CN114525206A - Automatic cell preparation device - Google Patents
Automatic cell preparation device Download PDFInfo
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- CN114525206A CN114525206A CN202111672834.3A CN202111672834A CN114525206A CN 114525206 A CN114525206 A CN 114525206A CN 202111672834 A CN202111672834 A CN 202111672834A CN 114525206 A CN114525206 A CN 114525206A
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- 238000002360 preparation method Methods 0.000 title claims abstract description 30
- 239000007788 liquid Substances 0.000 claims abstract description 159
- 238000012546 transfer Methods 0.000 claims abstract description 43
- 238000004113 cell culture Methods 0.000 claims abstract description 24
- 238000000605 extraction Methods 0.000 claims abstract description 7
- 239000006143 cell culture medium Substances 0.000 claims abstract description 4
- 239000003153 chemical reaction reagent Substances 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims abstract description 4
- 238000012360 testing method Methods 0.000 claims abstract description 4
- 238000012258 culturing Methods 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 64
- 230000005484 gravity Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 8
- 230000037452 priming Effects 0.000 claims 3
- 238000000034 method Methods 0.000 abstract description 21
- 230000008569 process Effects 0.000 abstract description 16
- 238000012865 aseptic processing Methods 0.000 abstract description 2
- 238000005213 imbibition Methods 0.000 description 23
- 239000002699 waste material Substances 0.000 description 21
- 239000001963 growth medium Substances 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 4
- 238000011081 inoculation Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 241000894006 Bacteria Species 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012864 cross contamination Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 210000005259 peripheral blood Anatomy 0.000 description 2
- 239000011886 peripheral blood Substances 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000013192 sterile preparation process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
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Abstract
The invention discloses an automatic cell preparation device, which comprises: a sterile operating compartment for providing a sterile environment for the cell extraction operation; a sterile transfer chamber for transferring reagents and materials for testing from a sterile environment into a sterile, aseptic processing chamber; the full-automatic liquid changing device is used for automatically changing liquid for the cell culture medium, and the sterile operation cabin is arranged between the sterile transfer cabin and the full-automatic liquid changing device; and the cell culture box is used for culturing cells, and the full-automatic liquid changing device is arranged between the sterile operation cabin and the cell culture box. The invention provides an automatic cell preparation device, wherein the whole cell preparation process is completely finished in an isolator, and simple and repeated liquid changing work is replaced automatically, so that full-automatic liquid changing is realized in the whole liquid changing process, and the operation errors and the pollution risks caused by manual operation are reduced.
Description
Technical Field
The invention relates to the technical field of cell liquid changing equipment, in particular to an automatic cell preparation device.
Background
At present, cell preparation operation is mostly carried out in an open cell laboratory, manual operation is mainly used, and cell preparation personnel need to be trained. The quality of cell preparation is affected by the problems of pollution risk, poor reproducibility and the like caused by manual operation. If the automation can be used for replacing the manual work in the cell liquid changing process, the cell liquid changing pollution risk is reduced, and the liquid changing efficiency is greatly improved. Therefore, it is necessary to provide an automated cell preparation apparatus, in which the whole cell preparation process is completed in an isolator, and the GMP requirement is met, so that the full-automatic liquid change is realized in the whole liquid change process, and the operation error and the risk of pollution caused by manual operation are reduced; the liquid suction needle head can be automatically replaced, so that the automation degree is further improved, and cross contamination is avoided; simultaneously, make the imbibition syringe needle absorb the waste liquid totally through the structure setting.
Chinese patent application publication No. CN106367343B, published as 2018, 09.21, entitled "full-automatic intelligent cell culture apparatus and control method thereof", discloses a full-automatic intelligent cell culture apparatus and control method thereof, which comprises a controller, a first adjusting mechanism, a second adjusting mechanism, a third adjusting mechanism, a culture rack, a first control door, a second control door, a first liquid-transferring mechanism, a second liquid-transferring mechanism, a waste liquid collecting mechanism, a bottle opening and closing mechanism, and a liquid-adding mechanism, wherein at least three cavities are arranged in a storage cavity, including a storage cavity, a transition cavity, and a preheating cavity. But the technical scheme that this patent adopted is different with the technical scheme that this application will apply for, and it is not high to trade liquid efficiency, and the unable automatic change of imbibition syringe needle in this patent causes cross contamination easily, influences cell culture's quality, does not set up the more thorough structure of messenger's imbibition yet, leads to having the incomplete problem of imbibition.
Disclosure of Invention
In order to overcome the problems caused by manual operation in the cell sterile preparation process in the prior art, the invention provides an automatic cell preparation device, the whole cell preparation process is completely finished in an isolator, and simple and repeated liquid changing work is automatically replaced, so that the whole liquid changing process is fully-automatically changed, and the operation errors and the pollution risks caused by manual operation are reduced.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automated cell preparation apparatus, comprising:
a sterile operating compartment for providing a sterile environment for the cell extraction operation;
a sterile transfer chamber for transferring reagents and materials for testing from a sterile environment into a sterile, aseptic processing chamber;
the full-automatic liquid changing device is used for automatically changing liquid for a cell culture medium, the sterile operation cabin is arranged between the sterile transfer cabin and the full-automatic liquid changing device, the full-automatic liquid changing device comprises a fixed table, a transferring mechanical arm, a liquid changing mechanism and a culture dish workbench, the transferring mechanical arm, the liquid changing mechanism and the culture dish workbench are arranged on the fixed table, the liquid changing mechanism comprises a needle head module and a moving driving mechanism used for moving the needle head module, the needle head module comprises a fixed block, a liquid adding needle tube and a liquid absorbing needle tube, the liquid adding needle tube and the liquid absorbing needle tube are fixed on the fixed block, and the liquid absorbing needle tube is provided with a liquid absorbing needle;
the cell culture box is used for culturing cells, and the full-automatic liquid changing device is arranged between the sterile operation cabin and the cell culture box.
In the technical scheme, the sterile transfer cabin, the sterile operation cabin, the full-automatic liquid changing device and the cell culture box are communicated in sequence. The process of cell sterile preparation is: 1. Inoculation: opening the sterile transfer cabin, putting peripheral blood into the sterile transfer cabin for sterilization transfer, carrying out cell extraction operation after a blood sample is transferred into the sterile operation cabin, then inoculating cells into a culture dish, manually putting the inoculated culture dish into a transfer port of a full-automatic liquid changing device, and transferring the culture dish into a culture box by a culture dish transfer manipulator; 2. liquid changing: the incubator door is automatically opened, the transfer manipulator takes out the culture dish and places the culture dish to an automatic liquid changing station for automatic liquid changing, then the transfer manipulator transfers the culture dish to an imaging station for photographing, and finally the transfer manipulator places the culture dish back into the incubator; 3. receiving goods: the incubator door is opened automatically, transports the manipulator and takes out the culture dish and puts to the transfer port of full-automatic liquid device and aseptic technique cabin of trading, then the manual work is got the culture dish and is carried out the manual collection. The whole cell preparation process is completed in the isolator, and the GMP requirement is met. Simple and repeated liquid changing work is replaced by automation, and complicated single inoculation and collection work is operated by people with rich experience. Environmental parameters, centrifugal parameters, culture parameters and liquid change parameters of the whole preparation process are recorded and traceable in the whole process, and the system is provided with a computer control system and can be implanted into a standardized operation program. The liquid suction needle tube is communicated with an external liquid suction device and can suck waste liquid; the liquid feeding needle tube is communicated with an external cell culture solution conveying mechanism, and can provide required culture solution. The working process of the full-automatic liquid changing device is as follows: can take out the culture dish body in the incubator through transporting the manipulator to place the culture dish body on the culture dish workstation, stretch into the culture dish body through liquid changing mechanism with the imbibition syringe needle and carry out the imbibition, the imbibition is accomplished the back, stretches into culture dish body with the liquid feeding needle tubing and adds the culture solution, then sends the culture dish body back to the incubator through transporting the manipulator. The whole liquid changing process in the technical scheme realizes full-automatic liquid changing, and reduces operation errors and pollution risks caused by manual operation.
Preferably, a robot arm is arranged in the sterile operation cabin. The robotic arm can execute a cell extraction operation automation program to automatically extract cells.
Preferably, a rotating main shaft is arranged in the cell culture box, a plurality of fixing frames are circumferentially arranged on the rotating main shaft, a plurality of placing frames are arranged on the fixing frames in the vertical direction, and the rotating main shaft is driven to rotate by a driving piece. The cell culture box can move the culture dish to the position near the outlet according to the requirement, so that the operation of a transfer manipulator is facilitated.
Preferably, the culture dish workstation is including the fixing base and the rotation seat that set up side by side, and the fixing base is fixed with the fixed station, rotates the seat and rotates with the fixed station to be connected, rotates the axis of rotation and the horizontal plane parallel arrangement of seat, is equipped with the drive on the fixed station and rotates a pivoted rotation driver, and during the liquid change, the culture dish body is placed on rotating the seat.
Among the above-mentioned technical scheme, after the transfer manipulator takes out the culture dish body in with the incubator, place on the fixing base, then the culture dish plectrum can be with the culture dish body move to on rotating the seat, the rethread rotates the driver and makes and rotate the seat and rotate the slope, make culture dish body slope, the imbibition syringe needle of being convenient for absorbs the waste liquid totally, then the rethread liquid feeding needle tubing carries out the liquid feeding, after the liquid feeding is accomplished, it makes and rotates the seat and rotate the repatriage to rotate the driver, the culture dish plectrum can be with on the culture dish body moves the fixing base, can send the culture dish body back to the incubator through the transfer manipulator.
Preferably, the rotating shaft of the rotating seat is eccentrically arranged below the rotating seat, the rotating driver comprises an electromagnet, the electromagnet is fixed below the rotating seat, the rotating shaft is arranged between the gravity center of the rotating seat and the electromagnet, a magnetic attraction block is arranged at the lower end of the rotating seat and corresponds to the electromagnet, and when the electromagnet is electrified, the electromagnet is in contact with the magnetic attraction block. The structure can realize the rotation of the rotating seat, the rotating structure is simple and reliable, the cost is low, the control is simple, and the rotation can be realized only by one electromagnet. And the rotating seat is kept horizontal by the gravity of the rotating seat.
Preferably, the rotating shaft of the rotating seat is eccentrically arranged below the rotating seat, the rotating driver comprises an electromagnet, the electromagnet is fixed below the rotating seat, the center of gravity of the rotating seat is arranged between the rotating shaft and the electromagnet, a permanent magnet is arranged at the lower end of the rotating seat and corresponds to the electromagnet, and when the electromagnet is electrified, the electromagnet and the permanent magnet repel each other. The structure can realize the rotation of the rotating seat, the rotating structure is simple and reliable, the cost is low, the control is simple, and the rotation can be realized only by one electromagnet. And the time of the inclined state is longer than the time required by the horizontal state in the liquid changing process, so that the electromagnet can shorten the electrifying time and save the power consumption of the system.
Preferably, the lower end of the liquid feeding needle tube is provided with a liquid feeding needle head, and the lower end of the liquid feeding needle head is bent towards the lower side of the rotating seat after being inclined. The structure can ensure that the liquid outlet of the liquid feeding needle is close to the culture medium and is positioned on the side wall which is relatively below the culture medium, so that the cell culture solution slowly flows down along the side surface of the culture medium, and the cells attached to the side wall and the bottom surface are prevented from being washed away by the liquid flow too fast.
Preferably, a rotary damper is provided on the rotating shaft. The structure can make the seat that rotates have certain buffering when rotating, avoids rotating too fast and leads to the culture solution to rock and spill.
Preferably, the fixed table is provided with a vacuum chuck and a chuck lifting mechanism, the chuck lifting mechanism is fixed with the fixed table, the vacuum chuck is fixed with the chuck lifting mechanism, and the vacuum chuck is arranged right above the fixed base. The structure may be used to suck the lid on the culture dish body.
The invention has the beneficial effects that: (1) the whole liquid changing process realizes full-automatic liquid changing, and reduces operation errors and pollution risks caused by manual operation; (2) the liquid suction needle head can be automatically replaced; (3) the liquid outlet of the liquid feeding needle head is close to the side wall of one side of the culture medium, so that the cell culture solution slowly flows downwards along the side surface of the culture medium, and the cells attached to the side wall and the bottom surface are prevented from being washed away by the liquid flow too fast; (4) the rotating seat is rotated and inclined through the rotating driver, so that the culture dish body is inclined, and the liquid suction needle head can conveniently suck the waste liquid completely; (5) the rotating structure of the rotating seat is simple and reliable, the cost is low, the control is simple, the rotation can be realized only by one electromagnet, and the rotating seat is kept horizontal by utilizing the gravity of the rotating seat.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of example 2;
FIG. 3 is a schematic view of the transfer robot of the present invention;
FIG. 4 is a schematic view of a partial structure of the present invention;
FIG. 5 is a schematic view of the construction of the needle module of the present invention;
FIG. 6 is a schematic view showing the structure of a petri dish table in the invention;
FIG. 7 is a schematic view of the construction of the waste needle collecting container of the present invention;
FIG. 8 is a schematic structural view of example 5.
In the figure: a fixed platform 1, a transfer manipulator 2, a translation mechanism 2.1, a lifting mechanism 2.2, a rotating mechanism 2.3, a transfer plate 2.4, a liquid changing mechanism 3, a needle head module 3.1, a fixed block 3.1.1, a liquid adding needle tube 3.1.2, a liquid absorbing needle tube 3.1.3, a clamping ring 3.1.4, a liquid absorbing needle head 3.1.5, a limit ring 3.1.6, a liquid adding needle head 3.1.7, a mobile driving mechanism 3.2, a culture dish worktable 4, a fixed seat 4.1, a rotating seat 4.2, a rotating shaft 4.3, a holding tank 4.4, a rotating driver 4.5, a magnetic attraction block 4.6, a limit block 4.7, a permanent magnet 4.8, a culture dish body 5, a needle head placing frame 6, a waste needle head collecting box 7, a needle dropping block 8, a limit groove 8.1, a culture dish shifting sheet 9, an adjusting base 10, an adjusting rod 11, a waste liquid discharging barrel 12, a positioning column 13, a microscope station 14, a sterile operation cabin 15, an embedded refrigerator 15.1, an embedded type refrigerator 15.15.6, a centrifuge 15.15, a suspended bacteria particle channel 15.6, a centrifuge 15.6, a suspended bacteria particle sampler 15, a centrifuge 15.4, a centrifuge 15, a liquid absorbing needle tube 15.4.4.5, a liquid absorbing needle tube 3.5, a liquid absorbing needle tube 3.5, a liquid absorbing needle tube 3.6, a liquid absorbing needle, a liquid absorbing tube 3.6, a liquid absorbing tube, a liquid absorbing, A sterile transfer cabin 16, a cell culture box 17, a rotating main shaft 17.1, a fixing frame 17.2 and a full-automatic liquid changing device 18.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Example 1:
as shown in fig. 1, an automated cell preparation apparatus includes: an aseptic operation cabin 15, an aseptic transfer cabin 16, a full-automatic liquid changing device 18 and a cell culture box 17; the sterile operation cabin 15 is used for providing a sterile environment for cell extraction operation, and an embedded refrigerator 15.1, a waste channel 15.2, an embedded centrifuge 15.3, a planktonic bacteria sampler 15.4 and a particle sampler 15.6 are arranged in the sterile operation cabin 15; the sterile transfer chamber 16 is used for transferring the test reagent and materials from the sterile environment to the sterile operation chamber 15; the full-automatic liquid changing device 18 is used for automatically changing liquid for the cell culture medium, and the sterile operation cabin 15 is arranged between the sterile transfer cabin 16 and the full-automatic liquid changing device 18; cell culture case 17 is used for cultivateing the cell, and full-automatic liquid device 18 that trades sets up between aseptic technique cabin 15 and cell culture case 17, be equipped with in the cell culture case 17 and rotate main shaft 17.1, rotate main shaft 17.1 circumference and be equipped with a plurality of mount 17.2, mount 17.2 is equipped with a plurality of rack in the upper and lower direction, and driving piece drive rotates main shaft 17.1 and rotates.
In the technical scheme, the sterile transfer cabin 16, the sterile operation cabin 15, the full-automatic liquid changing device 18 and the cell culture box 17 are communicated in sequence. The process of cell sterile preparation is: 1. Inoculation: opening the sterile transfer cabin, putting peripheral blood into the sterile transfer cabin for sterilization transfer, carrying out cell extraction operation after a blood sample is transferred into the sterile operation cabin 15, then inoculating cells into a culture dish, manually putting the inoculated culture dish into a transfer port of a full-automatic liquid changing device 18, and transferring the culture dish into a culture box by a culture dish transferring manipulator 2; 2. liquid changing: the incubator door is automatically opened, the transfer manipulator 2 takes out the culture dish and puts the culture dish to an automatic liquid changing station for automatic liquid changing, then the transfer manipulator 2 transfers the culture dish to an imaging station for photographing, and finally the transfer manipulator 2 puts the culture dish back into the incubator; 3. receiving goods: the incubator door is opened automatically, and the transfer manipulator 2 takes out the culture dish and puts to the transfer port of full-automatic liquid device 18 and aseptic technique cabin 15 that trades, then the manual work is got the culture dish and is carried out the manual collection. The whole cell preparation process is completed in the isolator, and the GMP requirement is met. Simple and repeated liquid changing work is replaced by automation, and complicated single inoculation and collection work is operated by people with rich experience. Environmental parameters, centrifugal parameters, culture parameters and liquid change parameters of the whole preparation process are recorded and traceable in the whole process, and the system is provided with a computer control system and can be implanted into a standardized operation program.
Example 2:
as shown in fig. 2, on the basis of embodiment 1, the full-automatic liquid-changing device 18 includes a fixed table 1, a transferring manipulator 2, a liquid-changing mechanism 3, a culture dish worktable 4, and a needle placing rack 6, wherein a plurality of unused liquid-absorbing needles 3.1.5 are arranged on the needle placing rack 6, and a plurality of unused liquid-absorbing needles 3.1.5 are regularly arranged; the transfer manipulator 2 is used for the culture dish body 5, and the transfer manipulator 2 is arranged on the fixed platform 1; as shown in fig. 3, the transferring manipulator 2 includes a translation mechanism 2.1, an elevating mechanism 2.2, a rotating mechanism 2.3 and a transferring plate 2.4, the transferring plate 2.4 is fixed on the rotating mechanism 2.3, the rotating mechanism 2.3 is arranged on the elevating mechanism 2.2, the elevating mechanism 2.2 is fixed on the translation mechanism 2.1, the translation mechanism 2.1 and the elevating mechanism 2.2 are gear rack mechanisms driven by a motor, and the rotating mechanism 2.3 is a motor.
As shown in fig. 2 and 4, the liquid changing mechanism 3 is arranged on the fixed table 1, the liquid changing mechanism 3 comprises a needle head module 3.1 and a moving driving mechanism 3.2 for moving the needle head module 3.1, as shown in fig. 5, the needle head module 3.1 comprises a fixed block 3.1.1, a liquid adding needle tube 3.1.2 and a liquid absorbing needle tube 3.1.3, the liquid adding needle tube 3.1.2 and the liquid absorbing needle tube 3.1.3 are fixed on the fixed block 3.1.1, and the liquid absorbing needle tube 3.1.3 is provided with a liquid absorbing needle head 3.1.5; the movement driving mechanism 3.2 comprises an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, the needle head module 3.1 is fixed on the Z-axis moving mechanism, the Z-axis moving mechanism is fixed on the Y-axis moving mechanism, and the Y-axis moving mechanism is fixed on the X-axis moving mechanism. The X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism adopt a screw rod and nut mechanism driven by a motor. The culture dish worktable 4 is used for placing a culture dish body 5. A culture dish shifting sheet 9 is fixed on the fixed block 3.1.1, and the culture dish shifting sheet 9 is used for transversely shifting the culture dish body 5 on the culture dish workbench 4. The fixed platform 1 is provided with a waste liquid discharge barrel 12, a microscope photographing station 14, a vacuum sucker and a sucker lifting mechanism 2.2. A positioning column 13 is arranged around the waste liquid discharge barrel 12, and the positioning column 13 is fixed with the fixed platform 1. A photographing fixing seat 4.1 matched with the culture dish body 5 is fixed on the microscope photographing station 14. The sucker lifting mechanism 2.2 is fixed with the fixed platform 1, the vacuum sucker is fixed with the sucker lifting mechanism 2.2, and the vacuum sucker is arranged right above the fixed seat 4.1.
In the technical scheme, the liquid suction needle tube 3.1.3 is communicated with an external liquid suction device and can suck waste liquid; the liquid adding needle tube 3.1.2 is communicated with an external cell culture solution conveying mechanism and can provide required culture solution. The working process of the technical scheme is as follows: can take out culture dish body 5 in the incubator through transporting manipulator 2 to place culture dish body 5 on culture dish workstation 4, stretch into culture dish body 5 through liquid changing mechanism 3 with imbibition syringe needle 3.1.5 and carry out the imbibition, the back is accomplished to the imbibition, stretches into culture dish body 5 with liquid feeding needle tubing 3.1.2 and adds the culture solution, then sends culture dish body 5 back to the incubator through transporting manipulator 2. The whole liquid changing process in the technical scheme realizes full-automatic liquid changing, and reduces operation errors and pollution risks caused by manual operation.
Example 3:
as shown in fig. 2 and 4, in embodiment 2, a waste needle collecting box 7 is provided on the fixing table 1, and a needle removing block 8 is fixed above the waste needle collecting box 7. As shown in fig. 7, a limit groove 8.1 adapted to the liquid suction needle head 3.1.5 is arranged on the needle releasing block 8, a positioning column 13 is arranged around the waste liquid discharging barrel 12, and the positioning column 13 is fixed with the fixing table 1. The outer side wall of the liquid suction needle tube 3.1.3 is provided with a snap ring 3.1.4, and the liquid suction needle tube 3.1.3 is clamped with a liquid suction needle head 3.1.5 on the liquid suction needle tube 3.1.3 through the snap ring 3.1.4. Be equipped with abandonment syringe needle on the fixed station 1 and collect box 7, abandonment syringe needle is collected box 7 top and is fixed with and takes off needle piece 8, takes off and is equipped with the spacing groove 8.1 with imbibition syringe needle 3.1.5 adaptation on the needle piece 8. The upper end of the imbibition needle head 3.1.5 is provided with a limit ring 3.1.6, and the outer diameter of the limit ring 3.1.6 is larger than the width of the limit groove 8.1. A positioning column 13 is arranged around the waste liquid discharge barrel 12, and the positioning column 13 is fixed with the fixed platform 1.
When a plurality of hole sites are arranged on the culture dish body 5, in order to avoid mutual pollution among the hole sites, after waste liquid in each hole site is absorbed, the liquid absorption needle head 3.1.5 needs to be replaced, and the needle head placing frame 6 is used for placing the unused liquid absorption needle head 3.1.5. The imbibition syringe needle 3.1.5 itself has certain elasticity, can block imbibition syringe needle 3.1.5 through snap ring 3.1.4. Technical scheme can be used for making imbibition syringe needle 3.1.5 break away from imbibition needle tubing 3.1.3, imbibition syringe needle 3.1.5 after inhaling the waste liquid, need change, move actuating mechanism 3.2 and remove imbibition syringe needle 3.1.5 to spacing groove 8.1 below, then upwards lifting syringe needle module 3.1, make and take off needle piece 8 and block the upper end of imbibition syringe needle 3.1.5, make imbibition syringe needle 3.1.5 break away from imbibition needle tubing 3.1.3, fall into in abandonment syringe needle collection box 7. The positioning column 13 can position and fix the waste needle collecting box 7.
Example 4:
as shown in fig. 6, on the basis of embodiment 2, the culture dish table 4 includes a fixed seat 4.1 and a rotating seat 4.2 that are arranged side by side, the fixed seat 4.1 is fixed with the fixed station 1, the rotating seat 4.2 is rotatably connected with the fixed station 1, a rotating shaft 4.3 of the rotating seat 4.2 is arranged parallel to the horizontal plane, a rotating driver 4.5 for driving the rotating seat 4.2 to rotate is arranged on the fixed station 1, and when the culture dish body 5 is placed on the rotating seat 4.2 during liquid changing. The rotating shaft 4.3 of the rotating seat 4.2 is eccentrically arranged below the rotating seat 4.2, and the rotating damper is arranged on the rotating shaft 4.3. The rotary driver 4.5 comprises an electromagnet, the electromagnet is fixed below the rotary seat 4.2, the rotary shaft 4.3 is arranged between the gravity center of the rotary seat 4.2 and the electromagnet, the magnetic attraction block 4.6 is arranged at the position of the lower end of the rotary seat 4.2 corresponding to the electromagnet, and when the electromagnet is electrified, the electromagnet is in contact with the magnetic attraction block 4.6. An adjusting base 10 is arranged below the rotating base 4.2, the adjusting base 10 is fixed with the fixed platform 1, an adjusting rod 11 which is in threaded connection with the adjusting base 10 and can be adjusted up and down is arranged on the adjusting base 10, the top end of the adjusting rod 11 is in contact with the bottom end of the rotating base 4.2, and the adjusting rod 11 and the electromagnet are arranged at two opposite ends of the rotating shaft 4.3.
As shown in fig. 4, the fixed seat 4.1 is provided with a receiving groove 4.4 for receiving the transfer plate 2.4 of the transfer robot 2. As shown in fig. 6, a limiting block 4.7 for limiting the position of the culture dish body 5 is arranged at one end of the rotating seat 4.2 away from the fixed seat 4.1. As shown in fig. 5, the lower end of the liquid filling needle tube 3.1.2 is provided with a liquid filling needle 3.1.7, and the lower end of the liquid filling needle 3.1.7 is bent towards the lower side of the rotating seat 4.2 after being inclined.
Among the above-mentioned technical scheme, after transfer manipulator 2 takes out culture dish body 5 in with the incubator, place on fixing base 4.1, then culture dish plectrum 9 can remove culture dish body 5 to rotating on seat 4.2, rethread rotates driver 4.5 and makes and rotate seat 4.2 and rotate the slope, make culture dish body 5 slope, the imbibition syringe needle 3.1.5 of being convenient for absorbs the waste liquid totally, then the liquid feeding is carried out to rethread liquid feeding needle tubing 3.1.2, the liquid feeding is accomplished the back, it makes and rotates seat 4.2 and rotates the level of returning to rotate 4.5 to rotate the driver, culture dish plectrum 9 can move culture dish body 5 to on the fixing base 4.1, can send culture dish body 5 back to the incubator through transferring manipulator 2. The structure can realize the rotation of the rotating seat 4.2, the rotating structure is simple and reliable, the cost is low, the control is simple, and the rotation can be realized only by one electromagnet. And the rotating seat 4.2 is kept horizontal by the gravity of the rotating seat 4.2.
Example 5:
as shown in fig. 8, most of the schemes of this embodiment are the same as those of embodiment 4, except that: the gravity center of the rotating seat 4.2 is arranged between the rotating shaft 4.3 and the electromagnet, the permanent magnet 4.8 is arranged at the position of the lower end of the rotating seat 4.2 corresponding to the electromagnet, and when the electromagnet is electrified, the electromagnet and the permanent magnet 4.8 are mutually repelled.
The structure can realize the rotation of the rotating seat, and the rotating structure is simple and reliable, the cost is low, the control is simple, and only one electromagnet is needed to realize the rotation. And the time of the inclined state is longer than the time required by the horizontal state in the liquid changing process, so that the electromagnet can shorten the electrifying time and save the power consumption of the system.
The invention has the beneficial effects that: (1) the whole liquid changing process realizes full-automatic liquid changing, and reduces operation errors and pollution risks caused by manual operation; (2) the liquid suction needle head 3.1.5 can be automatically replaced; (3) the liquid outlet of the liquid adding needle head 3.1.7 is close to the side wall of one side of the culture medium, so that the cell culture solution slowly flows downwards along the side surface of the culture medium, and the cells attached to the side wall and the bottom surface are prevented from being washed away by the liquid flow too fast; (4) the rotating seat 4.2 is rotated and inclined by rotating the driver 4.5, so that the culture dish body 5 is inclined, and the liquid absorbing needle head 3.1.5 can absorb waste liquid completely; (5) the rotating structure of the rotating seat 4.2 is simple and reliable, the cost is low, the control is simple, the rotation can be realized only by one electromagnet, and the rotating seat 4.2 is kept horizontal by utilizing the gravity of the rotating seat 4.2.
Claims (9)
1. An automated cell preparation apparatus, comprising:
a sterile operating compartment (15) for providing a sterile environment for the cell extraction operation;
a sterile transfer chamber (16) for transferring test reagents, materials from a sterile environment into a sterile, operator compartment (15);
a full-automatic liquid changing device (18) for automatically changing liquid for a cell culture medium, a sterile operation cabin (15) is arranged between a sterile transfer cabin (16) and the full-automatic liquid changing device (18), the full-automatic liquid changing device (18) comprises a fixed platform (1), a transferring mechanical arm (2), a liquid changing mechanism (3), a culture dish working platform (4) and the transferring mechanical arm (2), the liquid changing mechanism (3) and the culture dish workbench (4) are arranged on the fixed table (1), the liquid changing mechanism (3) comprises a needle head module (3.1) and a moving driving mechanism (3.2) used for moving the needle head module (3.1), the needle head module (3.1) comprises a fixed block (3.1.1), a liquid adding needle tube (3.1.2) and a liquid absorbing needle tube (3.1.3), the liquid adding needle tube (3.1.2) and the liquid absorbing needle tube (3.1.3) are fixed on the fixed block (3.1.1), and the liquid absorbing needle tube (3.1.5) is arranged on the liquid absorbing needle tube (3.1.3);
a cell culture box (17) for culturing cells, and a full-automatic liquid changing device (18) is arranged between the sterile operation cabin (15) and the cell culture box (17).
2. The automated cell preparation apparatus of claim 1, wherein the sterile handling chamber (15) is provided with a robot arm.
3. The automated cell preparation device according to claim 1 or 2, wherein a rotating main shaft (17.1) is arranged in the cell culture box (17), a plurality of fixing frames (17.2) are circumferentially arranged on the rotating main shaft (17.1), a plurality of placing frames are arranged on the fixing frames (17.2) in the vertical direction, and the driving member drives the rotating main shaft (17.1) to rotate.
4. The automated cell preparation device according to claim 1 or 2, wherein the culture dish table (4) comprises a fixed seat (4.1) and a rotating seat (4.2) which are arranged side by side, the fixed seat (4.1) is fixed with the fixed seat (1), the rotating seat (4.2) is rotatably connected with the fixed seat (1), a rotating shaft (4.3) of the rotating seat (4.2) is arranged in parallel with a horizontal plane, a rotating driver (4.5) for driving the rotating seat (4.2) to rotate is arranged on the fixed seat (1), and the culture dish body (5) is placed on the rotating seat (4.2) during liquid change.
5. The automated cell preparation apparatus of claim 4, wherein the rotation axis (4.3) of the rotation base (4.2) is eccentrically disposed under the rotation base (4.2), the rotation driver (4.5) comprises an electromagnet, the electromagnet is fixed under the rotation base (4.2), the rotation axis (4.3) is disposed between the gravity center of the rotation base (4.2) and the electromagnet, a magnetic attraction block (4.6) is disposed at a position of the lower end of the rotation base (4.2) corresponding to the electromagnet, and when the electromagnet is energized, the electromagnet is in contact with the magnetic attraction block (4.6).
6. The automated cell preparation apparatus according to claim 4, wherein the rotating shaft (4.3) of the rotating base (4.2) is eccentrically disposed below the rotating base (4.2), the rotating driver (4.5) comprises an electromagnet, the electromagnet is fixed below the rotating base (4.2), the center of gravity of the rotating base (4.2) is disposed between the rotating shaft (4.3) and the electromagnet, a permanent magnet (4.8) is disposed at a position of the lower end of the rotating base (4.2) corresponding to the electromagnet, and when the electromagnet is energized, the electromagnet and the permanent magnet (4.8) repel each other.
7. The automated cell preparation apparatus according to claim 4, wherein the lower end of the priming needle tube (3.1.2) is provided with a priming needle (3.1.7), and the lower end of the priming needle (3.1.7) is bent to the side of the rotating base (4.2) with a lower height after being inclined.
8. An automated cell preparation apparatus according to claim 4, wherein the rotary shaft (4.3) is provided with a rotary damper.
9. The automated cell preparation apparatus according to claim 1 or 2, wherein the fixed platform (1) is provided with a vacuum chuck and a chuck lifting mechanism (2.2), the chuck lifting mechanism (2.2) is fixed with the fixed platform (1), the vacuum chuck is fixed with the chuck lifting mechanism (2.2), and the vacuum chuck is arranged right above the fixed base (4.1).
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| CN2021113885520 | 2021-11-22 | ||
| CN202111388552 | 2021-11-22 |
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Application publication date: 20220524 |