JP6850258B2 - 細胞処理装置 - Google Patents
細胞処理装置 Download PDFInfo
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- JP6850258B2 JP6850258B2 JP2017546567A JP2017546567A JP6850258B2 JP 6850258 B2 JP6850258 B2 JP 6850258B2 JP 2017546567 A JP2017546567 A JP 2017546567A JP 2017546567 A JP2017546567 A JP 2017546567A JP 6850258 B2 JP6850258 B2 JP 6850258B2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
- B25J21/005—Clean rooms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/48—Holding appliances; Racks; Supports
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/12—Means for regulation, monitoring, measurement or control, e.g. flow regulation of temperature
- C12M41/14—Incubators; Climatic chambers
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/50—Means for positioning or orientating the apparatus
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40053—Pick 3-D object from pile of objects
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- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Wood Science & Technology (AREA)
- Organic Chemistry (AREA)
- Zoology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Health & Medical Sciences (AREA)
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Description
Claims (5)
- 無菌状態に維持された内部空間を有し、該内部空間において細胞を処理するための処理室と、該処理室内で細胞を処理する際に使用する容器を位置決めした状態で収容するトレイと、該トレイに収容された少なくとも一種類の容器を前記処理室内で把持して移動させる把持機構と、を備えた細胞処理装置であって、
前記トレイに対する前記容器の位置及び所定の姿勢を予め記憶する記憶手段と、前記トレイに配置された容器を撮像する撮像手段と、前記記憶手段で記憶されているトレイに対する容器の位置及び姿勢と前記撮像手段で撮像されたトレイに対する容器の位置及び姿勢とが一致しているかどうかを判定する判定手段と、を有する容器の正誤判定装置を備え、
前記容器の正誤判定装置により前記記憶手段で記憶されている容器の位置及び姿勢と前記撮像手段で撮像した容器の位置及び姿勢とが一致していない場合には、作業者に報知する報知手段を備えていることを特徴とする細胞処理装置。 - 前記トレイは、複数種類の容器を収容しうるように構成されていることを特徴とする請求項1に記載の細胞処理装置。
- 前記処理室が、細胞を処理するためのアイソレータと、前記容器が収容されたトレイを前記アイソレータ内に搬入する搬入手段を有するパスボックスと、を備え、
前記撮像手段が、前記パスボックス内に配置され、前記把持機構が、前記アイソレータ内に配置されていることを特徴とする請求項1又は2に記載の細胞処理装置。 - 前記搬入手段が、前記パスボックス内のトレイを載置して前記アイソレータ内に搬入可能な可動部材を備え、前記アイソレータには、前記パスボックス内のトレイを前記可動部材で搬入するための開閉自在なアイソレータ用開口を備え、
前記容器の正誤判定装置は、前記把持機構に固定信号を出力する固定信号出力手段を備えており、前記判定手段で一致していると判定した場合に、前記アイソレータ用開口を開放して前記可動部材でトレイを前記アイソレータ内に搬入した後、前記把持機構が該トレイを該アイソレータ内で固定するよう前記固定信号を出力することを特徴とする請求項3に記載の細胞処理装置。 - 前記容器の正誤判定装置は、前記固定信号出力手段により前記把持機構がトレイを固定した後に前記可動部材を前記パスボックス側へ引き戻すことを許可する許可信号を出力する許可信号出力手段を備えていることを特徴とする請求項4に記載の細胞処理装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015206195 | 2015-10-20 | ||
JP2015206195 | 2015-10-20 | ||
PCT/JP2016/080945 WO2017069150A1 (ja) | 2015-10-20 | 2016-10-19 | 細胞処理装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2017069150A1 JPWO2017069150A1 (ja) | 2018-08-09 |
JP6850258B2 true JP6850258B2 (ja) | 2021-03-31 |
Family
ID=58557126
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017546567A Active JP6850258B2 (ja) | 2015-10-20 | 2016-10-19 | 細胞処理装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20180282681A1 (ja) |
EP (1) | EP3366760A4 (ja) |
JP (1) | JP6850258B2 (ja) |
WO (1) | WO2017069150A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020203700A1 (ja) * | 2019-04-02 | 2020-10-08 | 富士フイルム株式会社 | 観察制御装置、方法およびプログラム |
EP3789305B1 (de) * | 2019-09-05 | 2022-01-19 | Skan Ag | Anlage mit einem containment zum aseptischen umfüllen eines pulvers |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03270890A (ja) * | 1990-03-20 | 1991-12-03 | Canon Inc | 視覚センサを備えたワーク把持制御装置 |
US5578269A (en) * | 1993-06-11 | 1996-11-26 | Ortho Diagnostic Systems Inc. | Automated blood analysis system with an integral centrifuge |
JP5459817B2 (ja) * | 2004-11-29 | 2014-04-02 | 川崎重工業株式会社 | 多関節型ロボットを備えた自動細胞培養装置 |
JP5416919B2 (ja) * | 2008-06-04 | 2014-02-12 | 川崎重工業株式会社 | 自動細胞培養装置 |
US9783768B2 (en) * | 2010-04-21 | 2017-10-10 | Octane Biotech, Inc. | Automated cell culture system |
JP5617440B2 (ja) * | 2010-08-30 | 2014-11-05 | 澁谷工業株式会社 | 無菌作業装置 |
JP5791475B2 (ja) * | 2011-11-24 | 2015-10-07 | キヤノン株式会社 | 画像処理装置、画像処理方法及び画像処理プログラム |
JP6081269B2 (ja) * | 2013-03-29 | 2017-02-15 | 澁谷工業株式会社 | アイソレータシステム |
JP6283535B2 (ja) * | 2014-02-28 | 2018-02-21 | パナソニックヘルスケアホールディングス株式会社 | 培養容器搬送トレイおよびこれを備えた細胞培養装置、搬送装置 |
US11041871B2 (en) * | 2014-04-16 | 2021-06-22 | Bd Kiestra B.V. | System and method for incubation and reading of biological cultures |
WO2016147898A1 (ja) * | 2015-03-18 | 2016-09-22 | ロート製薬株式会社 | 培養細胞製品の製造装置及び製造方法 |
JP6868552B2 (ja) * | 2015-03-18 | 2021-05-12 | ロート製薬株式会社 | 培養細胞製品の製造装置 |
WO2016161169A2 (en) * | 2015-03-31 | 2016-10-06 | Thrive Bioscience, Inc. | Cell culture incubators with integrated cell manipulation systems |
EP3366761A4 (en) * | 2015-10-20 | 2019-05-15 | Rohto Pharmaceutical Co., Ltd. | CELL PROCESSING DEVICE |
-
2016
- 2016-10-19 JP JP2017546567A patent/JP6850258B2/ja active Active
- 2016-10-19 US US15/764,779 patent/US20180282681A1/en not_active Abandoned
- 2016-10-19 WO PCT/JP2016/080945 patent/WO2017069150A1/ja active Application Filing
- 2016-10-19 EP EP16857463.0A patent/EP3366760A4/en active Pending
Also Published As
Publication number | Publication date |
---|---|
EP3366760A1 (en) | 2018-08-29 |
WO2017069150A1 (ja) | 2017-04-27 |
US20180282681A1 (en) | 2018-10-04 |
EP3366760A4 (en) | 2019-05-15 |
JPWO2017069150A1 (ja) | 2018-08-09 |
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