CN109964924A - Automatic operation system, bogey for cell glass freezing - Google Patents
Automatic operation system, bogey for cell glass freezing Download PDFInfo
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- CN109964924A CN109964924A CN201910433486.0A CN201910433486A CN109964924A CN 109964924 A CN109964924 A CN 109964924A CN 201910433486 A CN201910433486 A CN 201910433486A CN 109964924 A CN109964924 A CN 109964924A
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- drop
- bogey
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- side door
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
- A01N1/00—Preservation of bodies of humans or animals, or parts thereof
- A01N1/02—Preservation of living parts
- A01N1/0236—Mechanical aspects
- A01N1/0263—Non-refrigerated containers specially adapted for transporting or storing living parts whilst preserving, e.g. cool boxes, blood bags or "straws" for cryopreservation
- A01N1/0268—Carriers for immersion in cryogenic fluid, both for slow-freezing and vitrification, e.g. open or closed "straws" for embryos, oocytes or semen
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
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- Filling Or Discharging Of Gas Storage Vessels (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
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Abstract
The present invention provides the automatic operation systems for cell glass freezing, including station device, including for storing bogey storing mechanism, be configured to station mechanism of the bogey in standard station of location tray, and bogey is transported to the transport establishment of station mechanism；Robot device, the manipulator including suspension arm and below suspension arm；Drop liquid changing device including bracket, moveable tube body adaptor, connection pipe body adaptor and changes drop input pipe and drop draft tube above liquid zone set on drop；Target cell liquid transfer device, pipette including movable stand, for drawing target cell liquid and provides the pump housing of suction force for pipette；Master control set, for the operations of control station device, robot device, drop liquid changing device and target cell liquid transfer device.The system makes active somatic cell quickly and effectively realize glass freezing.
Description
Technical field
The invention belongs to tissue cryopreservation resuscitation technical field, in particular to it is a kind of for cell glass freezing from
Dynamic operating system, bogey.
Background technique
The basic principle of vitrifying freeze process is to solidify the cryoprotector of high concentration under ultra-low temperature surroundings, is formed not
The vitrifying sample solid of rule, normal molecular and ion distribution when saving liquid, thus energy when vitrifying occurs in the cell
It plays a protective role.Present Refrigeration Technique can be used in the embryo of freezen protective sperm, ovum and different times, especially glass
Glass Refrigeration Technique has not only obtained medical field and has widely approved, and replaces the slow art freezing of tradition gradually, and becomes freezing
The optimal selection of technology.
The prior art based on manual operations, specifically includes mostly: 1, cell dehydration, with cryoprotector Balance Treatment；
2, it stretches by hand and burns glass tube, prepare cytopipetle, tubule is made；3, tubule is drawn by hand from frozen solution comprising living
The liquid of body cell is coated on sheet freezing carrier, after identifying target cell and extra liquid being sucked out, carrier is fast by hand
Speed insertion liquid nitrogen, completes freezing.The manual manipulation method wants seeking time as short as possible, and coated side is as thin as possible so that its fast prompt drop
Temperature；This operation often requires that operator has skilled operative skill, it is desirable that it is dense that drop is arranged to gradient by operator
Spend liquid, be dehydrated cell gradually in gradient liquid, which needs fast operating, be easy because osmotic pressure is excessive such as misoperation or
Operating process can not standardization setting etc., cause active somatic cell freezing lack of standardization, cell is easily dead or loses.
Summary of the invention
It is for being automatically brought into operation for cell glass freezing in order to solve the above-mentioned technical problems, the present invention provides a kind of
System, so that active somatic cell quickly and effectively realizes glass freezing and recovery.
Specific technical solution of the present invention is as follows:
A kind of automatic operation system for cell glass freezing, it is cold for carrying out cell vitrifying on bogey
Freeze and recovery, the system include at least
Station device, including storing mechanism, transport establishment and station mechanism；The storing mechanism is configured to have
The storage chamber of bogey to be stored, pallet is equipped with below each bogey, the storing mechanism lower end is equipped with opening, and
The transport establishment end is connected below the opening, the opening opposite side of the storing mechanism is additionally provided with pushing handle mechanisms, for will under
The bogey of side pushes to transport establishment together with the pallet；The transport establishment is by the band body of two sides around delivery wheel structure
At the two sides of the pallet are placed in just on the band body of the conveyer belt two sides；The station mechanism is configured to described in positioning
Pallet and its bogey of top are in the mechanism of standard station；
Robot device, the manipulator including suspension arm and below suspension arm, the suspension arm are configured as having
There is the construction of X-direction moved horizontally, the manipulator itself is configured with the construction of Y-axis and Z-direction movement；
Drop liquid changing device, including bracket, moveable tube body adaptor, the connection tube body adaptor on bracket
And it is set to the drop and changes drop input pipe and drop draft tube above liquid zone；Wherein, the tube body adaptor is corresponding every
One tube body is equipped with independent electrically operated valve, and the drop input and drop draft tube pass through peristaltic pump respectively and carry out control drop
Change liquid operation；
Target cell liquid transfer device is used to draw the pipette of target cell liquid including movable stand, on movable stand
And the pump housing of suction force is provided for the pipette；
Master control set is configured to control the station device, robot device, drop liquid changing device and target cell
The operations of liquid transfer device.
In an improvement project, the storage chamber side of the storing mechanism is equipped with hackle mark, and the other side is along storage cavity wall
Interior to be vertically equipped at intervals with regulating tank, the regulating tank embeds the layering blend stop that oriented cavity extends, and the layering blend stop, which is located at, to be adjusted
Top in section slot is equipped with the elastic component connecting with regulating tank inner roof wall, and each layering blend stop is against the support of respective layer just
Disk；
When pallet and its automatic bogey are transferred, the layering blend stop is pressed downward by the gravity of automatic bogey,
And rotated with regulating tank notch contact point as axle center using being layered blend stop, pallet and its automatic bogey are moved down one
Layer, then under the recovery of elastic component, is against the bottom of next layer of pallet.
In another improved technical solution, the two sides that the pallet corresponds to drop location of carriers, which upwardly extend, limits institute
Being in the way for drop carrier is stated, the lateral surface of the lateral surface being in the way and the rectangle casing is in the same plane；
The two sides of the station mechanism are respectively equipped with second and are in the way, and described second is in the way is connected by telescoping hydraulic cylinder
In station mechanism two sides, and when the telescoping hydraulic cylinder elongated distance maximum, the second inside being in the way of lucky two sides
Distance is equal with the fore-and-aft distance of rectangle casing.
Another improved technical solution, the system also includes be set to above station mechanism and connect with master control set
Photographic device, the photographic device includes being set to operation standard position to image head-down video camera and the suspension camera shooting
The hanger bar of machine；Station mechanism side immediately below the corresponding photographic device camera is identified equipped with reference line.
Further, pipetting needle of the pipette by transparent tube body and set on transparent tube body front end is constituted, described transparent
Tube body is equipped with gage, and overfall is equipped on the tube body of highest position of rule, outside the tube body below the corresponding overfall
Wall is equipped with polyrrhea groove；
The rear end of the drop input pipe is connected to a liquid containing chamber, the interior middle section forward end without leave of the drop input pipe
Infusion head position is gradually reduced, and the internal diameter of the infusion head is 1-6mm；Prepare the minim pipette material be polytetrafluoroethylene (PTFE) or
Polyvinylidene fluoride material.
The invention also discloses a kind of bogey for above-mentioned automatic operation system, described device includes drop carrying
Device；The drop carrier is rectangle tray construction comprising middle part is placed with the cell supporting region of freezing carrier and surround
In the hydrophobic region of the cell supporting region, the hydrophobic region is to be equipped with super hydrophobic material ring-shaped structure；The drop carrier
Two sides in the middle part of be equipped with dark signs line, two dark signs lines are located on the central axes of drop carrier；
One side of drop carrier extends outwardly equipped with interconnecting piece；Described device further includes the square with rectangular inner cavity
Shape casing, the side of the rectangle casing are closing, and the other side is equipped with opening, and the top of the corresponding rectangle casing in the open end
Equipped with a gate slot, plug-type side door is configured with by support mechanism at the top of the gate slot；It is sliding that the bottom of the inner cavity is equipped with one
Slot, drop carrier bottom are equipped with the sliding block to match with the sliding slot；The drop carrier can be in sealing sleeve pipe
It is interior intracavitary along open end progress pull.
Further, sealing sleeve pipe opening two sides are equipped with block piece, and the block piece extends internally equipped with supporting parts, institute
The height for stating supporting parts is less than block piece and is greater than the height of dropping liquid carrier, and supporting parts described in two sides place the side door, and institute
It states supporting parts and is equipped with an accommodation groove close to the upper surface of gate slot, the accommodation groove is the taper configurations of milling flat, interior accommodating one
Elastic component, the chevron construction of the middle part protuberance of the limit elastic component are limited, and the middle part swelled protrudes from the accommodation groove, just
Good gear is in side door close to the side of gate slot；
The rectangular sleeve tube top plate is embedded at least one magnet block towards the side of gate slot, and the side door is towards in gate slot
Side is equipped with gasket, and the gasket top is equipped with the iron block corresponding with the magnet block when side door is inserted into gate slot；Institute
The bottom surface for stating gate slot is equipped at least one second magnet block, and the bottom of the side door is equipped with when side door is inserted into gate slot with described the
Corresponding second iron block of two magnet blocks；
The bottom rear of the drop carrier is equipped with the elastic protrusion of a hook, and the elastic protrusion is by towards the drop
The mouth of hook of carrier bottom surface and brace set on mouth of hook side are constituted, and the brace is towards the drop carrier lower front
Extend and is adhered to its bottom；The sealing sleeve pipe inside bottom of the corresponding flexible clamp piece position is equipped with shallow slot, and the shallow slot is from close
The tip forward of big envelope pipe inside bottom extends close to the position of opening；
The top of the side door is equipped with knob, and the knob is equipped with the hole for the robot device recess portion puted forth effort or fixation
Position.
The invention discloses another bogeys for being used for above-mentioned automatic operation system, and described device includes the liquid of one end
Drop changes liquid zone and changes sample supporting region that is that liquid zone communicates and being set to the other end with the drop；
It is the tray construction for carrying out drop and changing liquid that the drop, which changes liquid zone, and bottom surface is carried by free end to the sample
One end that area is connected tilts gradually downward, and its free end side is equipped with hydrophobic portion；
The sample supporting region is configured to place the recessed disk construction of freezing/recovery carrier strip；It is carried with the sample
The drop that area communicates side changes liquid zone side at least part and is connected with the sample supporting region respective side, and in the linking side,
The apical side height of the sample supporting region and the drop change that liquid zone bottom surface is concordant, and the joining place is equipped with sealing mechanism, and should
Dismountable baffle is equipped with above joining place；Effective height of interception of the baffle changes liquid zone dished discs most not less than the drop
High level:
The contralateral side that the sample supporting region communicates side extends outwardly for carrier；Described device further includes with strip
The sealing sleeve pipe of inner cavity, the side of the sealing sleeve pipe is equipped with opening, and the open top is equipped with plug-type side door, and bottom is equipped with
Lock the retaining mechanism of the side door and sealing sleeve pipe；The bottom of the inner cavity is equipped with a sliding slot, sample supporting region bottom
Equipped with the sliding block to match with the sliding slot；The sample supporting region of the strip can be intracavitary along open end in sealing sleeve pipe
Carry out pull.
Further, the sealing sleeve pipe open side is equipped with side door positioning framework, and the side door positioning framework includes top
Cyclic annular rectangle frame, bottom plate and both side plate, it is described ring-type rectangle frame at the top of two sides be equipped with can transversal stretching limited post, it is described
Cyclic annular rectangle frame is embedded the side door, and under non-lid conjunction state, limited post stretches out the bottom for being against the side door just；
Two side positions for communicating upper side positioned at the sample supporting region are equipped with protrusion；
The outer end of side plate two sides inner wall is equipped with the first block；The two sides of the carrier extend outwardly equipped with second gear
Block, when sample supporting region pull to outermost end, the first block is against the front side of the second block just；
The inside of the side door is equipped with gasket, and top edge and lower edge are respectively equipped with rubber positioning on the inside of the side door
Ball；The ring-type rectangle frame, bottom plate are respectively equipped with a positioning groove, and when the side door falls, the rubber positioning ball is just right
Answer the locating slot.
Further, it is 5~15 ° that the drop, which changes the tilt angle of liquid zone bottom surface,；The top of the baffle, which extends, to be set
There is clamping part；
Evagination position is equipped on the outside of the sealing mechanism, the bottom that the drop changes liquid zone is equipped with a notch, the notch
It is matched with evagination position；
The drop changes liquid zone and is embedded with stretched PTFE film close to the inner bottom surface of baffle side, and the stretched PTFE film is bent upwards from the bottom surface
The top of baffle is extended to, the stretched PTFE film is waterproof membrane；
One or both sides at the top of the baffle are extended outward connection, is connected with fixed link below the connecting rod；Institute
Drop is stated to change liquid zone linking side and be located at the two sides of the baffle equipped with the jack for being inserted into fixed link.
Beneficial effects of the present invention are as follows: automatic operation system of the invention passes through the storing mechanism of bogey, transport
The station device that mechanism and station mechanism are constituted realizes automatic operation, stable operation, accurate positioning, safety and efficiency
It is greatly improved.
Provided by the present invention for cell glass freezing and the bogey of recovery directly in the freezing of drop carrier
Drop is carried out on carrier and changes liquid, and drop changes after liquid reaches standard, and surplus liquid is sucked out, carrier part Horizontal Tile is made to make target
Cell tiles as far as possible, keeps the exposed surface area of cell maximum.After liquid is changed in drop carrier completion of the present invention, square is pushed it into
It seals in shape casing and simultaneously carries out liquid nitrogen frozen, it is easy to operate and be avoided that pollution.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be done below to the attached drawing used needed for embodiment
It is simple to introduce.
Fig. 1 is a kind of structural schematic diagram of embodiment of automatic operation system of the present invention；
Fig. 2 is the partial structural diagram of storing mechanism in automatic operation system of the present invention；
Fig. 3 is a kind of embodiment schematic diagram that bogey of the present invention is placed in station mechanism；
Fig. 4 is a kind of embodiment schematic diagram of the pipette of the quantitative taken amount of the present invention；
Fig. 5 is a kind of structural schematic diagram of embodiment of drop input pipe of the present invention.
Fig. 6 is knot of the present invention for a kind of embodiment of drop carrier in the bogey of cell glass freezing
Structure schematic diagram；
Fig. 7 is the structural schematic diagram of the another embodiment of drop carrier in bogey of the present invention；
Fig. 8 is a kind of structural schematic diagram of embodiment of rectangle casing in bogey of the present invention；
Fig. 9 is the partial enlarged view of position A in Fig. 8；
Figure 10 is a kind of structural schematic diagram of embodiment of side door in rectangle casing of the present invention；
Figure 11 is the structural schematic diagram that drop carrier of the present invention and rectangle sleeve bottom are used cooperatively；
Figure 12 is a kind of structural schematic diagram that drop carrier of the present invention is pushed into after rectangle casing；
Figure 13 is the structural schematic diagram of the another embodiment of the automatic bogey of the present invention；
Figure 14 is a kind of structural schematic diagram that drop changes liquid zone and sample supporting region joining place；
Figure 15 is the cross-sectional view of the sample supporting region with sealing sleeve pipe；
Figure 16 is the cross-sectional view of sealing sleeve pipe；
Figure 17 is the partial enlarged view of position B in Figure 16；
Figure 18 is sample supporting region of the present invention and the structural schematic diagram that sealing sleeve pipe is used cooperatively；
Figure 19 is sample supporting region of the present invention and the cross-sectional view that sealing sleeve pipe is used cooperatively；
Figure 20 is another structural schematic diagram that drop changes liquid zone and sample supporting region joining place；
Figure 21 is the cross-sectional view that drop shown in Figure 20 changes liquid zone and sample supporting region joining place.
Specific embodiment
Different embodiments of the invention are illustrated with reference to the accompanying drawing, the explanation carried out is only to its essence
Exemplary description is not to limit the present invention, its application or purposes.For example, each embodiment of the invention is by the phase
Prestige can be widely applied to active somatic cell, including but not limited to embryo, sperm, egg cell etc..
Fig. 1 shows the automatic operation system that the present invention is used for cell glass freezing, and the system comprises station dresses
Set 100, robot device 200, drop liquid changing device 300, target cell liquid transfer device 400, master control set 500 and camera shooting
Device 600.
Station device 100 includes storing mechanism 110, transport establishment 120 and station mechanism 130；It is described to hold automatically
It carries and sets storing mechanism 110 and be configured to the storage chamber 111 with storage bogey, be equipped with support below each bogey
Disk 114,110 lower end of storing mechanism is equipped with opening 112, and 120 end of transport establishment is connected below the opening 112,
The opening opposite side of the storing mechanism 110 is additionally provided with pushing handle mechanisms 113, for by the bogey of lower section together with the pallet
114 push to transport establishment 120；The transport establishment 120 is made of the band body of two sides around delivery wheel, the pallet 114
Two sides are placed in just on the band body of 121 two sides of conveyer belt；The station mechanism 130 is configured to position the pallet 114
And its bogey of top is in the mechanism of standard station.
Robot device 200 includes suspension arm 201 and the manipulator 202 set on 201 lower section of suspension arm, the suspension arm
201 are configured with the construction of X-direction moved horizontally, and the manipulator 202 itself is configured with Y-axis and Z axis
The mobile construction in direction.The structure of three axis operation can not do excessive description using the prior art herein.
Drop liquid changing device 300 includes bracket 304, is set to moveable tube body adaptor 305, connection institute on bracket 304
It states tube body adaptor 305 and is set to drop input pipe 301 and drop draft tube 302 that the drop changes 1 top of liquid zone；Its
In, the corresponding each tube body of the tube body adaptor 305 is equipped with independent electrically operated valve, the drop input pipe 301 and drop
Draft tube 302 carries out control drop by peristaltic pump respectively and changes liquid operation.
Target cell liquid transfer device 400 includes movable stand 401, is used to draw target cell liquid on movable stand 401
Pipette 402 and provide the pump housing 403 of suction force for the pipette 402.
Photographic device 600 is set to 100 top of station device, and the photographic device 600 includes being set to operation standard position
Image the hanger bar 602 of head-down video camera 601 and the suspension video camera 601；It is held for shooting observation drop at any time
The cell carried in device changes liquid status.
Master control set 500 is configured to control the station device 100, robot device 200, drop liquid changing device 300
And the operations of target cell liquid transfer device 400.Such as it is issued on drop liquid changing device 300 by master control set 500
Items control --- unlatching/closing of drop input pipe 301, drop draft tube 302, and the size of unlatching is controlled to realize cell
Drop culture flow quantity, to realize the standardization control of cellular liquid environment.
Fig. 2 is the improvement project for carrying out bogey based on the above technical solution and exporting and position automatically.Institute
111 side of storage chamber for stating storing mechanism 110 is equipped with hackle mark 117, and the other side is vertically equipped at intervals with tune along 111 wall of storage chamber
Slot 118 is saved, the regulating tank 118 embeds the layering blend stop 116 that oriented cavity extends, and the layering blend stop 116 is located at regulating tank
Top in 118 is equipped with the elastic component 119 connect with 118 inner roof wall of regulating tank, and each layering blend stop 116 is lucky to be against pair
Answer the pallet 114 of layer.
When pallet 114 and its decentralization of automatic bogey, the layering blend stop 116 by automatic bogey gravity to
It pushes, and is rotated with the 118 notch contact point of regulating tank as axle center using being layered blend stop 116, by pallet 114 and its automatically
Bogey sends behind, and then under the recovery of elastic component 119, is against the bottom of next layer of pallet 114.
Fig. 3 show the bogey structural schematic diagram of operation of the present invention platform, and the view is with one of carrying of the invention
For the embodiment of device, however on the basis of the present invention, meeting the equal of the bogey shape can use in the station.
The two sides of corresponding 1 position of drop carrier of the pallet 114 upwardly extend limit the drop carrier 1 be in the way 120, the gear
The lateral surface of the lateral surface in road 120 and the rectangle casing 3 is in the same plane；Distinguish the two sides of the station mechanism 103
131 are in the way equipped with second, described second, which is in the way, 131 is connected to 103 two sides of station mechanism by telescoping hydraulic cylinder 132, and
When the 132 elongated distance maximum of telescoping hydraulic cylinder, the second of lucky two sides be in the way 131 inner distance and rectangle casing
3 fore-and-aft distance is equal.In this way, by be in the way 120 and second be in the way 131 specific limit, drop carrier 1 is fixed on behaviour
The operating position of table mechanism platform.And the settable reference line mark of a side position of station mechanism 103 of the invention, pass through
Reference line mark carries out judgement whether standard station with the dark signs line relative position in drop carrier.It is described at this
Reference line mark can be the mark that can be manifested in station mechanism 103, or be set to station mechanism 103 1
Strip mark of side etc..
The quantitative taken amount function of pipette is improved in still other embodiments, as shown in figure 4, the pipette 402
It being made of transparent tube body 404 and the pipetting needle 405 set on 404 front end of transparent tube body, the transparent tube body 404 is equipped with gage,
And overfall 406 is equipped on the tube body of highest position of rule, the tube wall of corresponding 406 lower section of overfall, which is equipped with, to overflow
Liquid bath 407.
Shown in Fig. 5, the rear end of the drop input pipe 301 is connected to a liquid containing chamber 311, the drop input pipe 301
The interior forward end of middle section without leave infusion 310 position of head be gradually reduced, it is described infusion head 310 internal diameter be 1-6mm；Prepare the drop
The material of liquid pipe 201 is polytetrafluoroethylene (PTFE) or polyvinylidene fluoride material.The polytetrafluoroethylene (PTFE) or Kynoar material used at this
Material is hydrophobic material, and the size of infusion head is cooperated to limit, realize drop when changing liquid drop be slowly added into, avoid because of osmotic pressure
It is excessive suddenly to cause cell death.Certainly, which is only a kind of drop perfusion tube 301 in automatic operation system of the present invention
A kind of example, drop perfusion tube 301 of the invention can be one or more, can according to actual use situation to defeated
The size of liquid head is defined, and the tube body of tube body and non-hydrophobic material that hydrophobic material also can be set is used in combination.
When master control set 500 issues the control instruction of cell freezing mode, the automatic bogey of station device 100 is deposited
The pallet 114 for storing up the lower automatic bogey of hair band of mechanism 110, is delivered to station mechanism 130 through transport establishment 120, is operating
On the station of platform mechanism 130, rectangle sleeve position is extend out to by the body of rod of telescoping hydraulic cylinder 132, realizes bogey
Lateral position standard locator qualification.It is marked again by the reference line mark of station device side and dark in drop carrier
Remember line relative position, carries out bogey and judge whether on standard station.It is such as not at standard station, then passes through transporter
The front and back adjustment of structure 120 is finely adjusted.Monitoring position is carried out by the image that photographic device is shot during this.It positions successfully
Afterwards, master control set can carry out the foundation of two-dimensional coordinate system by the image of shooting to drop carrier, so as to later period accurate positionin
The specific location of active somatic cell.
Pipette instructs based on the received, adsorbed target cell drop and the drop carrier for being transferred to automatic bogey
In, then carry out cell freezing changes liquid operation, it should be noted that the input terminal of the drop input pipe 301 is not limited to one
Suction pipe, that is, be also provided with the suction pipe of dedicated cryoprotector, make the drop input pipe 301 that can also carry out cryoprotector
Addition.It should also be noted that, the position that the input of target cell liquid of the present invention, drop input and drop are sucked out can lead to respectively
Cross movable stand 401, the positioning of 304 position of bracket realizes that is, backing positions are fixed, and tray position is fixed, each drop input pipe
Or the operating position of draft tube is substantially stationary.Until cell drop and cryoprotector reach equilibrium state and (can be filled by camera shooting
The image viewing for setting shooting obtains), the liquid of cell peripheral absorption can be drawn by drop draft tube, make the surface of cell exposure
Product is maximum；It completes to change liquid operation.Drop carrier is pushed into rectangle casing by subsequent robot device, and side door is pushed away and is fallen,
Magnet block absorption on side door and rectangle casing securely realizes sealing, and fast transfer completes freezing into refrigerant.
The step of resuscitation and refrigeration operation, is on the contrary, pair that will be placed in pallet after drop carrier pull-out rectangle casing
Position is answered, the standard station of station mechanism is transferred to, while adjusting drop input pipe 301 and the drop suction of drop liquid changing device
Then outlet pipe 302 changes liquid operation according to the drop that instruction carries out cell recovery, until cell reaches to the top of drop carrier
Defined culture solution equilibrium state completes recovery, and the specific seat of active somatic cell is judged according to the coordinate system that standard station generates
Cursor position, master control set 500 according to coordinate position mobile pipette 402 to active somatic cell above, lower section pipette 402 is by cell
Absorption is transferred to culture carrier.
The present invention devises the bogey for above-mentioned automatic operation system, in one embodiment, shown in Fig. 6, holds
It carries and is set to drop carrier 1；The drop carrier 1 is rectangle tray construction comprising middle part is placed with freezing carrier
Cell supporting region 11 and the hydrophobic region 10 for being surrounded on the cell supporting region 11, the hydrophobic region 10 are to be equipped with super-hydrophobic material
Expect ring-shaped structure；Dark signs line 2 is equipped in the middle part of the two sides of the drop carrier 1, two dark signs lines 2 are located at
On the central axes of drop carrier 1.
It should be noted that drop carrier of the present invention can also be other rules under above-mentioned design principle
Or irregular form.Wherein, the setting of hydrophobic region is so that cell concentrates in cell supporting region, convenient for position observation, and deeply
The setting of color marker line is then the positioning datum for drop carrier, judges that drop carrier is by dark signs line position
It is no to be in normal place.
In some embodiments, shown in Fig. 7-8, bogey includes drop carrier and rectangle casing.Specific scheme
In, 1 one side of drop carrier extends outwardly equipped with interconnecting piece 21；Described device further includes the square with rectangular inner cavity 30
Shape casing 3, the side of the rectangle casing 3 are closing, and the other side is equipped with opening 31, and the corresponding rectangle casing in 31 end of opening
3 top is equipped with a gate slot 32, passes through support mechanism at the top of the gate slot 32 and is configured with plug-type side door 4；The inner cavity 30
Bottom be equipped with a sliding slot 33,1 bottom of drop carrier is equipped with the sliding block 12 that matches with the sliding slot 33；The drop
Carrier 1 can carry out pull along 31 ends of opening in the inner cavity of sealing sleeve pipe 3 30.
31 two sides of opening of the sealing sleeve pipe 4 are equipped with block piece 34, and the block piece 34 extends internally equipped with supporting parts 35,
The height of the supporting parts 35 is less than block piece 34 and is greater than the height of dropping liquid carrier 1, and supporting parts 35 described in two sides are placed described
Side door 4, and the supporting parts 35 are equipped with an accommodation groove 37 close to the upper surface of gate slot 32, the accommodation groove 37 is taper configurations,
One limit elastic component 36 of accommodating in it, the chevron construction of the middle part protuberance of the limit elastic component 36, and the middle part swelled is prominent
In the accommodation groove 37, keep off just in side door 4 close to the side of gate slot 32, as shown in Figure 9.
Figure 10 shows a kind of specific implementation example of side door, and the side of rectangle casing 3 top plate towards the gate slot 32 is embedding
There is at least one magnet block 5, the medial surface of the side door 4 towards gate slot 32 is equipped with gasket 40,40 top of gasket
Equipped with iron block 41 corresponding with the magnet block 5 when side door 4 is inserted into gate slot 32；The bottom of the gate slot 32 is equipped at least one
Second magnet block 50, the bottom of the side door 4 are equipped with when side door 4 is inserted into gate slot 32 corresponding with second magnet block 50 the
Two iron blocks 42.
When side door 4 is not disposed in gate slot 32, side door 4 is placed in 35 top of supporting parts, and limits it by limit elastic component 36
Displacement；And when needing to move to gate slot 32, limit spring part 36 is pushed through by outside force, falls into gate slot 32.Due to side
The iron block 41 and magnet block of door 4 adsorb securely immediately, realize the sealing of rectangle casing.
In one embodiment shown in Figure 11, the bottom rear of the drop carrier 1 is equipped with the elastic protrusion of a hook,
The elastic protrusion is made of the mouth of hook 18 towards 1 bottom surface of drop carrier and the brace 17 set on 18 side of the mouth of hook, institute
Brace 17 is stated to extend towards 1 lower front of drop carrier and be adhered to its bottom；Correspond to the close of the flexible clamp piece position
4 inside bottom of big envelope pipe is equipped with shallow slot 44, and the tip forward of 44 self-sealing casing of shallow slot, 4 inside bottom extends close to out
The position of mouth 31.The restriction of the cooperation sliding position of elastic protrusion and shallow slot 44 in the embodiment, is drawing drop carrier
It is unlikely to be detached from rectangle casing easily when out, is smoothly completed with what the whole refrigeration operation of guarantee and casing acted.
It should also be noted that, the top of the side door 4 can be equipped with the component of knob etc, knob 6 as shown in Figure 10
Only a kind of implementation structure.Knob of the present invention can be the hole location equipped with the recess portion or fixation puted forth effort for robot device
Various structures.
Bogey of the present invention is after completing drop replacement movement and absorption surplus liquid, by robot device by drop
Carrier is pushed into rectangle casing, and side door is pushed away inward, so that it is fallen into gate slot, state is as shown in figure 11 at this time, for putting into
Liquid nitrogen frozen area realizes the Seal and preservation of drop carrier.And when needing recovery, then knob is fixed on by robot device
Position, by the direct pull-up of side door.In some embodiments, magnet block is embedded in the front side edge of drop carrier of the present invention
It is not shown in the figure, in the case where side door pulls out, drop carrier is adsorbed by magnet and is pulled out, it can be by drop carrier
It pulls out, to complete cell recovery operation.
The invention also discloses another embodiments of the bogey for above-mentioned automatic operation system, as shown in figure 13,
The automatic bogey includes that the drop of one end changes liquid zone 7 and changes that liquid zone 7 communicates with the drop and be set to the other end
Sample supporting region 71.
It is the tray construction for carrying out drop and changing liquid that the drop, which changes liquid zone 7, and bottom surface is extremely held with the sample by free end
It carries one end that area 71 is connected to tilt gradually downward, and its free end side is equipped with hydrophobic portion 72.
The sample supporting region 71 is configured to place the recessed disk construction of freezing/recovery carrier strip；It is held with the sample
The drop that load area 71 communicates side changes 7 side of liquid zone at least part and is connected with 71 respective side of sample supporting region, and at this
It is connected side, 71 apical side height of sample supporting region and the drop change that 7 bottom surface of liquid zone is concordant, and the joining place is equipped with sealer
Structure 73 is equipped with dismountable baffle 74 as shown in figure 14 above the joining place；Effective height of interception of the baffle 74 is not less than
The drop changes 7 dished discs peak of liquid zone.
In some embodiments, sample supporting region 71 is arranged to the sealing structure of portable, holds transfer investment liquid nitrogen
The safer convenience of the operation of device, avoids pollution.Specific one embodiment scheme is as shown in figs. 14-15.The sample carrying
The contralateral side that area 71 communicates side extends outwardly for carrier 75；Described device further includes having the sealing sleeve pipe of strip inner cavity 80
81, the side of the sealing sleeve pipe 81 is equipped with opening 82, and plug-type side door 83 is equipped at the top of the opening 82, and bottom is equipped with locking
The retaining mechanism of the side door 83 and sealing sleeve pipe 81；The bottom of the inner cavity 80 is equipped with a sliding slot 84, the sample supporting region
71 bottoms are equipped with the sliding block 85 to match with the sliding slot 84；The sample supporting region 71 of the strip can be in sealing sleeve pipe 81
Pull is carried out along 82 ends of opening in inner cavity 80.
The sealing sleeve pipe 81 is open 82 sides equipped with side door positioning framework 86, and the side door positioning framework 86 includes top
Cyclic annular rectangle frame 87, bottom plate 88 and both side plate 89, it is described ring-type 87 two sides of the bottom of rectangle frame be equipped with can transversal stretching limit
Column 92, the ring-type rectangle frame 87 are embedded the side 83, and under non-lid conjunction state, limited post 90 stretches out is against the side door just
83 bottom.
Figure 15-16 is sample supporting region of the present invention and the structural schematic diagram that sealing sleeve pipe is used cooperatively, and shown in Figure 15, is located at
Two side positions that the sample supporting region 71 communicates upper side are equipped with protrusion 75.The 89 two sides inner wall of side plate is equipped with the first block
91；The two sides of the carrier 75 extend outwardly equipped with the second block 92, when 71 pull of sample supporting region to outermost end, first
Block 91 is against the front side of the second block 92 just.
Shown in Figure 16-17, the inside of the side door 83 is at least surrounded by gasket 830, the 83 inside top of side door
Edge and lower edge are respectively equipped with rubber positioning ball 831；The ring-type rectangle frame 87, bottom plate 88 are respectively equipped with a positioning groove 870,
When the side door 83 falls, the rubber positioning ball 831 corresponds to the locating slot 870 just.
It should also be noted that, the side door positioning framework is detachably to be docked on front side of the sealing sleeve pipe, the sample
Magnet device is additionally provided on front side of product supporting region.When the frozen cell enters recovery mode, side door positioning framework is dismantled,
And draw outside the absorption of sample supporting region by following robot device front ends (irony).
It should be noted that the gradient of 7 bottom surface of liquid zone is changed for rationally setting drop in some embodiments of the invention, it will
The tilt angle that the drop changes 7 bottom surface of liquid zone is set as 5~15 °.And it is the operation of more convenient manipulator, the top of the baffle 74
Portion, which extends, is equipped with clamping part 740, takes out baffle for clamping.
Baffle of the present invention with access or embedded mode setting, be subject to and be able to achieve its barriering effect.And some
In specific embodiment, as shown in figure 20, the one or both sides at 74 top of baffle are extended outward connecting rod 78, the company
Fixed link 79 is connected with below extension bar 78；The drop changes the linking side of liquid zone 7 and is equipped with positioned at the two sides of the baffle 74 and is used for
It is inserted into the jack of fixed link 79.
It should also be noted that, drop changes liquid zone and the linking of sample supporting region is tighter to make, in some embodiments,
It sets the interface of the two to the cooperation of notch and convex block, as shown in figure 21, evagination position is equipped on the outside of the sealing mechanism 73,
The bottom that the drop changes liquid zone 7 is equipped with a notch 76, and the notch 76 is matched with evagination position；The drop changes liquid zone 7
Inner bottom surface close to 74 side of baffle is embedded with stretched PTFE film 77, and the stretched PTFE film 77 is bent upwards from the bottom surface extends to the upper of baffle 74
Side, the stretched PTFE film 77 are waterproof membrane.When the baffle 74 extraction, stretched PTFE film 77 changes the impact of liquid zone liquid flow direction in drop
Under, it is stretched along joining place towards sample supporting region 7, linking seam is blocked, liquid is avoided to penetrate into gap.
Bogey in the example includes that drop changes liquid part and freezing/recovery carrier part, and drop changes liquid part bottom
Face is inclined-plane, and freezing/recovery carrier part bottom surface is next terrace, and the freezing target cell that drop changes after liquid flows directly into cold
Jelly/recovery carrier part will wherein liquid be sucked out, i.e. completion freezing/recovery active somatic cell.It operates compared to the prior art, from
The operation of dynamic bogey is more accurate, and cell is avoided to cause to lose during drop changes liquid；Surplus liquid can be inhaled simultaneously
It removes, in order to avoid influence cell fast freezing and cell recovery.Drop is changed into liquid part and freezing/recovery carrier sample bearing part
It separates, avoids changing liquid operation destruction carrier components, while carrier part Horizontal Tile makes target cell tile as far as possible, makes thin
The exposed surface area of born of the same parents is maximum.In addition, the sample supporting region of the automatic bogey of the present invention has a style of one's own, sealing shroud is pushed it into
Sealing carries out liquid nitrogen frozen in pipe, easy to operate and be avoided that pollution.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of automatic operation system for cell glass freezing, which is characterized in that thin for being carried out on bogey
Born of the same parents' glass freezing and recovery, the system include at least
Station device (100), including storing mechanism (110), transport establishment (120) and station mechanism (130)；It is described to deposit
Storage mechanism (110) is configured to the storage chamber (111) with storage bogey, is equipped with pallet below each bogey
(114), storing mechanism (110) lower end is equipped with opening (112), and the transport establishment is connected below the opening (112)
(120) the opening opposite side of end, the storing mechanism (110) is additionally provided with pushing handle mechanisms (113), for by the bogey of lower section
Transport establishment (120) are pushed to together with the pallet (114)；The transport establishment (120) is by the band body of two sides around delivery wheel
It constitutes, the two sides of the pallet (114) are placed in just on the band body of the conveyer belt (121) two sides；The station mechanism
(130) it is configured to position the bogey of the pallet (114) and its top in the mechanism of standard station；
Robot device (200), it is described including suspension arm (201) and the manipulator (202) being set to below suspension arm (201)
Suspension arm (201) is configured with the construction of X-direction moved horizontally, and the manipulator (202) itself is configured as having
There is the construction of Y-axis and Z-direction movement；
Drop liquid changing device (300), including bracket (304), moveable tube body adaptor (305), company on bracket (304)
It connects the tube body adaptor (305) and changes drop input pipe (301) and drop suction above liquid zone (1) set on the drop
It manages (302)；Wherein, the corresponding each tube body of the tube body adaptor (305) is equipped with independent electrically operated valve, the drop input pipe
(301) and drop draft tube (302) carries out control drop by peristaltic pump respectively and changes liquid operation；
Target cell liquid transfer device (400), including movable stand (401), be set on movable stand (401) for drawing target cell
The pipette (402) of liquid and for the pipette (402) provide suction force the pump housing (403)；
Master control set (500) is configured to control the station device (100), robot device (200), drop liquid changing device
(300) and the operations of target cell liquid transfer device (400).
2. being used for the automatic operation system of cell glass freezing as described in claim 1, which is characterized in that the storage machine
Storage chamber (111) side of structure (110) is equipped with hackle mark (117), and the other side is vertically equipped at intervals with tune along storage chamber (111) wall
It saves slot (118), the regulating tank (118) embeds the layering blend stop (116) that oriented cavity extends, layering blend stop (116) position
The elastic component (119) connecting with regulating tank (118) inner roof wall, each layering gear are equipped in the top in regulating tank (118)
Item (116) is against the pallet (114) of respective layer just；
When pallet (114) and its decentralization of automatic bogey, layering blend stop (116) by automatic bogey gravity to
Push, and rotated with the regulating tank (118) notch contact point as axle center using being layered blend stop (116), by pallet (114) and
Its automatic bogey sends behind, and then under the recovery of elastic component (119), is against the bottom of next layer of pallet (114).
3. being used for the automatic operation system of cell glass freezing as described in claim 1, which is characterized in that the pallet
(114) two sides of corresponding drop carrier (1) position, which upwardly extend, limits being in the way (120) for the drop carrier (1), the gear
The lateral surface in road (120) and the lateral surface of the rectangle casing (3) are in the same plane；
The two sides of the station mechanism (103) are respectively equipped with second and are in the way (131), and described second is in the way (131) by stretching
Formula hydraulic cylinder (132) is connected to station mechanism (103) two sides, and when the telescoping hydraulic cylinder (132) elongated distance is maximum
When, the second of lucky two sides be in the way (131) inner distance it is equal with the fore-and-aft distance of rectangle casing (3).
4. being used for the automatic operation system of cell glass freezing as claimed in claim 3, which is characterized in that the system is also
Including being set to the photographic device (600) connecting above station mechanism (103) and with master control set (500), the photographic device
It (600) include the suspension that head-down video camera (601) and the suspension video camera (601) are imaged set on operation standard position
Bar (602)；Station mechanism (103) side immediately below corresponding photographic device (600) camera is identified equipped with reference line.
5. being used for the automatic operation system of cell glass freezing as described in claim 1, which is characterized in that the pipette
(402) pipetting needle (405) by transparent tube body (404) and set on transparent tube body (404) front end is constituted, the transparent tube body
(404) it is equipped with gage, and is equipped with overfall (406) on the tube body of highest position of rule, under the corresponding overfall (406)
The tube wall of side is equipped with polyrrhea groove (407)；
The rear end of the drop input pipe (301) is connected to a liquid containing chamber (311), the internal diameter of the drop input pipe (301)
It is gradually reduced from middle section forward end infusion head (310) position, the internal diameter of infusion head (310) is 1-6mm；Prepare the dropping liquid
The material for managing (201) is polytetrafluoroethylene (PTFE) or polyvinylidene fluoride material.
6. a kind of bogey for automatic operation system described in claim 1, which is characterized in that described device includes drop
Carrier (1)；The drop carrier (1) is rectangle tray construction comprising middle part is placed with the cell carrying of freezing carrier
Area (11) and the hydrophobic region (10) for being surrounded on the cell supporting region (11), the hydrophobic region (10) are to be equipped with super-hydrophobic material
Expect ring-shaped structure；Dark signs line (2) are equipped in the middle part of the two sides of the drop carrier (1), two dark signs lines
(2) on the central axes of drop carrier (1)；
(1) one side of drop carrier extends outwardly equipped with interconnecting piece (21)；Described device further includes with rectangular inner cavity
(30) rectangle casing (3), the side of the rectangle casing (3) are closing, and the other side is equipped with opening (31), and the opening (31)
It holds the top of corresponding rectangle casing (3) to be equipped with a gate slot (32), is configured with and is pushed away by support mechanism at the top of the gate slot (32)
Pull-type side door (4)；The bottom of the inner cavity (30) is equipped with a sliding slot, and drop carrier (1) bottom is equipped with and the cunning
The sliding block that slot (33) matches；The drop carrier (1) can sealing sleeve pipe (3) inner cavity (30) in along opening (31) hold into
Row pull.
7. bogey as claimed in claim 6, which is characterized in that opening (31) two sides of the sealing sleeve pipe (3) are all provided with
Have block piece (34), the block piece (34) extends internally equipped with supporting parts (35), and the height of the supporting parts (35) is less than block piece
(34) and it is greater than the height of dropping liquid carrier (1), supporting parts (35) described in two sides place the side door (4), and the supporting parts
(35) upper surface close to gate slot (32) is equipped with an accommodation groove (37), and the accommodation groove (37) is the taper configurations of milling flat,
Interior one limit elastic component (36) of accommodating, the chevron construction of the middle part protuberance of limit elastic component (36), and the middle part swelled is prominent
For the accommodation groove (37), gear is in side door (4) close to the side of gate slot (32) just；
Rectangle casing (3) top plate is embedded at least one magnet block (5), side door (4) court towards the side of gate slot (32)
Gasket (40) are equipped with to the medial surface of gate slot (32), gasket (40) top, which is equipped with, is inserted into gate slot in side door (4)
(32) iron block (41) corresponding with the magnet block (5) when；The bottom of the gate slot (32) is equipped at least one second magnet block
(50), the bottom of the side door (4) is equipped with when side door (4) are inserted into gate slot (32) corresponding with the second magnet block (50) the
Two iron blocks (42)；
The bottom rear of the drop carrier (1) is equipped with the elastic protrusion of a hook, and the elastic protrusion is by towards the drop
The mouth of hook (18) of carrier (1) bottom surface and the brace (17) for being set to the mouth of hook (18) side are constituted, and the brace (17) is towards institute
Drop carrier (1) lower front is stated to extend and be adhered to its bottom；On the inside of the sealing sleeve pipe (4) of the corresponding flexible clamp piece position
Bottom is equipped with shallow slot (44), and the tip forward of shallow slot (44) self-sealing casing (4) inside bottom extends close to opening
(31) position；
The top of the side door (4) is equipped with knob (6), and the knob (6) is equipped with the recess portion puted forth effort for robot device or fixation
Hole location.
8. a kind of bogey for automatic operation system described in claim 1, which is characterized in that described device includes one end
Drop change liquid zone (7) and with the drop change it is that liquid zone (7) communicates and be set to the other end sample supporting region (71)；
It is the tray construction for carrying out drop and changing liquid that the drop, which changes liquid zone (7), and bottom surface is carried by free end to the sample
One end that area (71) is connected tilts gradually downward, and its free end side is equipped with hydrophobic portion (72)；
The sample supporting region (71) is configured to place the recessed disk construction of freezing/recovery carrier strip；It is carried with the sample
The drop that area (71) communicates side changes liquid zone (7) side at least part and is connected with sample supporting region (71) respective side, and
In the linking side, it is concordant that the apical side height of the sample supporting region (71) and the drop change liquid zone (7) bottom surface, the joining place
Dismountable baffle (74) are equipped with equipped with sealing mechanism (73), and above the joining place；Effective interception of the baffle (74) is high
Degree changes liquid zone (7) dished discs peak not less than the drop:
The contralateral side that the sample supporting region (71) communicates side extends outwardly for carrier (75)；Described device further includes having length
The sealing sleeve pipe (81) of bar shaped inner cavity (80), the side of the sealing sleeve pipe (81) is equipped with opening (82), and the opening (82) is pushed up
Portion is equipped with plug-type side door (83), and bottom is equipped with the retaining mechanism for locking the side door (83) and sealing sleeve pipe (81)；In described
The bottom of chamber (80) is equipped with a sliding slot (84), and sample supporting region (71) bottom is equipped with the cunning to match with the sliding slot (84)
Block (85)；The sample supporting region (71) of the strip can carry out in the inner cavity (80) of sealing sleeve pipe (81) along opening (82) end
Pull.
9. automatic bogey as claimed in claim 8, which is characterized in that sealing sleeve pipe (81) opening (82) side is equipped with
Side door positioning framework (86), the side door positioning framework (86) include the cyclic annular rectangle frame (87) at top, bottom plate (88) and two
Side plate (89), at the top of ring-type rectangle frame (87) two sides be equipped with can transversal stretching limited post (90), the ring-type rectangle frame
(87) side door (83) are embedded, under non-lid conjunction state, limited post (90) stretches out the bottom for being against the side door (83) just；
Two side positions for communicating upper side positioned at the sample supporting region (71) are equipped with raised (75)；
The outer end of side plate (89) two sides inner wall is equipped with the first block (91)；The two sides of the carrier (75), which extend outwardly, to be set
There are the second block (92), when sample supporting region (71) pull to outermost end, the first block (91) is against the second block just
(92) front side；
The inside of the side door (83) is equipped with gasket (830), and top edge and lower edge are respectively equipped on the inside of the side door (83)
One rubber positions ball (831)；The ring-type rectangle frame (87), bottom plate (88) are respectively equipped with a positioning groove (870), in the side door
(83) when falling, rubber positioning ball (831) corresponds to the locating slot (870) just.
10. automatic bogey as claimed in claim 8, which is characterized in that the drop changes the inclination angle of liquid zone (7) bottom surface
Degree is 5~15 °；The top of the baffle (74), which extends, is equipped with clamping part (740)；
Evagination position is equipped on the outside of the sealing mechanism (73), the bottom that the drop changes liquid zone (7) is equipped with a notch (76), institute
Notch (76) is stated to match with evagination position；
The drop changes the inner bottom surface of liquid zone (7) close to baffle (74) side and is embedded with stretched PTFE film (77), and the stretched PTFE film (77) certainly should
Bottom surface is bent upwards the top for extending to baffle (74), and the stretched PTFE film (77) is waterproof membrane；
One or both sides at the top of the baffle (74) are extended outward to be had connecting rod (78), is connected with below the connecting rod (78)
Fixed link (79)；The drop changes liquid zone (7) linking side and is located at the two sides of the baffle (74) equipped with for being inserted into fixed link
(79) jack.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018105501508 | 2018-05-31 | ||
| CN201810550150.8A CN108719273A (en) | 2018-05-31 | 2018-05-31 | Active somatic cell glass freezing, the automatic bogey of recovery and its operating system |
| CN201810724625.0A CN108575988A (en) | 2018-07-04 | 2018-07-04 | Bogey and its automatic operation system for cell glass freezing |
| CN2018107246250 | 2018-07-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109964924A true CN109964924A (en) | 2019-07-05 |
| CN109964924B CN109964924B (en) | 2021-11-26 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810724625.0A Pending CN108575988A (en) | 2018-05-31 | 2018-07-04 | Bogey and its automatic operation system for cell glass freezing |
| CN201910433486.0A Active CN109964924B (en) | 2018-05-31 | 2019-05-23 | Automatic operation equipment and carrying device for cell vitrification freezing |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810724625.0A Pending CN108575988A (en) | 2018-05-31 | 2018-07-04 | Bogey and its automatic operation system for cell glass freezing |
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| CN (2) | CN108575988A (en) |
Cited By (4)
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| CN112280841A (en) * | 2020-10-12 | 2021-01-29 | 广州爱索达生物医药技术有限公司 | Single cell sequencing detection and data analysis platform |
| CN112471136A (en) * | 2020-12-04 | 2021-03-12 | 深圳先进技术研究院 | Cell vitrification freezing treatment system and method |
| CN112825849A (en) * | 2021-03-22 | 2021-05-25 | 上海理工大学 | Modularized high-flux low-temperature storage and laser rewarming device |
| CN115530156A (en) * | 2022-10-28 | 2022-12-30 | 中国科学院苏州生物医学工程技术研究所 | Automatic vitrification refrigerating device for blank |
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| CN109744228B (en) * | 2019-03-04 | 2021-04-30 | 山东星链信息科技有限公司 | Liquid nitrogen box-type freezing pipe storage and shifting-out equipment |
| CN110786316A (en) * | 2019-10-22 | 2020-02-14 | 内蒙古金草原牧业有限公司 | Beef cattle propagation embryo cryopreservation device |
| CN111700064B (en) * | 2020-07-22 | 2024-03-08 | 明日加科技(深圳)有限公司 | Cell freezing auxiliary device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109964924B (en) | 2021-11-26 |
| CN108575988A (en) | 2018-09-28 |
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