CN219603592U - Automatic organoid liquid partial shipment system - Google Patents
Automatic organoid liquid partial shipment system Download PDFInfo
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- CN219603592U CN219603592U CN202223446396.1U CN202223446396U CN219603592U CN 219603592 U CN219603592 U CN 219603592U CN 202223446396 U CN202223446396 U CN 202223446396U CN 219603592 U CN219603592 U CN 219603592U
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Abstract
An automated organoid fluid dispensing system comprising a dispensing unit controlled by a control structure, a culturing unit, a centrifugal structure, and a moving structure; also includes a receiving structure; the receiving structure receives the organoid liquid; the control structure controls the movable structure to move the receiving structure between different units and structures, the sub-packaging unit automatically completes sub-packaging of liquid with organoids, the culture unit completes culture solidification of the liquid in the receiving structure and culture of the whole receiving structure, and the centrifugal structure completes downward centrifugation of the liquid received by the receiving structure; the organoid sub-packaging step can be a bottom three-dimensional structure formed by two sub-packaging steps, and an upper culture environment; the liquid containing organoids, culture substances and matrigel substances is directly packaged in one step. The system can also effectively and normally automate and standardize the effective split charging of the organoids, can greatly reduce errors caused by nonstandard operation, and provides an effective split charging mode.
Description
Technical Field
The utility model belongs to the technical field of medical systems, and particularly relates to an automatic organoid processing system.
Background
Organoids belong to three-dimensional (3D) cell cultures, which contain some key properties that represent organs. Such in vitro culture systems comprise a self-renewing stem cell population that can differentiate into a plurality of organ-specific cell types, possess similar spatial organization to the corresponding organ and are capable of reproducing part of the function of the corresponding organ, thereby providing a highly physiologically relevant system. At present, organoids are mainly applied to the relevant directions of tissue simulation, disease simulation, drug screening, tissue regeneration and the like.
At present, drug screening, especially drug screening of tumor tissues, is mostly conducted through a genetic variation detection mode, and many genetic variations are not effective in therapeutic drugs in many cases, so that gene detection results cannot give effective drug guiding effects. In addition, even if the mutation site of the corresponding drug is detected, the mutation is not caused by single gene mutation, the effect of the detected mutation site of the gene and the correlation of the drug at different patients is uncertain, and finally, the correlation of the detection result of the mutation and the actual drug administration guidance is uncertain.
With the continuous development of organoid technology, drug screening by organoids is an effective way, and in addition, prognosis of immunotherapy by organoids is a hotspot of current research; however, the device is only in a research stage, various operation liquid suction is manually completed in the research stage, various low-concentration medicine configuration operations exist in the process, and the operations can generate large errors due to different operation modes of each person, and particularly, the errors of manual operation are larger when the device is used in a small amount. In addition, in the research stage, the research ideas of each research center are different, and the reference significance between results is reduced, so that a standardized organoid processing mode is required, and the industrialized application of organoids is advanced.
How to effectively complete the automatic sub-packaging of the organoids in the first step, so as to finally ensure that the organoids are subjected to subsequent processing and analysis in an effective survival state is the first problem to be solved.
Therefore, there is a need for an automated organoid packaging system that addresses the problems of manual handling and current organoid research non-standardization.
Disclosure of Invention
In order to overcome the problems in the background art, the utility model adopts the following technical scheme:
an automated organoid fluid dispensing system, comprising:
a receiving structure for receiving a sub-package of at least one organoid-containing liquid substance;
a dispensing unit for dispensing said liquid location into said receiving structure;
the mobile structure is used for carrying the receiving structure to move between different positions; the position movement between the culture unit and the sub-packaging unit is realized through the moving structure.
The control structure is used for controlling the split charging unit and the moving structure to be connected, controlling the split charging unit to complete split charging action and controlling the moving structure to complete moving action;
preferably, the receiving structure is a porous receiving plate; the receiving structure is a porous receiving structure, such as a 48-well plate, a 96-well plate, or a 384-well plate.
Preferably, a placement area is arranged below the sub-packaging unit; when a plurality of receiving structures are required to be sub-packaged, the system is also provided with a receiving structure transition structure; the transition structure is a structure that accommodates a plurality of the receiving structures. When a great number of receiving structures need to be processed, the buffer can play a role in transition well, and the buffer is placed for waiting.
Preferably, the dispensing of the liquid is achieved by moving the placement area of the receiving structure or by moving the dispensing unit.
Preferably, the liquid substance comprises matrigel liquid, culture liquid; mixing organoids in matrigel liquid or culture liquid; or the substance comprises direct split charging liquid containing matrigel, culture substance or organoid;
preferably, the matrigel liquid is a low temperature matrigel liquid forming an organoid growing three-dimensional environment; the culture liquid is a culture liquid for forming an organoid growth nutrient environment; preferably, when organoids are mixed in the culture fluid, the culture fluid contains a small amount of matrigel material.
Preferably, the dispensing comprises any one of the following processes;
1) Firstly, packing matrigel liquid, wherein the matrigel liquid is in a liquid state in a low-temperature environment; packaging the culture liquid;
2) Dispensing directly dispensed liquid containing matrigel, culture material and organoid;
preferably, the organoids are organoids in the form of single cells or organoids in the form of 2-3 cell clusters; by this arrangement, errors in the content of the organoids added can be minimized.
Preferably, a transport means is provided for transporting containers containing different liquid substances to the dispensing unit.
Preferably, the receiving structure is provided with a marking structure, and the marking structure enters after the receiving structure is identified before the receiving structure enters the sub-packaging unit.
The split charging unit comprises a liquid separating structure, wherein the liquid separating structure comprises a liquid separating head and an extraction pipe;
the liquid separating head is used for separating liquid;
the extraction pipe is used for extracting the substance;
preferably, the liquid separation head comprises one or more;
preferably, the extraction tube comprises one or more;
the system further comprises: the cleaning structure is used for cleaning the liquid separation structure pipeline,
the cleaning liquid collecting structure is used for collecting cleaning liquid; a cleaning liquid collecting structure is arranged below the split charging unit, and a control structure is used for controlling the liquid distributing head to move to the position above the cleaning liquid collecting structure;
the system comprises: the liquid container is used for containing the liquid split-packed by the split-packing unit;
the split charging unit part is provided with a pipe body moving structure which is controlled by a control structure and is used for realizing the position change of the suction pipe between different liquid containing containers;
the liquid containing container comprises a matrigel containing container, a culture solution containing container and a cleaning liquid containing container; the matrigel liquid is arranged in the matrigel liquid containing container, the culture liquid is arranged in the culture liquid containing container, and the cleaning liquid is arranged in the cleaning liquid containing container.
Preferably, the cleaning liquid containing container is disposed between the matrigel containing container and the culture liquid containing container. The arrangement can greatly reduce the moving distance of the pipe body moving structure and effectively save space.
The pipetting structure comprises a three-dimensional moving structure; the system is provided with a consumable placement structure and a waste collection structure; the pipetting structure is controlled by the control structure to move between the consumable placement structure, the placement area and the waste collection structure.
The three-dimensional moving structure is driven by a stepping motor to move in the three-dimensional direction, or one of the three-dimensional moving structure comprises a structure for realizing lifting through a telescopic structure;
preferably, a support frame is provided to support the three-dimensional moving structure to a desired height.
Or the three-dimensional moving structure is an XYZ three-axis moving platform with an electric screw rod; and a pipetting head with pipetting holes is arranged in the Z-axis movement direction of the platform.
The moving structure includes a gripping head;
preferably, the moving structure comprises a short arm mechanical arm of which the base moves along a two-dimensional direction;
preferably, the moving structure comprises a track for three-dimensional movement and a three-dimensional moving device in the track;
preferably, the moving structure comprises a long arm mechanical arm with a fixed base;
preferably, the movement of the moving structure and the gripping and releasing operations are controlled by the control structure.
The system also comprises a low temperature unit for maintaining the low temperature of the matrigel liquid;
preferably, the low-temperature unit is a low-temperature placing area for placing the matrigel liquid containing container and is arranged in the sub-packaging unit; preferably, the low temperature placement area or low temperature structure is provided in the area where the sub-packaging unit is located.
Preferably, the low-temperature unit is of a low-temperature structure corresponding to the matrigel liquid containing container, and the low-temperature structure is provided with a containing cavity for containing the matrigel liquid containing container;
preferably, the cryogenic unit is a cryogenic device that ensures that the overall system maintains a low temperature;
preferably, the temperature range of the matrix gel liquid is controlled to be 0-8 ℃ by the low-temperature structure or the low-temperature placement area; the temperature of the culture liquid is 15-25 ℃.
The system further comprises a culture unit for culturing the liquid substance within the receiving structure; the control structure controls the culture unit to complete culture action; the culture unit is mainly used for curing and culturing the low-temperature matrigel, and can also be used for culturing the whole organoid after the split charging of the culture liquid is completed.
Preferably, the culturing unit is an incubator in which a plurality of receiving structures are provided in order.
The system further comprises a centrifugal structure for completing the centrifugal operation of the receiving structure; the control structure controls the centrifugal structure to centrifuge the receiving structure.
Preferably, the centrifugal structure is a centrifuge.
The control structure is a program control structure, and functions by controlling different structures through the program.
Preferably, the control structure comprises a display structure for setting the desired parameters.
Preferably, the display structure is a touch screen display structure.
Preferably, the control structure comprises a control structure I which can be remotely arranged and a control structure II which is connected with each unit together, and the control structure I is connected with the control structure II through a wireless signal transmission module.
Preferably, the active ingredients of the matrigel liquid may include: one or more of laminin, collagen, nidogen and heparin proteoglycan.
Preferably, the active ingredients of the medium liquid may include: one or more of Epidermal Growth Factor (EGF) pathway activator, wnt signal pathway activator, transforming growth factor-beta (TGF-beta) signal pathway inhibitor, fibroblast Growth Factor (FGF) pathway activator, gastrin, and N-acetylcysteine.
The organoid derived species include: human, mouse or common model organisms;
preferably, the organoids comprise an adult cell-induced organoid, an embryonic stem cell-induced organoid or a pluripotent stem cell-induced organoid;
preferably, the organoids are normal tissue organoid models, disease organoid models;
preferably, the normal tissue organoid model comprises a kidney organoid, a lung organoid, a gut organoid, a brain organoid, a liver organoid;
preferably, the disease organoid model is a tumor organoid; organoids reconstructed on the basis of normal tissue organoid models;
preferably, the tumor organoids include all tumor organoids such as gastric carcinoma organoids, pancreatic carcinoma organoids, colorectal carcinoma organoids, liver carcinoma organoids, bone carcinoma organoids, lung carcinoma organoids, kidney carcinoma organoids, prostate carcinoma organoids, breast carcinoma organoids, brain carcinoma organoids, neuroendocrine tumor (carcinoma) organoids, and the like.
A method for split charging liquid of organoids is characterized in that,
the control structure controls the moving structure to move the receiving structure to the lower part of the split charging structure; under the low-temperature condition, controlling the split charging structure to finish split charging of the low-temperature matrigel liquid on the receiving structure; the low temperature of the matrix glue solution is ensured in the process.
Transferring the receiving structure into a culture structure in a non-low temperature environment by the control structure to complete the solidification culture of the matrigel;
the control structure controls the moving structure to move the receiving structure to the lower part of the split charging structure, and the split charging structure is controlled to finish split charging of the culture liquid on the receiving structure under the normal temperature condition;
or, when the direct split charging liquid is split charged, only the first two split charging and solidification culture steps are needed.
Preferably, the organoids are mixed in a low temperature matrix gel or in a non-low temperature culture fluid.
Preferably, after step 1 is completed, a step of centrifuging the receiving structure is included.
Preferably, when the 1 liquid-dividing unit is used to divide 2 different liquids, the step of cleaning the liquid-dividing pipe of the liquid-dividing unit is included after the end of one liquid-dividing.
The utility model also discloses a system for automatically completing organoid processing and analysis, which comprises the organoid split-charging system.
Further, the system also comprises a processing unit and an analysis unit, wherein the processing unit comprises a medicine administration structure for realizing a medicine screening function and a toxicological testing function; alternatively, the processing unit includes a cell application structure that enables co-culture of immune cells with organoids.
The utility model has the beneficial effects that: the method can effectively and automatically complete the split charging of the organoid suspension, form a three-dimensional environment and a growth environment which can maintain the survival of the organoids, ensure the bottom of the receiving structure to the greatest extent because of the centrifugal structure, prevent errors caused by the liquid on the side wall, and ensure the liquid state in the matrigel filling process because of the low-temperature structure or the low-temperature system.
Drawings
FIG. 1 is a schematic diagram of the connection structure of various parts of the present utility model through a control structure;
FIG. 2 is a diagram showing the overall three-dimensional layout of the liquid-dividing system of the present utility model
FIG. 3 is a perspective layout structure diagram of a split charging unit with a liquid-separating mode;
FIG. 4 is a diagram showing the overall three-dimensional layout of the pipetting device of the utility model
FIG. 5 is a perspective layout structure diagram of a sub-packaging unit with a pipetting mode according to the utility model;
FIG. 6 is a schematic view of a matrigel liquid container and a low temperature structure of the pipetting method of the utility model;
FIG. 7 is a schematic diagram of a receiving structure according to the present utility model;
FIG. 8 is a schematic diagram of a dispensing flow path for dispensing a liquid directly in accordance with the present utility model;
FIG. 9 is a schematic diagram showing a flow path of packing matrigel liquid and culture liquid according to the present utility model;
in the figure, 1, a split charging unit; 11. a centrifugal structure; 12. a culturing unit; 13. a placement area; 14. a liquid separating structure; 141. a liquid separating head; 142. a suction tube; 15. cleaning the structure; 151. a cleaning liquid collection structure; 152. a cleaning liquid container; 153. a tube body moving structure; 154. a matrigel liquid container; 1541. a low temperature structure; 155. a culture medium container; 16. a pipetting structure; 161. a liquid suction hole; 162. a consumable placement structure; 163. a waste collection structure; 164. a three-dimensional moving structure; 4. a receiving structure; 5. a control structure; 6. a transition structure; 7. and (3) moving the structure.
Detailed Description
The following detailed description of the embodiments of the present utility model will be made more apparent to those skilled in the art from the following detailed description, in which the utility model is embodied in several, but not all, embodiments of the utility model. The utility model may be embodied or applied in other specific forms and features of the following examples and examples may be combined with each other without conflict, all other examples being contemplated by those of ordinary skill in the art without undue burden from the present disclosure, based on the examples of the utility model.
An automated organoid fluid dispensing system, the system comprising, with reference to fig. 1-5: a split charging unit 1, a receiving structure 4, a culturing unit 12, a moving structure 7, a control structure 5, which is connected with the split charging unit 1 and controls the liquid output of the split charging unit 1; the culture unit 12 is connected, and the culture unit 12 is controlled to culture at a set time and a set temperature; the connecting moving structure 7 controls the moving structure 7 to drive the receiving structure 4 to move; the culture unit 12 may select an incubator of LicoicsTX 44.
An embodiment of the system for dispensing liquids is described with reference to fig. 9: for dispensing the liquid required for organoid growth onto the receiving structure 4; the specific liquid is matrigel liquid and culture liquid; mixing organoids in matrigel liquid or culture liquid; when the organoids are mixed in the culture fluid, the culture fluid contains a small amount of matrigel material. In this way, the packing unit 1 is used to pack the matrigel liquid into the receiving structure 4, centrifuge, culture in the incubator, and then the packing unit 1 is moved back again to pack the culture liquid, centrifuge, and subsequent treatment such as culture or non-culture is performed. The more specific way is: under the control of the control structure 5, the receiving structure 4 is moved to the board body placing area 13 of the sub-packaging unit 1 by the moving structure 7; the control structure 5 controls the dispensing unit 1 to dispense the first liquid onto the receiving structure 4; after the first liquid split charging is finished, a signal is sent to the control structure 5, the control structure 5 controls the moving structure 7 to move the receiving structure 4 to the culture unit 12, and after the culture is finished, the control structure 5 controls the moving structure 7 to move the organoid plate back to the split charging unit 1 for split charging of the second liquid; after the second liquid is split, the liquid can be moved to a culture structure for short-term culture, and the subsequent treatment of the receiving structure 4 is carried out after the culture. In the process, after each liquid split charging, the moving structure 7 is controlled to move the receiving structure 4 into a centrifugal machine for centrifugation; and (5) carrying out subsequent culture and split charging in the second step after centrifugation.
Another system for dispensing liquids is shown in fig. 8: the liquid is a direct split-charging liquid which is suitable for the growth of organoids and is configured according to a proper proportion and comprises matrigel, culture substance or organoids; the liquid is split-packed into the receiving structure 4 through the split-packing unit 1, and is split-packed at a low temperature once, and then is centrifuged through a centrifuge to ensure that the liquid enters the bottom, and then is cultured through an incubator to wait for the next treatment.
The organoids in the split-charging liquid are organoids in the form of single cells or organoids in the form of 2-3 cell clusters.
The receiving structure 4 is a perforated plate, see fig. 7; the receiving structure 4 is a 48-well, 96-well or 384-well plate.
Embodiment of the specific placement area 13: a board placement area 13 is arranged below the sub-packaging unit 1, and a receiving structure 4 is arranged in the board placement area 13. When a plate placement area 13 is provided, dispensing of liquid is achieved by moving the organoid plate or by moving the dispensing unit 1.
The centrifugal structure 11 is implemented by: the centrifugal structure 11 is a centrifuge, and the centrifuge is a centrifuge that can achieve centrifugation of the plate body. Centrifugal structure 11 is selected from Agilent brand Vspin centrifuges.
In a specific embodiment of the dispensing unit 1, the dispensing unit 1 comprises a liquid dispensing unit, see fig. 2-3: it comprises a plurality of liquid dividing heads 141 and an extraction pipe extending into the liquid; one liquid separation head 141 may be provided, and a plurality of suction pipes 142 may be provided. The system is also provided with a cleaning structure 15 for cleaning the liquid distribution unit pipeline after liquid distribution is completed and a cleaning liquid collecting structure 151. The cleaning liquid collecting structure 151 is arranged below the liquid split charging structure, the liquid split charging head 141 is controlled by the control structure 5 to move to the position above the cleaning liquid collecting structure 151, and the cleaning liquid is extracted and released, so that the aim of cleaning the pipe body is fulfilled. The liquid separation unit can select the integral brand of the viaFill model.
In the non-working state, the liquid suction pipe is filled with cleaning liquid to ensure the smoothness and safety of the pipeline when the liquid suction pipe is used next time, and the mode is a soaking mode.
In order to realize the transfer of the suction tube 142 between different liquid containers, a tube body moving structure 1537 is provided, which is controlled by the control structure 5, for realizing the position transfer of the suction tube 142 between different liquid containers; between two different split charging liquids, the control structure 5 controls the tube moving structure 1537 to move the suction tube 142 to the cleaning liquid container 152, and the next split charging of liquid is performed after cleaning. The liquid container includes a matrigel container, a culture liquid container 155, and a cleaning liquid container 152. The cleaning liquid container 152 is disposed between the matrigel container and the culture liquid container 155. This arrangement can greatly reduce the moving distance of the tube moving structure 1537 and effectively save space.
Another way of pipetting the dispensing unit 1 is by reference to fig. 4-5: the dispensing unit 1 includes a pipetting structure 16 for dispensing liquid by pipetting, and the pipetting structure 16 includes a plurality of pipetting holes 161 for sucking liquid, and pipetting tips on the pipetting holes 161. The time for cleaning the structure in the process can be reduced by replacing the consumable gun head in a pipetting mode. Providing a consumable placement structure 162 and a waste collection structure 163; and a three-dimensionally movable pipetting structure 16 is provided, the three-dimensionally movable pipetting structure 16 being controlled by the control structure 5, which moves among the consumable placement structure 162, the plate placement area 13 and the waste collection structure 163. The three-dimensional moving structure 1647 is a three-dimensional moving structure driven by a stepping motor, or one-dimensional moving structure 1647 comprises a structure for realizing lifting through a telescopic structure. A support frame is provided to support the three-dimensional moving structure 1647 to a desired height. The type, length and type of the stepping motor of the track are selected according to the requirement. The three-dimensional moving structure 1647 is an XYZ three-axis moving platform with an electric screw rod; and a pipetting head with pipetting holes is arranged in the Z-axis movement direction of the platform.
In order to ensure the low-temperature setting of the matrigel liquid, a low-temperature unit is arranged, wherein the low-temperature unit is a low-temperature placing area 13 for placing a matrigel liquid container and is arranged in the sub-packaging unit 1, and a low-temperature instrument is arranged at the part of the low-temperature placing area 13; another embodiment is: the low temperature unit is a low temperature structure 1541 corresponding to the matrigel liquid container with reference to fig. 6, the low temperature structure 1541 is provided with a containing cavity for containing the matrigel liquid container, and in a further embodiment, the low temperature unit is a low temperature device for ensuring that the whole system maintains low temperature; the low-temperature device works when the matrix glue liquid is filled, so that the whole split charging unit 1 is ensured to be kept in a low-temperature state; the non-matrigel sub-packaging process does not work. The arrangement can maximally ensure the low-temperature liquid state of the matrigel liquid during split charging, and prevent the occurrence of pipe blockage. The low temperature structure 1541 controls the temperature range of the matrigel liquid to be 0-8 ℃; the temperature of the culture liquid is 15-25 ℃.
One effective way of the split charging mode is as follows: the sub-packaging unit 1 can perform sub-packaging of the organoid-containing culture liquid after the sub-packaging and the culture of the organoid-free matrigel liquid are completed in a unified manner. The arrangement can ensure that the split charging unit 1 can effectively finish split charging of various liquids only by arranging one split charging unit 1.
For transporting different organoid liquids to the area of the dispensing unit 1, a transport device is provided for transporting containers containing different organoid liquids to the dispensing unit 1.
A negative control area, a positive control area and a real reaction area are arranged on the receiving structure 4 for ensuring the accuracy of the result; each reaction zone contains a plurality of organoid reaction wells; a negative organoid reaction hole is arranged in the negative control area, and a positive organoid reaction hole is arranged in the positive control area; the real organoid reaction holes are arranged in the real reaction zone.
Organoid source species include: human, mouse or common model organisms; organoids include organoids induced by adult cells, organoids induced by embryonic stem cells, or organoids induced by pluripotent stem cells;
the organoids are normal tissue organoid models and disease organoid models; the normal tissue organoid model includes liver organoids, kidney organoids, lung organoids, gut organoids, brain organoids, and liver organoids; the disease organoid model is a tumor organoid; the tumor organoids include gastric carcinoma organoids, pancreatic carcinoma organoids, colorectal carcinoma organoids, liver carcinoma organoids, bone carcinoma organoids, and lung carcinoma organoids.
The receiving structure 4, especially the receiving structure 4 containing tumor organoids, after sub-packaging by the present system may be subjected to any of the treatments that may be performed, such as drug screening treatment, drug safety evaluation treatment, immunotherapy treatment, radiation therapy treatment, etc.
An embodiment of a system for automated organoid processing and analysis comprises the above-described dispensing system.
The system also comprises a processing unit and an analysis unit, wherein the processing unit comprises a medicine screening treatment, a medicine safety evaluation treatment, an immunotherapy treatment and a radiotherapy treatment; the analysis unit is used for analyzing the related indexes of the substances in the receiving structure 4 after being processed by the processing unit.
The above description of embodiments is only for the understanding of the present utility model. It should be noted that it will be apparent to those skilled in the art that modifications can be made to the present utility model without departing from the principles of the utility model, and such modifications will fall within the scope of the claims.
Claims (20)
1. An automated organoid fluid dispensing system, comprising:
a receiving structure for receiving a sub-package of at least one organoid-containing liquid substance;
a dispensing unit for dispensing said liquid location into said receiving structure;
the mobile structure is used for carrying the receiving structure to move between different positions;
and the control structure is used for controlling and connecting the split charging unit with the moving structure, controlling the split charging unit to complete split charging action and controlling the moving structure to complete moving action.
2. The system of claim 1, wherein the receiving structure is a porous receiving plate.
3. The system of claim 1, wherein a placement area is provided below the racking unit; when a plurality of receiving structures are required to be sub-packaged, the system is also provided with a receiving structure transition structure; the transition structure is a structure that accommodates a plurality of the receiving structures.
4. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the split charging unit comprises a liquid separating structure, wherein the liquid separating structure comprises a liquid separating head and an extraction pipe;
the liquid separating head is used for separating liquid;
the extraction pipe is used for extracting the substance.
5. The system of claim 4, wherein the dispensing head comprises one or more.
6. The system of claim 4, wherein the extraction tube comprises one or more.
7. The system of claim 4, wherein the system further comprises:
the cleaning structure is used for cleaning the liquid separation structure pipeline,
the cleaning liquid collecting structure is used for collecting cleaning liquid; and a cleaning liquid collecting structure is arranged below the split charging unit, and the control structure is used for controlling the liquid distributing head to move to the position above the cleaning liquid collecting structure.
8. The system of claim 7, wherein the system comprises:
the liquid container is used for containing the liquid split-packed by the split-packing unit;
the sub-packaging unit part is provided with a tube body moving structure which is controlled by a control structure and is used for realizing the position change of the suction tube between different liquid containing containers.
9. The system of claim 7, wherein the liquid holding container comprises a matrigel holding container, a culture liquid holding container, a cleaning liquid holding container; the cleaning liquid container is arranged between the matrigel container and the culture liquid container.
10. The system of claim 1, wherein the dispensing unit comprises a pipetting structure for dispensing the liquid by pipetting, the pipetting structure comprising a plurality of pipetting holes for pipetting the liquid and a pipetting gun head on the pipetting holes; the pipetting structure comprises a three-dimensional moving structure; the system is provided with a consumable placement structure and a waste collection structure; the pipetting structure is controlled by the control structure to move between the consumable placement structure, the placement area and the waste collection structure.
11. The system of claim 10, wherein the system further comprises a controller configured to control the controller,
the three-dimensional moving structure is driven by a stepping motor to move in the three-dimensional direction, or one of the three-dimensional moving structure comprises a structure for realizing lifting through a telescopic structure, and a supporting frame for supporting the three-dimensional moving structure to a required height is arranged;
or the three-dimensional moving structure is an XYZ three-axis moving platform with an electric screw rod; and a pipetting head with pipetting holes is arranged in the Z-axis movement direction of the platform.
12. The system of claim 10, wherein the moving structure comprises a gripping head.
13. The system of claim 12, wherein the moving structure comprises a short arm robot having a base that moves in two dimensions.
14. The system of claim 12, wherein the moving structure comprises a track of three-dimensional movement and a three-dimensional movement device within the track.
15. The system of claim 12, wherein the mobile structure comprises a long arm robot with a stationary base.
16. The system of claim 12, wherein the movement of the moving structure and the gripping and releasing actions are controlled by the control structure.
17. The system of claim 1, wherein the system further comprises,
a culture unit for culturing the liquid substance in the receiving structure; the control structure controls the culture unit to complete the culture action.
18. The system of claim 17, wherein the culture unit is an incubator in which a plurality of receiving structures are sequentially disposed.
19. The system of claim 1, further comprising a centrifugal structure for performing a centrifugal operation on the receiving structure; the control structure controls the centrifugal structure to centrifuge the receiving structure.
20. The system of claim 19, wherein the centrifugal structure is a centrifuge.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221046232 | 2022-04-29 | ||
| CN2022210462327 | 2022-04-29 |
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| CN219603592U true CN219603592U (en) | 2023-08-29 |
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| CN202223446396.1U Active CN219603592U (en) | 2022-04-29 | 2022-12-22 | Automatic organoid liquid partial shipment system |
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