOADED CAVITY structural representation
16, mount holder, 17, the culture dish dish, 18, the sample groove, 19, sealing-ring, 20, cover plate, 21, the air outlet, 22, pressure transmitter, 23, inlet mouth.
Fig. 3 is the driving circuit schematic diagram
24, phase inverter, 25, current-limiting resistance, 26, solid state relay, 27, fly-wheel diode, 28, magnetic valve.
Fig. 4 loads the computer control interface for gaseous tension
Fig. 5 changes oscillogram for pressure in pressure cavity
A) static pressure oscillogram
B) dynamic pressure waveform figure
Fig. 6 is the influence of dynamic and static stress to the early stage morphocytology of MSCs Osteoblast Differentiation
A) bone was induced 0 day, no pressure
B) bone was induced 0 day, executed dynamic pressure 5 days
C) bone was induced 0 day, executed static pressure 5 days
D) bone was induced 3 days, no pressure
E) bone was induced 3 days, executed dynamic pressure 5 days
F) bone was induced 3 days, executed static pressure 5 days
G) bone was induced 7 days, no pressure
H) bone was induced 7 days, executed dynamic pressure 5 days
I) bone was induced 7 days, executed static pressure 5 days
Embodiment
Below by embodiment the present invention is carried out concrete description; be necessary to be pointed out that at this present embodiment only is used for the present invention is further specified; but can not be interpreted as limiting the scope of the invention, the person skilled in the art in this field can make some nonessential improvement and adjustment according to the content of the invention described above.
Embodiment:
Cell in vitro pressure-loaded device as shown in Figure 1, cell in vitro pressure-loaded device comprises pneumatic supply 1, air inlet magnetic valve 2, strainer 3, reducing valve 4, pressure cavity 5 and digital regulator control system, pneumatic supply is connected with pressure cavity by air inlet magnetic valve, strainer, reducing valve; One end of pressure cavity 5 is connected with the magnetic valve 6 of giving vent to anger, and the magnetic valve of giving vent to anger is by driving circuit 7.Multifunctional data acquisition card 8 is connected with computer 14; Driving circuit 7 opposite sides are connected with air inlet magnetic valve 2; The other end of pressure cavity 5 is connected with pressure transmitter 9; Pressure transmitter is by program-controlled gain amplifier 10, and multifunctional data acquisition card 8 is connected with computer 14; Pressure cavity 5 is by standard cylinder 11, linear stepping motor 12, power amplifier 13, and multifunctional data acquisition card 8 is connected with computer 14.
Establish multilayer culture dish dish 17 in the pressure cavity 5, every layer of culture dish dish is provided with a plurality of sample grooves 18, the culture dish layer is fixed on the cover plate 20, cover plate is fastening by sealing-ring 19 and pressure cavity, cover plate is provided with inlet mouth 23, air outlet 21 and pressure transmitter import 22, pressure cavity is supported by mount holder 16, and cover plate pushes away, spur and make the culture dish layer free in and out pressure cavity.
Driving circuit 7 is by phase inverter 24, current-limiting resistance 25, solid state relay 26, fly-wheel diode composition 27 and magnetic valve 28 are formed, and the control signal of multifunctional data acquisition card output is logic level U1N, when U1N=5V, the phase inverter output low level, make lumination of light emitting diode in the solid state relay, the inner silicon controlled rectifier conducting of punishment solid state relay, magnetic valve gets electric work.When U1N=0V, phase inverter is output as high level, and the solid state relay photodiode is not luminous, and silicon controlled rectifier ends in the solid state relay, and magnetic valve ends.Computer receives the pressure variation signal by multifunctional data acquisition card, after calculating through program, instruction is fed back to multifunctional data acquisition card, gives vent to anger and the air inlet magnetic valve by driving circuit control, reaches the purpose of regulating the pressure intracavity gas.
The cell in vitro pressure-loaded method of cell in vitro pressure-loaded device may further comprise the steps
(1) opens Steel cylinder gas valve, make to cultivate in the cavity to be full of 95% air and 5%CO
2Mixed gas;
(2) subject cell is put into pressure cavity together with culture dish, by computer, the seal-off pressure chamber;
(3) set lasting pressure and the variation waveform that needs, computer expert's overdrive circuit control air inlet magnetic valve, the magnetic valve of giving vent to anger is regulated pressure in pressure cavity with this;
(4) pressure in pressure cavity is communicated to program-controlled gain amplifier by pressure transmitter, is converted into electronic signal, feeds back to computer by multifunctional data acquisition card, carries out the pressure adjustment and keeps by program;
(5) for the loading regime that requires pressure variation in wave shape, the computer expert crosses multifunctional data acquisition card, program-controlled gain amplifier, power amplifier, the control linear stepping motor, by promoting the standard cylinder, regulate the pressure intracavity gas and change, and pressure in pressure cavity also passes through pressure transmitter, program-controlled gain amplifier, multifunctional data acquisition card feeds back to computer, and meticulous adjustment air pressure reaches requirement of experiment.
Below be the influence of deceleration loading device of the present invention in mesenchymal stem cells MSCs (MSCs) the Osteoblast Differentiation commitment cell phychology and the active power of rising in value.
1. experimental cell
Well-grown 2～4 generation 2-3 male rat mescenchymal stem cell in age in week
Above cell is provided by key lab of West China College of Stomatology Sichuan University
2. pressure chamber culture condition
Temperature: 37 waters bath with thermostatic control
Atmosphere surrounding: 5%CO2 and 95% air gas mixture
Pressure: static pressure stress 23Kpa,, the stress size is dynamic compressive stress 10～35Kpa, the frequency of dynamic compressive stress is selected 0.25Hz.
3. experiment flow
The inferior back osteogenic induction 3 days (OS-3d) and 7 days (OS-7d) respectively that merges of cell.Apply dynamic compressive stress and static pressure stress stimulation respectively, one hour afterburning time of every day, continue 1,3,5 day.Other puts culture dish at CO
2The constant temperature incubator is organized in contrast.
4. experimental result example
A. experiment grouping
According to difference, be divided into following each group to pair cell on-load pressure in the pressure chamber:
Control group: do not have external pressure-loaded
Static pressure group cell: 23Kpa pressure in addition
Dynamic pressure group cell: 10 ~ 35Kpa in addition, frequency 0.25Hz
B. cellular form variation after the various pressure-loaded in the pressure chamber
The equal adherent growth of cell is good.Corresponding time point dynamic pressure group and control group are relatively, do not see that tangible cell is arranged, morphocytology changes (Fig. 5), and some static pressure group cellular form can " expansions " become circle (the typical change that loads cellular form generation behind the static pressure shown in the figure f) by spindle shape.
Experiment adopts 0.25% trypsinase and 0.02%EDTA to digest the MSCs of osteogenic induction not or osteogenic induction 3d and 7d, ends with the serum nutrient solution that does not contain the osteogenic induction agent, and counting is also adjusted cell density, with 4 * 10
3/ hole is inoculated in 96 orifice plates, behind the cultivation 24h, culture dish is put into pressure chamber begin to carry out pressure-loaded, and afterburning condition is the same.
Experiment sample is put into methyl thiazolyl tetrazolium 20 μ L mixings, and incubator is hatched 3.5h, inhales and removes liquid.Add 200 μ L dimethyl sulfoxide (DMSO) and place shaking table concussion 15min behind the incubator 0.5h, (PE USA), sets the 570nm wavelength to use HTS 7000 Plus porous plate efficient analysis instrument.As can be seen, dynamic and static pressure group MSCs Osteoblast Differentiation commitment proliferation activity is to very similar with the not afterburning control group of time point.Have only static pressure to load not induce that the MSCs proliferation activity has tangible enhancing (P＜0.05) after MSCs5 days.
Claims (4)
1. cell in vitro pressure-loaded device, it is characterized in that this device comprises pneumatic supply (1), air inlet magnetic valve (2), strainer (3), reducing valve (4), pressure cavity (5) and digital regulator control system, pneumatic supply (1) is connected with pressure cavity by air inlet magnetic valve, strainer, reducing valve; One end of pressure cavity (5) is connected with the magnetic valve of giving vent to anger (6), and the magnetic valve of giving vent to anger is by driving circuit (7), and multifunctional data acquisition card (8) is connected with computer (14); Driving circuit (7) opposite side is connected with air inlet magnetic valve (2); The other end of pressure cavity (5) is connected with pressure transmitter (9); Pressure transmitter is by program-controlled gain amplifier (10), and multifunctional data acquisition card (8) is connected with computer (14); Pressure cavity (5) is connected with computer (14) by standard cylinder (11), linear stepping motor (12), power amplifier (13), multifunctional data acquisition card (8).
2. cell in vitro pressure-loaded device according to claim 1, it is characterized in that pressure cavity (5) establishes multilayer culture dish dish (17), every layer of culture dish dish is provided with a plurality of sample grooves (18), the culture dish layer is fixed on the cover plate (20), cover plate is fastening by sealing-ring (19) and pressure cavity, cover plate is provided with inlet mouth (23), air outlet (21) and pressure transmitter import (22).Pressure cavity is supported by mount holder (16), and the cover plate push-and-pull is moving to make the culture dish layer free in and out pressure cavity.
3. cell in vitro pressure-loaded device according to claim 1, it is characterized in that driving circuit (7) is by phase inverter (24), current-limiting resistance (25), solid state relay (26), fly-wheel diode forms (27) and magnetic valve (28) is formed, the control signal of multifunctional data acquisition card output is logic level U1N, when U1N=5V, the phase inverter output low level, make lumination of light emitting diode in the solid state relay, the inner silicon controlled rectifier conducting of punishment solid state relay, magnetic valve gets electric work, when U1N=0V, phase inverter is output as high level, and the solid state relay photodiode is not luminous, and silicon controlled rectifier ends in the solid state relay, magnetic valve ends, computer receives the pressure variation signal by multifunctional data acquisition card, after calculating through program, instruction is fed back to multifunctional data acquisition card, give vent to anger and the air inlet magnetic valve by driving circuit control, reach the purpose of regulating the pressure intracavity gas.
4. as the cell in vitro pressure-loaded method of cell in vitro pressure-loaded device as described in one of claim 1-3, it is characterized in that:
(1) opens Steel cylinder gas valve, make to cultivate in the cavity to be full of 95% air and 5%CO
2Mixed gas;
(2) subject cell is put into pressure cavity together with culture dish, by computer, the seal-off pressure chamber;
(3) set lasting pressure and the variation waveform that needs, computer expert's overdrive circuit control air inlet magnetic valve, the magnetic valve of giving vent to anger is regulated pressure in pressure cavity;
(4) pressure in pressure cavity is communicated to program-controlled gain amplifier by pressure transmitter, is converted into electronic signal, feeds back to computer by multifunctional data acquisition card, carries out the pressure adjustment and keeps by program;
(5) for the loading regime that requires pressure variation in wave shape, the computer expert crosses multifunctional data acquisition card, program-controlled gain amplifier, power amplifier, the control linear stepping motor, by promoting the standard cylinder, regulate the pressure intracavity gas and change, and pressure in pressure cavity also passes through pressure transmitter, program-controlled gain amplifier, multifunctional data acquisition card feeds back to computer, and meticulous adjustment air pressure reaches requirement of experiment.
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| CN102174397A (en) * | 2011-03-07 | 2011-09-07 | 四川大学 | Bionic three-dimensional fluid shear stress cell culture device and shear stress loading method thereof |
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| CN103232937A (en) * | 2013-04-18 | 2013-08-07 | 刘傥 | Cell pressure test system |
| CN103333800A (en) * | 2013-06-09 | 2013-10-02 | 中国人民解放军第四军医大学 | Dynamic-static positive-negative pressure loading experiment system and method for in-vitro cells |
| CN103333800B (en) * | 2013-06-09 | 2014-10-15 | 中国人民解放军第四军医大学 | Dynamic-static positive-negative pressure loading experiment system and method for in-vitro cells |
| CN103525754A (en) * | 2013-10-11 | 2014-01-22 | 李兰芳 | Pressure-induced myocardial hypertrophy cell model and application thereof |
| CN103992947A (en) * | 2014-05-27 | 2014-08-20 | 中国人民解放军第四军医大学 | Loading device and method for pressure stress of skeletal cells in porous titanium alloy |
| CN113801791A (en) * | 2021-03-26 | 2021-12-17 | 中国海洋大学 | Multichannel uniform tensile stress in-vitro cell culture device and working method |
| CN113801791B (en) * | 2021-03-26 | 2022-08-02 | 中国海洋大学 | Multichannel uniform tensile stress in-vitro cell culture device and working method |
| CN113444642A (en) * | 2021-07-29 | 2021-09-28 | 中国科学院长春光学精密机械与物理研究所 | Pneumatic system for cell loading and control method |
| CN113583845A (en) * | 2021-07-29 | 2021-11-02 | 中国科学院长春光学精密机械与物理研究所 | Planar cell loading device and pneumatic control method |
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| CN113604358A (en) * | 2021-07-29 | 2021-11-05 | 中国科学院长春光学精密机械与物理研究所 | Cell loading device capable of replacing plane force and pneumatic control method |
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