DE102023002147A1 - MODULAR AUTOMATED DEVICE FOR CARRYING OUT CHEMICAL AND/OR BIOLOGICAL EXPERIMENTS - Google Patents

Abstract

The invention relates to an automated device (1.1) for chemical and biological experiments, which comprises at least two areas (1.2) divided into quadrants (1.5), including a work area (1.3) and a front loader area (1.4). The device has a movable actuator system (1.8) attached to a carriage (1.14) connected to a kinematic system (1.15). A first movable actuator (1.9) transports a sample carrier (1.11) with at least one cavity (1.12) between the quadrants. The device comprises a module (1.13) for receiving and storing the sample carrier, which is designed as a two-part structure with a storage unit (1.18) and an interior (1.19). A second movable actuator (1.10) fills or partially removes the cavity (1.12) with chemical substances or biological materials when the sample carrier is in any quadrant. This automated device enables efficient and organized storage of sample carriers by using modular components, increasing flexibility and enabling seamless integration with the actuator system, optimizing chemical and biological experimentation processes.

Description

TECHNICAL AREA

The present invention relates to an automated device for carrying out chemical and/or biological experiments. More specifically, the invention comprises an automated device according to claim 1 having at least two areas, including at least a work area and a front loader area, which are further divided into quadrants, and a movable actuator system that enables the transport of modules between these areas. Furthermore, the invention comprises a movable actuator system that enables the transport of a sample carrier containing cavities from one quadrant to the other and is also suitable for transporting a volume of a chemical substance and/or a volume of a biological material. The invention also relates to a computer program product according to claim 30, a computer system according to claim 31 and a data carrier signal according to claim 33.

STATE OF THE ART

Conventional automated pipetting systems are widely used in laboratories. They automate the pipetting of liquids, which improves accuracy and reduces the workload of laboratory personnel. However, these conventional pipetting machines are designed for specific tasks and offer limited flexibility in terms of their functions. However, despite their advantages, such as high throughput and reproducibility in highly automated and parallel processes, the existing automated pipetting systems have some limitations.

Typically, automated pipetting devices are limited to specific protocols and tasks and require special adaptations or new equipment for different requirements. This can limit the flexibility of the laboratory and lead to higher costs. In addition, automated pipetting systems tend to be complicated to operate, especially when they have to be trained for different tasks. This can lead to errors and requires extensive training of operators. A common challenge is the integration of automated pipetting systems into existing laboratory infrastructures and processes, especially when data must be exchanged between different devices and systems. Especially for smaller facilities and companies, many automated pipetting systems are too large, take up valuable space in the laboratory and are often an expensive investment. In particular, the predetermined range of functions can lead to high costs and application limitations. In addition, maintenance and operating costs as well as the costs of consumables and accessories can be significant.

In laboratory automation, and in particular in automated pipetting systems, there are already a variety of technologies and methods used to solve different tasks. Often these are stand-alone devices with clearly defined functions and limited flexibility in terms of adaptation to different tasks or expandability with new functions.

The state of the art includes, for example, devices with permanently installed pipetting heads that can transfer a certain number of samples into predefined formats. Such devices are often designed to process standard plate formats such as microtiter plates and offer only limited options for adaptation to other formats or requirements.

Some automated pipetting systems offer the option of using different tools or pipetting systems to allow greater flexibility in sample processing. However, this often requires manual changing of tools or pipetting systems and can therefore be time-consuming and error-prone. They also expose the product or the operator to the risk of contamination, especially in the manufacture of GMP-certified pharmaceuticals or biotechnology products.
There are also systems that offer flexibility in sample handling through the use of robots. These devices can often perform a variety of different tasks, but are usually very complex and require a lot of programming and setup.

The patent specification WO 2002/049 761 A2 discloses an automated laboratory system and method for high throughput and fully automated processing of materials, including liquids and genetic material. It also discloses a storage unit and a conveyor system with hooks for transporting materials. A major disadvantage of this system is the space requirement and mechanical complexity, since the conveyor system and the means for processing are housed in two different systems.

The document CN 209205330 U refers to a mechanical arm experimental system characterized by comprising an experimental shaft, an X-axis mechanical arm, a Y-axis mechanical arm, a Z-axis arm, a tool group, a controller and an electrical control unit. This system allows a mechanical arm to carry a tool mold assembly that can perform automated tasks. While this allows some flexibility in designing different experiments, all modules must be pre-installed and adapted to be manipulated with the tool mold assembly.

The patent specification CN 103846114 A describes an automated pipetting attachment for parallel and low-vibration handling of liquids. This allows multiple pipetting operations to be carried out in parallel in a single run, enabling high-throughput automation. However, to perform additional tasks, such a system must be coupled with another system, which requires additional costs and more space.

The patent specification KR 10-1854807 B1 describes an automated, unmanned cell culture system that consists of an incubator for accommodating several cell culture flasks and various work areas such as a tube table and a centrifugal separator as well as a transport and manipulation system. Although this system enables the autonomous cultivation of cell cultures, it is limited to this task and does not allow for individual adaptation of the modules.

The patent specification WO 2019/232 504 A3 (2019) discloses a system, method and devices for obtaining and preparing single cells, nuclei, subcellular components and biomolecules from samples, including tissues. In addition, a multi-well system for culturing the above-mentioned biological components is described. This disclosure is also limited in its scope and extent of possible experiments and does not provide any means for customization.

Most existing systems are also limited in terms of integrating additional features or adding new functionality. Often, integrating new features requires purchasing and installing additional equipment, which involves significant costs and effort.

In summary, the state of the art in automated pipetting systems is characterized by a variety of devices, each of which can perform specific tasks, but which are limited in their flexibility, adaptability and expandability. In particular, the solutions found in the state of the art are not well suited for smaller variable experiments, as are common in academic research and in smaller companies.

TASK OF THE INVENTION

According to the state of the art, users in many fields such as laboratory automation, cell culture production and medical drug development require different functionalities. These often require a new system, each with its own operating mechanisms. An object of the present invention is therefore to provide a highly flexible, modular system that meets the various functional requirements of experiments, preferably biological and/or biochemical and/or chemical experiments. The automated device disclosed herein is designed to meet these requirements and to provide a modular, automated, customizable solution with a standardized design.

The main problems with the current state of the art are a lack of flexibility and modularity. Each new function typically requires a new system, resulting in significant costs, space requirements and operational complexity. Alternatively, existing systems can be upgraded or extended. However, the lack of standardization prevents the seamless integration of different functions into an existing system.

For example, some solutions include robotic arms and/or actuators with pipette attachments as manipulators or offer the possibility to customize automated pipettes and workbenches with different modules. However, to date, there is no solution that offers a modular design with movable modules that enable a variety of different experiments.

SOLUTION

The present invention solves these problems by providing an automated apparatus for conducting chemical and/or biological experiments according to claim 1.

Furthermore, the present invention solves the problem by providing a computer program product according to claim 30, a computer system according to claim 31 and a data carrier signal according to claim 33.

Further advantageous embodiments can be found in the subclaims, the description and the embodiments.

GENERAL BENEFITS

The present invention offers a number of advantages. The modular design of the device with different areas and quadrants allows different experimental steps to be carried out simultaneously or sequentially, which leads to improved efficiency in carrying out chemical and/or biological experiments.

In one embodiment of the present invention, due to the variety of modules and their flexible arrangement, the device can be specifically adapted to perform a variety of chemical and/or biological experiments or efficacy tests. The system can be adapted without the need for manual intervention by a laboratory technician. This enables a wide range of experimental applications and reduces the risk of contamination.

In a preferred embodiment of the present invention, the movable actuator system facilitates the transport of sample carriers with cavities between different quadrants. In this way, chemical substances and biological materials can be transported, allowing efficient handling and transfer of the samples within the device. In addition, it provides a means by which the contents of the sample carrier can be manipulated so that a wide range of different experiments can be carried out.

In one aspect of the invention, the device comprises a module for receiving and storing sample carriers, which ensures orderly storage and easy removal of samples. The combination of storage unit and transport unit enables the sample carrier to be inserted and removed smoothly, which facilitates an optimized workflow and reduces downtime. In addition, the storage conditions can be changed and controlled using sensors that are adapted to the respective tasks. For example, the gas composition of the storage unit can be manipulated by using a fumigant.

In one embodiment, the transport unit of the device comprises locking means, preferably electromagnetic connections, to ensure the reversible and stable securing of the sample carrier during transport and experimental processes. This prevents the samples from being displaced or damaged during movement, thus maintaining experimental integrity, while at the same time efficiently using the limited space required to accommodate such a system in a sterile work area, such as a sterile workbench. The transport unit enables optimization of the experimental procedure.

DETAILED DESCRIPTION

The present invention discloses an automated device for carrying out chemical and/or biological experiments, the device comprising at least two areas, the areas being designed as at least one work area and at least one front loader area, each of the areas being divided into at least one quadrant.

The device comprises a movable actuator system attached to a carriage connected to a kinematic system, wherein a first movable actuator is configured to transport a sample carrier having at least one cavity from a first quadrant to a second quadrant or another quadrant.

In addition, the device comprises at least one module which is designed to receive and store the sample carrier, wherein a second movable actuator is designed to fill the cavity with a volume of a chemical substance and/or a volume of a biological material and/or to at least partially remove the volume from the cavity when the sample carrier is positioned in the first quadrant or in the second quadrant or in the further quadrant, wherein the module is designed in at least two parts and has at least a first module part and at least a second module part, wherein the first module part is designed as a storage unit and has an interior space, wherein the interior space is designed to store the sample carrier and wherein a second module part is in operative connection with a first module part and/or the movable actuator system.

Automation is understood to mean a process that can be carried out without the involvement of a human. In a particularly preferred embodiment, the device according to the invention can be operated automatically. Automation requires technical means, in particular data processing means, which are set up to control the device according to the invention or individual components of the device. Preferably, an automated process allows a human to intervene in the process at various times during the automated process (e.g. during the course of the experiment), e.g. when consumables need to be refilled.

Another preferred aspect of the present invention is that the automation is robust, that is, it requires little or no external intervention, such as human involvement, during the performance of an automated task, such as a chemical and/or biological experiment. This has the technical advantage of requiring less personnel to monitor the experiment and reducing costs and contamination risks.

In the context of the present invention, biological experiments are understood to mean processes in which biological material is brought into contact with either chemical substances and/or biological material. In a preferred aspect of the present invention, these experiments comprise cell culture experiments and/or cell culture cultivation and/or drug screening assays and/or genome sequencing and/or protein expression and purification and/or gene editing and/or enzyme activity and/or biochemical reactions.

Biological material is any substance that originates from living organisms or contains components of living organisms. This can be cells of any kind, preferably cell suspensions, cell cultures, biological fluids, microorganisms, pathogenic microorganisms, viruses, genomic material, deoxy- or ribonucleic acids or proteins.

Chemical experiments are processes in which chemical substances (e.g. reactants) are brought into contact with each other to cause chemical reactions. They can also be carried out to identify chemical substances by reaction or by analysis by spectroscopic or other means.

A chemical substance is any molecule or molecular compound. In a preferred embodiment, liquid or dissolved chemical substances can be reacted and transferred.

In some embodiments, the device according to the present invention comprises at least two areas. An area denotes a spatial demarcation, wherein the base area of the device according to the invention is divided into at least two areas. Preferably, the area is divided into at least one work area and at least one front loader area. In a preferred embodiment, the device comprises at least two areas, preferably at least three areas. The areas can be arranged interchangeably. There can also be at least one area in which consumables or cell culture media are stored.

The areas may be aligned parallel to each other. In some embodiments of the invention, the areas may be accessed from above by a movable actuator system. The movable actuator system may be able to manipulate and/or transport modules placed on the areas.

In a preferred embodiment of the present invention, the regions are separated from one another so that they are accessible from the side by a movable actuator system. Preferably, the regions are clearly demarcated from one another. In some embodiments, the demarcation is only optical, in a preferred embodiment, the demarcation is achieved by physical means, such as a protrusion or cutout that separates the different regions from one another. Preferably, the demarcation is created by a frame.

A further aspect of the invention relates to an automated device which comprises at least two areas, each of these areas being divided into at least one quadrant. A quadrant is an area which is delimited from another area. A quadrant can be congruent with a work area or a front loader area. Preferably, a first quadrant is the work area or a part thereof and a second quadrant is the front loader area or a part thereof. Further quadrants can also be provided, wherein the quadrants are congruent with further areas. The quadrants are preferably aligned parallel to one another and extend parallel to the base surface. The base surface has at least two quadrants, but preferably at least four quadrants.

More preferably, a portion of the quadrants, preferably at least four quadrants, are formed with the same region. In one aspect of the invention, quadrants designated with the same region, e.g. a front loader region or a work region, are arranged parallel to each other to form a row, which in turn are arranged parallel to another region, e.g. a front loader region or a work region.

This advantageously means that modules, containers or consumables can be placed in each quadrant. The terms first, second and further quadrant are preferably used interchangeably; a module can be placed in each quadrant.

The working area is the area of the device in which the movable actuator acts and applies a biological material or a chemical substance to the sample carrier, in particular the cavity. For example, the wells of a microtiter plate in the working area can be filled with a cell suspension.

The front loader area is the area of the device into which the module according to the invention is inserted, the module containing the sample carrier. The front is the area of the module that is closest to the movable actuator when used as intended as soon as the actuator removes the concealed transport unit from the module. The module is therefore opened at the front by the movable actuator.

In a preferred embodiment of the present invention, the front loader area and the work area can be arranged interchangeably. This has the advantage that the areas can be arranged in such a way that efficient experimentation according to the desired modules is possible. In an embodiment of the present invention in which no storage unit is required, two areas can be used as work areas.

In a preferred embodiment, the present invention comprises a movable actuator system consisting of at least a first actuator and a second actuator. Preferably, the first and second actuators are mounted on a carriage that can allow horizontal movement.

In an alternative embodiment of the present invention, the actuator system provides a first movable actuator suitable for transporting chemical substances and/or biological material and a second actuator providing means for fixing and moving transport units and/or modules.

The movable actuator system has at least a first actuator and a second actuator. A movable actuator system consisting of at least two movable actuators is particularly preferably provided.

The movable actuator system consists of at least two actuators attached to a carriage connected to a kinematic system.

A carriage connected to a kinematic system is a mobile device equipped with wheels or rollers, which is equipped with a mechanical device for transmitting and controlling movements and enables smooth and precise movement within a certain spatial frame of reference. The kinematic system enables the carriage to move in one spatial axis, e.g. the y-axis, while it itself moves in a second spatial axis, e.g. the x-axis. The movement is preferably automatic. More preferably, the movement is carried out automatically. Further preferably, the movement of the carriage connected to a kinematic system is controlled by a control device.

In a preferred embodiment of the present invention, the movable actuator system is capable of reaching any area of the automated device. In an even more preferred embodiment of the present invention, the first movable actuator can move a transport unit into any quadrant, particularly preferably into any quadrant in the front loader area and/or work area.

A movable actuator (the first, the second, another) and/or a movable actuator system is a means that can be moved in the three spatial axes x, y and z. Preferably, the device according to the invention offers at least two movable actuators. It is even better if it has at least a first and a second actuator that can be adapted to perform different tasks. The movement is preferably automatic. Particularly preferably, the movement is carried out automatically. Further preferably, the movement of the movable actuator is controlled by a control device. At least one means can be arranged on the movable actuator that serves to transport chemical substances and/or biological material into or out of a cavity. A movable actuator can be, for example, a robot on which pipettes are arranged. At least one movable actuator is designed to transport the sample carrier and/or a chemical substance and/or a biological material and/or a consumable from one quadrant to another quadrant.

The designation of the first and second movable actuators are preferably interchangeable and can be placed according to the installed modules. This has the advantage that the automation process is optimized by shortening the process times by adapting the movable actuators according to the most frequently used modules in a desired configuration.

A first movable actuator is any actuator that facilitates the movement of a sample carrier and/or a transport unit between quadrants, e.g. from the first quadrant to a second quadrant or another quadrant. The second movable actuator is configured to contact the front of the transport unit at least for the duration of the transport of the transport unit from one quadrant to the other.

A second movable actuator is any actuator that is suitable for filling the cavity with a volume of a chemical substance and/or a volume of a biological material and/or for at least partially removing the volume from the cavity when the sample carrier is positioned in the first quadrant or in the second quadrant or in the further quadrant.

According to a preferred embodiment of the present invention, a movable actuator can be adapted to manipulate the contents of a sample carrier or transport unit, such as handling and transferring samples, precise positioning and placement of laboratory equipment, pipetting and dispensing liquids, mixing and stirring solutions, centrifuging, temperature control, measurement and analysis, and other manipulations required for laboratory procedures and experiments.

In a particularly preferred embodiment, the first movable actuator provides magnetic positioning means, preferably magnets, more preferably electromagnets, most preferably a third magnetic means, which are suitable for fixing and safely moving a transport unit and/or a module.

A sample carrier has at least one cavity. A sample carrier can be a cell culture plate, e.g. a microtiter plate, or a Petri dish. A sample carrier can be a chemical reaction vessel, e.g. a test tube rack or a test tube holder. The sample carrier can be placed on a transport unit.

A cavity is a reaction and/or storage space that is enclosed by the sample carrier. The cavity can be filled with or emptied of a liquid by the movable actuator or by means arranged on the movable actuator. In some cases, the cavity can be a test tube or a microtiter tube.

The device according to the present invention further comprises at least one module for receiving and storing a sample carrier.

A module according to the present invention is preferably constructed in at least two parts. The module is divided into at least a first module part and a second module part, with both module parts being operatively connected. The first module part can be, for example, a box with an opening, while the second module part can be a drawer, which is preferably designed as a transport unit for a sample carrier that is inserted into the first module part, which is preferably designed as a storage unit. A module can also have more than one first module part and more than one second module part. The terms first, second and further module can preferably be used interchangeably.

The module according to the invention is intended to accommodate and store at least one sample carrier. The module can be essentially cuboid-shaped and can be placed by a user in a quadrant, preferably in a first quadrant (e.g. front loader area). Consumables can be stored in another module. Preferably, the base area of the module and the further module are the same, so that the module and the further module can be placed in any quadrant. Preferably, a module can be stacked on top of another module or another module, wherein the modules can be placed on top of one another, for example via a plug connection. In one aspect of the present invention, storage units can thus be stacked on top of one another in the front loader area, while at the same time the storage of a sample carrier is possible. In this way, the limited space can be used more efficiently and more samples can be stored.

Preferably, the first module part is designed as a storage unit, which has an interior space. This is dimensioned so that the transport unit and the sample carrier can be positioned in the interior space. The storage unit has at least one opening through which the second module part or the transport unit can be introduced into the interior space.

This has the advantage that the samples can be stored under controlled conditions, e.g. under a certain temperature, light intensity and/or frequency and gas composition.

By separating modules for the work area and the front loader area, sample manipulation and storage can be carried out in parallel and under different conditions. so that experiments can be carried out more efficiently. In addition, by using different modules that offer different storage conditions, different experiments can be carried out simultaneously and spatially separated in a limited space. This is particularly important for experiments that have to be carried out in sterile workbenches.

The device according to the present invention in particular provides means for carrying out biological experiments or efficacy tests of pharmacologically active substances on two-dimensional cell assemblies and/or three-dimensional cell assemblies. In a preferred embodiment of the invention, the experiments can be automated. The experiments particularly preferably comprise the cultivation of cell cultures, for example for the production of pharmaceuticals.

A two-dimensional cell network is understood to mean at least one layer (e.g. a single layer) of cells that is formed in a cavity. It is also possible for the two-dimensional cell network to be formed from more than one layer. A three-dimensional cell network is understood to mean cells that are arranged within a support matrix. An organoid, for example, is a three-dimensional cell network. The device according to the invention is preferably suitable for producing a two-dimensional or three-dimensional cell structure within a cavity.

The device according to the invention has at least one means that is designed to produce two-dimensional or three-dimensional cell associations. Such a means can be at least one tool on which at least one movable actuator is arranged and which is designed to receive and/or dispense liquids such as cell suspensions. The means is preferably controlled by the control unit in order to dispense a volume of a chemical substance or a biological material into a cavity or to at least partially empty the cavity. The means is preferably actuated by the control unit. In addition, the means is preferably actuated electrically, pneumatically or hydraulically.

The efficacy test in the context of this invention is a method in which a biological material is brought into contact with a chemical substance in order to determine what effect the chemical substance has on the biological material. An efficacy test is also a method in which a biological material is brought into contact with another biological material (e.g. pathogens, proteins). In an alternative embodiment of the invention, an efficacy test can be any experiment that determines the effectiveness or efficiency of a particular biological structure or system in achieving its intended purpose, often measuring or analyzing relevant parameters, performance indicators or desired results, particularly when it comes to the manufacture or testing of pharmaceuticals or biotechnological products.

A pharmacologically active substance is a chemical substance that has an influence on biological material and, for example, influences the metabolism of cells.

Furthermore, the device comprises means by which the two-dimensional and/or three-dimensional cell aggregates can be generated in the cavity of the sample carrier. In some embodiments, this can be done using a movable actuator and can include the use of microfluidic systems, cell cultures, magnetic manipulation, scaffold-based techniques and/or bioprinting techniques.

In a preferred embodiment, the means of the device are a combination of different aspects of the invention, such as different modules, storage units and sample carriers, wherein the biological material is transported between the components by the movable drive system and monitored by an automation process.

The device comprises a storage unit with at least one opening and a second module part, which is designed as a transport unit and is in operative connection with the first module part and the first movable actuator.

The second part of the module is designed as a transport unit. The transport unit is used to hold the sample carrier and is transported from one quadrant to the other quadrant by the movable actuator.

In one embodiment of the present invention, the transport unit is designed such that it can be completely or partially inserted and/or removed by the first movable actuator through the opening in the first module part.

In an aspect related to the device, the transport unit is designed to receive the sample carrier and has at least one locking means which is used for reversible fastening attachment of the sample carrier to the transport unit.

The transport unit preferably has at least one locking device. The locking device serves to reversibly fix the sample carrier to the transport unit. This advantageously ensures that the sample carrier cannot slip inside the storage unit. The locking device can, for example, be designed as a clamp that presses the sample carrier against an area of the transport unit. Elements can also be used as locking devices. The surface of the transport unit onto which the sample carrier is placed can, for example, have at least one element that ensures increased static friction of the sample carrier against the transport unit. The element can, for example, be made of silicone or rubber. This has the advantage that the sample carrier does not have to be placed between a locking device, for example in the form of a clamp, but that it is sufficient to place the sample carrier on the transport unit.

Fixing is understood to mean a process in which a module, another module, a transport unit or a container is positioned within a quadrant in such a way that it remains in this position when used as intended and in particular cannot slip, e.g. due to vibrations. In an alternative embodiment of the present invention, the reversible fixation of an object means restricting its movement in at least one, preferably two, alternatively three spatial axes x, y, z for a certain time. This can be done in the form of the object being placed next to and/or on a fixing means, preferably a magnetic means.

The device preferably comprises at least one quadrant with a magnetic positioning means, wherein the magnetic positioning means is arranged under the base surface of the device or forms part of it. The magnetic positioning means is preferably arranged within a quadrant. The magnetic positioning means can be designed as a permanent magnet or electromagnet. Preferably, the magnetic positioning means is designed as an electromagnet. This can be activated via the control unit. The magnetic positioning means is preferably operatively connected to the movable actuator. The control unit then activates the magnetic positioning means in order to fix the transport unit within the quadrant by the magnetic positioning means fixing the transport unit in operative connection with an opposing positioning means that is arranged below the transport unit, i.e. on its underside. With the aid of the magnetic positioning means, it can advantageously be achieved that a frame that positively fixes the module, the further module or the container to be positioned within the quadrant can be removed easily and reversibly. The base surface thus has no elevations, is easier to clean and the risk of contamination is reduced.

The base surface refers to the surface of the device which is the top of the base. The surface is made of a magnetic or magnetizable material, preferably a magnetic metal. The base surface is arranged so that a frame can be magnetically attached thereto and is thereby divided into at least one quadrant or at least one region.

The base refers to the part of the device that is flush with the base surface at its upper limit. The base includes, for example, the control devices and/or the means for data transmission and other means such as pumps.

Furthermore, in an aspect of the invention, in which a bottom side of the transport unit and/or a bottom side of the module and/or a bottom side of a module carrier are enclosed by the device (1.1), at least one opposing positioning means is arranged, which is arranged in operative connection with the magnetic positioning means of the quadrant in order to align and fix the transport unit and/or the module and/or the module carrier within the quadrant.

The module carrier is suitable for receiving at least one module, another module or a container and arranging it in relation to the base surface. The module carrier can be a frame-shaped construction or a substantially plate-shaped construction which is attached to or inserted into the frame attached to the base surface. At least one module, another module or a container can then be arranged on the module carrier. There can also be several module carriers. The module carriers can differ in shape and dimensions, for example. A module carrier can also be designed in such a way that it can be connected to another module carrier, in particular can be plugged onto the other module carrier. In this way, it can advantageously be achieved that the position of a module, another module or a container can be varied in height relative to the base surface. In order to change the height of a module, two or more module carriers can be placed on top of one another, for example. A module carrier may have at least one magnetic positioning means.

The transport unit, the module, the additional module, the module carrier or the container has a bottom side. The bottom side is the side that is closest to the base surface during intended use. The bottom side can have at least one opposing positioning means that is designed to fix the module, the additional module, the module carrier or the container within a quadrant in operative connection with the magnetic positioning means.

The device preferably provides a frame, wherein at least one quadrant is at least partially delimited by the frame, wherein the frame is raised relative to the base surface of the device, wherein the frame underside of the frame is equipped with magnetic positioning means which can fasten the frame to the base surface, and wherein the frame and/or the module and/or the module carrier can be placed on at least one raised positioning means, wherein the raised positioning means is connected to the base surface and in particular is designed as a pin.

A frame can be provided which is designed to advantageously limit a module, another module, a transport unit or a container in at least two degrees of freedom within the X-Y plane, i.e. the plane that runs parallel to the base surface, and thus to fix it in the X-Y plane. Preferably, the frame is raised compared to the base surface. The module, the other module, the transport unit or the container that is to be accommodated in the frame can be inserted into the frame from above (in the Z axis). Preferably, the frame has at least one fastening means that, in operative connection with a raised positioning means, serves to fix the frame in the X-Y plane on the base surface. Preferably, the frame is placed on a raised positioning means. Particularly preferably, the frame uses magnetic positioning means on the underside with which it can be attached to a magnetic base surface. Alternatively, the frame can have an opposing positioning means on its underside, which is operatively connected to the magnetic positioning means of at least one quadrant for fastening the frame. The frame can be removed again from the raised positioning means. This ensures that both the frame and the base area below the frame can be easily cleaned.

A raised positioning means is arranged so that a frame can be placed on it. The raised positioning means is designed, for example, as a pin. In case the frame is to be placed on the pin, the frame has holes in which the pins are guided so that the degrees of freedom of the frame in the X-Y plane are restricted. Pins are raised structures with sufficient structural integrity to fix the attached object against movements in the X-Y plane.

The frame bottom of the frame is the side that is closest to the base surface during normal use. The frame bottom may be equipped with at least one opposing positioning means.

In a preferred embodiment of the invention, a transport unit comprises a front side and a rear side, wherein the front side can be contacted by the first movable actuator to transport the transport unit, and the rear side is arranged opposite the front side, wherein the rear side comprises at least a first magnetic means that can contact a second magnetic means that is located on a surface of the interior of the storage unit opposite the rear side.

The front side refers to the part of the transport unit that is closest to the movable actuator during transport of the transport unit by the movable actuator. The front side is arranged opposite the rear side. The front side is designed such that it can be contacted by the movable actuator. The front side can include at least a fourth magnetic means and/or a holding element. The holding element (e.g. a handle) is designed such that a user can remove the transport unit from the first module part without needing the movable actuator.

The rear side refers to the part of the transport unit that is furthest away from the movable actuator during transport of the transport unit. The rear side is arranged opposite the front side.

A first magnetic means can consist of a permanent magnet or a metal that is attracted to a magnet. Preferably, the first magnetic means is arranged on the rear side of the transport unit. The first magnetic means is in operative connection with the second magnetic means. The second magnetic means can also consist of a permanent magnet or of a metal, which is attracted by a magnet. Preferably, the second magnetic means is arranged on a surface of the interior that is opposite the rear side. It is advantageous that the module can be transported without the transport unit falling out. Of course, the force of the magnet of the movable actuator must be greater than the force of the magnet that fixes the transport unit inside the first module.

In a particularly preferred embodiment, the transport unit comprises a front side and a rear side, wherein the front side can be brought into contact with the first movable actuator for transporting the transport unit and the rear side is arranged opposite the front side, wherein the front side comprises at least one third magnetic means which can be brought into contact with at least one fourth magnetic means, wherein the fourth magnetic means is arranged on the first movable actuator.

A third magnetic means may consist of a permanent magnet or a metal and is preferably arranged at the front of a transport unit. Preferably, the third magnetic means is formed of a metal that is attracted to a magnet. The fourth magnetic means preferably consists of an electromagnet arranged on the movable actuator. Preferably, the fourth magnetic means is operated and activated or deactivated by the control device. In active connection with the third magnetic means, the fourth magnetic means is placed in the activated state in order to transport the transport unit.

In one embodiment of the invention, the device relating to the fourth magnetic means is an electromagnet arranged to be activated by a control device comprising the device for the purpose of transporting the transport unit and, as soon as the transport unit is positioned within the first quadrant, second quadrant or further quadrant, to be deactivated again by the control device.

The control unit serves, among other things, to activate or deactivate electromagnets. The control unit also serves to move the movable means and to control the means that are set up for receiving and/or dispensing liquids such as cell suspensions. Preferably, the control unit is able to detect which objects are present in which quadrants. These objects can be modules, further modules, transport units or containers. Preferably, the control unit is set up in such a way that it plans or organizes the course of the experiment depending on the position of the objects. Planning can be fully automatic, so that no user is necessary to monitor the correct placement of the modules. Preferably, the control unit controls the movable actuator, in particular the means for sucking in liquids, in such a way that the suction of a cell arrangement such as an organoid is prevented. Preferably, the control unit can be controlled by a computer program, an algorithm, machine or artificial intelligence. The terms control and control unit are used synonymously in connection with the present invention. A control unit can be a microchip, a computer or an integrated circuit.

An electromagnet is a magnet that is preferably activated by the control device to attract a metal element (e.g. the third magnetic means or the opposing positioning means) in the magnetized state. The control device can also deactivate the electromagnet. Activation of an electromagnet refers to the process of exciting the electromagnet to create a magnetic field. Activation of an electromagnet can be realized by a control device connecting an electrical power source to the electromagnet and/or activating it.

Preferably, the device has an opening and/or an edge facing the opening, which is arranged at the front of the transport unit, is provided with a sealing element which is suitable for reducing the risk of contamination of the interior of the storage unit and/or for reducing or preventing the exchange of gases between the interior and the space outside the storage unit.

The edge is the point on the transport unit that, when used as intended, limits the front side in the X-Z or X-Y plane. Preferably, the opening of the first module part and/or the edge has a sealing element.

The sealing element is designed to seal the interior from the space outside the storage unit. In this way, it can advantageously be achieved that contamination of the interior is avoided. The sealing element is formed, for example, from a rubber or silicone lip or a similar means. Further preferably, the means is suitable for sealing the gas exchange between the interior and the space surrounding the storage unit. This has the advantage that, for example, cell cultures that require a require a specific gas composition are not exposed to excessive fluctuations in gas concentration. This is especially true if the storage unit also contains a fumigant.

Gas exchange is the process by which the concentration of a gas in one volume changes relative to a second volume.

In some embodiments, the dimensions of the device according to the present invention are such that the entire device can be housed in a sterile work area of a sterile work bench. In a preferred embodiment, the device according to the invention is also housed in a casing made of lightweight materials such as wood, aluminum sheet or plastic, which allows the laminar flow of a sterile work table to be unhindered. A casing can be any structure surrounding the device that is not necessary for the structural integrity of the device and serves to cover parts of the device, preferably without hindering any functions.

A sterile workbench, also called a safety workbench, is a sterile workbench used in cell culture laboratories or when working with sensitive materials, such as semiconductor materials in semiconductor technology. A safety workbench consists of a work table with a housing that is specially ventilated. The sterile workbench usually has a HEPA (High Efficiency Particulate Air) filter system that creates a laminar flow of filtered air. The sterile workbench has a sterile work area, which means the area where work is primarily carried out with biological material.

In a preferred embodiment of the present invention, the dimensions and shape of the device allow for the unimpeded laminar flow required to ensure a sterile environment for biological and/or chemical experiments. Preferably, the device in combination with a safety cabinet meets or exceeds relevant industry standards and regulations, such as the ISO 14644 cleanroom standard or specific biological safety regulations.

In an alternative embodiment of the invention, the work area and the modules in the work area are biologically sealed and meet the safety regulations for personal and product protection according to DIN EN 12469 (Class II).

Preferably, the device provides at least one module that can be connected to the base surface of the device and/or at least one further module, in particular via an electrically communicating connection, wherein the electrically communicating connection is configured for the transmission of data and/or electrical energy.

An electrically communicating connection is established for the exchange of data and/or the transmission of control signals from or to the control unit. The electrically communicating connection does not necessarily have to be established by a plug connection. It can also be realized by a magnetic connection, wherein the electrically communicating connection is established by the correct positioning of the module on the quadrant, for example by the operative connection of the magnetic positioning means with the opposing positioning means on the underside of the module. A magnetic connection has the advantage that there are no plug locations that would have to be laboriously cleaned. In a preferred embodiment, the electrically communicating connection can be raised or lowered and the opposite communicating connection recessed or raised. If the electrically communicating connection is raised on an upper surface or surface, this has the technical effect of reducing the risk of an electrical fault if liquids are spilled.

In one embodiment of the device, the electrically communicating connection is designed as a bus connection, wherein the bus connection is set up for the exchange of data between at least two modules and/or between the module and the control unit and/or for the exchange of data and/or electrical energy between the module, a frame and a control unit within the base comprised by the device, wherein a human-machine interface is preferably provided by the base.

A bus is a system for data transmission and/or electrical energy transmission between several participants via a common transmission path. According to the invention, a parallel or serial bus is possible. The simultaneous presence of a parallel and a serial bus is also possible. Preferably, according to the present invention, the bus is built into the frame and connected to modules by an electrically communicating connection. This has the advantage that open cables are no longer required, which reduces the risk of accidents or damage caused by accidental spillage of liquids.

It can be provided that a module has at least one electrical consumer (e.g. a lamp or LED). Consequently, the module requires electrical energy, which is provided, for example, via the electrically communicating connection.

The human-machine interface refers to the technology or interface through which humans interact and communicate with the device according to the present invention. The human-machine interface may provide means for interaction, e.g., a graphical user interface (GUI), a touch screen, a voice assistant and/or speech recognition, physical controls, e.g., buttons, switches, knobs, sliders, or dials.

Preferably, the device, in particular the movable actuator system, comprises at least one optical sensor, wherein the optical sensor is configured to monitor a filling and/or an emptying of the cavity and/or the transport of the transport unit and/or the course of the test, and/or wherein the optical sensor is configured to determine a filling quantity of consumables and/or their position within the device and/or the type of consumable, and/or wherein the optical sensor is configured to determine a temperature, in particular a temperature within the cavity.

An optical sensor uses waves of the electromagnetic spectrum to determine measured quantities. An optical sensor can be, for example, an infrared thermometer (pyrometer). An optical sensor can also be designed as a camera. The optical sensor is set up in such a way that it provides the control unit or another computing unit with measured quantities that provide information about the course of the experiment. An optical sensor can, for example, be set up in combination with an algorithm and/or a machine and/or artificial intelligence to determine the position of modules, other modules, transport units or containers that are arranged on the base area within quadrants. In addition, an optical sensor can also be set up to identify a sample carrier. Preferably, the optical sensor is able to determine the type of consumable, e.g. the manufacturer and the shape. The detection of consumables by an optical sensor has the advantage that the experiments can be better planned. One could imagine that if the number of pipette tips is too low, a message would be sent to an employee's smartphone, prompting them to refill the consumables so that the test is not interrupted. The device can also be equipped with another sensor. This additional sensor is used to record process parameters, fill levels of cavities or containers, fill quantities of consumables, temperatures, humidity or electric fields. The presence of at least one additional sensor advantageously enables the determination of various process parameters which, when combined, have an influence on the test. These process parameters can be determined by at least one additional sensor.

Consumables are means that are necessary for carrying out the experiments, in particular for filling the wells with a chemical substance or a biological material. A consumable can be, for example, a pipette tip or a hydrogel. They also include, for example, suspensions or culture media. It can also be intended that a consumable, especially if it is a liquid, is temperature-controlled.

Another module can serve as a storage unit for consumables. The fill level of the consumables can be determined using an optical or another sensor. The consumables can preferably be placed in any quadrant, whereupon the control unit records where the consumables are stored. The advantage is that the user is not restricted to placing the consumables in exactly one place. Instead, he can, for example, keep several pipette tip boxes in stock on the base area.

Positioning is a process in which a module, another module, a transport unit or a container is placed in a quadrant. Preferably, the placed module, the placed another module, the transport unit or the placed container is positioned in the quadrant in such a way that it cannot slip during intended use.

Temperature is a physical quantity that measures the degree of heat or cold of an object or environment and represents the average kinetic energy of the particles in a substance and/or material. It can be measured using a thermal sensor in contact with the substance or material or using a remote sensing technique such as infrared thermometry.

In a preferred embodiment, the optical sensor is arranged to detect the position a two-dimensional and/or three-dimensional cell structure, in particular a spheroid and/or an organoid, within the cavity, wherein the control unit controls the second movable actuator depending on the position determined by the optical sensor.

An organoid is an organ-like microstructure a few millimeters in size that can be artificially created using cell culture methods. Under suitable culture conditions, organoids can be grown from one or a few tissue cells, embryonic stem cells or induced pluripotent stem cells.

A spheroid is a collection of cells that grow in a spherical shape, mimicking the behavior and organization of cells in a tissue or organ.

Preferably, the device or module comprises a data transmission means, wherein the data transmission means is suitable for exchanging data with an external computer, a cloud or a mobile device.

The term cloud is short for cloud computing. In general, it means "storing something in the cloud". This usually means storing data on a remote server. The transfer from the user's device (PC, tablet, smartphone) takes place over the Internet. Once the files have been stored in a cloud, they can later be accessed using any other device. The advantage of the cloud is that less storage space is required on local devices and that no separate server is required (minimized hardware and IT staff costs).

Data or data sets are defined here as all information that can be processed by a technical device, in particular a computer or processor.

An external computer is at least one technical device with at least one processor that is not identical to the device according to the invention.
A mobile device is a technical device that can be easily carried by a user. A smartphone or tablet, for example, is a mobile device.

In addition, the device module may contain a cross-linking agent that is suitable for cross-linking chemical substances, in particular proteins, that are present in the cavity.

A cross-linking agent (also: cross-linking module) is used to cross-link chemical substances with one another. A cross-linking agent is, for example, a UV lamp, which can be arranged in a module. The cross-linking agent can be controlled via the control unit.

A vibrating surface is designed to generate vibrations. Preferably, the vibrating surface is controlled by the control unit. The use of a vibrating surface has the advantage that the contents of the cavity can be mixed by the movable actuator, for example for the duration of the filling. Preferably, the vibrating surface is controlled by the control unit. Furthermore, the vibrating surface preferably has a magnetic positioning means so that objects placed on the vibrating plate, such as sample carriers, can be fixed to the vibrating plate at least for the duration of the vibration. It is also advantageous that a container placed on the vibrating surface can be shaken continuously so that the liquid it contains remains mixed. This prevents, for example, cell populations from settling in the liquid or suspension while the cavities are being filled.

Proteins are a biological material consisting of complex organic macromolecules composed of chains of smaller units called amino acids, also called peptides, which are linked together by peptide bonds.

In a preferred embodiment, at least one quadrant comprises a vibration surface, wherein the vibration surface is designed to cause the sample carrier to vibrate.

Preferably, the vibrating surface is connected to the base surface via a flexible plastic. The advantage is that there is no gap between the vibrating surface and the base surface. This makes cleaning the surface easier and reduces the risk of contamination.

Preferably, the device may provide at least one vibrating surface comprising at least one magnetic positioning means suitable for fixing the transport unit to the vibrating surface via the opposing positioning means arranged on the transport unit and/or the containers.

A container may contain any liquid or suspension. The container is arranged so that it can be accommodated in a transport unit. The bottom of the container may have an opposing positioning means to secure the container in a transport unit.

In a preferred embodiment, the outer edge of the vibrating surface is connected to the base surface via a flexible plastic.

The flexible plastic can be made of any material, preferably a material that is easy to clean. Preferably, the flexible plastic is made of silicone.

Further preferred is a device according to the present invention which, in addition to the optical sensor, comprises at least one further sensor and/or at least one actuator, wherein the further sensor serves to detect process parameters and/or wherein at least one actuator influences process parameters, in particular a fill level of the cavity and/or the fill quantity of the consumables, furthermore physical process parameters such as the temperature and/or an oxygen (O ₂ ) content in the samples and/or an air humidity, and/or the light intensity, in particular the light intensity in the UV range, and/or an ambient pressure or sample pressure and/or an electric field or serves to determine the process times of the individual process steps and/or total process times.

The air humidity and/or the light intensity and/or the ambient pressure and/or the electric field strength and/or the oxygen content can be determined by a further sensor or further sensors. Preferably, the device according to the invention has technical means which are designed to set a certain air humidity and/or light intensity and/or the ambient pressure and/or the electric field strength and/or the oxygen content in a region of the device, for example inside the storage unit and/or another module. This can be achieved by at least one actuator, e.g. a lamp, a UV lamp, an infrared heater or an electric heating element, a cooling element. An actuator is an element which can influence the physical properties of the environment in which it is located, e.g. by emitting electromagnetic radiation in different wavelengths.

A process parameter includes all variables that can be determined by the optical sensor or by other sensors. By determining and processing, in particular storing, process parameters, the device is enabled to increase the reproducibility of experiments. This is achieved, for example, by a computer program product, in particular an algorithm, a machine or artificial intelligence, accessing stored process parameters and controlling technical means of the device that are set in such a way that they create the same physical conditions (e.g. temperature, humidity) for the duration of the experiment.

The device may provide at least one quadrant with a thermal surface that can be activated or deactivated by the controller and can maintain, decrease or increase the temperature of the sample carrier and thus the temperature of the contents of the cavity and/or the temperature of a reagent.

A reagent is defined here as any liquid or suspension that is introduced into a cavity at any time. A reagent can be stored in a container. A reagent can be, for example, a chemical substance or a cell suspension.

A thermal surface serves to introduce heat energy into or remove heat energy from an object that is placed on it, such as a sample carrier. For this purpose, the thermal surface can have at least one Peltier element or another means that is suitable for increasing or decreasing a temperature. In this way, it can advantageously be achieved that the contents of the cavity as well as the liquid or a reagent that is to be transported into the cavity have a certain temperature. In addition, the thermal surface can have a magnetic positioning means, for example to fix a sample carrier or a container on the thermal surface. The thermal surface can be equipped with at least one further sensor, in particular a temperature sensor. The heat output emitted or the heat energy removed is preferably influenced by the control device, which determines this on the basis of the variables determined by the optical or further sensor.

In a preferred embodiment, the interior of the storage unit is designed such that an incubation temperature can be set which is equal to or different from the temperature outside the storage unit.

Incubation temperature refers to the temperature inside a storage unit. Certain incubation temperatures are required for certain experiments, particularly for the cultivation of cell cultures. By controlling the incubation temperature, the conditions for such biological experiments can be optimized.

Preferably, the activity of the thermal surface, in particular the reduction or Increase in the temperature inside the cavity, depending on the temperature determined by the optical sensor or the other sensor.

Another advantage is that temperature can be monitored by remote temperature measurement. It can be measured using a remote measurement technique such as infrared thermometry. This has the advantage that the temperature can be controlled without directly interacting with the contents of a cavity, reducing the risk of contamination or negatively influencing the course of the experiment.

Some embodiments of the device comprise a fumigant that is suitable for changing the gas composition in the interior. A fumigant is used to change the gas composition within a volume, in particular in the interior of the storage unit. Advantageously, a specific gas composition can be generated in this way, which is, for example, optimal for the cell cultures stored in the interior.

The gas composition may be the same or different from the ambient air surrounding the device.
An opposing positioning means is designed to effect a fixation of a module, another module, a transport unit or a container within a quadrant in operative connection with a magnetic positioning means. Preferably, at least one magnetic positioning means is arranged on the underside of a module, another module, a transport unit or a container. The opposing positioning means can be, for example, a magnet or a metal strip, wherein the metal strip consists of a metal that is attracted to a magnet. The opposing positioning means can also be designed to align the orientation of the module, another module, the transport unit or the container that is to be fastened. For example, three opposing positioning means could be arranged on the underside of a module, another module, a transport unit or a container such that the opposing positioning means each form the tip of a triangle. At least three magnetic positioning means can also be arranged in a triangle on or under the base surface or quadrant, so that the module, the further module, the transport unit or the container is only fixed within the quadrant when the triangles are aligned congruently. Shapes other than a triangle can also be considered.

In a preferred embodiment, the storage unit and/or the transport unit is completely or partially transparent. A module can have a transparent means at least in sections and be transparent in this section. The person skilled in the art can freely determine the opacity of the transparent means (e.g. glass). A transparent means advantageously enables a user to observe the sample carrier, in particular the cavities, for example, without having to open the container.

The invention also provides a computer program product comprising instructions that cause a computer to enable the exchange of data between the device and a knowledge database, wherein the knowledge database is configured to store a sequence of the experiment, in particular process parameters that are detected by an optical sensor and/or another sensor during the experiment, wherein the computer program product stores the detected parameters as data in the knowledge database and makes them available when required.

A computer is a technical device that processes data using programmable calculation rules.

The experimental procedure describes the entire process from loading the wells with chemical substances and/or biological materials to removing the sample carriers from the device.

A data retrieval means a downloading of data, in particular a downloading of data from the knowledge database.

The device according to the invention preferably comprises a knowledge database in which, for example, external protocols can be stored. Preferably, several devices according to the invention can access the knowledge database independently of one another. The devices/devices are networked via the knowledge database.

The invention also provides a computer system arranged to execute an algorithm, a machine or an artificial intelligence thereon, wherein the algorithm or the machine or the artificial intelligence is arranged to plan or monitor an experiment carried out with the means of the device, to log its execution and to optimise it depending on required process flows, wherein the algorithm or the machine or the artificial intelligence is arranged to access the knowledge database in order to Retrieve data from it or store data on it.

An algorithm is a unique set of instructions for solving a problem or a class of problems. Algorithms consist of a finite number of precisely defined individual steps. The algorithm according to the invention is advantageously implemented in a computer program for execution. The computer program product according to the invention, in particular an algorithm, can also have a calendar function for planning the sequences of the experiment. A time planning program can be provided for terminating experiments.

Required processes refer to procedures that are necessary for the successful conduct of an experiment.

Preferably, the computer system provides means whereby the algorithm or machine or artificial intelligence is capable of creating protocols from scientific publications or other data sets and storing them in the knowledge database.

In this document, a protocol is understood as a set of instructions for conducting an experiment. Scientific publications contain protocols that are essential for conducting experiments. Preferably, the device according to the invention is set up to extract data from scientific publications and use this data as a basis for planning and conducting experiments. Preferably, this happens automatically. However, it can also be provided that the computer program product according to the invention interacts with a user in order to plan the course of the experiment. The automated creation of protocols can enable more efficient planning and automation of a development process. In addition, the means according to the invention can be used to find connections that are not apparent even to the person skilled in the art and to release new and useful protocols.

The invention also provides a data carrier signal that serves to transmit data generated by the device to a computer, a cloud, a mobile device or a computer system or to transmit data from a computer, a cloud, a mobile device or a computer system to the device, in particular to the control device.

Preferably, the device has at least one means for data transmission, which is designed to transmit data from one technical unit to another technical unit. The data can be transmitted by cable or by wireless transmission. This has the advantage that any errors or damage that may occur during an experiment can be monitored remotely, thereby increasing the response time, reducing unnecessary downtime and enabling faster problem solving. Preferably, the data carrier signal can be used to transmit experimental data.

EXAMPLES OF IMPLEMENTATION

An embodiment and further advantages of the invention are shown purely schematically below in conjunction with the following figures and explained in more detail, without limiting the invention thereto.

• 1A: Übersicht über die automatisierte Vorrichtung (1.1) gemäß der vorliegenden Erfindung, die im sterilen Arbeitsbereich (14.2) einer Sterilwerkbank (14.1) angeordnet ist.
• 1B: Übersicht über die automatisierte Vorrichtung (1.1) gemäß der vorliegenden Erfindung, die die Basis (16.2) und die Mensch-Maschine-Schnittstelle (16.3) zeigt.
• 1C: Übersicht über die automatisierte Vorrichtung (1.1) gemäß der vorliegenden Erfindung ohne Verkleidung.
• 2: a) Ein Modul (1.13) der Vorrichtung gemäß der vorliegenden Erfindung. Links: Ansicht von schräg oben, rechts: Querschnitt. b) Ein Modul (1.13) der Vorrichtung, bestehend aus einem ersten Modulteil (1.16) und einem zweiten Modulteil (1.17).
• 3: a) Schematische Übersicht der Umrahmungsunterseite (9.2) und der Umrahmungsoberseite (9.3) einer Umrahmung (9.1) gemäß der vorliegenden Erfindung. b) Eine Umrahmung (9.1) mit Quadranten (1.5, 1.6, 1.7). c) Eine Umrahmung (9.1) mit elektrisch kommunizierenden Verbindungen (15.2) und Busverbindungen (16.1).
• 4: Ein erster beweglicher Aktuator (1.9) mit einer Transporteinheit (4.2), links: angebracht, rechts abgenommen.
• 5: Eine Transporteinheit (4.2), oben links: Ansicht von der Unterseite (8.1), oben rechts: Ansicht von schräg oben, unten links: Vorderseite (10.1), unten Mitte: Seitenansicht, unten rechts: Rückseite (10.2).
• 6: a) Ein weiteres Modul (15.1) mit eingeschobener Transporteinheit (4.2). Links: Ansicht von schräg oben, rechts: Querschnitt. b) Eine weitere Einheit (15.1) und eine Transporteinheit (4.2), die voneinander getrennt sind.
• 7: a) Eine Transporteinheit (4.2), die auf einem Modulträger (8.2) angeordnet ist. Links: Ansicht von schräg oben, rechts: Querschnitt. b) Eine Transporteinheit (4.2) auf einem Modulträger (8.2) mit einer Vibrationsfläche (21.1):
• 8: a) Ein bewegliches Aktuatorsystem (1.8) mit einem ersten beweglichen Aktuator (1.9), einem zweiten beweglichen Aktuator (1.10), einem Schlitten (1.14) und einem kinematischen System (1.15). b) Ein bewegliches Aktuatorsystem (1.8) mit angezeigter X-Y-Raumachse. c) Ein bewegliches Aktuatorsystem (1.8) mit dargestellter Z-Raumachse; Seitenansicht. d) Ein bewegliches Aktuatorsystem (1.8) mit angezeigter Z-Raumachse; Vorderansicht.

This shows

• 1A : Overview of the automated device (1.1) according to the present invention, which is arranged in the sterile work area (14.2) of a sterile workbench (14.1).
• 1B : Overview of the automated device (1.1) according to the present invention, showing the base (16.2) and the human-machine interface (16.3).
• 1C : Overview of the automated device (1.1) according to the present invention without casing.
• 2 : a) A module (1.13) of the device according to the present invention. Left: view from above, right: cross section. b) A module (1.13) of the device, consisting of a first module part (1.16) and a second module part (1.17).
• 3 : a) Schematic overview of the frame bottom (9.2) and the frame top (9.3) of a frame (9.1) according to the present invention. b) A frame (9.1) with quadrants (1.5, 1.6, 1.7). c) A frame (9.1) with electrically communicating connections (15.2) and bus connections (16.1).
• 4 : A first movable actuator (1.9) with a transport unit (4.2), left: attached, right: removed.
• 5 : A transport unit (4.2), top left: view from the bottom (8.1), top right: view from above, bottom left: front (10.1), bottom middle: side view, bottom right: back (10.2).
• 6 : a) Another module (15.1) with inserted transport unit (4.2). Left: view from above, right: cross section. b) Another unit (15.1) and a transport unit (4.2) separated from each other.
• 7 : a) A transport unit (4.2) arranged on a module carrier (8.2). Left: view from above, right: cross section. b) A transport unit (4.2) on a module carrier (8.2) with a vibration surface (21.1):
• 8 : a) A movable actuator system (1.8) with a first movable actuator (1.9), a second movable actuator (1.10), a carriage (1.14) and a kinematic system (1.15). b) A movable actuator system (1.8) with the XY spatial axis shown. c) A movable actuator system (1.8) with the Z spatial axis shown; side view. d) A movable actuator system (1.8) with the Z spatial axis shown; front view.

In 1A an embodiment of the device according to the invention is shown, wherein the components involved are shown schematically, wherein the device according to the present invention is placed in the sterile working area (14.1) of a sterile workbench (14.2) so that experiments can advantageously be carried out in a sterile working environment. 1B shows an exemplary embodiment of the device (1.1) according to the present invention with a base (16.2) and a human-machine interface (16.3) that enables a human to interact with the device. 1C shows an exemplary embodiment of the device according to the invention without cladding. This embodiment of the device according to the invention is divided into areas (1.2) which are divided into quadrants (1.5, 1.6), including a working area (1.3) and a front loader area (1.4) which are arranged on a base surface (7.2) of the device. The exemplary device has a movable actuator system (1.8) which is attached to a carriage (1.14) which is connected to a kinematic system (1.15) which advantageously enables the transport of sample carriers between modules and quadrants. This has the technical advantage that different experiments can be carried out under defined conditions in different modules. A first movable actuator (1.9) transports a sample carrier (1.11) with at least one cavity between quadrants (1.5, 1.6). The device comprises a module (1.13) for receiving and storing the sample carrier, which is designed as a two-part structure with a storage unit (1.18). In this design, the storage units are stacked on top of each other, which increases the storage capacity. A second movable actuator (1.10) fills the cavity (1.12) with chemical substances or biological materials or removes them partially, in this example advantageously while the cavity is in the work area. This leads to easy accessibility and rapid filling. A further module (15.1) enables the storage of samples, for example for the cultivation of a cell culture.

2 shows an example of a module (1.13) of the device according to the present invention (a), which comprises a magnetic positioning means (7.1) and an electrically communicating connection (15.2). The magnetic positioning means enable the module to be fixed and released and the electrically communicating connection (15.2) enables the module to communicate with a control device or can transmit power. The module (1.13) of the device consists of a first module part (1.16) and a second module part (1.17). The second module part is designed as a transport unit (4.2) that can transport a sample carrier (1.11) with at least one cavity (1.12). The first module part (1.16) has an opening (4.1) into which the second module (1.17) can be fully or partially inserted. In addition, the first module (1.16) is equipped with a second magnetic means (10.4) located on a surface (10.5) of the interior (1.19). It establishes an electrically communicating connection (15.2) which enables communication or the transmission of energy to further, stacked modules (1.13). This has the advantage that the modules (1.13) can be arranged compactly without the need for cables.

3 . Shows an example of a frame bottom (9.2) and a frame top (9.3) of a frame (9.1) according to the present invention. The frame (9.1) comprises quadrants (1.5, 1.6, 1.7) which are at least partially enclosed by the frame (9.1). The frame (9.1) is raised relative to the base surface (7.2) of the device (1.1), so that a physical barrier is created between the quadrants. In this exemplary embodiment, the frame bottom (9.2) is equipped with magnetic positioning means (7.1) with which the frame (9.1) can be attached to the base surface (7.2). This allows the frame (9.1) to be easily and quickly removed for cleaning and can easily be exchanged for frames with a different structure. The frame provides electrically communicating connections (15.2) and a bus connection (16.1) that enables wireless communication and power transmission.

4 . Shows an example of a first movable actuator (1.9) with a transport unit (4.2) which is designed to receive a sample carrier (1.11) and which can be attached to the first movable actuator (1.9) (left) or removed from it (right). The first movable actuator (1.9) has fourth magnetic means (11.2) which can be attached to the third magnetic means (11.1) of the transport unit (4.2). In this example, the transport unit (4.2) is also equipped with a first magnetic means (10.3).

5 . Shows an example of a transport unit (4.2) equipped with magnetic positioning means (7.1) located on the rear side (10.2) and third magnetic means (11.1) located on the front side (10.1). This allows the transport unit to be reversibly attached to, for example, a first movable actuator (1.9) and/or a storage unit (1.18), which advantageously enables secure, fast and space-saving fixation. This transport unit also has an edge (13.1) that can fit into the opening (4.1) of a storage unit (1.18).

6 . Shows an example of a further module (15.1) into which a transport unit (4.2) is inserted (a). In this embodiment, the storage unit and/or the transport unit have a sealing element (13.2) which is attached to the edge (13.1) of a transport unit (4.2) and serves to seal the interior (1.19) of the further module (15.1). In this way, it can advantageously be achieved that contamination of the interior (1.19) is avoided. Alternatively, the gas composition inside the further module (15.1) can be manipulated so that special experiments can be carried out. In addition, the further module offers further sensors (24.1) and/or actuators (24.2) with which the physical conditions of an experiment can be controlled, measured and manipulated in order to create optimal conditions.

7 . Shows an example of a transport unit (4.2) on a module carrier (8.2) with a vibration surface (21.1). The transport unit is placed and fixed with opposing positioning means (8.3) in the form of magnetic positioning means (7.1) located on the module carrier (8.2) and the underside (8.1) of the transport unit (4.2). This allows, for example, the contents of a sample carrier (1.11) to be set in vibration while the transport unit (4.2) is attached. It is advantageous that a container placed on the vibration surface can be shaken continuously so that the liquid it contains remains mixed. This prevents, for example, cell populations from settling in the liquid or suspension while the cavities are being filled. In addition, the module carrier offers an electrically communicating connection (15.2) via which a module can be connected.

8 . shows an example of a movable actuator system (1.8) comprising a first movable actuator (1.9), a second movable actuator (1.10), a carriage (1.14) and a kinematic system (1.15), wherein the spatial axis XYZ is shown. Advantageously, the movable actuator system according to this example and according to the present invention can be moved in the three spatial axes x, y and z. The system of two different movable actuators (1.9, 1.10) enables efficient operation of the movable actuator system (1.8) by moving, for example, transport units (4.2) or liquids for chemical and/or biological experiments. This reduces the space requirement, since the transport and manipulation are carried out with the aid of the movable actuator system (1.8).

REFERENCE SYMBOL LIST

1.1

automated device

1.2

areas

1.3

work area

1.4

front loader area

1.5

first quadrant

1.6

second quadrant

1.7

another quadrant

1.8

movable actuator system

1.9

first movable actuator

1.10

second movable actuator

1.11

sample carrier

1.12

cavity

1.13

module

1.14

Sleds

1.15

kinematic system

1.16

first module part

1.17

second module part

1.18

storage unit

1.19

interior

4.1

opening

4.2

transport unit

6.1

locking device

7.1

magnetic positioning device

7.2

base area

8.1

bottom

8.2

module carrier

8.3

opposing positioning device

9.1

framing

9.2

frame bottom

9.3

frame top

10.1

front

10.2

back

10.3

first magnetic medium

10.4

second magnetic medium

10.5

surface

11.1

third magnetic medium

11.2

fourth magnetic medium

13.1

edge

13.2

sealing element

14.1

sterile workbench

14.2

sterile work area

15.1

another module

15.2

electrically communicating connection

16.1

bus connection

16.2

base

16.3

human-machine interface

21.1

vibration surface

24.1

additional sensor

24.2

actuator

25.1

thermal surface

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• WO 2002/049 761 A2 [0007]
• CN 209205330 U [0008]
• CN 103846114 A [0009]
• KR 10-1854807 B1 [0010]
• WO 2019/232 504 A3 [0011]

Claims (33)

An automated device (1.1) for carrying out chemical and/or biological experiments, wherein the device (1.1) comprises at least two areas (1.2), wherein the areas are designed as at least one work area (1.3) and at least one front loader area (1.4), wherein each of the areas (1.2) is divided into at least one quadrant (1.5, 1.6, 1.7), wherein the device (1.1) comprises a movable actuator system (1.8) which is attached to a carriage (1.14) which is connected to a kinematic system (1.15), wherein a first movable actuator (1.9) is designed to transport a sample carrier (1.11) with at least one cavity (1.12) from a first quadrant (1.5) to a second quadrant (1.6) or a further quadrant (1.7), wherein the device (1.1) has at least one module (1.13) which is designed to receive and store the sample carrier (1.11), wherein a second movable actuator (1.10) is suitable for filling the cavity (1.12) with a volume of a chemical substance and/or a volume of a biological material and/or for at least partially removing the volume from the cavity (1.12) when the sample carrier (1.11) is positioned in the first quadrant (1.5) or in the second quadrant (1.6) or in the further quadrant (1.7), characterized in that the module (1.13) is designed in at least two parts and has at least a first module part (1.16) and at least a second module part (1.17), wherein the first module part (1.16) is designed as a storage unit (1.18) and has an interior space (1.19), wherein the interior space (1.19) is designed to store the sample carrier (1.11) and wherein a second module part (1.17) is in operative connection with a first module part (1.16) and/or the movable actuator system (1.8). The device according to claim 1 , wherein the device (1.1) in particular provides means for carrying out biological experiments or efficacy tests of pharmacologically active substances on two-dimensional cell aggregates and/or three-dimensional cell aggregates. device according to claim 1 or 2 , wherein the device (1.1) comprises means suitable for generating the two-dimensional and/or three-dimensional cell aggregates in the cavity (1.12) of the sample carrier (1.11). Device according to one of the Claims 1 until 3 , wherein the storage unit (1.18) has at least one opening (4.1) and wherein the second module part (1.17) is designed as a transport unit (4.2) and is in operative connection with the first module part (1.16) and the first movable actuator (1.9). The device according to one of the Claims 1 until 4 , wherein the transport unit (4.2) is designed such that it can be completely or partially inserted into and/or removed from the first module part (1.16) by the first movable actuator (1.9) through the opening (4.1). Device according to one of the Claims 1 until 5 , wherein the transport unit (4.2) is designed to receive the sample carrier (1.11) and has at least one locking means (6.1) which is designed for the reversible fastening of the sample carrier (1.11) to the transport unit (4.2). The device according to one of the Claims 1 until 6 , wherein at least one quadrant (1.5) comprises a magnetic positioning means (7.1), wherein the magnetic positioning means (7.1) is arranged under the base surface (7.2) of the device (1.1) or is part thereof. device according to claim 7 , wherein on an underside (8.1) of the transport unit (4.2) and/or on an underside (8.1) of the module (1.13) and/or on the underside of a module carrier (8.2) enclosed by the device (1.1) at least one opposing positioning means (8.3) is arranged, which is set up in operative connection with the magnetic positioning means (7.1) of the quadrant (1.5) in order to align and fix the transport unit (4.2) and/or the module (1.13) and/or the module carrier (8.2) within the quadrant (1.5). Device according to one of the Claims 1 until 8 , wherein the device (1.1) comprises a frame (9.1), wherein at least one quadrant (1.5) is at least partially delimited by the frame (9.1), wherein the frame (9.1) is raised relative to the base surface (7.2) of the device (1.1), wherein the underside of the frame (9.2) is equipped with magnetic positioning means (7.1) with which the frame (9.1) can be fastened to the base surface (7.2), and wherein the frame (9.1) and/or the module (1.13) and/or the module carrier (8.2) is designed to be placed on at least one raised positioning means, wherein the raised positioning means is connected to the base surface (7.2) and is designed in particular as a pin. Device according to one of the Claims 1 until 9 , in which the transport unit (4.2) comprises a front side (10.1) and a rear side (10.2), wherein the front side (10.1) is designed to be contacted by the first movable actuator (1.9) for the purpose of transporting the transport unit (4.2), wherein the rear side (10.2) is arranged opposite the front side (10.1), wherein the rear side (10.2) comprises at least a first magnetic means (10.3) which is designed to contact a second magnetic means (10.4) which is located on a surface (10.5) of the interior (1.19) of the storage unit (1.18) opposite the rear side (10.2). The device according to one of the Claims 1 until 9 or after claim 10 , wherein the transport unit (4.2) comprises a front side (10.1) and a rear side (10.2), wherein the front side (10.1) is adapted to be contacted by the first movable actuator (1.9) for the purpose of transporting the transport unit (4.2), wherein the rear side (10.2) is arranged opposite the front side (10.1) and the front side (10.1) comprises at least one third magnetic means (11.1) which is adapted to be contacted by at least one fourth magnetic means (11.2), wherein the fourth magnetic means (11.2) is arranged on the first movable actuator (1.9). device according to claim 11 , wherein the fourth magnetic means (11.2) is an electromagnet which is designed to be activated by a control unit comprised by the device (1.1) for the purpose of transporting the transport unit (4.2) and, as soon as the transport unit (4.2) is positioned in the first quadrant (1.5), second quadrant (1.6) or further quadrants (1.7), to be deactivated again by the control unit. Device according to one of the Claims 1 until 12 , wherein the opening (4.1) and/or an edge (13.1) facing the opening (4.1), which is arranged on the front side (10.1) of the transport unit (4.2), is provided with a sealing element (13.2) which is designed to reduce the risk of contamination of the interior (1.19) of the storage unit (1.18) and/or to reduce or prevent the gas exchange between the interior (1.19) and the space outside the storage unit (1.18). The device according to one of the Claims 1 until 13 , wherein the dimensions of the device (1.1) are such that the entire device (1.1) can be placed in a sterile working area (14.2) of a sterile workbench (14.1). Device according to one of the Claims 1 until 14 , wherein the module (1.13) can be connected to the base surface (7.2) of the device (1.1) and/or at least one further module (15.1), in particular via an electrically communicating connection (15.2), wherein the electrically communicating connection (15.2) is set up for the transmission of data and/or electrical energy. The device according to claim 15 , wherein the electrically communicating connection (15.2) is designed as a bus connection (16.1), wherein the bus connection (16.1) is set up for the exchange of data between at least two modules (1.13, 15.1) among themselves and/or between the module (1.13) and the control device and/or for the exchange of data and/or electrical energy between the module (1.13), a frame (9.1) and a control device within the base (16.2) comprised by the device (1.1), wherein a human-machine interface (16.3) is preferably provided by the base (16.2). The device according to one of the Claims 1 until 16 , wherein the device (1.1), in particular the movable actuator system (1.8), comprises at least one optical sensor, wherein the optical sensor is configured to monitor a filling and/or an emptying of the cavity (1.12) and/or the transport of the transport unit (4.2) and/or the course of the test, and/or wherein the optical sensor is configured to determine a filling quantity of consumable material and/or its position within the device (1.1) and/or the type of consumable material, and/or wherein the optical sensor is configured to determine a temperature, in particular a temperature within the cavity (1.12). Device according to one of the Claims 1 until 17 , wherein the optical sensor is configured to determine the position of a two-dimensional and/or three-dimensional cell structure, in particular a spheroid and/or an organoid, within the cavity (1.12), wherein the control device controls the second movable actuator (1.10) depending on the position determined by the optical sensor. The device according to one of the Claims 1 until 18 , wherein the device (1.1) or the module (1.13) comprises a data transmission means, wherein the data transmission means is configured to exchange data with an external computer, a cloud or a mobile device. Device according to one of the Claims 1 until 19 , wherein the module (1.13) comprises a cross-linking agent adapted to form chemical sub punches, especially proteins present in the cavity (1.12), to cross-link with each other. The device according to one of the Claims 1 until 20 , wherein at least one quadrant (1.5) comprises a vibration surface (21.1), wherein the vibration surface (21.1) is adapted to cause the sample carrier (1.11) to vibrate. device according to claim 21 , wherein the vibrating surface (21.1) comprises at least one magnetic positioning means (7.1) which is suitable for fixing the transport unit (4.2) to the vibrating surface (21.1) via the opposing positioning means (8.3) arranged on the transport unit (4.2) and/or containers. The device according to claim 21 or 22 , wherein the outer edge of the vibration surface (21.1) is connected to the base surface (7.2) via a flexible plastic. Device according to one of the Claims 1 until 23 , wherein the device (1.1) comprises at least one further sensor (24.1) and/or at least one actuator (24.2) in addition to the optical sensor, wherein the further sensor (24.1) serves to detect process parameters and/or wherein at least one actuator (24.2) influences process parameters, in particular a fill level of the cavity (1.12) and/or the fill quantity of the consumable material, furthermore physical process parameters such as the temperature and/or an oxygen (O ₂ ) content in the samples and/or an air humidity, and/or the light intensity, in particular the light intensity in the UV range, and/or an ambient pressure or sample pressure and/or an electric field or serves to determine the process times of the individual process steps and/or total process times. Device according to one of the Claims 1 until 24 , wherein at least one quadrant (1.5) comprises a thermal surface (25.1) which is adapted to be activated or deactivated by the control device and is adapted to maintain, reduce or increase the temperature of the sample carrier (1.11), and thus the temperature of the contents of the cavity (1.12) and/or the temperature of a reagent. The device according to one of the Claims 1 until 25 , wherein the interior (1.19) of the storage unit (1.18) is suitable for setting an incubation temperature which is equal to or unequal to the value of the temperature outside the storage unit (1.18). The device according to claim 25 or 26 , wherein the activity of the thermal surface (25.1), in particular the reduction or increase of the temperature in the cavity (1.12), depends on the temperature determined by the optical sensor or the further sensor (24.1). The device according to one of the Claims 1 until 27 , wherein the device (1.1) comprises a fumigant which is suitable for changing a gas composition in the interior space (1.19). The device according to one of the Claims 1 until 28 , wherein the storage unit (1.18) and/or the transport unit (4.2) is completely or partially transparent. Computer program product comprising instructions which cause a computer to exchange data between the device (1.1) according to one of the Claims 1 until 29 and a knowledge database, wherein the knowledge database is configured to store a sequence of the experiment, in particular process parameters that are detected during the experiment by an optical sensor and/or another sensor (24.1), wherein the computer program product stores the detected parameters as data in the knowledge database and makes them available when required. Computer system which is set up in such a way that an algorithm, a machine or an artificial intelligence is executed thereon, wherein the algorithm or the machine or the artificial intelligence is set up in such a way to plan or monitor an experiment carried out using means of the device (1.1), to log its execution and to optimize it depending on required process sequences, wherein the algorithm or the machine or the artificial intelligence is set up in such a way that claim 30 defined knowledge base to retrieve data from it or to store data in it. The computer system according to claim 31 , where the algorithm or machine or artificial intelligence is designed to generate protocols from scientific publications or other data sets and to store them in the claim 30 defined knowledge database. A data carrier signal which is adapted to be transmitted by the device (1.1) according to one of the Claims 1 until 29 generated data to a computer claim 19 , a cloud after claim 19 or to a mobile device claim 19 or to a computer system claim 31 or 32 or to transfer data from one computer to claim 19 , a cloud claim 19 or a mobile device claim 19 or a computer system claim 31 or 32 to the device (1.1), in particular to the control unit.

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