WO2004090093A1 - 培養処理装置および自動培養装置 - Google Patents
培養処理装置および自動培養装置 Download PDFInfo
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- WO2004090093A1 WO2004090093A1 PCT/JP2004/005057 JP2004005057W WO2004090093A1 WO 2004090093 A1 WO2004090093 A1 WO 2004090093A1 JP 2004005057 W JP2004005057 W JP 2004005057W WO 2004090093 A1 WO2004090093 A1 WO 2004090093A1
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- culture
- container
- space
- cleanliness
- processing apparatus
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Classifications
-
- 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
-
- 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
-
- 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
- C12M41/48—Automatic or computerized control
Definitions
- the present invention relates to an automatic culture device that automatically performs cell culture in vitro.
- Regenerative medicine which uses cultured tissue equivalents for treatment by culturing cells in vitro and reconstructing tissues, has attracted attention.
- Conventional automatic culture devices for culturing such cells include a fixed storage shelf (stat force) capable of storing a plurality of culture vessels, and a horizontal / elevation / rotationally movable transportation means for transporting the culture vessels.
- a fixed storage shelf capable of storing a plurality of culture vessels
- a horizontal / elevation / rotationally movable transportation means for transporting the culture vessels.
- an incubator equipped with a medium exchange port bot equipped with a medium injection needle and a medium discharge needle, and a management computer for comprehensively controlling these. See 2-2-262856 (Fig. 1, etc.).
- this automatic culturing device After the transfer container takes out the culture container from the incubator, the lid of the culture container is removed by the lid open robot, and the medium in the culture container is discharged and injected by the medium exchange robot. It has become. After the completion of the culture medium exchange, the lid of the culture container is again covered with the lid open-mouthed pot, and the culture container is accommodated by the stapling force in the incubator by the transfer robot.
- the operation of this automatic culture device is automatically performed by the management computer, and the schedule is controlled.
- the culturing conditions such as temperature, humidity, and carbon dioxide concentration are within the stat force accommodating the culturing vessel. It is managed to be kept constant.
- the space in which the lid of the culture vessel is removed and various treatments such as medium exchange are performed on the open culture vessel is arranged outside the statistic force.
- Various mechanical devices such as a robot and a conveyor are arranged in the space where the cells in the culture vessel are processed. Therefore, this space is in an environment where dust is likely to float, and it is necessary to reduce the floating dust by some means.If this is not the case, it is necessary to remove the lid of the culture vessel. It is conceivable that dust or the like is mixed in the culture container.
- a space requiring cleanliness is formed in a clean room in which an air purification device such as a filter is installed.
- the present invention has been made in view of the above-described circumstances, and is capable of quickly performing a process even when the state of a space for performing a predetermined process on cells contained in a container for an automatic culture device such as a culture container changes. It is an object of the present invention to provide a culture processing apparatus and an automatic culture apparatus that can appropriately cope with the problem.
- an object of the present invention is to provide a culture processing apparatus and an automatic culture apparatus that can sufficiently reduce dust and the like from being mixed into a container for an automatic culture apparatus such as a culture vessel.
- a first aspect of the present invention is a processing unit that performs a predetermined process on cells contained in a container for an openable and closable automatic culture device in a space partitioned from the outside,
- a detection unit that detects a predetermined state in the space or in the vicinity of the space
- a culture processing apparatus comprising: a control unit that controls the processing unit to prohibit opening of the container in the space when the detection unit detects the predetermined state.
- a second aspect of the present invention is a processing unit that performs a predetermined process on cells contained in an openable and closable automatic culture device container in a space partitioned from the outside,
- a detection unit that detects a predetermined state in the space or in the vicinity of the space
- a culture processing apparatus comprising: a control unit that controls the processing unit to close the container when the detection unit detects the predetermined state in a state where the container is open.
- the detection unit may be a cleanliness sensor that detects that cleanliness in the space does not satisfy a predetermined cleanliness.
- a cleanliness sensor when employed as the detection unit, the measurement is performed by the cleanliness sensor while a predetermined process is performed on the cells in the automatic culture device container by the operation of the processing unit. If the cleanliness does not satisfy the predetermined cleanliness, opening of the container in the space is prohibited by the operation of the control unit. As a result, the container is prevented from being opened in an environment where a large amount of dust or the like floats, and contamination of the cell with dust or the like is reduced.
- the control unit When the cleanliness sensor is employed in the first aspect, when the cleanliness measured by the cleanliness sensor does not satisfy the predetermined cleanliness, the control unit operates to control the automatic culture device.
- the processing unit is controlled to close the container, which prevents the container from being left open for a long period of time in an environment where there is a lot of dust, etc., and reduces the contamination of cells with dust and touido. Will be done.
- a notification unit may be provided for notifying when the cleanliness measured by the cleanliness sensor does not satisfy a predetermined cleanliness.
- the operation of the notification unit notifies that the degree of cleanliness in the space in which the automatic culture device container is disposed has been reduced, so that an external operator recognizes the fact, and Appropriate measures can be taken early.
- a plurality of the cleanliness sensors may be arranged at intervals in the space.
- the operation of the plurality of cleanliness sensors makes it possible to quickly respond even when the amount of floating dust locally increases.
- the cleanliness sensor may be arranged near a position where the container passes.
- the cleanliness sensor When the cleanliness sensor is arranged in the vicinity of the passing position of the container, the container operates in a space where the cleanliness detected by the cleanliness sensor is determined to satisfy the predetermined cleanliness. Can be passed.
- the cleanliness sensor When the cleanliness sensor is arranged near the position where the container passes, the cleanliness sensor may be arranged on a mounting table on which the container is mounted.
- the cleanliness of the space near the container is constantly monitored by the operation of the cleanliness sensor. As a result, the container is prevented from being exposed to an atmosphere having low cleanliness.
- the culture processing apparatus may include a display unit that displays the cleanliness measured by the cleanliness sensor.
- the operation of the display unit displays the degree of cleanliness in the space where the container for the automatic culture device is arranged, so that it is easy to confirm whether the air in the space is clean or not. It becomes possible.
- an auxiliary power supply that supplies electric power at the time of a power outage is provided
- the power detection unit is a power failure detection unit that detects a power failure
- the control unit may switch a power supply to the auxiliary power supply when the power failure detection unit detects a power failure.
- the automatic culture apparatus container is opened by the processing unit after the processing unit opens the container for the automatic culture apparatus.
- the power failure control unit detects the power failure from the power failure detection unit. Since the power source is switched to the auxiliary power source based on the output information, the power source is secured even if a power failure occurs.
- the power failure control unit activates the processing unit to close the automatic cultivation device container, so that the automatic cultivation device container stops in a closed state. Will be done. In other words, when a power outage occurs, the container for the automatic culture device always stops in a closed state.
- the control unit When the power outage is detected by the power outage detection unit, if the predetermined process has already been started, the control unit performs the predetermined process until the container for the automatic culture device is next closed.
- the culture processing apparatus may be stopped to proceed.
- the power failure control unit proceeds with the predetermined processing. Then, the culture treatment device is stopped when the container for the automatic culture device is closed, so that the culture treatment device is not left in the middle of the treatment. In addition, since it is only necessary to proceed with normal processing, there is no need to prepare a separate power failure processing procedure.
- An opening / closing detection unit for detecting opening / closing of the container for the automatic culture device may be provided in the culture processing apparatus provided with the auxiliary power supply and the power failure detection unit.
- the open / close detection unit detects the opening / closing of the container for the automatic culture device, so that the open / close state of the container for the automatic culture device can be more accurately detected, and the reliability is improved. Can be improved.
- the container for the automatic culture device may be at least one of a culture container containing cells, a container for a reagent, or a container for a disposable chip.
- the automatic culture device In the automatic culture device according to the present invention, a predetermined state in the space is detected.
- the container for the automatic culture device is a culture container, the contamination of cells with dust and the like can be prevented, and the container for the automatic culture device is a reagent container. In some cases, it is possible to prevent dust and the like from being mixed into the reagent, and when the container for the automatic culture device is a container for a disposable chip, it is possible to prevent dust and the like from being mixed into the chip.
- a culture treatment device according to the first or second aspect, wherein the container containing the cells is removably accommodated, and the cells are cultured while maintaining predetermined culture conditions.
- An automatic culturing apparatus comprising a transfer mechanism for transferring the container between the culturing apparatus and the culturing chamber.
- the automatic culture device of the present invention When the automatic culture device of the present invention is provided with a culture treatment device employing a cleanliness sensor as a detection unit, the cells contained in the container for the automatic culture device have a high cleanliness level in the space. In the container, and even if the cleanliness in the space is reduced to a level that does not satisfy the predetermined cleanliness, the cells in the container may be exposed to dust etc. This makes it possible to automatically culture healthy cells.
- the automatic culture device of the present invention includes a culture processing device provided with an auxiliary power supply and a power failure detection unit, even if a power failure occurs, the power supply of the culture processing device is secured, and the container for the automatic culture device is provided. Even if is opened, the process stops with the container closed. As a result, even if an unexpected power outage occurs and the container for the automatic culture device is left for a certain period of time, the monitoring of the container for the automatic culture device, which was conventionally required, can be eliminated. Therefore, cells can be automatically cultured with reduced time and cost required for monitoring.
- FIG. 1 is a perspective view showing a culture processing apparatus and an automatic culture apparatus according to one embodiment of the present invention.
- FIG. 2 is a longitudinal sectional view schematically showing a first space of the automatic culture apparatus of FIG.
- FIG. 3 is a plan view schematically showing a first space of the automatic culture apparatus of FIG.
- FIG. 4 is a perspective view showing an example of a culture container used in the automatic culture device of FIG.
- FIG. 5 is a side view showing an example of a chip supply device used in the automatic culture device of FIG.
- FIG. 6 is a perspective view showing an example of a reagent supply device used in the automatic culture device of FIG.
- FIG. 7 is a flowchart illustrating the operation of the culture processing apparatus of FIG.
- FIG. 8 is a perspective view showing an automatic culture device according to one embodiment of the present invention.
- FIG. 9 is a process flow showing a process when a power outage occurs while culturing cells in a culture vessel using the automatic culture device of FIG.
- FIG. 10 is a front view showing another example of the lid opening / closing section used in the automatic culture apparatus of FIG. BEST MODE FOR CARRYING OUT THE INVENTION
- the automatic culture apparatus 1 is provided with a first space S1 and a second space S2, which are closed by a transparent wall material observable from the outside and communicate with each other through a shirt 2. .
- two culture chambers 4 each containing a culture vessel (container for an automatic culture apparatus) 3 are arranged. Is equipped with a transfer robot (transfer mechanism) 5 for moving the culture container 3. Above the central space S12, there is provided an air purifier 6 for sending a clean downward airflow to purify the air in the central space S12.
- the four culture chambers 4 are arranged with doors 4a facing the central space S12, so that two cells arranged side by side face each other with the doors 4a facing each other and are spaced apart Have been.
- each of the culture chambers 4 has an opening 4b on one side and a door 4a that can open and close the opening 4b.
- a plurality of rail-shaped tray holding members 4c are provided at corresponding height positions, and the tray 7 is placed in the up-down direction so as to span the pair of left and right tray holding members 4c. Can be accommodated in multiple stages.
- the interior of each culture room 4 is maintained under predetermined culture conditions, for example, a temperature of 37 ⁇ 0.5 ° C., a humidity of 100%, and a CO 2 concentration of 5%.
- the tray holding member is not limited to a rail shape, and may be any shape as long as the tray can be supported so that the tray can be taken in and out.
- each culture vessel 3 is composed of a vessel body 3a and a lid 3b provided on the upper surface of the vessel body 3a, and left and right side faces of the vessel body 3a are described later.
- a projection 3c that is hooked by a hand in the second space is provided.
- the stocker 8 has a door 8a that can be opened and closed on a side facing the outside of the first space S1 opposite to the door of the culture chamber 4.
- the door 8a is formed to have a size that opens the entire side surface of the stocker 8.
- the transfer robot 5 is disposed substantially at the center of the interval between the four culture chambers 4.
- the transfer robot 5 includes a first arm 5 a that can be rotated horizontally, a second arm 5 b that is rotatably connected to a tip of the first arm 5 a around a vertical axis, and a second arm 5 b.
- a hand 5c which is attached to the tip so as to be rotatable around a vertical axis, and has no mechanism that degrades the environment in the culture room, such as a drive unit and a transmission mechanism.
- the first arm 5a and the second arm 5 b and an elevating mechanism 5 d capable of elevating the hand 5 c.
- the transfer robot 5 accesses all the trays 7 in the four culture chambers 4 and the conveyor arranged between the first space S1 and the second space S2 across the shirt 2. It has a horizontal operating range on which the tray 7 can be delivered.
- the conveyor 9 is provided with two endless velvets 9a arranged on the left and right at an interval larger than the width of the hand 5c of the transfer port bot 5, and the tray 9 is wound around these endless belts 9a. 7 can be placed.
- the transfer robot 5 accesses all the trays 7 in the culture room 4 and reduces the number of trays in the stocker 8. Both have a vertical operating range in which the uppermost tray 7 can be accessed.
- the belt 9a is not limited to an endless belt.
- the hand 5c is formed in a flat shape extending in the horizontal direction so that the tray 7 can be placed thereon, and has a thickness dimension capable of being inserted into a gap between the trays 7 accommodated in the culture chamber 4. ing. Then, the hand 5c is raised from the state of being inserted into the gap between the trays 7, so that the tray 7 is pushed up from below by two arms and picked up from the tray holding member 4c, and the tray 7 is stabilized. Can be held.
- the second space S2 is provided with a culture processing device 29.
- the culture processing apparatus 29 includes a handling robot (processing unit) 10 that handles the culture container 3 on the tray 7 transported by the conveyor 9 from the first space S1 with the shutter 2 opened.
- a handling robot (processing unit) 10 that handles the culture container 3 on the tray 7 transported by the conveyor 9 from the first space S1 with the shutter 2 opened.
- Horizontally rotatable and vertically movable 2 equipped with a centrifuge 11 for separating cells from the culture medium in the culture vessel 3 and an electric pipe 12 for dispensing various liquids such as serum and reagents 2
- a plurality of dispensing rods 13 and a plurality of disposable tips 14 attached to the tip of the dispensing rods 13 are provided within the operating range of the dispensing port bot 13.
- a chip collection unit (not shown) that discards and collects used chips 14, and supplies reagents that store various liquids such as serum and reagents in multiple containers
- Apparatus 16 and the state of cells in culture vessel 3 can be observed
- Microscope 17, multiple storage tanks 18 for storing each reagent and waste liquid discarded due to medium exchange, etc., and culture vessel 3 can be transferred between conveyor 9 and robots 10 and 13
- a horizontal movement mechanism 19 for moving the culture vessel 3 so as to move the culture vessel 3, and a shear force attached to the slider 20 of the horizontal movement mechanism 19 for placing the received culture vessel 3 and applying vibration. 2 and 1 are provided.
- the second space S2 is also provided with an air purifier (not shown) for sending a clean downdraft to purify the air in the second space S2.
- the handling robots 1 and 10 are horizontal articulated mouth bots that horizontally move and vertically move a gripping hand 10 a that handles the culture vessel 3.
- a gripping hand 10 a that handles the culture vessel 3.
- a detachable electric motor tip 14 for taking in and out cells and medium from the culture vessel 3 can be attached and detached.
- a pipette (not shown) and a lid 3 b opening / closing hand (not shown) for opening and closing the lid 3 b of the culture vessel 3 are provided.
- the handling robot 10 opens and closes the lid 3 b of the culture vessel 3 on the tray 7 conveyed by the conveyor 9, and supplies the culture vessel 3 to the microscope 17 by holding and transporting the culture vessel 3. Then, the tip 14 at the tip of the electric pipe is replaced, and the medium containing cells taken out of the culture vessel 3 is put into the centrifuge 11. Therefore, the handling robot 10 operates various devices such as the conveyor 9, the shell 21, the microscope 17, the chip supply unit 15, the chip collection unit (not shown), and the centrifuge 11. It is located within the range.
- the centrifugal separator 11 is configured to rotate the culture medium containing cells supplied from the handling robot 10 at a low speed to separate cells having a high specific gravity suspended in the culture medium from the culture medium and settle them. .
- the dispensing robot 13 includes a horizontally rotatable arm 13 a having an electric pit 12 on which a tip 14 is detachably mounted, and an elevating mechanism 13 for moving the arm 13 a up and down. b.
- the dispensing robot 13 supplies a culture medium and various reagents into the culture vessel 3 transported by the horizontal moving mechanism 19. Therefore, the dispensing robot 13 includes various devices such as a shearing force 21 on the horizontal moving mechanism 19, a chip supplying device 15, a chip collecting unit and a reagent supplying device 16 and the like within its operating range. Is located within.
- the chip supply device 15 includes a plurality of chips 14 arranged in a container 15a opened upward with a mounting port for the electric pit 12 facing upward.
- the handling robot 10 and the dispensing robot 13 are stored in a row.
- the electric pipette 12 can be inserted simply by inserting the electric pipette 12 from above.
- the tip 14 is configured to be attached to the tip of the.
- the container 15a is attached to the moving mechanism 15c so that it can reciprocate between the operating range of the handling robot 10 and the dispensing bot 13 and the lid 15b.
- the moving mechanism 15c is operated to be disposed below the lid 15b.
- the chip collecting device includes a holding device for holding the chip 14 at the entrance of the collecting container, and the chip 14 used in the handling robot 10 or the dispensing robot 13 is introduced into the holding device. And, this is to be gripped. Then, in this state, when the handling robot 10 or the dispensing robot 13 moves the electric pit 12, the used tip 14 is removed from the tip of the electric pit 12. It is designed to be collected in a collection container.
- the reagent supply device 16 accommodates a horizontally rotatable table 16a inside a cylindrical casing, and a fan on the table 16a.
- a plurality of cylindrical containers 16b for reagents having a bottom shape of a mold are mounted in the circumferential direction.
- Various reagents and the like are stored in each reagent and the like container 16b.
- MEM Minimum Essential Medium
- DEM Dulbecco's Modified Eagle Medium
- FBS Fetal Bovine Serum: fetal serum
- Serum such as human serum
- proteolytic enzymes such as trypsin to exfoliate cells in culture vessel 3
- growth factors such as cytokines that grow cells in culture
- differentiation inducing factors such as dexamethasone that differentiate cells.
- Antibiotics such as penicillins, hormones such as estrogen, and nutrients such as vitamins are stored.
- an inlet 16 c through which the dispensing port bot 13 inserts the tip 14 at the tip of the electric pit 12 is provided on the upper surface of the casing of the reagent supply device 16.
- the inlet 16 c is arranged within the operation range of the dispensing robot 13.
- Each reagent container 16b has an opening 16e on the upper surface thereof, which is arranged at a position corresponding to the inlet 16c.
- At least one of the plurality of reagent containers 16b is an empty container 16f in which no reagents are stored. Suction of reagents by dispensing robot 13 When pulling is not required, the table 16a is rotated so that the empty container 16f is positioned vertically below the casing opening 16c to prevent dust and the like from entering the reagents. Is defined. Note that the empty container 16f is not limited to the container, and may be, for example, one that blocks the opening 16c such as a block. Two reagent supply devices 16 and two dispensing robots 13 are used to separate and treat a drug solution such as trypsin common to the sample and a liquid such as serum specific to the sample. That's why.
- a drug solution such as trypsin common to the sample and a liquid such as serum specific to the sample. That's why.
- the microscope 17 is used for observing the state and degree of proliferation of the cells in the culture vessel 3 during the culturing step or when exchanging the culture medium, and when counting the number of cells. ing.
- the microscope 17 is configured so that the XY stage, working distance adjustment, magnification change, etc. can all be performed remotely. By arranging the eyepiece toward the outside of the second space S 2, the state of the cells in the culture vessel 3 may be visually observed from outside the automatic culture apparatus 1.
- the storage tank 18 stores, for example, DMEM or PBS (phosphate-buffered saline) that can be used in common for all samples, and stores reagents in the reagent supply device 16 as necessary. It is designed to be supplied into the equal container 16a.
- the storage tank 18 also includes a waste liquid tank that stores waste medium and the like discharged at the time of medium replacement.
- the horizontal moving mechanism 19 includes a slider 20 that can be moved in a horizontal direction by a linear moving mechanism.
- the above-mentioned shear force 21 is mounted on the slider 20 so that the culture vessel 3 mounted on the shear force 21 can be moved from the conveyor 9 to the operation range of the dispensing pot 13. It has become.
- the shearing force 21 includes a holding mechanism (not shown) for mounting and holding the culture container 3 transferred from the tray 7 on the conveyor 9, and a vibration applying vibration to the culture container 3.
- the vibration device is, for example, a device that reciprocates the culture container 3 in a predetermined angle range.
- a device that applies ultrasonic vibration or a device that applies horizontal vibration may be adopted as the vibration device.
- a control device 31 is connected to various devices of the automatic culture device 1 according to the present embodiment.
- the control device 31 controls the order and operation timing of each process and records and saves an operation history and the like.
- the culture processing device 29 includes a plurality of particle counters 32 inside the second space S2. By arranging a plurality of particle counters 32 at important points in the second space S2, it is also possible to detect a local decrease in purity at a specific position in the second space S2. It is like that.
- the particle counter 32 is connected to the control device 31.
- the controller 31 stores a cleanliness threshold value. The cleanliness detected by each particle counter 32 is compared with the stored threshold value. If it is lower than the threshold, the following processing is performed. For example, in the control device 31, class 100 is stored as a cleanliness threshold, and the cleanliness detected by the particle counter 32 is lower than class 100, for example, class 100. If it is 150, the following processing is performed. That is, the control device 31 monitors the operation of various devices of the culture processing device 29. For example, the opening and closing hand of the lid 3b of the handling robot 10 opens the lid 3b of the culture vessel 3. , Or not.
- the control device 31 When the control device 31 detects that the lid 3 b of the culture vessel 3 is open, the detection signal from one of the particle counters 32 causes any of the particles in the second space S 2 to be detected. When it is detected that the cleanliness at the position is lowered, the control device 31 activates a program for closing the lid 3b of the culture vessel 3. Specifically, the interrupt operation is activated during the normal program operation, and the operation is stopped until the lid 3b of the culture vessel 3 is closed.
- the control device 31 may be provided with a monitor 33 that displays the cleanliness in the second space S2 detected by each of the particle counters 32. By providing such a monitor 33, it is possible to easily confirm whether or not the inside of the second space S2 is clean outside the second space S2.
- the bone marrow fluid collected from the patient is centrifuged in a centrifuge container (not shown). Separator 1 Charge into 1. This step may be performed by an operator, Also, the handling robot 10 may perform the processing. As a result, the operation of the centrifuge 11 collects bone marrow cells having a high specific gravity from the bone marrow fluid.
- the collected bone marrow cells are put into the culture vessel 3 by the handling robot 10.
- 10 empty culture vessels 3 placed on the tray 7 are inserted from the first space S1 to the second space S2 with the lid 3b closed. I have.
- the handling robot 10 opens the two lids 3b of the culture container 3 that has been put out, and then operates the gripping hand 10a to grip it. Transfer to the top.
- a robot for opening the lid 3b may be separately provided. As a result, the lid 3b can be opened immediately before the treatment, and the probability of foreign matter entering the container body 3a can be reduced.
- the handling robot 10 When the chip supply device 15 activates the moving mechanism 15 c to dispose an unused chip 14 within the operating range of the handling port 10, the handling robot 10 becomes the chip supply device 1. Receive an unused tip 14 from 5 and attach it to the tip of the electric pit.
- the handling robot 10 is operated to bring the tip 14 at the tip of the electric pit 12 into contact with the bone marrow cells collected in the centrifuge 11. Then, by operating the electric pit 12, the bone marrow cells are sucked into the chip 14. The sucked bone marrow cells are put into the culture container 3 transferred by opening the lid 3 b on the shell 21 by operating the handling robot 10.
- the handling robot 10 transports the chip 14 to the chip collecting section and removes the chip 14. Further, the chip supply device 15 arranges the container 15a below the lid 15b by the operation of the moving mechanism 15c.
- the culture vessel 3 into which the bone marrow cells have been loaded is horizontally moved by the horizontal movement mechanism 19 by operating the horizontal movement mechanism 19, and is distributed within the operation range of each dispensing robot 13. Is done.
- the dispensing robot 13 operates the electric pipe 12 having the unused tip 14 received from the tip feeder 15 attached to the tip thereof, so that the reagent container of the reagent feeder 16 can be operated.
- 16 After aspirating DMEM, serum, or various reagents from inside b, an appropriate amount is transported to the top of culture vessel 3 and injected into culture vessel 3. You.
- the table 16a is rotated so that the reagent container 16b is positioned vertically below the opening 16c.
- Suction of serum and each reagent is performed by exchanging the tip supply device 15 with an unused tip 14 for each suction of each reagent and the like.
- the culture vessel 3 the bone marrow cells are present in an appropriate medium in a mixed state.
- the culture vessel 3 may be vibrated by activating the shear force 21.
- the culture vessel 3 that has completed all the processing is returned to the operating range of the handling robot 10 by the operation of the horizontal movement mechanism 19.
- the reagent supply device 16 rotates the table 16a, and positions the empty container 16f vertically below the opening 16c.
- the handling robot 10 puts the lid 3 b on the culture vessel main body 3 a and returns the culture vessel 3 to the tray 7.
- a plurality of particle counters 32 arranged in the second space S 2 Cleanliness is constantly counted (step 1). If the cleanliness detected by any of the particle counters 32 is lower than the class 100 (step 2), whether the lid 3b of the culture vessel 3 has been opened by the operation of the control device 31 or not. It is determined whether or not it is (step 3). Since the control device 31 controls the operation of various devices including the handling robot 10, it is determined whether or not the lid 3b of the culture vessel 3 is open depending on the progress of the operation program. Will be judged.
- the operation program is interrupted, or the operation program is waited for its completion according to the progress of the operation program.
- the subroutine program for closing lid 3b step 4
- an operation program for closing the lid 3b of the culture vessel 3 is executed by the operation of the handling robot 10 or the like, and the lid 3b of the culture vessel 3 is closed.
- step 2 determines whether the cleanliness level is higher than class 100. If it is determined in step 3 that the lid 3b of the culture vessel 3 is closed, it is determined in step 5 whether a series of operation programs has been completed, and the operation program is continued. During this time, the above processing is repeated.
- the conveyor 9 is operated to move the culture vessels 3 placed on the tray 7 into the second space S2. From the first space S1 into the central space S12. In this state, by operating the transfer robot 5, the tray 7 is lifted by the hand 5c. Then, when the tray 7 has been transported to the front of the culture chamber 4, the door 4 a of the culture chamber 4 is opened, and the transport robot 5 inserts the tray 7 onto the empty tray holding member 4 c. . Then, by closing the door 4a again, the cells are cultured while keeping the culture conditions in the culture room 4 constant.
- the culture container 3 in the culture room 4 is taken out together with the tray 7 by the operation of the transfer pot 5 arranged outside the culture room 4, It is transferred from the first space S1 to the second space S2.
- trypsin is injected into the culture vessel 3, and the cells in the culture vessel 3 are detached and then put into the centrifuge 11 by the operation of the handling robot 10. Only necessary ones such as mesenchymal stem cells are collected. Other processing steps are the same as above.
- the mesenchymal stem cells can be grown to a sufficient cell number. Whether or not a sufficient number of cells has been reached can be observed or measured by operating the handling robot 10 and transporting the culture vessel 3 with mesenchymal stem cells attached to the bottom surface to the microscope 17 by operating the handling robot 10. The extent of proliferation is determined.
- the culture container 3 of the same sample may be placed on the tray 7, or the culture container 3 of a different sample may be mixed. Further, the culture vessel 3 of the same specimen may be placed on the shell 21, or the culture vessels 3 of different specimens may be mixed.
- the automatic culture device 1 enables the mesenchymal stem cells having a sufficient number of cells to be automatically cultured from the bone marrow fluid collected from the patient.
- the culture vessel 3 is set in the culture chamber 4. There is no mechanism part to take out. That is, only the tray support member 4c for supporting the tray 7 mounted thereon is provided in the culture room 4, and all the mechanisms for taking out the culture container 3 are outside the culture room 4. It is gathered in the arranged transfer robot 5. Then, the transfer robot 5 can completely retreat to the outside of the door 4 a of the culture room 4 after the work of taking the tray 7 in and out.
- the mechanism does not exist in the culture chamber 4, and there is no generation of dust generated by the operation of the mechanism.
- the temperature in the fermentation room 4 is 37 ⁇ 0.5 ° C, the humidity is 100%, and the CO 2 concentration is 5 ° /.
- problems such as corrosion do not occur even in such an environment.
- the automatic culture apparatus 1 since the automatic culture apparatus 1 according to the present embodiment includes the air purifier 6 above the central space S 12 where the transfer robot 5 is installed, the central space S 1 where the transfer robot 5 exists The cleanliness is always maintained inside 2. Therefore, even when the door 4a of the culture room 4 is opened, it is possible to minimize the flow of dust into the culture room 4.
- the automatic culture device 1 of the present embodiment there is an effect that the possibility that the cells being cultured are contaminated by dust or the like is reduced, and healthy cells can be cultured.
- the open / close state of the lid 3b of the culture vessel 3 is checked.
- the control device 31 is operated to close the lid 3b, the cleanliness is checked by the particle counter 32 only when the lid 3b of the culture vessel 3 is opened. It may be. Further, when it is determined that the cleanliness detected by the partake counter 32 is lower than the threshold value, if the lid 3 b of the culture vessel 3 is closed, the lid 3 b is opened next. The operation program may be stopped in the foreground.
- the lid of culture vessel 3 When the cleanliness in the second space S2 is low, not limited to 3b, when the container 15a of the chip supply device 15 is moved below the lid 15b, or the reagent supply device 16 The container 16b of the reagent may be retracted from below the inlet 16c.
- the partial counter 32 may be placed at any position as long as it can detect the degree of cleanliness in the second space S2. In particular, the degree of cleanliness near the culture vessel 3 is detected. For this purpose, it is preferable that they are arranged near the path through which the culture vessel 3 passes. It is even more preferable if the culture vessel 3 is arranged on the shear force 21 on which the culture vessel 3 is placed. Second embodiment
- FIGS. 2 to 6, FIG. 8, and FIG. Note that the same members as those of the automatic culture apparatus according to the first embodiment are denoted by the same reference numerals, and detailed description is omitted.
- the automatic culture device 51 of the present embodiment like the automatic culture device 1 of the first embodiment, is sealed with a transparent wall material observable from the outside, and communicates with each other through the shirt 2.
- the first space S1 and the second space S2 are provided.
- the configuration in the first space S1 is the same as in the first embodiment.
- a culture processing device 30 is configured in the second space S2 of the automatic culture device 51 of the present embodiment.
- the culture processing device 30 includes a control device 40 that controls various devices of the culture room 4 and the culture processing device 30, a power failure detector (power failure detection unit) 50 that detects a power failure, and supplies power when a power failure occurs. And an auxiliary power supply 60.
- the culture processing device 30 handles the culture container 3 on the tray 7 conveyed by the conveyor 9 from the first space S 1 with the shirt 2 opened, and opens and closes the lid 3 b of the culture container 3.
- Handling robot (processing unit) 10 a centrifuge 11 for separating cells from the culture medium in the culture vessel 3, and an electric pipe 1 for dispensing various liquids such as serum and reagents 1
- Three chip supply devices 15 that can be provided within the operating range of the dispensing robot 13 and a chip for discarding and collecting used chips 14
- a collection unit (not shown); a reagent supply device 16 for storing various liquids such as serum and reagents in a plurality of containers; a microscope 17 for observing the state of cells in the culture container 3;
- a plurality of storage tanks 18 for storing waste liquids to be discarded due to replacement of
- the second space S2 is also provided with an air purifier (not shown) that sends a clean downdraft to purify the air in the second space S2.
- the handling robot 10 comprises three interconnected horizontal arms 10 b, 10 c, 10 d, and these horizontal arms 10 b to 10 d.
- An elevating mechanism 10 e for elevating is provided.
- the horizontal arm 10b has a lid open / close detector (lid open / close detector) 10f that monitors the gripping hand 10a and detects whether the lid 3b of the culture vessel 3 is open or closed. Thereby, the culture container 3 can be changed from the closed state in which the lid 3b is closed to the open state in which the lid 3b is opened.
- the power failure detector 50 is, for example, a relay interposed in a main power supply circuit (not shown). It has a mechanism to notify.
- the control device 40 comprehensively controls the order and operation timing of each step of the other components and records and saves the operation history and the like in addition to the culture room 4 and the culture processing device 30 as described above. I have. Further, when the power failure detector 50 detects a power failure, the control device 40 switches the power supply to the auxiliary power supply 60, and the lid 3b of the culture vessel 3 is opened by the lid open / close detector 10f. A power failure control circuit 41 is provided that activates the handling robot 10 and closes the lid 3b of the culture vessel 3 when the state is detected.
- the power failure control circuit 41 When the power failure detector 50 detects a power failure, if the culture processing apparatus 30 has already started processing, the power failure control circuit 41 next operates the lid 3 b of the culture vessel 3. It also has a function of stopping the culture processing apparatus 30 by proceeding the processing until the is closed. That is, at the time of a power failure, the power failure control circuit 41 Has the function of controlling
- the auxiliary power supply 60 has a power supply such as a battery therein, and is provided at least from the time of the power failure until the end of the predetermined processing to the culture vessel 3 in which the culture processing apparatus 30 is in the open state. It has a function of supplying power.
- the automatic culture device 51 of the present embodiment operates in the same manner as the automatic culture device 1 of the second embodiment, and the description thereof will be omitted. Omitted.
- FIG. 5 When processing the cells in the culture container 3 described above, for example, when a power outage occurs while the dispensing robot 13 is going to aspirate the reagent or the like into the reagent or the like supply device 16 This will be described with reference to FIGS. 5, 6, 8, and 9.
- FIG. 5 When processing the cells in the culture container 3 described above, for example, when a power outage occurs while the dispensing robot 13 is going to aspirate the reagent or the like into the reagent or the like supply device 16 This will be described with reference to FIGS. 5, 6, 8, and 9. FIG.
- the power failure detector 50 detects the occurrence of a power failure due to the interruption of the main power supply, and outputs a detection result to the power failure control circuit 41 of the control device 40 (step 1).
- the power failure control circuit 41 switches the power supply so as to supply power from the auxiliary power supply 60 (step 2).
- the lid open / close detector of the handling pot 10 is detected to detect that the lid 3b of the culture vessel 3 is open and open, and the detection result is input to the power failure control circuit 41 (step 3). ).
- the power failure control circuit 41 recognizes that the dispensing port 13 and the reagent supply device 16 are operating at the same time as the detection result is input from the lid opening / closing detector 10f. That is, the power failure control circuit 41 determines that the culture processing apparatus 30 has started the predetermined processing (step 4).
- the power failure control circuit 41 operates the dispensing robot 13 as it is, sucks the reagent and the like from the reagent and the like supply device 16 and injects the reagent and the like into the culture vessel 3. Then, the table 16a of the reagent supply device 16 to which the supply of the reagents and the like has been completed is rotated, and the empty container 16f is positioned vertically below the opening 16c of the casing, and the supply of the reagents and the like is performed. Stop the device 16 (step 5). This prevents dust and the like from being mixed into the reagent and the like inside the casing during a power failure.
- the power failure control circuit 41 operates the chip supply device 15 until predetermined processing is completed. Activate. That is, after the tip supplying device 15 supplies the tip 14 to the electric pit 12 of the dispensing robot 13, the tipping device 15 controls the moving mechanism 15 c to cover the container 15 a with the lid 15 b. The chip feeder 15 is stopped at the lower position (step 6). This prevents dust and the like from adhering to the unused chips 14 housed in the container 15a during a power outage.
- the power failure control circuit 41 moves the slider 20 of the horizontal movement mechanism 19 to move the culture vessel 3 to the operating range of the handling robot 10. Position.
- the gripping arm 10a of the handling robot 10 is operated to cover the culture vessel 3 with the lid 3b (step 7).
- the power failure control circuit 41 activates the horizontal movement mechanism 19 and the handling robot 10. Stop (step 8). That is, the power failure control circuit 41 stops the culture processing device 30 after terminating the predetermined processing by the culture processing device 30. This prevents dust or the like from entering the cells in the culture container 3 during a power outage.
- the power failure control circuit 41 operates the power failure detector 50 Since the power supply is switched to the auxiliary power supply 60 based on the detection information from, the power supply is secured and each operation does not stop. In addition, the power failure control circuit 41 detects the open state of the lid 3 b of the culture vessel 3 from the lid open / close detector 10 f and operates the handling robot 10 to operate the lid 3 of the culture vessel 3. Since b is closed to be in the closed state, the cells in the culture container 3 are not mixed with dust or the like.
- the culture vessel 3 is in a closed state, so that recovery work can be performed with confidence.
- the power failure control circuit 41 stops the culture processing device 30 after the culture processing device 30 has performed the predetermined processing. . Therefore, the culture treatment device 30 is left in the middle of the treatment. W
- the culture processing apparatus 30 was stopped after the lid 3b was put on the culture vessel 3 by the handling robot 10.
- the culture vessel 3. It may be stopped when it is stored in 4.
- the lid opening / closing state may be determined by programming the CPU or the like without the lid opening / closing detection unit, and the processing may be performed. In this case, it goes without saying that the CPU was backed up in the event of a power outage.
- the automatic culture device 51 according to the present embodiment includes the air purifier 6 above the central space S 12 where the transfer robot 5 is installed, the central space S where the transfer robot 5 exists The cleanliness is always maintained in 1 and 2. Therefore, even when the door 4a of the culture room 4 is opened, it is edible to minimize the flow of dust into the culture room 4.
- the automatic culture device 51 of the present embodiment there is an effect that the possibility that the cells being cultured are contaminated by dust or the like can be reduced and healthy cells can be cultured.
- the present invention is not limited to the configurations shown in the first and second embodiments. That is, the shape and number of the culture chamber 4, the shape and number of the transfer robot 5, the handling robot 10, and the dispensing robot 13 and the shape and number of various kinds of rice stuffing are not limited at all, and the application conditions are not limited. It can be set arbitrarily.
- the handling robot 10 is employed as the processing unit for opening and closing the lid.
- the present invention is not limited to this, and the lid is opened separately from the handling robot 10.
- a robot that performs only closing may be provided.
- a lid opening / closing robot 100 as shown in FIG. 10 may be used.
- the robot 100 for opening and closing the lid includes an adsorption plate 101 capable of adsorbing the plate 3b of the culture vessel 3, a vertical arm 102 capable of vertically moving the adsorption plate 101, and a vertical arm 102.
- a horizontal arm 103 movable in a horizontal direction and a support arm 104 for supporting the horizontal arm 103 are provided.
- the horizontal arm 103 and the vertical arm 102 are operated to position the suction plate 101 on the upper surface of the lid 3b.
- the lid 3b of the culture vessel 3 can be opened and opened. It is possible.
- the culture vessel 3 may be closed by the reverse operation described above.
- the lid open / close detector (lid open / close detector) 10 f is provided in the horizontal arm 10 b of the handling robot 10.
- the lid open / close robot 100 has a lid open / close detector. It is also possible to provide.
- the culture chamber 4 C0 2 incubator, multi-gas incubator, ink Yubeta, as cool box, etc. may be constituted by one or a combination is used in the culture.
- the use, use method, use conditions, and the like of the culture treatment apparatus and the automatic culture apparatus of the present invention are not limited to the first and second embodiments.
- a configuration in which a culture container is applied is adopted as a container for an automatic culture device, but a container for a reagent or a container for a disposable chip may be applied.
- a reagent container is applied to an automatic culture device container, dust and the like can be prevented from entering the reagent, and when a disposable chip container is applied, dust and the like can be prevented from entering the chip. it can.
- the lid is used as a means for closing the container (culture container) for the automatic culture apparatus.
- the means for closing the container is not limited to the lid, and the opening of the container is closed. Any means can be employed.
- the cytokine as a growth factor
- the site force in, for example, platelet concentrate, BMP, EGF, FGF, TGF-
- a bacillin antibiotic is exemplified as an antibiotic.
- penicillin antibiotics cefm, macrochloride, tetracycline, fosfomycin, aminoglycoside, new quinoquinone, etc. Antibiotics can be employed.
- the order of bone marrow cell introduction, introduction of DMEM, serum, and various reagents and the order of suction may be appropriately changed.
- the automatic culture apparatus is not limited to the culture of bone marrow mesenchymal stem cells. Cultivating cells collected from various tissues of living organisms and established cell lines After sufficient mesenchymal stem cells have been obtained using the automatic culture device of the present invention, such cells as calcium phosphate are placed in a culture vessel. By adding a living tissue filling material and a differentiation-inducing factor such as dexamethasone and continuing the culturing step again, a living tissue filling body capable of filling a defect in a living body may be produced.
- a living tissue filling material and a differentiation-inducing factor such as dexamethasone
- the living tissue filling material may be any material that has an affinity for living tissue instead of calcium phosphate, and may be a bioabsorbable material. It is more preferable if there is.
- biocompatible porous ceramics, collagen, polylactic acid, polyglycolic acid, hyaluronic acid, or a combination thereof may be used.
- a metal such as titanium may be used.
- the living tissue capturing material may be in the form of granules or blocks. Industrial applicability
- the culture processing apparatus and the automatic culture apparatus can effectively prevent dust and the like from entering the automatic culture apparatus container such as a culture container. Reduces, prevents cell contamination, and allows healthy cells to be cultured automatically.
- the present invention relates to the present invention.
- the power outage control unit switches the power supply to the auxiliary power supply based on the detection information from the power outage detection unit, and the power outage control unit controls the automatic culture equipment such as culture vessels. Since the lid of the container is closed and stopped, it is possible to prevent dust or the like from entering the cells in the container due to being left at the time of the power failure. In addition, since monitoring at the time of a power outage, which was conventionally required, can be eliminated, the time and cost for monitoring can be reduced.
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Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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CN200480008982.3A CN1768130B (zh) | 2003-04-09 | 2004-04-08 | 培养处理装置以及自动培养装置 |
US10/552,115 US20060275888A1 (en) | 2003-04-09 | 2004-04-08 | Culture treatment apparatus and automatic culture apparatus |
EP04726636A EP1612262A4 (en) | 2003-04-09 | 2004-04-08 | DEVICE FOR TREATING CULTURES AND AUTOMATIC DEVICE FOR TREATING CULTURES |
Applications Claiming Priority (4)
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JP2003105316A JP2004305148A (ja) | 2003-04-09 | 2003-04-09 | 自動培養装置 |
JP2003-105316 | 2003-04-09 | ||
JP2003154735A JP2004350640A (ja) | 2003-05-30 | 2003-05-30 | 培養処理装置および自動培養装置 |
JP2003-154735 | 2003-05-30 |
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WO2004090093A1 true WO2004090093A1 (ja) | 2004-10-21 |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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EP1661980A1 (en) * | 2004-11-29 | 2006-05-31 | Kawasaki Jukogyo Kabushiki Kaisha | Automatic cell cultivation apparatus having a multijoint robot |
US20110206643A1 (en) * | 2005-06-02 | 2011-08-25 | In Motion Investment, Ltd. | Automated Cell Therapy System |
US8192982B2 (en) * | 2005-09-22 | 2012-06-05 | Olympus Corporation | Tissue culture microscope apparatus |
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US20110206643A1 (en) * | 2005-06-02 | 2011-08-25 | In Motion Investment, Ltd. | Automated Cell Therapy System |
US8192982B2 (en) * | 2005-09-22 | 2012-06-05 | Olympus Corporation | Tissue culture microscope apparatus |
Also Published As
Publication number | Publication date |
---|---|
EP1612262A1 (en) | 2006-01-04 |
EP1612262A4 (en) | 2009-07-22 |
US20060275888A1 (en) | 2006-12-07 |
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