CN109964924B - Automatic operation equipment and carrying device for cell vitrification freezing - Google Patents
Automatic operation equipment and carrying device for cell vitrification freezing Download PDFInfo
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- CN109964924B CN109964924B CN201910433486.0A CN201910433486A CN109964924B CN 109964924 B CN109964924 B CN 109964924B CN 201910433486 A CN201910433486 A CN 201910433486A CN 109964924 B CN109964924 B CN 109964924B
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- liquid drop
- carrier
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- bearing
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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
Abstract
The invention provides automatic operation equipment for cell vitrification freezing, which comprises an operation table device, an operation table mechanism and a transportation mechanism, wherein the operation table device comprises a storage mechanism for storing a bearing device, the operation table mechanism is configured into a bearing device for positioning a tray and is arranged at a standard station, and the transportation mechanism is used for transporting the bearing device to the operation table mechanism; the manipulator device comprises a suspension arm and a manipulator arranged below the suspension arm; the liquid drop changing device comprises a bracket, a movable pipe body adapter, a liquid drop input pipe and a liquid drop suction pipe, wherein the liquid drop input pipe is connected with the pipe body adapter and is arranged above the liquid drop changing area; the target cell sap transfer device comprises a moving frame, a pipette for sucking the target cell sap and a pump body for providing suction force for the pipette; the main control device is used for controlling the operations of the console device, the manipulator device, the liquid drop changing device and the target cell sap transfer device. The device enables living cells to be vitrified and frozen quickly and effectively.
Description
Technical Field
The invention belongs to the technical field of cryopreservation and resuscitation of human tissues, and particularly relates to automatic operation equipment and a bearing device for cell vitrification freezing.
Background
The basic principle of the vitrification freezing method is to solidify a high-concentration cryoprotectant in an ultralow temperature environment to form an irregular vitrification-like solid, and normal molecular and ion distribution is kept when the liquid state is kept, so that the vitrification cryoprotectant can play a role in protection when cells are vitrified. The prior freezing technology can be used for freezing and preserving sperms, ova and embryos in different periods, in particular to the vitrification freezing technology, which not only has wide acceptance in the medical field, but also gradually replaces the traditional slow-operation freezing method to become the best choice of the freezing technology.
The prior art mostly uses manual operation as a main part, and specifically includes: 1. dehydrating the cells, and balancing with a cryoprotectant; 2. manually stretching and burning the glass tube to prepare a cell straw and make the cell straw into a thin tube; 3. manually sucking liquid containing living cells from the freezing protection liquid by a thin tube, coating the liquid on a sheet-shaped freezing carrier, identifying target cells, sucking redundant liquid, manually and quickly inserting the carrier into liquid nitrogen, and completing freezing. The manual method requires as short a time as possible, and the coated surface is as thin as possible to rapidly cool; this operation often requires skilled operation skills of the operator, and requires the operator to set the liquid droplets to a gradient concentration liquid, so that the cells are gradually dehydrated in the gradient liquid, and the process requires rapid operation, for example, improper operation is easy to cause irregular freezing of living cells due to excessive osmotic pressure or operation process that cannot be standardized, and the cells are extremely easy to die or lose.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic operation device for cell vitrification freezing, which enables living cells to be quickly and effectively vitrified frozen and revived.
The specific technical scheme of the invention is as follows:
an automatic operating device for cell vitrification freezing and thawing on a carrier, the device comprising at least
The operation table device comprises a storage mechanism, a transportation mechanism and an operation table mechanism; the storage mechanism is configured to be provided with a storage cavity for storing the bearing devices, a tray is arranged below each bearing device, an opening is formed in the lower end of the storage mechanism, the lower part of the opening is connected with the end part of the transportation mechanism, and a pushing mechanism is arranged on the opposite side of the opening of the storage mechanism and used for pushing the lower bearing device and the tray to the transportation mechanism; the conveying mechanism is formed by belt bodies on two sides surrounding the conveying wheels, and two sides of the tray are just arranged on the belt bodies on two sides of the conveying mechanism; the operating platform mechanism is configured to be a mechanism for positioning the tray and the bearing device above the tray on a standard station;
a manipulator device including a suspension arm configured to have a configuration of horizontal movement in an X-axis direction and a manipulator provided below the suspension arm, the manipulator itself being configured to have a configuration of movement in Y-axis and Z-axis directions;
the liquid drop changing device comprises a support, a movable pipe body adapter arranged on the support, a liquid drop input pipe and a liquid drop suction pipe, wherein the liquid drop input pipe is connected with the pipe body adapter and is arranged above the liquid drop changing area; the liquid drop input pipe and the liquid drop suction pipe respectively control liquid drop liquid change operation through a peristaltic pump;
the target cell sap transfer device comprises a moving frame, a pipette arranged on the moving frame and used for sucking target cell sap and a pump body for providing suction force for the pipette;
and the main control device is configured to control the operations of the operating platform device, the manipulator device, the liquid drop changing device and the target cell sap transfer device.
In an improved scheme, one side of a storage cavity of the storage mechanism is provided with sawtooth grains, the other side of the storage cavity is provided with adjusting grooves at intervals along the vertical direction in the wall of the storage cavity, layered barrier strips extending towards the cavity are embedded in the adjusting grooves, elastic pieces connected with the top wall in the adjusting grooves are arranged at the tops of the layered barrier strips in the adjusting grooves, and each layered barrier strip just abuts against a tray of a corresponding layer;
when the tray and the automatic bearing device are placed downwards, the layered barrier strips are pressed downwards by the gravity of the automatic bearing device and rotate by taking the contact points of the layered barrier strips and the notch of the adjusting groove as axes, so that the tray and the automatic bearing device move downwards by one layer, and then the tray and the automatic bearing device are propped against the bottom of the tray of the next layer under the recovery of the elastic pieces.
In another improved technical scheme, blocking channels for limiting a liquid drop carrier of the carrying device extend upwards from two sides of the tray, and the outer side surfaces of the blocking channels and the outer side surfaces of the rectangular sleeves of the carrying device are on the same plane;
and the two sides of the operating platform mechanism are respectively provided with a second blocking channel, the second blocking channels are connected to the two sides of the operating platform mechanism through telescopic hydraulic cylinders, and when the extension distance of the telescopic hydraulic cylinders is the largest, the inner side distance of the second blocking channels at the two sides is equal to the longitudinal distance of the rectangular sleeve.
According to a further improved technical scheme, the equipment further comprises a camera device which is arranged above the operating platform mechanism and connected with the main control device, wherein the camera device comprises a camera which is arranged at an operating standard position and provided with a downward camera and a suspension rod for suspending the camera; and a reference line mark is arranged on one side of the operating platform mechanism which corresponds to the position right below the camera of the camera device.
Furthermore, the pipette consists of a transparent tube body and a pipette needle arranged at the front end of the transparent tube body, a measuring scale is arranged on the transparent tube body, an overflow outlet is arranged on the tube body at the position of the highest scale, and an overflow tank is arranged on the outer wall of the tube body below the overflow outlet;
the rear end of the liquid drop input pipe is communicated with a liquid containing cavity, the inner diameter of the liquid drop input pipe is gradually reduced from the middle section to the position of the infusion head at the front end, and the inner diameter of the infusion head is 1-6 mm; the material for preparing the liquid drop input pipe is polytetrafluoroethylene or polyvinylidene fluoride material.
The invention also discloses a bearing device for the automatic operation equipment, which comprises a liquid drop bearing device; the liquid drop carrier is of a rectangular tray structure and comprises a cell carrying area with a freezing carrier placed in the middle and a hydrophobic area surrounding the cell carrying area, and the hydrophobic area is of an annular structure paved with super-hydrophobic materials; the middle parts of two side edges of the liquid drop carrier are provided with dark color mark lines, and the two dark color mark lines are positioned on the central axis of the liquid drop carrier;
one side end of the liquid drop carrier extends outwards to form a connecting part; the device also comprises a rectangular sleeve with a rectangular inner cavity, one side of the rectangular sleeve is closed, the other side of the rectangular sleeve is provided with an opening, the top of the rectangular sleeve corresponding to the opening end is provided with a door slot, and the top of the door slot is provided with a push-pull type side door through a supporting mechanism; the bottom of the inner cavity is provided with a sliding chute, and the bottom of the liquid drop carrier is provided with a sliding block matched with the sliding chute; the drop carrier is drawable within the interior cavity of the sealed cannula along the open end.
Furthermore, blocking parts are arranged on two sides of the opening of the sealing sleeve, bearing parts are arranged on the blocking parts in an inward extending mode, the height of each bearing part is smaller than that of each blocking part and larger than that of the liquid dropping carrier, the bearing parts on the two sides are placed on the side doors, a containing groove is arranged on the upper surface, close to the door groove, of each bearing part, the containing groove is of a conical structure with a milled plane, a limiting elastic part is contained in the containing groove, the middle of each limiting elastic part is of a raised mountain-shaped structure, the middle of each raised part protrudes out of the containing groove, and the raised middle of each limiting elastic part is just blocked on one side, close to the door groove, of each side door;
the side surface, facing the door groove, of the top plate of the rectangular sleeve is embedded with at least one magnet block, a sealing gasket is arranged on the inner side surface, facing the door groove, of the side door, and an iron block corresponding to the magnet block is arranged at the upper part of the sealing gasket when the side door is inserted into the door groove; the bottom surface of the door slot is provided with at least one second magnet block, and the bottom of the side door is provided with a second iron block corresponding to the second magnet block when the side door is inserted into the door slot;
the rear side of the bottom of the liquid drop carrier is provided with a hook-shaped elastic protrusion, the elastic protrusion consists of a hook opening facing the bottom surface of the liquid drop carrier and an inclined rod arranged on one side of the hook opening, and the inclined rod extends towards the front side of the bottom of the liquid drop carrier and is adhered to the bottom of the liquid drop carrier; the bottom of the inner side of the sealing sleeve corresponding to the elastic protrusion is provided with a shallow groove, and the tail end of the bottom of the inner side of the shallow groove self-sealing sleeve extends forwards to a position close to the opening;
the top of the side door is provided with a handle, and the handle is provided with a concave part or a fixed hole position for the force application of the manipulator device.
The invention discloses another bearing device for the automatic operation equipment, which comprises a liquid drop liquid change area at one end and a sample bearing area which is communicated with the liquid drop liquid change area and is arranged at the other end;
the liquid drop liquid changing area is of a tray structure for changing liquid drops, the bottom surface of the liquid drop liquid changing area is gradually inclined downwards from a free end to one end communicated with the sample bearing area, and the free end side of the liquid drop liquid changing area is provided with a water drainage part;
the sample bearing area is configured to be an elongated concave disc structure for placing a freezing/thawing carrier; at least one part of the side edge of the end part of the liquid drop changing area communicated with the sample bearing area is connected with the corresponding side of the sample bearing area, the top surface of the sample bearing area is flush with the bottom surface of the liquid drop changing area at the connecting position, the connecting position is provided with a sealing mechanism, and a detachable baffle plate is arranged above the connecting position; the effective interception height of the baffle is not lower than the highest value of the concave disc in the liquid drop liquid changing area:
the end part of the sample bearing area deviating from the communication side extends outwards to form a bearing part; the device also comprises a second sealing sleeve with a strip-shaped inner cavity, wherein a second opening is formed in one side of the second sealing sleeve, a push-pull side door is arranged at the top of the second opening, and a locking mechanism for locking the push-pull side door and the second sealing sleeve is arranged at the bottom of the second opening; the bottom of the inner cavity is provided with a sliding chute, and the bottom of the sample bearing area is provided with a sliding block matched with the sliding chute; the elongate sample-bearing zone may be drawn within the interior of the second sealed sleeve along the open end.
Furthermore, a side door positioning frame is arranged on the opening side of the second sealing sleeve and comprises an annular rectangular frame at the top, a bottom plate and two side plates, limiting columns capable of transversely stretching are arranged on two sides of the top of the annular rectangular frame, the side door is embedded in the annular rectangular frame, and the limiting columns stretch out to just abut against the bottom of the side door when not in a closed state;
the two side positions above the communicated side of the sample bearing area are provided with bulges;
the outer ends of the inner walls at the two sides of the side plate are provided with first stop blocks; two sides of the bearing part extend outwards to form second stop blocks, and when the sample bearing area is pulled to the outermost end, the first stop block is just abutted against the front side of the second stop block;
the inner side of each side door is provided with a sealing gasket, and the upper edge and the lower edge of the inner side of each side door are respectively provided with a rubber positioning ball; the annular rectangular frame and the bottom plate are respectively provided with a positioning groove, and when the side door falls, the rubber positioning ball just corresponds to the positioning groove.
Furthermore, the inclination angle of the bottom surface of the liquid drop liquid changing area is 5-15 degrees; the top of the baffle extends to form a clamping part;
an outward convex part is arranged on the outer side of the sealing mechanism, a notch is arranged at the bottom of the liquid drop liquid change area, and the notch is matched with the outward convex part;
an extension film is embedded on the inner bottom surface of the liquid drop changing region close to the baffle plate side, the extension film is bent upwards from the inner bottom surface and extends to the position above the baffle plate, and the extension film is a waterproof film;
one side or two sides of the top of the baffle are outwards extended to form a connection, and a fixed rod is connected below the connecting rod; and the liquid drop changing area is connected with the side and positioned at the two sides of the baffle plate, and jacks for inserting fixing rods are arranged.
The invention has the following beneficial effects: the automatic operation equipment realizes automatic operation through the operation table device consisting of the storage mechanism, the transportation mechanism and the operation table mechanism of the bearing device, has stable operation and accurate positioning, and greatly improves the safety and the efficiency.
The carrying device for vitrification freezing and resuscitation of cells provided by the invention directly carries out liquid drop liquid change on a freezing carrier of a liquid drop carrier, and after the liquid drop liquid change reaches the standard, the redundant liquid is sucked out, so that the carrier part is horizontally paved, the target cells are paved as much as possible, and the exposed surface area of the cells is maximized. After the liquid drop carrier finishes liquid changing, the liquid drop carrier is pushed into the rectangular sleeve to be sealed and frozen by liquid nitrogen, so that the operation is convenient and the pollution can be avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly described below.
FIG. 1 is a schematic structural view of an embodiment of an automatic operation apparatus of the present invention;
FIG. 2 is a schematic view showing a partial structure of a storage mechanism in the automatic handling apparatus according to the present invention;
FIG. 3 is a schematic view of an embodiment of the present invention with a carrier disposed on the console mechanism;
FIG. 4 is a schematic view of one embodiment of a quantitative pipette of the present invention;
FIG. 5 is a schematic structural view of an embodiment of a liquid droplet input tube according to the present invention.
FIG. 6 is a schematic structural diagram of one embodiment of a droplet carrier in the carrier for vitrification freezing of cells according to the present invention;
FIG. 7 is a schematic view of another embodiment of a droplet carrier in a carrier device according to the invention;
FIG. 8 is a schematic structural diagram of one embodiment of a rectangular sleeve in the carrying device of the present invention;
FIG. 9 is a partial enlarged view of portion A of FIG. 8;
FIG. 10 is a schematic structural view of one embodiment of a side door in a rectangular bushing of the present invention;
FIG. 11 is a schematic view of a droplet carrier of the present invention in use with the bottom of a rectangular sleeve;
FIG. 12 is a schematic view of a droplet carrier according to the invention after being pushed into a rectangular sleeve;
FIG. 13 is a schematic structural view of another embodiment of an automatic loading device according to the present invention;
FIG. 14 is a schematic view of a structure at the junction of a liquid droplet changing region and a sample-supporting region;
FIG. 15 is a schematic cross-sectional view of a sample-bearing zone with a sealing sleeve;
FIG. 16 is a cross-sectional schematic view of a sealing sleeve;
FIG. 17 is a partial enlarged view of portion B of FIG. 16;
FIG. 18 is a schematic view of a sample support region of the present invention in use with a sealing sleeve;
FIG. 19 is a schematic cross-sectional view of a sample-bearing zone of the present invention in use with a sealing sleeve;
FIG. 20 is a schematic view of another configuration of the junction of the liquid droplet changing region and the sample-supporting region;
FIG. 21 is a schematic cross-sectional view of the junction of the droplet inversion zone and the sample support zone of FIG. 20.
Detailed Description
Various embodiments of the present invention are described below with reference to the accompanying drawings, which are merely illustrative of the nature of the invention and are not intended to limit the invention, its application, or uses. For example, the various embodiments of the present invention are expected to be broadly applicable to living cells, including but not limited to embryos, sperm, egg cells, and the like.
Fig. 1 shows an automatic operation apparatus for cell vitrification freezing according to the present invention, which includes a stage device 100, a robot device 200, a droplet liquid changing device 300, a target cell sap transfer device 400, a main control device 500, and an image pickup device 600.
The console device 100 includes a storage mechanism 110, a transport mechanism 120, and a console mechanism 130; the automatic bearing device storage mechanism 110 is configured to have a storage cavity 111 for storing bearing devices, a tray 114 is arranged below each bearing device, an opening 112 is arranged at the lower end of the storage mechanism 110, the lower part of the opening 112 is connected with the end part of the transportation mechanism 120, and a pushing mechanism 113 is arranged on the opposite side of the opening of the storage mechanism 110 and used for pushing the lower bearing device and the tray 114 to the transportation mechanism 120; the conveying mechanism 120 is formed by belt bodies on two sides surrounding a conveying wheel, and two sides of the tray 114 are just placed on the belt bodies on two sides of the conveying mechanism 120; the operating table mechanism 130 is configured as a mechanism for positioning the pallet 114 and the carrier above it in a standard station.
The robot apparatus 200 includes a suspension arm 201, and a robot 202 provided below the suspension arm 201, the suspension arm 201 being configured to have a configuration of horizontal movement in the X-axis direction, and the robot 202 itself being configured to have a configuration of movement in the Y-axis and Z-axis directions. The structure of the triaxial operation is not described herein in more detail using prior art techniques.
The liquid drop changing device 300 comprises a support 304, a movable tube adapter 305 arranged on the support 304, a liquid drop input pipe 301 connected with the tube adapter 305 and arranged above the liquid drop changing area 7, and a liquid drop suction pipe 302; the tube body adaptor 305 is provided with an independent electric valve corresponding to each tube body, and the liquid drop input tube 301 and the liquid drop suction tube 302 respectively control liquid drop changing operation through a peristaltic pump.
The target cell sap transfer device 400 includes a moving frame 401, a pipette 402 provided on the moving frame 401 for suctioning the target cell sap, and a pump body 403 for providing a suctioning force to the pipette 402.
The camera device 600 is arranged above the operation table device 100, and the camera device 600 comprises a camera 601 arranged at an operation standard position with a downward camera and a suspension rod 602 suspending the camera 601; is used for shooting and observing the cell liquid change state in the liquid drop carrier at any time.
The main control device 500 is configured to control the operations of the console device 100, the manipulator device 200, the droplet liquid changing device 300, and the target cell liquid transfer device 400. For example, the master control device 500 sends out various controls on the droplet liquid changing device 300, namely the opening/closing of the droplet input pipe 301 and the droplet suction pipe 302, and controls the opening size to realize the flow rate of the cell droplet culture solution, so as to realize the standardized control of the cell liquid environment.
Fig. 2 is an improved scheme for carrying out automatic output and positioning of the bearing device on the basis of the technical scheme. One side of a storage cavity 111 of the storage mechanism 110 is provided with sawtooth grains 117, the other side of the storage cavity 111 is provided with adjusting grooves 118 at intervals along the inner vertical direction of the wall of the storage cavity, layered barrier strips 116 extending towards the cavity are embedded in the adjusting grooves 118, elastic pieces 119 connected with the inner top wall of the adjusting grooves 118 are arranged at the tops of the layered barrier strips 116 located in the adjusting grooves 118, and each layered barrier strip 116 just abuts against the tray 114 on the corresponding layer.
When the tray 114 and its automatic carrying device are lowered, the layered barrier 116 is pressed downward by the gravity of the automatic carrying device, and rotates around the contact point of the layered barrier 116 and the notch of the adjusting groove 118, so as to move the tray 114 and its automatic carrying device down one layer, and then the tray 114 and its automatic carrying device are pressed against the bottom of the tray 114 in the next layer by the recovery of the elastic member 119.
Fig. 3 is a schematic structural diagram of a carrying device of a console according to the present invention, which is taken as an example of one carrying device of the present invention, however, on the basis of the present invention, the carrying device conforming to the shape of the carrying device can be used in the console. Two sides of the tray 114 extend upwards to form a blocking channel 122 for limiting the liquid drop carrier 1 of the carrier device, and the outer side surface of the blocking channel 122 and the outer side surface of the rectangular sleeve 3 of the carrier device are on the same plane; two sides of the operating platform mechanism 130 are respectively provided with a second blocking channel 131, the second blocking channels 131 are connected to two sides of the operating platform mechanism 130 through a telescopic hydraulic cylinder 132, and when the telescopic hydraulic cylinder 132 extends for the maximum distance, the inner side distance of the second blocking channels 131 at two sides is equal to the longitudinal distance of the rectangular sleeve 3. In this way, the droplet carrier 1 is fixed in the operating position of the platform of the operating table mechanism by the specific position limitation of the blocking channel 120 and the second blocking channel 131. A reference line mark can be arranged at one side of the operating platform mechanism 130 of the invention, and the judgment of whether the station is a standard station or not is carried out according to the relative position of the reference line mark and a dark color marking line in the liquid drop carrier. The reference line mark may be a mark that is exposed on the console mechanism 130, or a bar mark that is provided on one side of the console mechanism 130.
In still other embodiments, the quantitative dispensing function of the pipette is improved, as shown in fig. 4, the pipette 402 is composed of a transparent tube 404 and a pipette needle 405 disposed at the front end of the transparent tube 404, a measuring ruler is disposed on the transparent tube 404, an overflow outlet 406 is disposed on the tube at the highest ruler position, and an overflow tank 407 is disposed on the outer wall of the tube below the overflow outlet 406.
As shown in fig. 5, the rear end of the liquid drop input tube 301 is communicated with a liquid containing cavity 311, the inner diameter of the liquid drop input tube 301 gradually decreases from the middle section to the front end infusion head 310, and the inner diameter of the infusion head 310 is 1-6 mm; the liquid drop input pipe 301 is made of polytetrafluoroethylene or polyvinylidene fluoride. The polytetrafluoroethylene or polyvinylidene fluoride material that uses here is hydrophobic material, and the size of cooperation infusion head is injectd, and the slow joining of liquid drop when realizing the liquid drop and trading the liquid avoids causing cell death because of osmotic pressure is too big suddenly. Of course, this embodiment is only an example of the liquid droplet input tube 301 in the automatic operation device of the present invention, the liquid droplet input tube 301 of the present invention may be one or more than two, the size of the infusion head may be limited according to the actual use situation, or a combination of a tube body of a hydrophobic material and a tube body of a non-hydrophobic material may be provided.
When the main control device 500 sends a control command of the cell freezing mode, the automatic carrying device storage mechanism 110 of the console device 100 sends the tray 114 with the automatic carrying device to the console mechanism 130 through the transportation mechanism 120, and on the console of the console mechanism 130, the rod body of the telescopic hydraulic cylinder 132 extends to the position of the rectangular sleeve to realize the standard position limitation of the transverse position of the carrying device. And then the relative position of the reference line mark on one side of the operating platform device and the dark color mark line in the liquid drop carrier is used for judging whether the carrying device is positioned on a standard station. If not, fine adjustment is made by adjusting transport mechanism 120 back and forth. In the process, the position is monitored through images shot by the camera device. After the positioning is successful, the main control device can establish a two-dimensional coordinate system for the liquid drop carrier through the shot image so as to accurately position the specific position of the living cell at a later stage.
The liquid suction pipe absorbs the target cell liquid drops according to the received instructions and transfers the target cell liquid drops to the liquid drop carrier of the automatic carrying device, and then the liquid change operation of cell freezing is carried out, it should be noted that the input end of the liquid drop input pipe 301 is not limited to a suction pipe, namely, a suction pipe with a special freezing protective agent can be arranged, so that the liquid drop input pipe 301 can also carry out the addition of the freezing protective agent. It should be noted that the positions of the cell fluid input, the droplet input and the droplet suction of the present invention can be achieved by positioning the positions of the movable frame 401 and the support 304, respectively, that is, the support position is fixed, the tray position is fixed, and the operation position of each droplet input tube or each droplet suction tube is substantially fixed. Until the cell liquid drop and the cryoprotectant reach an equilibrium state (which can be obtained by observing an image shot by a camera device), liquid adsorbed around the cells can be sucked by a liquid drop suction pipe, so that the exposed surface area of the cells is maximized; thus completing the liquid changing operation. Then the manipulator device pushes the liquid drop carrier into the rectangular sleeve, the side door is pushed down, the side door and the magnet block on the rectangular sleeve are firmly adsorbed, sealing is realized, and the liquid drop carrier is quickly transferred into a freezing medium to finish freezing.
The recovery operation is opposite to the freezing operation, the liquid drop carrier is pulled out of the rectangular sleeve and then placed at a corresponding position of the tray, the liquid drop carrier is transferred to a standard station of an operation table mechanism, meanwhile, a liquid drop input pipe 301 and a liquid drop suction pipe 302 of the liquid drop liquid changing device are adjusted to be above the liquid drop carrier, then, the liquid drop liquid changing operation of cell recovery is carried out according to instructions until cells reach a specified culture solution balance state, the recovery is completed, the specific coordinate position of the living cells is judged according to a coordinate system generated by the standard station, the main control device 500 moves the liquid suction pipe 402 to be above the living cells according to the coordinate position, and the liquid suction pipe 402 below the liquid suction pipe 402 sucks and transfers the cells to a culture carrier.
The present invention contemplates a carrier for the above described automated device, which in one embodiment, as shown in fig. 6, is a droplet carrier 1; the liquid drop carrier 1 is of a rectangular tray structure and comprises a cell carrying area 11 with a freezing carrier placed in the middle and a hydrophobic area 10 surrounding the cell carrying area 11, wherein the hydrophobic area 10 is of an annular structure paved with super-hydrophobic materials; the middle parts of two side edges of the liquid drop carrier 1 are provided with dark color marking lines 2, and the two dark color marking lines 2 are positioned on the central axis of the liquid drop carrier 1.
It should be noted that the droplet carrier according to the present invention may have other regular or irregular shapes based on the above design principle. The arrangement of the hydrophobic area enables cells to be concentrated in the cell bearing area, so that the cells are convenient to position and observe, the arrangement of the dark mark line is a positioning reference for the liquid drop carrier, and whether the liquid drop carrier is in a standard position or not is judged according to the position of the dark mark line.
In some embodiments, shown in fig. 7-8, the carrier comprises a drop carrier and a rectangular sleeve. In a specific scheme, one side end of the liquid drop carrier 1 extends outwards to form a connecting part 21; the device also comprises a rectangular sleeve 3 with a rectangular inner cavity 30, one side of the rectangular sleeve 3 is closed, the other side of the rectangular sleeve is provided with an opening 31, the top of the rectangular sleeve 3 corresponding to the end of the opening 31 is provided with a door slot 32, and the top of the door slot 32 is provided with a push-pull type side door 4 through a supporting mechanism; the bottom of the inner cavity 30 is provided with a sliding chute, and the bottom of the liquid drop carrier 1 is provided with a sliding block matched with the sliding chute; the droplet carrier 1 can be pulled along the open 31 end within the inner cavity 30 of the sealing sleeve 3.
Fig. 10 shows a specific implementation example of the side door, the side of the top plate of the rectangular sleeve 3 facing the door slot 32 is embedded with at least one magnet block 5, the inner side of the side door 4 facing the door slot 32 is provided with a sealing gasket 40, and the upper part of the sealing gasket 40 is provided with an iron block 41 corresponding to the magnet block 5 when the side door 4 is inserted into the door slot 32; the bottom of door slot 32 is equipped with at least one second magnet piece 50, the bottom of side door 4 be equipped with when side door 4 inserts door slot 32 with the second iron plate 42 that second magnet piece 50 corresponds.
When the side door 4 is not placed in the door groove 32, the side door 4 is placed above the supporting member 35, and the displacement thereof is limited by the limit elastic member 36; when the door needs to be moved to the door slot 32, the door is pushed by an external force through the limiting spring piece 36 and falls into the door slot 32. The iron block 41 and the magnet block of the side door 4 are immediately and firmly adsorbed, so that the rectangular sleeve is sealed.
In one embodiment, shown in fig. 11, the rear side of the bottom of the drop carrier 1 is provided with a hook-shaped elastic protrusion, which is composed of a hook opening 18 facing the bottom surface of the drop carrier 1 and a diagonal rod 17 arranged at one side of the hook opening 18, wherein the diagonal rod 17 extends towards the front side of the bottom of the drop carrier 1 and adheres to the bottom thereof; the bottom of the inner side of the sealing sleeve 3 corresponding to the position of the elastic protrusion is provided with a shallow groove 44, and the shallow groove 44 extends forwards from the tail end of the bottom of the inner side of the sealing sleeve 3 to a position close to the opening 31. The limited sliding position of the elastic protrusions and the shallow grooves 44 in this embodiment prevents the droplet carrier from easily separating from the rectangular casing when being pulled out, thereby ensuring the smooth completion of the whole freezing operation and the casing operation.
It should be noted that the top of the side door 4 may be provided with a pull handle or the like, and the pull handle 6 shown in fig. 10 is merely one embodiment. The handle can be of various structures provided with a concave part or a fixed hole position for applying force to the manipulator device.
After finishing the liquid drop replacement action and adsorbing redundant liquid, the carrying device pushes the liquid drop carrier into the rectangular sleeve through the mechanical hand device, and pushes the side door inwards to enable the side door to fall into the door slot, and at the moment, the carrying device is used for being thrown into a liquid nitrogen freezing area as shown in a figure 11 to realize the closed storage of the liquid drop carrier. When resuscitation is needed, the side door is fixed at the handle part through the manipulator device, and the side door is directly pulled up. In some embodiments, the magnet block is embedded on the front side of the droplet carrier, not shown in the drawings, and when the side door is pulled out, the droplet carrier can be pulled out by pulling the droplet carrier outwards through the magnet to complete the cell recovery operation.
The invention also discloses another embodiment of the carrying device for the automatic operation equipment, and as shown in fig. 13, the automatic carrying device comprises a liquid drop liquid change area 7 at one end and a sample carrying area 71 which is communicated with the liquid drop liquid change area 7 and is arranged at the other end.
The liquid droplet changing region 7 has a tray structure for changing liquid droplets, and has a bottom surface inclined gradually downward from a free end to an end communicating with the sample-holding region 71, and a water-repellent portion 72 provided on a free end side thereof.
The sample-bearing zone 71 is configured as an elongated recessed pan configuration for placement of a freezing/resuscitation carrier; at least a part of the side edge of the end of the liquid droplet changing region 7 communicated with the sample bearing region 71 is laterally connected with the sample bearing region 71 correspondingly, and at the connection position, the top surface of the sample bearing region 71 is flush with the bottom surface of the liquid droplet changing region 7, the connection position is provided with a sealing mechanism 73, as shown in fig. 14, a detachable baffle plate 74 is arranged above the connection position; the effective interception height of said baffles 74 is not lower than the maximum value of the tray in said droplet liquid change zone 7.
In some embodiments, the sample-bearing zone 71 is configured as a portable, sealed structure, which makes the transfer into a liquid nitrogen container safer and more convenient, and avoids contamination. A specific embodiment is shown in fig. 14-15. The end of the sample-bearing zone 71 away from the communication side extends outward as a receptacle 75; the device also comprises a second sealing sleeve 81 with a strip-shaped inner cavity 80, wherein one side of the second sealing sleeve 81 is provided with a second opening 82, the top of the second opening 82 is provided with a push-pull side door 83, and the bottom of the second opening 82 is provided with a locking mechanism for locking the push-pull side door 83 and the second sealing sleeve 81; the bottom of the inner cavity 80 is provided with a sliding groove 84, and the bottom of the sample bearing area 71 is provided with a sliding block 85 matched with the sliding groove 84; the elongate sample support region 71 is withdrawn within the interior cavity 80 of the second sealing sleeve 81 along the second open end 82.
FIGS. 15-16 are schematic views showing the structure of the sample-supporting section and the sealing sleeve according to the present invention, and FIG. 15 shows that protrusions 750 are provided at two sides above the communicating side of the sample-supporting section 71. The inner walls of the two sides of the side plate 89 are provided with first stop blocks 91; two sides of the receiving portion 75 are provided with a second stopper 92 extending outwards, and when the sample-holding section 71 is pulled to the outermost end, the first stopper 91 is just abutted against the front side of the second stopper 92.
As shown in fig. 16-17, at least four sides of the inner side of the side door 83 are provided with a gasket 830, and the upper edge and the lower edge of the inner side of the side door 83 are respectively provided with a rubber positioning ball 831; the annular rectangular frame 87 and the bottom plate 88 are respectively provided with a positioning groove 870, and when the side door 83 falls, the rubber positioning ball 831 just corresponds to the positioning groove 870.
It should be further noted that the side door positioning frame is detachably connected to the front side of the sealing sleeve, and a magnet device is further arranged on the front side of the sample bearing area. When the frozen cells enter a recovery mode, the side door positioning frame is disassembled, and the sample bearing area is adsorbed and pulled outwards through the front end (iron) of the manipulator device.
It should be noted that, in some embodiments of the present invention, in order to reasonably set the inclination of the bottom surface of the liquid droplet liquid exchange region 7, the inclination angle of the bottom surface of the liquid droplet liquid exchange region 7 is set to be 5 to 15 °. And for more convenient operation of the robot, a clamping part 740 is extended from the top of the baffle 74 for clamping and taking out the baffle.
The baffle plate is arranged in an access or embedded mode, so that the blocking effect can be realized. In some specific embodiments, as shown in fig. 20, a connecting rod 78 is extended from one side or both sides of the top of the baffle 74, and a fixing rod 79 is connected below the connecting rod 78; the liquid drop changing area 7 is provided with insertion holes for inserting fixing rods 79 at the joint side and at the two sides of the baffle 74.
It should be noted that, in order to make the connection between the liquid droplet changing region and the sample carrying region tighter, in some embodiments, the interface between the liquid droplet changing region and the sample carrying region is configured as a notch and a bump, as shown in fig. 21, the outer side of the sealing mechanism 73 is provided with a convex portion, the bottom of the liquid droplet changing region 7 is provided with a notch 76, and the notch 76 is matched with the convex portion; an extension film 77 is embedded on the inner bottom surface of the liquid drop changing area 7 close to the side of the baffle 74, the extension film 77 is bent upwards from the inner bottom surface and extends to the upper part of the baffle 74, and the extension film 77 is a waterproof film. When the baffle 74 is drawn out, the extension film 77 extends toward the sample-bearing region 7 along the joint under the impact of the liquid flow direction in the liquid droplet changing region, so as to shield the joint seam and prevent the liquid from permeating into the seam.
The carrying device in the example comprises a liquid drop liquid changing part and a freezing/reviving carrier part, wherein the bottom surface of the liquid drop liquid changing part is an inclined surface, the bottom surface of the freezing/reviving carrier part is a next step surface, and the freezing target cells after liquid drop liquid changing directly flow into the freezing/reviving carrier part to suck out liquid in the freezing/reviving carrier part, namely freezing/reviving living cells are completed. Compared with the operation in the prior art, the operation of the automatic bearing device is more accurate, and the cells are prevented from being lost in the liquid drop liquid changing process; meanwhile, the redundant liquid can be sucked, so that the quick freezing and cell recovery of the cells are not influenced. The liquid drop liquid changing part and the sample bearing part of the freezing/reviving carrier are separated, the damage to the carrier components caused by the liquid changing operation is avoided, and meanwhile, the carrier part is horizontally paved to ensure that target cells are paved as far as possible, so that the exposed surface area of the cells is maximized. In addition, the sample bearing area of the automatic bearing device is integrated into a whole, and the sample bearing area is pushed into the sealing sleeve to be sealed for liquid nitrogen freezing, so that the operation is convenient, and the pollution can be avoided.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An automatic operating device for cell vitrification freezing, characterized in that it is used for cell vitrification freezing and thawing on a carrier device, said device comprising at least
An operation table device (100) comprising a storage mechanism (110), a transport mechanism (120), and an operation table mechanism (130); the storage mechanism (110) is configured to be provided with a storage cavity (111) for storing the carrying devices, a tray (114) is arranged below each carrying device, an opening (112) is arranged at the lower end of the storage mechanism (110), the lower part of the opening (112) is connected with the end part of the transportation mechanism (120), and a pushing mechanism (113) is arranged on the opposite side of the opening of the storage mechanism (110) and used for pushing the carrying devices below and the trays (114) to the transportation mechanism (120); the conveying mechanism (120) is formed by belt bodies on two sides surrounding a conveying wheel, and two sides of the tray (114) are just placed on the belt bodies on two sides of the conveying mechanism (120); the operating table mechanism (130) is configured as a mechanism for positioning the tray (114) and a bearing device above the tray in a standard station;
a manipulator device (200) comprising a suspension arm (201) and a manipulator (202) arranged below the suspension arm (201), wherein the suspension arm (201) is configured to have a horizontal movement structure in the X-axis direction, and the manipulator (202) is configured to have a movement structure in the Y-axis direction and the Z-axis direction;
the liquid drop changing device (300) comprises a support (304), a movable tube body adapter (305) arranged on the support (304), a liquid drop input pipe (301) connected with the tube body adapter (305) and arranged above a liquid drop changing area (7), and a liquid drop suction pipe (302); the liquid drop input pipe (301) and the liquid drop suction pipe (302) respectively control liquid drop changing operation through peristaltic pumps;
the target cell sap transfer device (400) comprises a moving frame (401), a pipette (402) arranged on the moving frame (401) and used for sucking target cell sap, and a pump body (403) for providing suction force for the pipette (402);
a main control device (500) configured to control operations of the console device (100), the manipulator device (200), the droplet liquid changing device (300), and the target cell liquid transfer device (400).
2. The automatic operating equipment for cell vitrification freezing according to claim 1, wherein the storage chamber (111) of the storage mechanism (110) is provided with sawtooth patterns (117) on one side and adjustment grooves (118) vertically spaced along the wall of the storage chamber (111) on the other side, layered barrier strips (116) extending toward the chamber are embedded in the adjustment grooves (118), elastic members (119) connected with the inner top wall of the adjustment grooves (118) are provided at the tops of the layered barrier strips (116) in the adjustment grooves (118), and each layered barrier strip (116) is just abutted against the tray (114) of the corresponding layer;
when the tray (114) and the automatic bearing device are lowered, the layered barrier strip (116) is pressed downwards by the gravity of the automatic bearing device and rotates by taking the contact point of the layered barrier strip (116) and the notch of the adjusting groove (118) as an axis, the tray (114) and the automatic bearing device move downwards one layer, and then the tray (114) and the automatic bearing device abut against the bottom of the tray (114) in the next layer under the recovery of the elastic piece (119).
3. The automatic handling device for the vitrification freezing of cells according to claim 1, characterized in that the tray (114) is extended upward on both sides with a blocking path (122) defining the drop carrier (1) of the carrier device, the outer side of the blocking path (122) is on the same plane with the outer side of the rectangular sleeve (3) of the carrier device;
and two sides of the operating platform mechanism (130) are respectively provided with a second blocking channel (131), the second blocking channels (131) are connected to two sides of the operating platform mechanism (130) through telescopic hydraulic cylinders (132), and when the extension distance of the telescopic hydraulic cylinders (132) is the maximum, the inner side distance of the second blocking channels (131) at two sides is equal to the longitudinal distance of the rectangular sleeve (3).
4. The automated equipment for cell vitrification freezing according to claim 3, further comprising a camera device (600) disposed above the operation table mechanism (130) and connected to the main control device (500), wherein the camera device (600) comprises a camera (601) disposed with a camera head facing downward in an operation standard position and a suspension rod (602) suspending the camera (601); and a reference line mark is arranged on one side of the operating platform mechanism (130) which corresponds to the position right below the camera of the camera device (600).
5. The automatic handling equipment for cell vitrification freezing according to claim 1, wherein the pipette (402) is composed of a transparent tube body (404) and a pipette needle (405) provided at a front end of the transparent tube body (404), the transparent tube body (404) is provided with a measuring scale, and the tube body at a highest scale position is provided with an overflow port (406), and an overflow tank (407) is provided on an outer wall of the tube body corresponding to a lower portion of the overflow port (406);
the rear end of the liquid drop input pipe (301) is communicated with a liquid containing cavity (311), the inner diameter of the liquid drop input pipe (301) is gradually reduced from the middle section to the position of the infusion head (310) at the front end, and the inner diameter of the infusion head (310) is 1-6 mm; the liquid drop input pipe (301) is made of polytetrafluoroethylene or polyvinylidene fluoride.
6. A carrier device for an automatic operating device according to claim 1, characterized in that the device comprises a droplet carrier (1); the liquid drop carrier (1) is of a rectangular tray structure and comprises a cell carrying area (11) with a freezing carrier placed in the middle and a hydrophobic area (10) surrounding the cell carrying area (11), wherein the hydrophobic area (10) is of an annular structure paved with a super-hydrophobic material; the middle parts of two side edges of the liquid drop carrier (1) are provided with dark color marking lines (2), and the two dark color marking lines (2) are positioned on the central axis of the liquid drop carrier (1);
one side end of the liquid drop carrier (1) extends outwards and is provided with a connecting part (21); the device also comprises a rectangular sleeve (3) with a rectangular inner cavity (30), one side of the rectangular sleeve (3) is closed, the other side of the rectangular sleeve is provided with an opening (31), the top of the rectangular sleeve (3) corresponding to the end of the opening (31) is provided with a door slot (32), and the top of the door slot (32) is provided with a push-pull type side door (4) through a supporting mechanism; the bottom of the inner cavity (30) is provided with a sliding groove, and the bottom of the liquid drop carrier (1) is provided with a sliding block matched with the sliding groove; the drop carrier (1) can be pulled in the interior (30) of the sealing sleeve (3) along the open end (31).
7. The carrying device as claimed in claim 6, characterized in that the sealing sleeve (3) is provided with stoppers (34) on both sides of the opening (31), the stoppers (34) are provided with bearing pieces (35) extending inwards, the height of the bearing piece (35) is smaller than that of the stoppers (34) and larger than that of the drip carrier (1), the side door (4) is placed on the bearing pieces (35) on both sides, a containing groove (37) is formed in the upper surface of the bearing piece (35) close to the door groove (32), the containing groove (37) is of a planar-milled conical structure and contains a limiting elastic piece (36), the middle part of the limiting elastic piece (36) is of a raised mountain-shaped structure, and the raised middle part protrudes out of the containing groove (37) and is just blocked on one side of the side door (4) close to the door groove (32);
the side, facing the door slot (32), of the top plate of the rectangular sleeve (3) is embedded with at least one magnet block (5), a sealing gasket (40) is arranged on the inner side face, facing the door slot (32), of the side door (4), and an iron block (41) corresponding to the magnet block (5) when the side door (4) is inserted into the door slot (32) is arranged on the upper portion of the sealing gasket (40); the bottom of the door slot (32) is provided with at least one second magnet block (50), and the bottom of the side door (4) is provided with a second iron block (42) corresponding to the second magnet block (50) when the side door (4) is inserted into the door slot (32);
the rear side of the bottom of the liquid drop carrier (1) is provided with a hook-shaped elastic protrusion, the elastic protrusion consists of a hook opening (18) facing the bottom surface of the liquid drop carrier (1) and an inclined rod (17) arranged on one side of the hook opening (18), and the inclined rod (17) extends towards the front side of the bottom of the liquid drop carrier (1) and is adhered to the bottom of the liquid drop carrier; a shallow groove (44) is formed in the bottom of the inner side of the sealing sleeve (3) corresponding to the elastic protrusion, and the shallow groove (44) extends forwards from the tail end of the bottom of the inner side of the sealing sleeve (3) to a position close to the opening (31);
the top of the side door (4) is provided with a handle (6), and the handle (6) is provided with a concave part or a fixed hole position for exerting force of the manipulator device.
8. A carrier device for an automatic handling apparatus according to claim 1, characterized in that the device comprises a droplet changing zone (7) at one end and a sample carrier zone (71) communicating with the droplet changing zone (7) and provided at the other end;
the liquid drop changing area (7) is of a shallow disc structure for changing liquid drops, the bottom surface of the liquid drop changing area is gradually inclined downwards from a free end to one end communicated with the sample bearing area (71), and the free end side of the liquid drop changing area is provided with a hydrophobic part (72);
the sample-bearing zone (71) is configured as an elongated recessed pan configuration for placement of a freezing/resuscitation carrier; at least one part of the side edge of the end part of the liquid drop changing area (7) communicated with the sample bearing area (71) is connected with the corresponding side of the sample bearing area (71), the top surface of the sample bearing area (71) is flush with the bottom surface of the liquid drop changing area (7) at the connection position, the connection position is provided with a sealing mechanism (73), and a detachable baffle plate (74) is arranged above the connection position; the effective interception height of the baffle (74) is not lower than the highest value of the concave disc in the liquid drop liquid change area (7):
the end part of the sample bearing area (71) deviating from the communication side extends outwards to form a bearing part (75); the device further comprises a second sealing sleeve (81) with a strip-shaped inner cavity (80), a second opening (82) is formed in one side of the second sealing sleeve (81), a push-pull side door (83) is arranged at the top of the second opening (82), and a locking mechanism for locking the push-pull side door (83) and the second sealing sleeve (81) is arranged at the bottom of the second opening; the bottom of the inner cavity (80) is provided with a sliding groove (84), and the bottom of the sample bearing area (71) is provided with a sliding block (85) matched with the sliding groove (84); the elongate sample-receiving region (71) is drawable within the interior chamber (80) of the second sealing sleeve (81) along the second open (82) end.
9. The carrying device according to claim 8, wherein a side door positioning frame (86) is arranged on the side of the second opening (82) of the second sealing sleeve (81), the side door positioning frame (86) comprises a top annular rectangular frame (87), a bottom plate (88) and two side plates (89), two sides of the top of the annular rectangular frame (87) are provided with transversely telescopic limiting posts (90), the annular rectangular frame (87) is embedded in the side door (83), and in an uncovered state, the limiting posts (90) extend to just abut against the bottom of the side door (83);
bulges (750) are arranged at the two sides above the communication side of the sample bearing area (71);
the outer ends of the inner walls of the two sides of the side plate (89) are provided with first stop blocks (91); two sides of the bearing part (75) extend outwards to form second stop blocks (92), and when the sample bearing area (71) is drawn to the outermost end, the first stop blocks (91) just abut against the front sides of the second stop blocks (92);
the inner side of the side door (83) is provided with a sealing gasket (830), and the upper edge and the lower edge of the inner side of the side door (83) are respectively provided with a rubber positioning ball (831); annular rectangle frame (87), bottom plate (88) are equipped with a constant head tank (870) respectively side door (83) when whereabouts, rubber location ball (831) correspond just in the constant head tank (870).
10. The carrying device according to claim 8, characterized in that the bottom surface of the liquid droplet changing zone (7) is inclined at an angle of 5-15 °; a clamping part (740) extends from the top of the baffle plate (74);
an outward convex part is arranged on the outer side of the sealing mechanism (73), a notch (76) is arranged at the bottom of the liquid drop liquid exchange area (7), and the notch (76) is matched with the outward convex part;
an extension film (77) is embedded on the inner bottom surface of the liquid drop changing area (7) close to the side of the baffle plate (74), the extension film (77) bends upwards from the inner bottom surface and extends to the upper part of the baffle plate (74), and the extension film (77) is a waterproof film;
one side or two sides of the top of the baffle (74) are provided with connecting rods (78) in an outward extending manner, and fixing rods (79) are connected below the connecting rods (78); and jacks for inserting fixing rods (79) are arranged at the joint side of the liquid drop changing area (7) and at the two sides of the baffle (74).
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810550150.8A CN108719273A (en) | 2018-05-31 | 2018-05-31 | Active somatic cell glass freezing, the automatic bogey of recovery and its operating system |
| CN2018105501508 | 2018-05-31 | ||
| CN2018107246250 | 2018-07-04 | ||
| CN201810724625.0A CN108575988A (en) | 2018-07-04 | 2018-07-04 | Bogey and its automatic operation system for cell glass freezing |
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| CN109964924A CN109964924A (en) | 2019-07-05 |
| CN109964924B true CN109964924B (en) | 2021-11-26 |
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| 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 |
| CN112825849B (en) * | 2021-03-22 | 2024-02-13 | 上海理工大学 | Modularized high-flux low-temperature preservation 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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| CN202918907U (en) * | 2012-09-11 | 2013-05-08 | 苏州大学 | Vitrification freezing automation operation system |
| CN206196779U (en) * | 2016-10-13 | 2017-05-31 | 深圳韦拓生物科技有限公司 | A kind of cell glass freezing processing equipment |
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| US9163869B2 (en) * | 2010-09-09 | 2015-10-20 | Hamilton Storage Technologies, Inc. | Tube picking mechanisms with an ultra-low temperature or cryogenic picking compartment |
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| US6646238B1 (en) * | 1999-05-07 | 2003-11-11 | Evotec Oai Ag | Method and device for a accomodating samples on cryosubstrates |
| CN202918907U (en) * | 2012-09-11 | 2013-05-08 | 苏州大学 | Vitrification freezing automation operation system |
| CN206196779U (en) * | 2016-10-13 | 2017-05-31 | 深圳韦拓生物科技有限公司 | A kind of cell glass freezing processing equipment |
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