CN117783457A - Automatic system for in-vitro pharmacokinetic experiment and control method thereof - Google Patents
Automatic system for in-vitro pharmacokinetic experiment and control method thereof Download PDFInfo
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- CN117783457A CN117783457A CN202311642310.9A CN202311642310A CN117783457A CN 117783457 A CN117783457 A CN 117783457A CN 202311642310 A CN202311642310 A CN 202311642310A CN 117783457 A CN117783457 A CN 117783457A
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Abstract
The invention discloses an automatic system for in-vitro pharmacokinetic experiments and a control method thereof. The automatic system for the in-vitro pharmacokinetic experiment provided by the invention not only can finish liquid treatment works such as sample adding, gradient dilution, liquid separation and the like more accurately and efficiently, but also can finish other operations such as oscillation incubation, sealing plate and tearing film, centrifugation, solid-liquid separation, sample plate preservation and the like automatically, has high degree of automation, effectively reduces errors of manual operation, saves labor cost and improves the speed, quality and flux of the in-vitro pharmacokinetic experiment.
Description
Technical Field
The invention relates to the field of chemical pharmacy, in particular to an automatic system for in-vitro pharmacokinetic experiments and a control method thereof.
Background
ADME is an abbreviation for drug "Absorption (Absorption), distribution (Distribution), metabolism (Metabolism) and Excretion (Excretion)" representing the process of drug treatment by the body. ADME properties of a drug are determined by its structure, and measuring ADME properties of a drug can provide an important reference value for predicting its bioavailability and bioactivity (i.e., whether a drug can reach its target of action and produce a corresponding therapeutic effect). The metabolic properties of the compounds are important factors related to whether the compounds can be prepared and truly applied to clinic, so that the pharmacokinetics research on newly synthesized compounds is needed in the research and development of medicaments. In early developments, ADME property studies were performed primarily by developing in vivo Pharmacokinetics (PK) experiments in animals, and the data obtained was predictive of PK behavior in humans for drugs. Later, with the development of pharmaceutical industry, the compounds for which ADME property screening is required are greatly increased, and research on ADME properties thereof is also required to be more intensive, and in vitro ADME experiments are generated. In the lead compound optimization (Lead Optimization, LO) and candidate compound establishment (Pre-Clinical Candidate, PCC) stages, comprehensive in vitro ADME studies are often required, such as multi-species metabolic stability, plasma protein binding, compound interaction with transporters, inhibition of drug metabolizing enzymes, etc., in combination with animal PK data, predicting human pharmacokinetics.
Microsomal metabolization studies are a common method of in vitro pharmacokinetics. The liver microsome metabolic stability experiment is an in vitro model which is most widely applied in researching the metabolic conversion process of the medicine under the action of a phase of metabolic enzyme (such as cytochrome P450 enzyme). Drugs have species differences in metabolic processes, and therefore experiments on hepatic microsomal metabolic stability are typically performed in multiple species. The most common species include humans for predicting clinical doses, rats for toxicity studies, mice for specific drug efficacy models, and dogs and monkeys for large animal toxicology experiments.
The traditional in-vitro pharmacokinetic experiment is mainly a manual experiment and a semiautomatic experiment, and the traditional manual experiment is to manually perform liquid treatment work such as pipetting, sample adding, dilution and the like, so that the flux is low, the repeatability is poor and errors are easy to generate; the semiautomatic experiment can finish corresponding liquid treatment work based on an automatic liquid treatment workstation, but the efficiency improvement of other operation steps of in-vitro pharmacokinetic experiments is not obvious, such as the operations of film tearing and sealing plates, centrifugation, solid-liquid separation and the like of a sample plate, manual operation is required, the efficiency and the accuracy of the experiment are influenced, and operators are required to be on duty, so that time and labor are wasted, and the experimental efficiency is further influenced.
Therefore, the field needs an automation system for in vitro pharmacokinetic experiments with high precision, high flux and high timeliness, which not only can finish liquid treatment works such as sample adding, gradient dilution, liquid separation and the like more accurately and efficiently, but also can finish other operations such as oscillation incubation, sealing plate and tearing film, centrifugation, solid-liquid separation, sample plate preservation and the like automatically, has high automation degree, effectively reduces errors of manual operation, saves labor cost, and improves the speed, quality and flux of in vitro pharmacokinetic experiments.
Disclosure of Invention
In order to solve the technical problems, the invention provides the following technical scheme:
an automated system for in vitro pharmacokinetic experiments, the automated system for in vitro pharmacokinetic experiments comprising an operation panel, a first automatic pipetting device, a second automatic pipetting device, a grasping transfer device, a human-computer interaction control module, a sample processing module, a sample plate processing module, a centrifugation module and a storage module, wherein:
the table top of the operation table is provided with a shell, the first automatic liquid transferring device, the second automatic liquid transferring device and the grabbing and transferring device are fixedly arranged at the top of the upper space of the shell, and the first automatic liquid transferring device, the second automatic liquid transferring device and the grabbing and transferring device can do linear motion along an X axis, a Y axis and a Z axis relative to the table top of the operation table;
the sample processing module, the sample plate processing module and the storage module are fixedly arranged at the top of the operation table and are positioned in the shell;
the centrifugal module is fixedly arranged at the bottom end of the operation table, a through hole is formed in the table top of the operation table, the top surface of the centrifugal module corresponds to the position of the through hole, and the through hole is used for conveniently conveying a sample to be centrifuged;
the human-computer interaction control module is fixedly arranged on one side of the operation console, is positioned outside the shell and is respectively and electrically connected with the first automatic pipetting device, the second automatic pipetting device, the grabbing and transferring device, the sample processing module, the centrifugal module and the storage module, so that control over equipment of each device is realized.
Specifically, the first automatic pipetting device is an 8-channel pipetting mechanical arm, the 8-channel pipetting mechanical arm comprises 8 independent pipetting channels, an X-axis sliding rail and a Y-axis sliding rail are arranged at the top of each pipetting channel, and the pipetting channels respectively do X-axis linear motion and Y-axis linear motion along the X-axis sliding rail and the Y-axis sliding rail.
Specifically, the second automatic pipetting device is a 96-channel pipetting mechanical arm, and the 96-channel pipetting mechanical arm comprises 96 independent pipetting channels.
Specifically, the second automatic pipetting device is a 384-channel pipetting mechanical arm, and the 384-channel pipetting mechanical arm comprises 384 independent pipetting channels.
Specifically, the grabbing and transferring device is a mechanical grabbing mechanical arm, and the mechanical grabbing mechanical arm is provided with a gripper automatic replacement system.
In particular, the sample processing module comprises a heating oscillator and a CO 2 Incubator, the heating oscillator is fixedly arranged at the top of the operation table, the CO 2 The incubator is fixedly arranged at the rear side of the operation table, and the heating oscillator and the CO 2 IncubatorAnd the device is respectively connected with the man-machine interaction control module through a wired cable or wireless communication.
Specifically, 8 heating oscillators are arranged, the oscillation speed of the heating oscillators is 0-1000rpm, and the heatable temperature of the heating oscillators is 4-80 ℃.
Specifically, sample board processing module includes sealing membrane machine and dyestripping machine, sealing membrane machine and dyestripping machine are all fixed mounting in one side at the operation panel top, just sealing membrane machine and dyestripping machine are connected through cable or wireless communication with man-machine interaction control module respectively.
Specifically, the centrifugal module is a centrifugal machine, the centrifugal machine is fixedly arranged below the operation table and corresponds to the through hole, the centrifugal machine is used for centrifuging the sample plate, and the centrifugal machine is connected with the man-machine interaction control module through a wired cable or wireless communication.
Specifically, the storage module is a temperature control carrier, the temperature control carrier is fixedly arranged on one side of the top of the operating platform, 3 layers of object placing plates are arranged in the temperature control carrier, 8 plate positions are arranged on each layer of object placing plate, the temperature control carrier is used for storing sample plates, and the adjustable temperature range of the temperature control carrier is 0-20 ℃.
Specifically, a plurality of plate positions are arranged on the top of the operation table, and the plate positions are used for placing 96-well plates or 384-well plates.
In another aspect of the present invention, there is provided a control method based on the aforementioned automated system for in vitro pharmacokinetic experiments, the method comprising the steps of:
s1, an operator places a compound to be detected and an experimental reagent into a working area of an operation table, a required pipetting operation instruction is input into a man-machine interaction control module, and a first automatic pipetting device performs pipetting and pipetting operations on the compound to be detected and the experimental reagent;
s2, a grabbing and transferring device transfers a sample plate and is placed on a plate position, the sample plate is a 96-hole plate or a 384-hole plate, and a second automatic pipetting device adds sample liquid to be measured after liquid separation into the sample plate;
s3, the grabbing and transferring device moves the sample plate after liquid adding to a heating oscillator, constant-temperature timing incubation is carried out according to experimental conditions input by an operator in the man-machine interaction control module, and then a second automatic pipetting device is used for adding a stopping solution into the sample plate to stop the reaction;
s4, the grabbing and transferring device moves the sample plate to a film sealing machine for film sealing, and after film sealing is finished, the sample plate is moved to a heating oscillator for oscillation and uniform mixing;
s5, after uniform mixing, the grabbing and transferring device moves the sample plate to a centrifugal machine, and the centrifugal machine is carried out according to experimental conditions input by an operator in the man-machine interaction control module;
s6, after centrifugation, the grabbing and transferring device moves the sample plate to a film tearing machine to remove films, and after the films are removed, the grabbing and transferring device moves the sample plate to the plate position;
s7, removing the supernatant in the sample plate by a second automatic pipetting device;
s8, the grabbing and transferring device moves the sample plate to the temperature control carrier and stores the sample plate in a temperature condition input by an operator in the man-machine interaction control module.
The beneficial effects of the invention include:
1. according to the automatic system for the in-vitro pharmacokinetic experiment, provided by the invention, through the arrangement of the first automatic pipetting device, the second automatic pipetting device and the grabbing and transferring device, the liquid treatment works such as manual pipetting, dilution and liquid separation are replaced, so that the labor cost can be saved, and the flux, the accuracy and the speed of the experiment are improved.
2. According to the automatic system for the in-vitro pharmacokinetic experiment, provided by the invention, through the arrangement of the sample plate processing module, the centrifugal module and the storage module, not only can the automation of liquid processing work be realized, but also other in-vitro pharmacokinetic experiment operations such as oscillation incubation, sealing plate and tearing film, centrifugation, solid-liquid separation, sample plate preservation and the like can be automatically completed, so that the automation degree of the in-vitro pharmacokinetic experiment is greatly improved, the whole process can be performed unattended, the in-vitro pharmacokinetic experiment efficiency is obviously improved, and the automatic system has positive significance for in-vitro pharmacokinetic study.
Drawings
FIG. 1 is a schematic diagram of an automated system for in vitro pharmacokinetic experiments in a top view;
FIG. 2 is a schematic view showing the positional relationship between an operation table and a housing, a first automatic pipetting device, a second automatic pipetting device and a grabbing and transferring device in the invention;
in the figure, 1, an operation table; 2. a man-machine interaction control module; 3. a sample processing module; 4. a centrifugal module; 5. a storage module; 6. a sample plate processing module; 7. a first automatic pipetting device; 8. a second automatic pipetting device; 9. a grabbing and transferring device; 10. a housing.
Detailed Description
The following description of the present invention will be made clearly and fully, and it is apparent that the embodiments described are some, but not all, of the embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1-2, the present embodiment illustrates an automated system for in vitro pharmacokinetic experiments, the automated system for in vitro pharmacokinetic experiments comprising a console 1, a first automatic pipetting device 2, a second automatic pipetting device 8, a grabbing and transferring device 9, a human-computer interaction control module 2, a sample processing module 3, a sample plate processing module 6, a centrifugation module 4 and a storage module 5, wherein:
a shell 10 is arranged on the table top of the operation table 1, the first automatic pipetting device 2, the second automatic pipetting device 8 and the grabbing and transferring device 9 are fixedly arranged on the top of the upper space of the shell 10, and the first automatic pipetting device 2, the second automatic pipetting device 8 and the grabbing and transferring device 9 can do linear movement along the X axis, the Y axis and the Z axis relative to the table top of the operation table 1;
the first automatic pipetting device 2 is an 8-channel pipetting mechanical arm, the 8-channel pipetting mechanical arm comprises 8 independent pipetting channels, an X-axis sliding rail and a Y-axis sliding rail are arranged at the top of each pipetting channel, and the pipetting channels do X-axis linear motion and Y-axis linear motion along the X-axis sliding rail and the Y-axis sliding rail respectively. 8 independent pipetting channels can move along the X-axis slide rail and the Y-axis slide rail, so that the distance is adjusted, the distance adjustment range is between 9 mm and 38mm, and the pipetting channels are used for rapidly transferring liquid between containers such as test tubes and pore plates or performing operations such as random sample pickup.
The second automatic pipetting device 8 may alternatively be a 96-channel pipetting robot or a 384-channel pipetting robot, the 96-channel pipetting robot comprising 96 independent pipetting channels and the 384-channel pipetting robot comprising 384 independent pipetting channels. According to the required flux of experiments, an experimenter can select to use a 96-channel pipetting mechanical arm or a 384-channel pipetting mechanical arm, and the arrangement of the multi-channel pipetting mechanical arm can be used for single-row (8-channel), single-column (12-channel), double-row (16-channel), double-row (24-channel) or single-channel sample loading, and meanwhile, the experimental flux is also remarkably improved.
The grabbing and transferring device 9 is a mechanical grabbing mechanical arm, and the mechanical grabbing mechanical arm is provided with a gripper automatic replacing system, so that gripper replacement can be performed according to the destination of the required sample plate.
The first automatic pipetting device 2, the second automatic pipetting device 8 and the grabbing and transferring device 9 move independently, are not interfered with each other, and have the following moving precision: XYZ axes.+ -. 0.1mm. The pipettable range of the first automatic pipetting device 2 and the second automatic pipetting device 8 is 0.5-1000 μl.
The top of the operation table 1 is provided with a plurality of plate positions which are used for placing 96-well plates or 384-well plates, and 40-50 plate positions can be arranged in the invention, so that a plurality of sample plates can be processed simultaneously.
The sample processing module 3, the sample plate processing module 6 and the storage module 5 are fixedly arranged at the top of the operation table 1, and the sample processing module 3, the sample plate processing module 6 and the storage module 5 are positioned in the shell 10;
the centrifugal module 4 is fixedly arranged at the bottom end of the operation table 1, a through hole is formed in the table top of the operation table 1, the top surface of the centrifugal module 4 corresponds to the position of the through hole, and the through hole is used for conveniently conveying a sample to be centrifuged; in the present invention, the sample plate to be centrifuged is gripped by the gripping and transferring device 9 and moved vertically downward, passes through the through-hole, and finally is put into a centrifuge for centrifugation.
The man-machine interaction control module 2 is fixedly arranged on one side of the operation table 1, the man-machine interaction control module 2 is located outside the shell 10, and the man-machine interaction control module 2 is electrically connected with the first automatic pipetting device 2, the second automatic pipetting device 8, the grabbing and transferring device 9, the sample processing module 3, the centrifugal module 4 and the storage module 5 respectively, and can realize control of equipment of each device through two connection modes of a wired cable and wireless communication.
The sample processing module 3 comprises a heating oscillator and CO 2 Incubator, heating oscillator fixed on the top of the operation table 1, CO 2 The incubator is fixedly arranged at the rear side of the operation table 1, and is provided with a heating oscillator and CO 2 The incubator is respectively connected with the man-machine interaction control module 2 through a wired cable or wireless communication.
The number of the heating oscillators is 8, the oscillation speed of the heating oscillators is 0-1000rpm, and the heatable temperature of the heating oscillators is 4-80 ℃.
The sample plate processing module 6 comprises a film sealing machine and a film tearing machine, wherein the film sealing machine and the film tearing machine are fixedly arranged on one side of the top of the operating platform 1, and the film sealing machine and the film tearing machine are respectively connected with the man-machine interaction control module 2 through a wired cable or wireless communication. The grabbing and transferring device 9 transfers the sample plate to a film sealing machine and a film tearing machine, and the film sealing machine and the film tearing machine respectively complete film sealing and film removing work on the sample plate, and a transparent film capable of being torn is used.
The centrifugal module 4 is a centrifugal machine, the centrifugal machine is fixedly arranged below the operation table 1 and corresponds to the through hole, the centrifugal machine is used for centrifuging the sample plate, and the centrifugal machine is connected with the man-machine interaction control module 2 through a wired cable or wireless communication.
The storage module 5 is a temperature control carrier which is fixedly arranged on one side of the top of the operating platform 1, 3 layers of object placing plates are arranged in the temperature control carrier, 8 plate positions are arranged on each layer of object placing plate, the temperature control carrier is used for storing sample plates, and the adjustable temperature range of the temperature control carrier is 0-20 ℃.
This example also shows a control method of an automated system for in vitro pharmacokinetic experiments, comprising the steps of:
s1, an operator places a compound to be detected and an experimental reagent into a working area of an operation table 1, a human-computer interaction control module 2 inputs a pipetting operation instruction to be performed, and a first automatic pipetting device 2 performs pipetting and pipetting operations on the compound to be detected and the experimental reagent;
s2, a grabbing and transferring device 9 transfers a sample plate which is a 96-hole plate or 384-hole plate and is placed on a plate position, and a second automatic pipetting device 8 adds the sample liquid to be measured after liquid separation into the sample plate;
s3, the grabbing and transferring device 9 moves the added sample plate to a heating oscillator, constant-temperature and timing incubation is carried out according to the experimental conditions input by an operator in the man-machine interaction control module 2, in the microsome metabolic stability experiment, the incubation temperature can be set to be 37 ℃, and then a second automatic pipetting device 8 is used for adding a stop solution into the sample plate to stop the reaction;
s4, the grabbing and transferring device 9 moves the sample plate to a film sealing machine for film sealing, and after film sealing is finished, the sample plate is moved to a heating oscillator for oscillation and uniform mixing;
s5, after uniform mixing, the grabbing and transferring device 9 moves the sample plate to a centrifuge, and centrifugation is carried out according to experimental conditions input by an operator in the man-machine interaction control module 2;
s6, after centrifugation, the grabbing and transferring device 9 moves the sample plate to a film tearing machine to remove films, and after the films are removed, the grabbing and transferring device 9 moves the sample plate to a plate position;
s7, removing the supernatant in the sample plate by a second automatic pipetting device 8;
s8, the grabbing and transferring device 9 moves the sample plate to the temperature control carrier and stores the sample plate at the temperature input by the man-machine interaction control module 2, and the sample plate can be stored at the temperature of 4 ℃ in a microsome metabolic stability experiment.
The automatic system for in-vitro pharmacokinetic experiments is used for in-vitro pharmacokinetic experiments, so that the experimental flux is obviously improved, the working system of eight hours can be broken, the experimental process can be automatically completed at night, the labor force of researchers is liberated, the probability of staff contact with occupational hazards is reduced, the advancing speed of experimental projects is accelerated, the efficiency is improved, the project period is ensured, and the experimental result is high in reliability and high in repeatability.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, but any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. An automated system for in vitro pharmacokinetic experiments, characterized in that the automated system for in vitro pharmacokinetic experiments comprises an operation panel, a first automatic pipetting device, a second automatic pipetting device, a grabbing transfer device, a human-computer interaction control module, a sample processing module, a sample plate processing module, a centrifugation module and a storage module, wherein:
the table top of the operation table is provided with a shell, the first automatic liquid transferring device, the second automatic liquid transferring device and the grabbing and transferring device are fixedly arranged at the top of the upper space of the shell, and the first automatic liquid transferring device, the second automatic liquid transferring device and the grabbing and transferring device can do linear motion along an X axis, a Y axis and a Z axis relative to the table top of the operation table;
the sample processing module, the sample plate processing module and the storage module are fixedly arranged at the top of the operation table and are positioned in the shell;
the centrifugal module is fixedly arranged at the bottom end of the operation table, a through hole is formed in the table top of the operation table, the top surface of the centrifugal module corresponds to the position of the through hole, and the through hole is used for conveniently conveying a sample to be centrifuged;
the human-computer interaction control module is fixedly arranged on one side of the operation console, is positioned outside the shell and is respectively and electrically connected with the first automatic pipetting device, the second automatic pipetting device, the grabbing and transferring device, the sample processing module, the centrifugal module and the storage module, so that control over equipment of each device is realized.
2. The automated system for in vitro pharmacokinetic experiments of claim 1 wherein the first automated pipetting device is an 8-channel pipetting robot comprising 8 independent pipetting channels, the top of which is provided with an X-axis slide and a Y-axis slide along which the pipetting channels do an X-axis linear motion and a Y-axis linear motion, respectively.
3. The automated system for in vitro pharmacokinetic experiments of claim 1 wherein the second automated pipetting device is a 96-channel pipetting robot comprising 96 independent pipetting channels.
4. The automated system for in vitro pharmacokinetic experiments of claim 1 wherein the second automated pipetting device is a 384 channel pipetting robot, the 384 channel pipetting robot comprising 384 independent pipetting channels.
5. The automated system for in vitro pharmacokinetic experiments of claim 1 wherein the grasping transfer device is a mechanical grasping mechanical arm provided with a gripper automatic changing system.
6. The automated system for in vitro pharmacokinetic experiments of claim 1 wherein the sample processing module comprises a heated oscillator and CO 2 Incubator, the heating oscillator is fixedly arranged at the top of the operation table, the CO 2 The incubator is fixedly arranged at the rear side of the operation table, and the heating oscillator and the CO 2 The incubator is respectively connected with the man-machine interaction control module through a wired cable or wireless communication.
7. The automated system for in vitro pharmacokinetic experiments of claim 6 wherein the number of heating oscillators is 8, the oscillation speed of the heating oscillators is 0-1000rpm, and the heatable temperature of the heating oscillators is 4-80 ℃.
8. The automated system for in vitro pharmacokinetic experiments of claim 1, wherein the sample plate processing module comprises a film sealing machine and a film tearing machine, both of which are fixedly installed on one side of the top of the operation table, and are respectively connected with the man-machine interaction control module through a wired cable or wireless communication.
9. The automated system for in vitro pharmacokinetic experiments of claim 1, wherein the centrifugation module is a centrifuge fixedly mounted below the console and corresponding to the through-hole, the centrifuge is used for centrifuging the sample plate, and the centrifuge is connected with the man-machine interaction control module through a wired cable or wireless communication.
10. The automated system for in vitro pharmacokinetic experiments of claim 1 wherein the storage module is a temperature controlled carrier fixedly mounted on one side of the top of the console, three layers are provided in the temperature controlled carrier for storing the sample plates, and the temperature controlled carrier has an adjustable temperature range of 0-20 ℃.
11. The automated system for in vitro pharmacokinetic experiments of claim 1 wherein the top of the console is provided with a plurality of plates for placement of 96-well plates or 384-well plates.
12. A control method based on an automated system for in vitro pharmacokinetic experiments according to any one of claims 1 to 11, characterized in that the method comprises the steps of:
s1, an operator places a compound to be detected and an experimental reagent into a working area of an operation table, a required pipetting operation instruction is input into a man-machine interaction control module, and a first automatic pipetting device performs pipetting and pipetting operations on the compound to be detected and the experimental reagent;
s2, a grabbing and transferring device transfers a sample plate and is placed on a plate position, the sample plate is a 96-hole plate or a 384-hole plate, and a second automatic pipetting device adds sample liquid to be measured after liquid separation into the sample plate;
s3, the grabbing and transferring device moves the sample plate after liquid adding to a heating oscillator, constant-temperature timing incubation is carried out according to experimental conditions input by an operator in the man-machine interaction control module, and then a second automatic pipetting device is used for adding a stopping solution into the sample plate to stop the reaction;
s4, the grabbing and transferring device moves the sample plate to a film sealing machine for film sealing, and after film sealing is finished, the sample plate is moved to a heating oscillator for oscillation and uniform mixing;
s5, after uniform mixing, the grabbing and transferring device moves the sample plate to a centrifugal machine, and the centrifugal machine is carried out according to experimental conditions input by an operator in the man-machine interaction control module;
s6, after centrifugation, the grabbing and transferring device moves the sample plate to a film tearing machine to remove films, and after the films are removed, the grabbing and transferring device moves the sample plate to the plate position;
s7, removing the supernatant in the sample plate by a second automatic pipetting device;
s8, the grabbing and transferring device moves the sample plate to the temperature control carrier and stores the sample plate in a temperature condition input by an operator in the man-machine interaction control module.
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2023
- 2023-12-04 CN CN202311642310.9A patent/CN117783457A/en active Pending
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