CN217025973U - Organoid construction workstation - Google Patents

Abstract

Embodiments of the present invention provide an organoid construction workstation. The organoid construction workstation includes: the pipetting device is used for collecting or pipetting a sample to form a cell culture sample; the incubator is used for culturing the cell culture sample; a centrifugation device for performing centrifugation; the cell counting device is used for counting the cells of the resuspended cells in the centrifuged cell culture sample; and a first mechanical arm for moving the cell culture sample between the centrifugation device, the cell counting device, the incubator, and the pipetting device. By adopting the organoid construction workstation provided by the embodiment of the utility model, the first mechanical arm can be used for replacing manual operation, and automatic control is realized. Firstly, the organoid construction workstation can realize standardized production, thereby reducing the difference in the organoid culture process and greatly improving the precision, stability and repeatability. Secondly, the organoid construction workstation can realize the high-flux production of organoids, and the yield is obviously increased.

Description

Organoid construction workstation

Technical Field

The utility model relates to the technical field of cells, in particular to an organoid construction workstation.

Background

Organoids are of great value for many studies in biology, disease pathology, regenerative mechanisms, precision medicine, drug screening, and the like. By means of the organoid, the human body can be helped to overcome many biological and medical research problems more efficiently and safely.

At present, organoid technology is still in the laboratory stage, and the main pain point hindering the industrial application is difficult to standardize, and the best realization form of standardization is automation. Many specialized experimental facilities and equipment can be used for organoid culture, and the current culture scheme relies on manual operation more, and on the one hand the operating efficiency is low, and on the other hand error easily appears.

No effective solution to the above problems has been proposed so far.

SUMMERY OF THE UTILITY MODEL

To at least partially solve the problems in the prior art, embodiments of the present invention provide an organoid construction workstation. The organoid construction workstation includes: the pipetting device is used for collecting or pipetting a sample to form a cell culture sample; the incubator is used for culturing the cell culture sample; a centrifugation device for performing centrifugation; the cell counting device is used for counting the cells of the resuspended cells in the centrifuged cell culture sample; and a first mechanical arm for moving cell culture samples between the centrifugation device, the cell counting device, the incubator, and the pipetting device.

Illustratively, a plurality of reagent stations for respectively placing a plurality of reagents and a plurality of sample stations for placing a plurality of sample containers are disposed within the pipetting device, the organoid construction station further comprising a second robotic arm for adding and/or sampling the plurality of reagents into and/or from each of the sample containers to form the cell culture sample.

Illustratively, at least one of the plurality of sample stations is a temperature controlled sample station.

Illustratively, the second robotic arm is positioned within the pipetting device, and the plurality of reagent stations and the plurality of sample stations are positioned on opposite sides of the second robotic arm.

Illustratively, the organoid build workstation further comprises a plate station for storing a culture plate for placing a cell culture sample, the first robotic arm for moving a sample container between the pipetting device and the plate station.

Illustratively, the centrifugation device, the cell counting device and the incubator are disposed adjacent to one another in sequence and on one side of the first robotic arm, and the plate station and the pipetting device are on the other side of the first robotic arm.

Illustratively, the plate station and the pipetting device are located adjacent to each other.

Illustratively, the organoid construction workstation further comprises an imaging device for recording the growth process of the organoid.

Illustratively, the imaging device and the pipetting device are located on the same side of the first robotic arm.

Illustratively, the openings of the centrifugation device, the cell counting device, the incubator, and the pipetting device all face the first robotic arm.

By adopting the organoid construction workstation provided by the embodiment of the utility model, the first mechanical arm can be used for replacing manual operation, and automatic control is realized. Firstly, the organoid construction workstation can realize standardized production, thereby reducing the difference in the organoid culture process and greatly improving the precision, stability and repeatability. Secondly, the organoid construction workstation can realize high-throughput production of organoids, the yield is obviously increased, and low differentiation of organoids can be ensured under the condition of high throughput without consuming extra manpower, so that the problem of poor repeatability caused by manual operation can be avoided, and the organoid culture consistency is better ensured. Therefore, the drug screening and research can be more efficiently and accurately carried out.

A series of concepts in a simplified form are introduced in the disclosure, which will be described in further detail in the detailed description section. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

The advantages and features of the present invention are described in detail below with reference to the accompanying drawings.

Drawings

The following drawings of the utility model are included to provide a further understanding of the utility model. The drawings illustrate embodiments of the utility model and, together with the description, serve to explain the principles of the utility model. In the drawings, there is shown in the drawings,

FIG. 1 is a schematic illustration of an organoid construction workstation according to an exemplary embodiment of the present invention; and

FIG. 2 is a flowchart of an organoid construction workstation according to an exemplary embodiment of the present invention.

Wherein the figures include the following reference numerals:

100. a pipetting device; 110. a reagent station; 111. a first reagent station; 112. a second reagent station; 113. a third reagent station; 114. a fourth reagent station; 115. a fifth reagent station; 116. A sixth reagent station; 120. a sample station; 200. an incubator; 300. a centrifugal device; 400. a cell counting device; 510. a first robot arm; 520. a second mechanical arm; 600. a plate station; 700. an image forming apparatus.

Detailed Description

In the following description, numerous details are provided to provide a thorough understanding of the utility model. One skilled in the art will recognize, however, that the following description is merely illustrative of a preferred embodiment of the utility model, and that the utility model can be practiced without one or more of these details. In other instances, well known features have not been described in detail so as not to obscure the utility model.

Embodiments of the present invention provide an organoid construction workstation. The organoid construction workstation may be used to culture organoids. Organoids include, but are not limited to, pancreatic islet organoids. The organoid construction workstation of embodiments of the present invention will be described in detail with reference to specific embodiments.

As shown in fig. 1, the organoid construction workstation may include a pipetting device 100, an incubator 200, a centrifugation device 300, a cell counting device 400, and a first robotic arm 510.

Pipetting device 100 may be used to collect or pipette samples to form cell culture samples. Specifically, the pipetting device 100 may have disposed therein a reagent station 110 and a sample station 120. The reagent station 110 may include a plurality. In the embodiment shown in the figures, the reagent stations 110 may comprise 6, namely a first reagent station 111, a second reagent station 112, a third reagent station 113, a fourth reagent station 114, a fifth reagent station 115 and a sixth reagent station 116. In practice, the reagent stations 110 may include 2, 3, or more. Each reagent station 110 may be used to separately place one or more reagents. Multiple reagent stations 110 may be used to place the same or different reagents, respectively. It should be noted that, in order to facilitate placing the reagent, the plurality of reagent stations 110 typically separately place reagent containers, in which the reagent can be placed. Illustratively, the agent may include any suitable agent during organoid culture, such as matrigel, Collagen I (Collagen type I) or DMEM (dulbecco's modified eagle medium), and the like. The sample station 120 may include a plurality. In the embodiment shown in the figures, the sample stations 120 may include 5. In practical applications, the sample stations 120 may include 2, 3, or more. Each sample station 120 may be used to place a sample container. A plurality of sample stations 120 for respectively placing the same or different sample containers. The configuration of the sample station 120 may be arbitrary, including but not limited to a tube rack for holding test tubes, etc., and in this embodiment, the sample containers may include test tubes. Illustratively, at least one of the plurality of sample stations 120 may be a temperature controlled sample station. A temperature controlled sample station is capable of controlling the temperature of a sample placed within a sample container of the station to maintain the sample within a predetermined temperature range. In this way, the sample station 120 may be used to place a matrix gel or other temperature-dependent sample during placement. The organoid construction workstation may also include a second robotic arm 520. The second mechanical arm 520 may be used to add multiple reagents to each sample container and/or to sample from a sample container so that a cell culture sample may be formed. It should be noted that, in practical use, the second mechanical arm 520 may also be used to perform more operations. For example, after a plurality of reagents are added into the sample container, the second mechanical arm 520 may also perform blow-mixing (i.e. pipetting and blowing) or cleaning, etc. on the sample in the sample container through the gun head disposed thereon.

Through this kind of setting, pipetting device 100's function is comparatively abundant, can use second arm 520 to replace manual operation, realizes automated control. Therefore, labor cost can be reduced, working efficiency can be improved, and yield is increased.

Illustratively, the second mechanical arm 520 may be disposed outside the pipetting device 100, or may be disposed inside the pipetting device 100. In embodiments where the second mechanical arm 520 is disposed within the pipetting device 100, the plurality of reagent stations 110 and the plurality of sample stations 120 may be located on either side of the second mechanical arm 520. So configured, the stroke of the second mechanical arm 520 may be reduced. In this way, the size of the second mechanical arm 520 can be reduced, and the pipetting device 100 can be miniaturized and is more suitable. Further, the material consumption of the second robot arm 520 is reduced, so that the manufacturing cost of the pipette device 100 can be reduced. And, the working range of the second mechanical arm 520 is small, and the working efficiency of the pipetting device 100 is high.

Incubator 200 may be used to incubate cell culture samples. Specifically, the cell culture sample formed in the pipetting device 100 may be transferred into the incubator 200 by the first robot 510, and may be incubated or the like. Depending on the requirements of the cell culture sample, incubator 200 may control its internal environment, e.g., temperature, CO, etc₂Content, etc. Illustratively, incubator 200 may be a visualization incubator. Therefore, the operator can observe the condition of the cell culture sample from the outside, and can conveniently and timely know the current condition of the cell culture sample.

The centrifuge apparatus 300 may be used to perform a centrifugation process. The centrifuge device 300 includes, but is not limited to, a centrifuge. The centrifugation device 300 may perform a centrifugation operation on the cell culture sample using a centrifugal force, thereby facilitating collection of the cells. The centrifuge apparatus 300 may control the magnitude of the centrifugal force and/or the time of centrifugation according to the requirements of the cell culture sample.

The cell counting device 400 can be used to count the number of cells resuspended in the centrifuged cell culture sample. The cell counting apparatus 400 includes, but is not limited to, a cytometer.

The first robotic arm 510 may be used to move cell culture samples between the centrifuge device 300, the cell counting device 400, the incubator 200, and the pipetting device 100. That is, the centrifugation apparatus 300, the cell counting apparatus 400, the incubator 200, and the pipetting apparatus 100 are all located within the working stroke of the first robot arm 510.

The positional relationship among the pipetting device 100, the incubator 200, the centrifugation device 300, the cell counting device 400, and the first robot arm 510 may be arbitrary. Illustratively, the first robot arm 510 may be located at the middle, and the pipetting device 100, the incubator 200, the centrifugation device 300, and the cell counting device 400 may be located at the outer periphery of the first robot arm 510. So configured, the stroke of the first robot 510 may be reduced. In this way, the first robot arm 510 can be reduced in size, and the pipetting device 100 can be miniaturized and made more adaptable. Also, the material consumption of the first robot arm 510 is reduced, so that the manufacturing cost of the pipette device 100 can be reduced. And, the working range of the first robot arm 510 is small, and the working efficiency of the pipetting device 100 is high.

Illustratively, the openings of the centrifugation apparatus 300, the cell counting apparatus 400, the incubator 200, and the pipetting apparatus 100 may all face the first robot arm 510. In this way, the first robotic arm 510 may be facilitated to move cell culture samples between these devices, thereby improving the work efficiency of the organoid build workstation.

So configured, the first robotic arm 510 may replace manual operations, thereby enabling automated control of the organoid build workstation.

In summary, the organoid construction workstation provided by the embodiments of the present invention has the following advantages:

1. and (4) standardizing.

In the conventional organoid culture work, there are differences in organoid culture due to differences in manipulation techniques, habits, and the like among different operators. Even with the same operator, it is difficult to ensure that the operations in different batches are completely identical. The presence of this problem makes the accuracy of conventional organoid culture poor. The organoid construction workstation introduces an artificial intelligent automatic instrument, replaces manual operation by a machine, aims to standardize the implementation of the constructed culture method, greatly reduces the difference in the organoid culture process, and greatly improves the precision, stability and repeatability.

2. High flux.

In the traditional organoid culture work, the culture steps are complicated, the manual operation consumes long time and the yield is low. If large-scale organoid culture is desired, a lot of manpower is required, and time cost and manpower cost cannot be avoided. Moreover, the participation of multiple operators in mass production increases the difference. Therefore, the low yield problem can be solved by using the automated instrument in the present organoid construction workstation: under the condition that parameters are set, the instrument can simultaneously and equivalently perform operations of liquid feeding, liquid changing and the like on a plurality of culture plates (which will be described later), so that the time difference in manual operation is avoided; the conversion of each step can be connected simultaneously, so that the time wasted by manual shift switching and inaccurate time estimation is saved. Therefore, high-throughput organoid production can be achieved with automated equipment, with significantly increased yields, e.g., 960 islet organoids can be cultured at once. Meanwhile, the low differentiation of the organoids can be ensured under the condition of high flux without consuming extra manpower.

3. High quality.

The automatic instrument in the organoid construction workstation can ensure that the cultured organoids have large yield and uniform quality.

4. And (4) intelligent automation.

The organ-like construction workstation takes cells as a main technology and combines AI (artificial intelligence) automation, which is a great direction for the development of the current science and technology. The intelligent automation can improve the culture speed and the culture yield, meanwhile, the AI intelligent analysis is combined, the next culture direction can be guided, and details missed by operators in the traditional culture process can be captured through big data analysis and screening conclusion. Under the basis of intelligent automation, manpower can be greatly saved, and the modification of culture details only needs to be carried out by parameter resetting, so that the method is convenient and fast.

5. Disease prevention and drug screening.

Taking islet organoids as an example, islet organoids are a variety of cells that exist within the islets of langerhans, and have similar 3D structures in vivo, more closely approximating cell living space, growth state and function in vivo. The organoid construction workstation combines a culture technology with an automated instrument to develop a high-efficiency and stable platform. The platform can be used for simulating and researching the influence of various interventions on the pancreatic islet development and the diabetes pathogenesis process, and has an important role in preventing the pancreatic islet development and the diabetes pathogenesis in the early life. Secondly, the islet organoids with similar functions in vivo can be used as an effective platform for screening diabetes drugs. In addition, molecular pathway research can be carried out on different types of cells of the islet organoids, important pathways of different cell types in the islet organoid forming process can be found, and certain revelation and clues are provided for basic research.

Illustratively, as shown in fig. 1, the organoid construction workstation may further include a plate station 600. Plate station 600 may be used to store culture plates. Culture plates include, but are not limited to, well plates. The culture plate may be used to place a cell culture sample. First robotic arm 510 may be used to move sample containers between pipetting device 100 and plate station 600. The board station 600 includes, but is not limited to, a rotating display board station. Through setting up board station 600, the organoid construction workstation of can being convenient for possesses the place culture plate to improve the functionality of organoid construction workstation.

Illustratively, the opening of the plate station 600 may face the first robot arm 510. In this way, the first robotic arm 510 may be facilitated to move the sample container, thereby improving the work efficiency of the organoid build workstation.

The positional relationship between the plate station 600 and the pipetting device 100, the incubator 200, the centrifugation device 300, the cell counting device 400, and the first robot arm 510 may be arbitrary. Illustratively, the centrifugation apparatus 300, the cell counting apparatus 400, and the incubator 200 may be disposed adjacent to each other in this order, and on one side of the first robot arm 510. The plate station 600 and pipetting device 100 may be located on the other side of the first robotic arm 510. With such an arrangement, the process of organoid culture and the operation sequence of the first mechanical arm 510 can be matched, so that the stroke of the first mechanical arm 510 can be reduced, and the work efficiency of the pipetting device 100 can be improved.

Further, the plate station 600 and the pipetting device 100 may be arranged adjacently. In this way, the stroke of the first robot arm 510 can be further reduced, and the operation efficiency of the pipetting device 100 can be improved.

Illustratively, the organoid construction workstation may also include an imaging device 700. The first robotic arm 510 may move the cell culture sample into the imaging device 700. Imaging apparatus 700 may be used to record the growth process of organoids. Illustratively, the imaging apparatus 700 may achieve high content/cyto (cellular) imaging, as well as multiple (e.g., quadruple) imaging. Thus, the imaging device 700 can not only dynamically record (e.g., photograph) the growth process of the organoid, but also set the optimal conditions in coordination with the organoid culture, and realize the functions of parameter customization, environmental control, etc., such as temperature control, CO control, etc., in the imaging device 700₂Content, etc.

Illustratively, the opening of the imaging device 700 may face the first robot arm 510. In this way, the first robotic arm 510 may be facilitated to move the sample container, thereby improving the organoid build workstation work efficiency.

The positional relationship between the imaging device 700 and the pipetting device 100, the incubator 200, the centrifugation device 300, the cell counting device 400, and the first robot arm 510 may be arbitrary. Illustratively, imaging device 700 and pipetting device 100 may be located on the same side of first robotic arm 510. The centrifugation apparatus 300, the cell counting apparatus 400, and the incubator 200 may be located at the other side of the first robot arm 510. With such an arrangement, the process of organoid culture and the operation sequence of the first mechanical arm 510 can be matched, so that the stroke of the first mechanical arm 510 can be reduced, and the work efficiency of the pipetting device 100 can be improved. In embodiments where the organoid build station includes plate station 600, imaging device 700, plate station 600, and pipetting device 100 may be positioned adjacent in sequence.

The working principle of the organoid construction workstation according to the embodiment of the present invention will be described in detail below with reference to fig. 2, taking an islet organoid as an example.

1. And (4) culturing the cells. Three types of cells are required for the culture of islet organoids: MIN6 (mouse insulinoma cells), HUVEC (human umbilical vein endothelial cells) and MSC (mesenchymal stem cells), and when the cells are propagated to the target number, organoid culture can be started.

2. And laying matrix glue. The second mechanical arm 520 respectively sucks the reagent on the first reagent station 111Collagen I, matrigel, DMEM, and high glucose (high sugar), and added to the test tubes at the specimen station 120. After the cell culture samples in the test tubes are mixed by the second robotic arm 520, they are transferred to the well plates in the plate station 600 by the first robotic arm 510. It should be noted that the whole process needs to be carried out at 4 ℃ because of the nature of the matrix gel. The first robotic arm 510 may move the well plate into the incubator 200 with 5% CO at 37 ℃₂The well plate was incubated for at least 30 minutes to complete the spreading.

3. And (4) digesting the cells. After the cells are cultured to 80-90% confluence, the first robotic arm 510 can move the well plate into the pipetting device 100. The second robotic arm 520 may inject the cell culture sample into the test tube at the sample station 120, then add 5 ml of PBS (phosphate buffered saline) at the third reagent station 113, then gently wash and aspirate the PBS, then add 2 ml of trypsin-EDTA (trypsin) at the fourth reagent station 114. The first robotic arm 510 moves the cuvette into the incubator 200 until the cell separation is > 90% (approximately 2-6 minutes).

4. Cells were collected by centrifugation. The first robotic arm 510 moves the cuvette from the incubator 200 into the centrifuge apparatus 300. Centrifugation was carried out at 150 Xg for 5 minutes at 4 ℃. After centrifugation is complete, the first robotic arm 510 moves the test tube into the pipetting device 100.

5. DMEM resuspends the cells. The supernatant is removed by the second mechanical arm 520 and then DMEM is added to the fifth reagent station 115 to be resuspended. The sample was transferred to the centrifuge 300 by the first robot 510, and centrifuged at a centrifugal force of 150 Xg at 4 ℃ for 5 minutes.

6. And (6) counting the cells. The tube is moved to the cell counting device 400 by the first robot arm 510, and the cell count is performed on the resuspended cells.

7. The cells are mixed in proportion. After counting, the amount of mixed cells needed is calculated and the tube is moved back into the pipetting device 100 using the first robotic arm 510, in DMEM where the MIN6, HUVEC and MSC cells are mixed in proportion.

8. The mixed cells were collected by centrifugation. After the cells are mixed, the cells are moved to the centrifuge apparatus 300 by the first robot arm 510, centrifuged at a centrifugal force of 100 Xg at 4 ℃ for 5 minutes, and moved back to the pipetting apparatus 100.

9. DMEM resuspends the cells. The supernatant is removed by the second mechanical arm 520, and then added to the sixth reagent station 116 in an amount of DMEM equivalent to the amount of the applied matrigel for resuspension.

10. And (5) plating cells. The resulting cell suspension was blown and mixed uniformly by the second robot 520, and then dispensed uniformly onto the well-laid matrigel well plate, which was then moved into the incubator 200 by the first robot 510 to start organoid culture.

11. High connotation/cyto rendering. Quadruple imaging can be carried out, and the growth change process of the organoid can be recorded and shot dynamically. Meanwhile, optimal conditions can be formulated by matching with organoid culture, and parameter customization, environmental control and the like can be realized in the instrument.

In the description of the present invention, it is to be understood that the directions or positional relationships indicated by the directional terms such as "front", "rear", "upper", "lower", "left", "right", "lateral", "vertical", "horizontal" and "top", "bottom", etc., are generally based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, and in the case of not making a reverse explanation, these directional terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the scope of the present invention; the terms "inner" and "outer" refer to the interior and exterior of the respective components as they relate to their own contours.

For convenience of description, relative terms of regions such as "above … …", "above … …", "above … …", "above", and the like may be used herein to describe the positional relationship of one or more elements or features with respect to other elements or features shown in the figures. It is understood that relative terms are intended to encompass not only the orientation of the component as depicted in the figures, but also different orientations in use or operation. For example, if an element in the figures is turned over in its entirety, elements "above" or "over" other elements or features would include elements "below" or "beneath" other elements or features. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". Further, these components or features may also be positioned at various other angles (e.g., rotated 90 degrees or other angles), all of which are intended to be encompassed herein.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, elements, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the utility model to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, all of which fall within the scope of the present invention as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims (10)

1. An organoid construction workstation, comprising:

a pipetting device for collecting or pipetting a sample to form a cell culture sample;

the incubator is used for culturing the cell culture sample;

a centrifugation device for performing centrifugation;

the cell counting device is used for counting the cells of the resuspended cells in the centrifuged cell culture sample; and

a first mechanical arm for moving cell culture samples between the centrifugation device, the cell counting device, the incubator, and the pipetting device.

2. The organoid construction workstation of claim 1 wherein a plurality of reagent stations for respectively placing a plurality of reagents and a plurality of sample stations for placing a plurality of sample containers are disposed within said pipetting device, said organoid construction workstation further comprising a second robotic arm for adding and/or sampling said plurality of reagents into and/or from each of said sample containers to form said cell culture samples.

3. The organoid build workstation of claim 2 wherein at least one of the plurality of sample stations is a temperature controlled sample station.

4. The organoid construction workstation of claim 2 wherein said second robotic arm is positioned within said pipetting device, and said plurality of reagent stations and said plurality of sample stations are positioned on opposite sides of said second robotic arm, respectively.

5. The organoid build workstation of claim 1 further comprising a plate station for storing a culture plate for placing a cell culture sample, said first robotic arm for moving a sample container between said pipetting device and said plate station.

6. The organoid build workstation of claim 5 wherein said centrifugation device, said cell counting device and said incubator are disposed adjacent one another in sequence and on one side of said first robotic arm, and said plate station and said pipetting device are on the other side of said first robotic arm.

7. The organoid build workstation of claim 5 wherein said plate station and said pipetting device are disposed adjacent.

8. The organoid construction workstation of any of claims 1-7, further comprising imaging means for recording organoid growth processes.

9. The organoid construction workstation of claim 8 wherein said imaging device and said pipetting device are located on the same side of said first robotic arm.

10. The organoid build workstation of claim 1 wherein the openings of the centrifugation device, the cell counting device, the incubator, and the pipetting device all face the first robotic arm.

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