CN105616005A - Device and method for assembling artificial microtissues based on machine-human cooperated operation - Google Patents
Device and method for assembling artificial microtissues based on machine-human cooperated operation Download PDFInfo
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- CN105616005A CN105616005A CN201511032346.0A CN201511032346A CN105616005A CN 105616005 A CN105616005 A CN 105616005A CN 201511032346 A CN201511032346 A CN 201511032346A CN 105616005 A CN105616005 A CN 105616005A
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Abstract
The invention discloses a device and a method for assembling artificial microtissues based on machine-human cooperated operation. The method comprises the following steps of under the action of an external power source, enabling a mixing solution of cells, alginic acid and calcium carbonate in a cathode glass suction tube (1) to react in deionized water (2) in an anode ITO (indium-tin oxide) conductive glass (4), and generating a cell tissue using an alginic acid hydrogel (3) as a carrier; similarly, when the three glass suction tubes (1) operate in a cooperated way, realizing the all-bearing building of artificial microtissues. The method aims at developing a new concept for the ordered and multi-dimensional rebuilding of the body microtissues, and providing a new path for the fields, such as new medicine research and development, regeneration medicals, and personalized treatment of major diseases of tumors and the like.
Description
Technical field
The invention belongs to robot biology microoperation technical field, be specifically related to a kind of based on the crew-served artificial micro-assembly robot construction method of robot.
Background technology
The exhaustion of human tissue organ is the Medical problems that world today's fatality rate is the highest and most challenges with inefficacy, and its medical expense is high and therapeutic process risk high. Adding up according to World Health Organization (WHO) in 2014, the whole world has the disease death that 15,700,000 people are caused by function of organization's exhaustion with cerebrovascular disease etc. because of heart disease every year, and mortality rate occupy world's umber one with 49%. Adding up summary according to ministry of Health of China in 2013 to show, tumor disease, cardiovascular and cerebrovascular disease be accounting 60.58% in ten big fatal disease, occupy China's umber one.
Human autologous's cell ordered three-dimensional is assembled by the reconstruct of artificial micro-assembly robot, it is possible to build the succedaneum having particular organization's organ analog structure with function in vitro, and the treatment for major diseases such as organ failure, inefficacy and cancerations opens new approach. Artificial micro-assembly robot can reproduce bodily fuctions in vitro, as the new bio model between cell and animal model, the basic law of life entity can be disclosed deeply, the fields such as the personalized treatment in major diseases such as new drug development, regenerative medicine, tumors are produced material impact.
But, restriction by prior art, the construction method of current manual's micro-assembly robot still is limited to the simple artificial organ without blood capillary, the accurate micro structure of nothing, how to realize having efficiently building of the comparable conformation artificial organ with internal microstructure with tissue and is still a difficult problem urgently to be resolved hurrily.
This invention proposes a kind of based on the crew-served artificial micro-assembly robot construction method of robot, by analyzing the dynamic interaction mechanism of micro-nano executor and biological targets, set up the mechanical biological interaction models under complicated liquid phase environment, research multirobot works in coordination with micro-packaging strategy, breakthrough combination drive is efficient with the cell mass under SPEED VISION, the three-dimensional assembling of precise treatment, new approaches are opened up for the reconstruct of human body micro-assembly robot ordering multidimensional, promoting that micro-nano robotics and biomedicine blend, the treatment for mankind's major disease provides new way.
Summary of the invention
It is an object of the invention to: in order to solve human body micro-assembly robot ordering multidimensional reconstruction, it is proposed to a kind of based on the crew-served artificial micro-assembly robot construction method of robot.
Technical scheme is as follows.
A kind of artificial micro-assembly robot assembles device, including: glass pipette, culture dish, microoperation arm, micro-nano manipulation robot, annular brace guide rail; It is characterized in that,
Described glass pipette contains the mixed solution of cell, alginic acid and calcium carbonate;
The substrate of described culture dish includes: be positioned at the polydimethylsiloxane layer of innermost layer, centrally located perspex layer, is positioned at outermost ITO conductive glass layer; The glue between layers of described substrate connects together; Described culture dish is contained within deionized water and alginic acid hydrogel;
Described glass pipette is connected in the end of described microoperation arm, described micro-nano manipulation robot can around ring-shaped guide rail 360 degree rotation, under the driving of micro-nano manipulation robot, each microoperation arm has three degree of freedom, can work in coordination with operation between three microoperation arms.
Preferably, the ITO conductive glass layer of described culture dish is connected with positive source, and described glass pipette is connected with the negative pole of power supply; Wherein the top layer of glass pipette is gold-plated; When glass pipette contacts the deionized water in ITO conductive layer, the cell tissue that it is carrier with alginic acid hydrogel that reaction generates.
Preferably, in the mixed solution in described glass pipette, alginic acid concentration is 1%w/v, and viscosity is 140cp, and the concentration of calcium carbonate is 5%w/v.
Preferably, the quantity of described micro-nano manipulation robot is at least 3.
A kind of method that artificial micro-assembly robot used according to any one of above technical scheme assembles device, comprises the following steps:
Glass pipette provides the mixed solution containing cell, alginic acid and calcium carbonate;
Culture dish provides deionized water and alginic acid hydrogel;
Being connected with positive source by the ITO conductive glass layer of described culture dish, described glass pipette is connected with the negative pole of power supply;
Under the effect of described power supply, the mixed solution of cell in negative pole glass pipette, alginic acid and calcium carbonate reacts in the deionized water in positive pole ITO electro-conductive glass, generates the cell tissue being carrier with alginic acid hydrogel.
Preferably, the generation of described cell tissue further includes steps of
Set up the mathematical model of described artificial micro-assembly robot;
According to described mathematical model, 3 micro-nano manipulation robots control the collaborative operation of described three glass pipettes respectively, it is achieved omnibearing artificial micro-assembly robot builds.
Preferably, the generation of described cell tissue is that the cell mass three-dimensional under SPEED VISION assembles.
The artificial micro-assembly robot that a kind of method used according to above technical scheme manufactures, the cell tissue that it is carrier with alginic acid hydrogel that described artificial micro-assembly robot includes, described cell tissue has similar configuration and internal microstructure to tissue.
The invention has the beneficial effects as follows:
(1) present invention adopts three high-precision micro nano manipulation robots, can around ring-shaped guide rail 360 degree rotation, and each microoperation arm has three degree of freedom, three collaborative operations of mechanical arm, it may be achieved omnibearing artificial micro-assembly robot builds;
(2) culture dish substrate of the present invention adopts three-decker design, and bottom is polydimethylsiloxane layer, and intermediate layer is perspex layer, and top layer is ITO conductive glass layer, improves the constructing environment of artificial micro-assembly robot.
Accompanying drawing explanation
Fig. 1 be the present invention build schematic diagram based on the crew-served artificial micro-assembly robot of robot;
Fig. 2 is high-precision micro nano manipulation robot's operation chart of the present invention;
Wherein, 1-glass pipette, 2-deionized water, 3-are carrier with alginic acid hydrogel cell tissue, 4-ITO conductive glass layer, 5-perspex layer, 6-polydimethylsiloxane layer, 11-microoperation arm, 12-high-precision micro nano manipulation robot, 13-annular brace guide rail
Detailed description of the invention
Referring to accompanying drawing 1, based on the crew-served artificial micro-assembly robot construction device of robot, it includes: glass pipette (1), deionized water (2), with alginic acid hydrogel be carrier cell tissue (3), ITO conductive glass layer (4), perspex layer (5), polydimethylsiloxane layer (6); Wherein the top layer of glass pipette is gold-plated; The substrate of culture dish is total three layers always, bottom is polydimethylsiloxane layer (6), intermediate layer is perspex layer (5), top layer is ITO conductive glass layer (4), glue connects together between layers, under the effect of external power supply, the mixed solution of cell in negative pole glass pipette (1), alginic acid and calcium carbonate reacts in the deionized water (2) in positive pole ITO electro-conductive glass (4), generates the cell tissue being carrier with alginic acid hydrogel (3);
Referring to accompanying drawing 2, described high-precision micro nano manipulation robot operates device (1) and including: microoperation arm (11), high-precision micro nano manipulation robot (12), annular brace guide rail (13); Described glass pipette (1) is connected in the end of microoperation arm (11), high-precision micro nano manipulation robot (12) can around ring-shaped guide rail (13) 360 degree rotation, under the driving of high-precision micro nano manipulation robot (12), each microoperation arm (11) has three degree of freedom, collaborative operation between three microoperation arms (11), it is possible to achieve omnibearing artificial micro-assembly robot builds.
Described glass pipette is connected in the end of described microoperation arm, described micro-nano manipulation robot can around ring-shaped guide rail 360 degree rotation, under the driving of micro-nano manipulation robot, each microoperation arm has three degree of freedom, can work in coordination with operation between three microoperation arms.
In mixed solution in described glass pipette, alginic acid concentration is 1%w/v, and viscosity is 140cp, and the concentration of calcium carbonate is 5%w/v.
The quantity of described micro-nano manipulation robot is at least 3.
Use the artificial micro-assembly robot according to the present invention to assemble the artificial micro-assembly robot construction method of device, comprise the following steps:
Glass pipette provides the mixed solution containing cell, alginic acid and calcium carbonate;
Culture dish provides deionized water (2) and alginic acid hydrogel (3);
Being connected with positive source by the ITO conductive glass layer (4) of described culture dish, described glass pipette (1) is connected with the negative pole of power supply;
Under the effect of described power supply, the mixed solution of cell in negative pole glass pipette (1), alginic acid and calcium carbonate reacts in the deionized water (2) in positive pole ITO electro-conductive glass (4), generates the cell tissue being carrier with alginic acid hydrogel (3).
Wherein, the collaborative operation of described three glass pipettes further includes steps of
Set up the mathematical model of described artificial micro-assembly robot;
According to described mathematical model, 3 micro-nano manipulation robots control the collaborative operation of described three glass pipettes respectively, it is achieved omnibearing artificial micro-assembly robot builds.
It is that the cell mass three-dimensional under SPEED VISION assembles that described three glass pipettes work in coordination with operation.
Using the artificial micro-assembly robot manufactured according to method of the present invention, the cell tissue that it is carrier with alginic acid hydrogel (3) that wherein said artificial micro-assembly robot includes, described cell tissue has similar configuration and internal microstructure to tissue.
Preferably, described artificial micro-assembly robot includes blood capillary.
The foregoing is only several specific embodiments of the present invention, above example is only for explaining and unrestricted scope of the presently claimed invention technical scheme and inventive concept. All technical staff in the art in conjunction with prior art, by the available other technologies scheme of logical analysis, reasoning or limited experimentation, also should be regarded as falling within the claims of the present invention on the inventive concept basis of this patent.
Claims (9)
1. artificial micro-assembly robot assembles a device, including: glass pipette (1), culture dish, microoperation arm (11), micro-nano manipulation robot (12), annular brace guide rail (13); It is characterized in that,
Described glass pipette (1) contains the mixed solution of cell, alginic acid and calcium carbonate;
The substrate of described culture dish includes: is positioned at the polydimethylsiloxane layer (6) of innermost layer, centrally located perspex layer (5), is positioned at outermost ITO conductive glass layer (4); The glue between layers of described substrate connects together; Described culture dish is contained within deionized water (2) and alginic acid hydrogel (3);
Described glass pipette (1) is connected in the end of described microoperation arm (11), described micro-nano manipulation robot (12) can around ring-shaped guide rail (13) 360 degree rotation, under the driving of micro-nano manipulation robot (12), each microoperation arm (11) has three degree of freedom, can work in coordination with operation between three microoperation arms (11).
2. artificial micro-assembly robot according to claim 1 assembles device, it is characterised in that the ITO conductive glass layer (4) of described culture dish is connected with positive source, and described glass pipette (1) is connected with the negative pole of power supply; Wherein the top layer of glass pipette (1) is gold-plated; When glass pipette contacts the deionized water in ITO conductive layer (4), the cell tissue that it is carrier with alginic acid hydrogel (3) that reaction generates.
3. artificial micro-assembly robot according to claim 1 assembles device, it is characterised in that in the mixed solution in described glass pipette (1), alginic acid concentration is 1%w/v, and viscosity is 140cp, and the concentration of calcium carbonate is 5%w/v.
4. artificial micro-assembly robot according to claim 1 assembles device, it is characterised in that the quantity of described micro-nano manipulation robot is at least 3.
5. use the artificial micro-assembly robot according to any one of claim 1-4 to assemble an artificial micro-assembly robot construction method for device, comprise the following steps:
Glass pipette provides the mixed solution containing cell, alginic acid and calcium carbonate;
Culture dish provides deionized water (2) and alginic acid hydrogel (3);
Being connected with positive source by the ITO conductive glass layer (4) of described culture dish, described glass pipette (1) is connected with the negative pole of power supply;
Under the effect of described power supply, the mixed solution of cell in negative pole glass pipette (1), alginic acid and calcium carbonate reacts in the deionized water (2) in positive pole ITO electro-conductive glass (4), generates the cell tissue being carrier with alginic acid hydrogel (3).
6. artificial micro-assembly robot construction method according to claim 5, it is characterised in that the generation of described cell tissue further includes steps of
Set up the mathematical model of described artificial micro-assembly robot;
According to described mathematical model, 3 micro-nano manipulation robots control the collaborative operation of three glass pipettes respectively, it is achieved omnibearing artificial micro-assembly robot builds.
7. artificial micro-assembly robot construction method according to claim 5, it is characterised in that the generation of described cell tissue is that the cell mass three-dimensional under SPEED VISION assembles.
8. the artificial micro-assembly robot that the method used according to any one of claim 5-7 manufactures, it is characterized in that, the cell tissue that it is carrier with alginic acid hydrogel (3) that described artificial micro-assembly robot includes, described cell tissue has similar configuration and internal microstructure to tissue.
9. artificial micro-assembly robot according to claim 8, it is characterised in that described artificial micro-assembly robot includes blood capillary.
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| CN111575183A (en) * | 2020-04-30 | 2020-08-25 | 北京理工大学 | Bubble-driven annular micro-unit array assembly system and method |
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