CN107974405A - Umbilical cord tissue mescenchymal stem cell separator and its control method - Google Patents
Umbilical cord tissue mescenchymal stem cell separator and its control method Download PDFInfo
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- 210000003954 umbilical cord Anatomy 0.000 title claims abstract description 77
- 210000000130 stem cell Anatomy 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000007788 liquid Substances 0.000 claims abstract description 57
- 238000010191 image analysis Methods 0.000 claims abstract description 19
- 210000004027 cell Anatomy 0.000 claims abstract description 11
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 7
- 239000002245 particle Substances 0.000 claims description 32
- 210000001367 artery Anatomy 0.000 claims description 13
- 210000003462 vein Anatomy 0.000 claims description 13
- 239000002504 physiological saline solution Substances 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 9
- 239000011435 rock Substances 0.000 claims description 6
- 230000001079 digestive effect Effects 0.000 claims description 4
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 3
- 238000000926 separation method Methods 0.000 abstract description 2
- 210000001519 tissue Anatomy 0.000 description 8
- 239000000243 solution Substances 0.000 description 3
- 230000004069 differentiation Effects 0.000 description 2
- 239000002609 medium Substances 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000000845 cartilage Anatomy 0.000 description 1
- 210000002808 connective tissue Anatomy 0.000 description 1
- 238000012136 culture method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003038 endothelium Anatomy 0.000 description 1
- 239000001963 growth medium Substances 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 210000001161 mammalian embryo Anatomy 0.000 description 1
- 210000003716 mesoderm Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000004165 myocardium Anatomy 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M47/00—Means for after-treatment of the produced biomass or of the fermentation or metabolic products, e.g. storage of biomass
- C12M47/04—Cell isolation or sorting
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- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12N—MICROORGANISMS OR ENZYMES; COMPOSITIONS THEREOF; PROPAGATING, PRESERVING, OR MAINTAINING MICROORGANISMS; MUTATION OR GENETIC ENGINEERING; CULTURE MEDIA
- C12N5/00—Undifferentiated human, animal or plant cells, e.g. cell lines; Tissues; Cultivation or maintenance thereof; Culture media therefor
- C12N5/06—Animal cells or tissues; Human cells or tissues
- C12N5/0602—Vertebrate cells
- C12N5/0652—Cells of skeletal and connective tissues; Mesenchyme
- C12N5/0662—Stem cells
- C12N5/0668—Mesenchymal stem cells from other natural sources
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12N—MICROORGANISMS OR ENZYMES; COMPOSITIONS THEREOF; PROPAGATING, PRESERVING, OR MAINTAINING MICROORGANISMS; MUTATION OR GENETIC ENGINEERING; CULTURE MEDIA
- C12N2509/00—Methods for the dissociation of cells, e.g. specific use of enzymes
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Abstract
The present invention relates to technical field of cell separation, more particularly to a kind of umbilical cord tissue mescenchymal stem cell separator and its control method, it includes controller, image analysis module, main body and control door（3）, the disengagement chamber（2）It is interior to be equipped with centrifuge tube shelf（4）, culture dish frame（5）, the first manipulator（6）, charger（7）, the second manipulator（8）, camera, liquid getting device（9）, the 3rd manipulator（10）, the 4th manipulator（11）, the 5th manipulator（12）, the first culture plate rack（13）And trash receptacle, the culture chamber（1）Inside it is equipped with the second culture plate rack（14）, the centrifuge tube shelf（4）It is equipped with centrifuge tube, culture dish frame（5）It is equipped with culture dish, the first culture plate rack（13）And the second culture plate rack（14）Culture plate is equipped with, this umbilical cord tissue mescenchymal stem cell separator and its control method can be automatically separated mescenchymal stem cell.
Description
Technical field
The present invention relates to technical field of cell separation, more particularly to a kind of umbilical cord tissue mescenchymal stem cell separator and
Its control method.
Background technology
Mescenchymal stem cell is one kind of stem cell, embryo's layer in mesoderm growing early stage, and there is higher differentiation to dive
Can, it is widely present in the connective tissues such as the marrow, fat, umbilical cord of human body and organ interstitial, there is self-renewing, height is rised in value
And multi-lineage potential, in vitro under specific inductive condition, fat, bone, cartilage, muscle, cardiac muscle, endothelium etc. can be divided into
Various Tissues cell, still has differentiation potential after continuously cultivating and freeze, and is increasingly becoming pole in organizational project and field of gene
The cell derived having practical value, is increasingly valued by people for clinical treatment.
The mescenchymal stem cell of the prior art is typically all to be carried out by hand by people separated, and such mode of operation has
Following shortcoming：1st, using manual operation, it is difficult to the dosage of accurate control physiological saline and nutrient solution；2nd, the operation ring of manual operation
Border is generally uncontrolled, may so influence the mescenchymal stem cell separated；3rd, using manual operation, thus efficiency compared with
It is low, and easily malfunction；4th, using manual operation, it is impossible to which arbitrarily selected disengaging time when having operator, it is necessary to can just carry out
Lock out operation.
The content of the invention
A technical problem to be solved by this invention is：A kind of umbilical cord group that can be automatically separated mescenchymal stem cell is provided
Knit mescenchymal stem cell separator.
A kind of technical solution of the present invention is：A kind of umbilical cord tissue mescenchymal stem cell separator, it includes
Controller, image analysis module, the main body equipped with culture chamber and disengagement chamber and the control being arranged between culture chamber and disengagement chamber
Door processed, centrifuge tube shelf, culture dish frame are equipped with disengagement chamber, the first manipulator, charger, the second manipulator, camera, takes liquid
Device, the 3rd manipulator, the 4th manipulator, the 5th manipulator, the first culture plate rack and trash receptacle, the is equipped with culture chamber
Two culture plate racks, centrifuge tube shelf are equipped with centrifuge tube, and culture dish frame is equipped with culture dish, the first culture plate rack and
Second culture plate rack is equipped with culture plate, image analysis module, control door, the first manipulator, charger, the second machinery
Hand, camera, liquid getting device, the 3rd manipulator, the 4th manipulator, the 5th manipulator are electrically connected with the controller, wherein,
Door is controlled, for controlling break-make between culture chamber and disengagement chamber；
First manipulator, for capturing container；
Charger, for adding liquid into container；
Second manipulator, for capture umbilical cord or umbilical cord cutting after particle；
Camera, for gathering the image information of umbilical cord；
Image analysis module, for analyzing the umbilical cord image collected, obtains the specific location of umbilical cord medium sized vein and artery；
3rd manipulator, for capturing vein or artery in umbilical cord；
4th manipulator, for umbilical cord to be cut into graininess；
Liquid getting device, for taking out the liquid in container；
5th manipulator, for capturing culture plate；
Trash receptacle, for placing discarded object.
It is additionally provided with culture plate for covering the lid for the cell cultivated on culture plate, and is additionally provided with and is used in disengagement chamber
The lid rotator of the lid on culture plate is unscrewed, lid rotator is electrically connected with the controller.
The adjusting mechanism for adjusting ambient state, adjusting mechanism and controller electricity are equipped with culture chamber and disengagement chamber
Connection.
Charger includes liquid feeding head, multiple Bottles for housing different liquids and for extracting the liquid in Bottle
The actuating unit of body, and multiple Bottles are connected by switching mechanism with liquid feeding head, switching mechanism and actuating unit with control
Device processed is electrically connected.
Pipette tips frame is additionally provided with disengagement chamber, pipette tips frame is equipped with pipette tips,
And first manipulator：For capturing pipette tips.
Using above structure compared with prior art, the application has the following advantages：Various components are controlled by controller
Work, and then can realize being automatically separated for mescenchymal stem cell, so control is accurate, and separative efficiency is higher, and not
With disengaging time is limited, can not also separated automatically even if operator.
And lid is set on culture plate, and lid rotator is provided with, it is arranged so that when being cultivated on culture plate by outer
Boundary influence it is smaller, and uncap pass lid be also it is full automatic, it is more convenient.
Adjusting mechanism is set, so can be very good the environment in control disengagement chamber and culture chamber, such as gas concentration lwevel,
Temperature and humidity etc., so that smaller to impact cell being separately cultured room.
Liquid type is gone out control liquid feeding head by switching mechanism, so only needs a liquid feeding head to can be achieved plus difference
The demand of kind class I liquid I, takes small volume, easy to use.
Pipette tips frame is set, and the first manipulator can capture pipette tips, so add every time liquid and take liquid can
Pipette tips on charger and liquid getting device are replaced by the first manipulator.
Another technical problem to be solved by this invention is：A kind of umbilical cord that can be automatically separated mescenchymal stem cell is provided
Organize the control method of mescenchymal stem cell separator.
Another technical solution of the present invention is：A kind of control of umbilical cord tissue mescenchymal stem cell separator
Method, it comprises the following steps：
Centrifuge tube equipped with umbilical cord, be placed on centrifuge tube shelf by S1；
S2, centrifuge tube of the first manipulator crawl equipped with umbilical cord, then move to addition X capacity alcohol under charger, stand T1
Time；
Centrifuge tube is put back into centrifuge tube shelf by S3, the first manipulator, and the second manipulator captures umbilical cord from centrifuge tube, then by navel
Band is placed into the culture dish on culture dish frame；
S4, the crawl of the first manipulator are placed with the culture dish of umbilical cord, then move to addition X1 capacity physiological saline under charger,
Then the first manipulator rocks culture dish, cleans umbilical cord；
S5, the first manipulator are moved under liquid getting device and siphon away the physiological saline in culture dish；
Culture dish is placed on culture dish frame by S6, the first manipulator, and then the second manipulator, which is caught, is placed in culture dish
Umbilical cord, rear camera shooting umbilical cord image, image analysis module analysis image, determine the artery of umbilical cord and the position of vein
Put, then the 3rd manipulator presss from both sides out the artery and vein in umbilical cord successively；
S7, the 4th robot work, umbilical cord is cut repeatedly, is cut into little particle, and then the second manipulator unclamps；
The culture dish for the umbilical cord for being placed with chopping is moved to addition X2 capacity physiological saline under charger by S8, the first manipulator,
Rock culture dish to be cleaned, then culture dish is moved under liquid getting device the physiological saline for taking out the inside by the first manipulator；
Operation in S9, repeat step S8 A times, then the first manipulator culture dish is moved under charger and adds the training of X3 capacity
Base is supported, culture dish is placed on culture dish frame by the first manipulator, stands the T2 times；
Particle image in S10, camera shooting culture dish, image analysis module analysis image determine the position of particle, second
Particle is gripped and is placed on the culture plate of the first culture plate rack by robot work；
S11, the crawl of the 5th manipulator are placed with the culture plate of particle, are moved to addition X4 capacity culture mediums under charger；
S12, control door are opened, and the culture plate that the crawl of the 5th manipulator is placed with particle stretches into culture chamber, then puts culture plate
Put onto the second culture plate rack, stand the T3 times, while the 5th Arm expanding culture chamber, and control door to close；
S13, control door are opened, and the 5th manipulator stretches into the culture plate that culture chamber crawl is placed on the second culture plate rack,
Addition X5 capacity culture mediums under charger are moved to, then culture plate is placed on the second culture plate rack again, stand T4
Time, while the 5th Arm expanding culture chamber, and control door to close；
S14, control door are opened, and the 5th manipulator stretches into the culture plate that culture chamber crawl is placed on the second culture plate rack,
The liquid suctioned out in culture plate is moved under liquid getting device, then moves to addition X6 capacity culture mediums under charger, then again will
Culture plate is placed on the second culture plate rack, stands the T5 times, while the 5th Arm expanding culture chamber, and controls door to close
Close；
Operation in S15, repeat step S14 B times, then controls door to open, and the 5th manipulator stretches into culture chamber crawl and is placed on
Culture plate on second culture plate rack, is moved under liquid getting device the liquid suctioned out in culture plate, camera shooting culture plate
Middle particle image, image analysis module analysis image, determines particle position, particle is pressed from both sides out culture plate by the second robot work；
S16, carry out had digestive transfer culture to the cell being attached on culture plate.
Using above method compared with prior art, the present invention has the following advantages：Five machineries are controlled by controller
The first-class cooperating of hand, charger, liquid getting device, shooting, can well realize and be automatically separated mescenchymal stem cell, so operate
It is convenient, and accuracy is higher, efficiency is also higher.
Brief description of the drawings
Fig. 1 is the structure diagram of umbilical cord tissue mescenchymal stem cell separator of the present invention.
As shown in the figure：1st, culture chamber；2nd, disengagement chamber；3rd, door is controlled；4th, centrifuge tube shelf；5th, culture dish frame；6th, the first machinery
Hand；7th, charger；8th, the second manipulator；9th, liquid getting device；10th, the 3rd manipulator；11st, the 4th manipulator；12nd, the 5th manipulator；
13rd, the first culture plate rack；14th, the second culture plate rack；15th, lid rotator；16th, pipette tips frame.
Embodiment
The present invention is described further with embodiment below in conjunction with attached drawing, but the present invention be not limited only to it is following
Embodiment.
A kind of umbilical cord tissue mescenchymal stem cell separator, it includes controller, image analysis module, equipped with culture chamber
1 and main body and the control door 3 that is arranged between culture chamber and disengagement chamber of disengagement chamber 2, be equipped with disengagement chamber 2 centrifuge tube shelf 4,
Culture dish frame 5, the first manipulator 6, charger 7, the second manipulator 8, camera, liquid getting device 9, the 3rd manipulator 10, the 4th machine
Tool hand 11, the 5th manipulator 12, the first culture plate rack 13 and trash receptacle, interior second culture plate that is equipped with of culture chamber 1 are placed
Frame 14, centrifuge tube shelf 4 are equipped with centrifuge tube, and culture dish frame 5 is equipped with culture dish, the first culture plate rack 13 and the second training
Support plate rack 14 and be equipped with culture plate, image analysis module, control door 3, the first manipulator 6, charger 7, the second manipulator
8th, camera, liquid getting device 9, the 3rd manipulator 10, the 4th manipulator 11, the 5th manipulator 12 are electrically connected with the controller, wherein,
Door is controlled, for controlling break-make between culture chamber and disengagement chamber；
First manipulator, for capturing container；First manipulator is exactly common manipulator, for picking up various containers,
Charger, for adding liquid into container；
Second manipulator, for capture umbilical cord or umbilical cord cutting after particle；Second manipulator head mainly similar to tweezers, this
Sample can easily capture the particle after umbilical cord or umbilical cord cutting；
Camera, for gathering the image information of umbilical cord；
Image analysis module, for analyzing the umbilical cord image collected, obtains the specific location of umbilical cord medium sized vein and artery；
3rd manipulator, for capturing vein or artery in umbilical cord；3rd manipulator head is also mainly similar tweezers, this
Sample just can easily press from both sides out the artery or vein inside umbilical cord；
4th manipulator, for umbilical cord to be cut into graininess；4th manipulator head is mainly two blades, can so be facilitated
Umbilical cord is cut；
Liquid getting device, for taking out the liquid in container；
5th manipulator, for capturing culture plate；5th manipulator head is mainly adapted to culture plate, dedicated for pressing from both sides culture plate
's.
Trash receptacle, for placing discarded object.
It is additionally provided with culture plate for covering the lid for the cell cultivated on culture plate, and is additionally provided with and is used in disengagement chamber
The lid rotator 15 of the lid on culture plate is unscrewed, lid rotator 15 is electrically connected with the controller.
The adjusting mechanism for adjusting ambient state, adjusting mechanism and controller are equipped with culture chamber 1 and disengagement chamber 2
It is electrically connected.
Charger 7 includes liquid feeding head, multiple Bottles for housing different liquids and for extracting in Bottle
The actuating unit of liquid, and multiple Bottles are connected by switching mechanism with liquid feeding head, switching mechanism and actuating unit with
Controller is electrically connected.
Pipette tips frame 16 is additionally provided with disengagement chamber, pipette tips frame 16 is equipped with pipette tips,
And first manipulator：For capturing pipette tips.
And because centrifuge tube shelf, culture dish frame, pipette tips frame, the first culture plate rack, the second culture plate rack are equal
It is fixed, accurately crawl can be achieved is placed on this so each manipulator only needs to set mobile coordinate position
Container on a little racks, and liquid getting device, charger and lid rotator are also what is be fixed, so each manipulator can also
Accurately movement can be achieved by setting moving coordinate position.
Multiple placing grooves are provided with culture plate, particle is uniformly placed into each placing groove.
A kind of control method of umbilical cord tissue mescenchymal stem cell separator, it comprises the following steps：
Centrifuge tube equipped with umbilical cord, be placed on centrifuge tube shelf by S1；
S2, centrifuge tube of the first manipulator crawl equipped with umbilical cord, then move to addition 15mL-75% capacity alcohol under charger,
Stand 2 minutes；
Centrifuge tube is put back into centrifuge tube shelf by S3, the first manipulator, and the second manipulator captures umbilical cord from centrifuge tube, then by navel
Band is placed into the culture dish on culture dish frame；
S4, the crawl of the first manipulator are placed with the culture dish of umbilical cord, then move to addition 3mL capacity physiology salts under charger
Water, then the first manipulator rock culture dish, clean umbilical cord；
S5, the first manipulator are moved under liquid getting device and siphon away the physiological saline in culture dish；
Culture dish is placed on culture dish frame by S6, the first manipulator, and then the second manipulator, which is caught, is placed in culture dish
Umbilical cord, rear camera shooting umbilical cord image, image analysis module analysis image, determine the artery of umbilical cord and the position of vein
Put, then the 3rd manipulator presss from both sides out the artery and vein in umbilical cord successively；
S7, the 4th robot work, umbilical cord is cut repeatedly, is cut into little particle, and then the second manipulator unclamps；
The culture dish for the umbilical cord for being placed with chopping is moved to addition 3mL capacity physiological saline under charger by S8, the first manipulator,
Rock culture dish to be cleaned, then culture dish is moved under liquid getting device the physiological saline for taking out the inside by the first manipulator；
Operation in S9, repeat step S8 3 times, then the first manipulator culture dish is moved under charger addition 3mL capacity
Culture dish is placed on culture dish frame by culture medium, the first manipulator, stands 30 minutes；
Particle image in S10, camera shooting culture dish, image analysis module analysis image determine the position of particle, second
Particle is gripped and is placed on the culture plate of the first culture plate rack by robot work；
S11, the crawl of the 5th manipulator are placed with the culture plate of particle, are moved to addition 1mL capacity culture mediums under charger；
S12, control door are opened, and the culture plate that the crawl of the 5th manipulator is placed with particle stretches into culture chamber, then puts culture plate
Put onto the second culture plate rack, stand 1 day time, while the 5th Arm expanding culture chamber, and control door to close；
S13, control door are opened, and the 5th manipulator stretches into the culture plate that culture chamber crawl is placed on the second culture plate rack,
Addition 0.5mL capacity culture mediums under charger are moved to, then culture plate is placed on the second culture plate rack again, are stood
2 day time, while the 5th Arm expanding culture chamber, and control door to close；
S14, control door are opened, and the 5th manipulator stretches into the culture plate that culture chamber crawl is placed on the second culture plate rack,
The liquid suctioned out in culture plate is moved under liquid getting device, then moves to addition 1mL capacity culture mediums under charger, then again will
Culture plate is placed on the second culture plate rack, stands 3 day time, while the 5th Arm expanding culture chamber, and controls door
Close；
Operation in S15, repeat step S14 2 times, then controls door to open, and the 5th manipulator stretches into culture chamber crawl and is placed on
Culture plate on second culture plate rack, is moved under liquid getting device the liquid suctioned out in culture plate, camera shooting culture plate
Middle particle image, image analysis module analysis image, determines particle position, particle is pressed from both sides out culture plate by the second robot work；
S16, carry out had digestive transfer culture to the cell being attached on culture plate.Wherein had digestive transfer culture method is the prior art than more conventional
, it can be carried out using the mechanism that the application has, but since it is desired that piping and druming operation is carried out, so also needing to set one
Mechanism is blown and beaten to carry out piping and druming operation.
It is also that lid is set on centrifuge tube, so operation centrifuge tube is also to need to carry out spiral cover behaviour by lid rotator every time
Make.
All it is that pipette tips are set on charger 7 and liquid getting device 9, is required to replace rifle by the first manipulator after each use
Head.
Claims (6)
- A kind of 1. umbilical cord tissue mescenchymal stem cell separator, it is characterised in that：It include controller, image analysis module, Equipped with culture chamber（1）And disengagement chamber（2）Main body and the control door that is arranged between culture chamber and disengagement chamber（3）, described point From chamber（2）It is interior to be equipped with centrifuge tube shelf（4）, culture dish frame（5）, the first manipulator（6）, charger（7）, the second manipulator（8）, take the photograph As head, liquid getting device（9）, the 3rd manipulator（10）, the 4th manipulator（11）, the 5th manipulator（12）, the first culture plate rack （13）And trash receptacle, the culture chamber（1）Inside it is equipped with the second culture plate rack（14）, the centrifuge tube shelf（4）It is equipped with Centrifuge tube, culture dish frame（5）It is equipped with culture dish, the first culture plate rack（13）And the second culture plate rack（14）On Equipped with culture plate, described image analysis module, control door（3）, the first manipulator（6）, charger（7）, the second manipulator（8）、 Camera, liquid getting device（9）, the 3rd manipulator（10）, the 4th manipulator（11）, the 5th manipulator（12）It is electrically connected with controller Connect, wherein,Door is controlled, for controlling break-make between culture chamber and disengagement chamber；First manipulator, for capturing container；Charger, for adding liquid into container；Second manipulator, for capture umbilical cord or umbilical cord cutting after particle；Camera, for gathering the image information of umbilical cord；Image analysis module, for analyzing the umbilical cord image collected, obtains the specific location of umbilical cord medium sized vein and artery；3rd manipulator, for capturing vein or artery in umbilical cord；4th manipulator, for umbilical cord to be cut into graininess；Liquid getting device, for taking out the liquid in container；5th manipulator, for capturing culture plate；Trash receptacle, for placing discarded object.
- 2. umbilical cord tissue mescenchymal stem cell separator according to claim 1, it is characterised in that：On the culture plate The lid for covering the cell cultivated on culture plate is additionally provided with, and is additionally provided with the disengagement chamber for unscrewing culture plate Lid lid rotator（15）, the lid rotator（15）It is electrically connected with the controller.
- 3. umbilical cord tissue mescenchymal stem cell separator according to claim 1, it is characterised in that：The culture chamber （1）And disengagement chamber（2）The adjusting mechanism for adjusting ambient state is inside equipped with, the adjusting mechanism is electrically connected with controller Connect.
- 4. umbilical cord tissue mescenchymal stem cell separator according to claim 1, it is characterised in that：The charger （7）Including liquid feeding head, multiple Bottles for housing different liquids and the engine for extracting the liquid in Bottle Structure, and the multiple Bottle is connected by switching mechanism with liquid feeding head, the switching mechanism and actuating unit with control Device is electrically connected.
- 5. umbilical cord tissue mescenchymal stem cell separator according to claim 1, it is characterised in that：In the disengagement chamber It is additionally provided with pipette tips frame（16）, the pipette tips frame（16）Pipette tips are equipped with,And first manipulator：For capturing pipette tips.
- 6. a kind of control method of umbilical cord tissue mescenchymal stem cell separator, it is characterised in that it comprises the following steps：Centrifuge tube equipped with umbilical cord, be placed on centrifuge tube shelf by S1；S2, centrifuge tube of the first manipulator crawl equipped with umbilical cord, then move to addition X capacity alcohol under charger, stand T1 Time；Centrifuge tube is put back into centrifuge tube shelf by S3, the first manipulator, and the second manipulator captures umbilical cord from centrifuge tube, then by navel Band is placed into the culture dish on culture dish frame；S4, the crawl of the first manipulator are placed with the culture dish of umbilical cord, then move to addition X1 capacity physiological saline under charger, Then the first manipulator rocks culture dish, cleans umbilical cord；S5, the first manipulator are moved under liquid getting device and siphon away the physiological saline in culture dish；Culture dish is placed on culture dish frame by S6, the first manipulator, and then the second manipulator, which is caught, is placed in culture dish Umbilical cord, rear camera shooting umbilical cord image, image analysis module analysis image, determine the artery of umbilical cord and the position of vein Put, then the 3rd manipulator presss from both sides out the artery and vein in umbilical cord successively；S7, the 4th robot work, umbilical cord is cut repeatedly, is cut into little particle, and then the second manipulator unclamps；The culture dish for the umbilical cord for being placed with chopping is moved to addition X2 capacity physiological saline under charger by S8, the first manipulator, Rock culture dish to be cleaned, then culture dish is moved under liquid getting device the physiological saline for taking out the inside by the first manipulator；Operation in S9, repeat step S8 A times, then the first manipulator culture dish is moved under charger and adds the training of X3 capacity Base is supported, culture dish is placed on culture dish frame by the first manipulator, stands the T2 times；Particle image in S10, camera shooting culture dish, image analysis module analysis image determine the position of particle, second Particle is gripped and is placed on the culture plate of the first culture plate rack by robot work；S11, the crawl of the 5th manipulator are placed with the culture plate of particle, are moved to addition X4 capacity culture mediums under charger；S12, control door are opened, and the culture plate that the crawl of the 5th manipulator is placed with particle stretches into culture chamber, then puts culture plate Put onto the second culture plate rack, stand the T3 times, while the 5th Arm expanding culture chamber, and control door to close；S13, control door are opened, and the 5th manipulator stretches into the culture plate that culture chamber crawl is placed on the second culture plate rack, Addition X5 capacity culture mediums under charger are moved to, then culture plate is placed on the second culture plate rack again, stand T4 Time, while the 5th Arm expanding culture chamber, and control door to close；S14, control door are opened, and the 5th manipulator stretches into the culture plate that culture chamber crawl is placed on the second culture plate rack, The liquid suctioned out in culture plate is moved under liquid getting device, then moves to addition X6 capacity culture mediums under charger, then again will Culture plate is placed on the second culture plate rack, stands the T5 times, while the 5th Arm expanding culture chamber, and controls door to close Close；Operation in S15, repeat step S14 B times, then controls door to open, and the 5th manipulator stretches into culture chamber crawl and is placed on Culture plate on second culture plate rack, is moved under liquid getting device the liquid suctioned out in culture plate, camera shooting culture plate Middle particle image, image analysis module analysis image, determines particle position, particle is pressed from both sides out culture plate by the second robot work；S16, carry out had digestive transfer culture to the cell being attached on culture plate.
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| WO2023135394A1 (en) * | 2022-01-14 | 2023-07-20 | Steminov | Method for handling or treating an umbilical cord |
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