WO2016132398A1 - Équipement de traitement de culture cellulaire - Google Patents

Équipement de traitement de culture cellulaire Download PDF

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Publication number
WO2016132398A1
WO2016132398A1 PCT/JP2015/000802 JP2015000802W WO2016132398A1 WO 2016132398 A1 WO2016132398 A1 WO 2016132398A1 JP 2015000802 W JP2015000802 W JP 2015000802W WO 2016132398 A1 WO2016132398 A1 WO 2016132398A1
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WO
WIPO (PCT)
Prior art keywords
manipulator
teaching data
cell culture
operator
unit
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PCT/JP2015/000802
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English (en)
Japanese (ja)
Inventor
恵市郎 渡辺
和也 古市
Original Assignee
日揮株式会社
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Publication date
Application filed by 日揮株式会社 filed Critical 日揮株式会社
Priority to PCT/JP2015/000802 priority Critical patent/WO2016132398A1/fr
Priority to JP2017500474A priority patent/JP6472868B2/ja
Publication of WO2016132398A1 publication Critical patent/WO2016132398A1/fr

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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
    • C12M3/00—Tissue, human, animal or plant cell, or virus culture apparatus
    • 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

Definitions

  • the present invention relates to a cell culture processing facility provided with a working chamber for processing, processing and culturing cells in regenerative medicine.
  • human cells are processed, processed, and cultured (hereinafter collectively referred to as “cell culture”) to produce target cells.
  • cell culture In order to obtain the target cells, the step of disinfecting the collected cells, the step of isolating the target cells, the step of suspending the isolated cells in the solution, the step of seeding the cells in the solution in the medium, the seeding A series of steps such as a step of culturing cells in a cultured medium and a step of subculture are performed.
  • each step includes various operations such as adjusting a liquid sample containing cells to a predetermined temperature, adding chemicals to the cells and stirring them, and the operations include processing, processing contents, and target cell. It depends on the type. For this reason, cell culture is performed based on a procedure manual called a protocol that describes the contents of operations performed in each step, thereby improving reproducibility when creating target cells.
  • Cited Document 1 discloses an automatic cell culture apparatus in which an articulated robot is disposed in a housing having an opening / closing door on the front side, and a cell culture device is disposed on the back side opposite to the front side. Are listed. However, in the cited document 1, there is no description of how to realize the operation of a skilled worker by the operation robot.
  • Reference 2 describes a teleoperator system that drives an end effector that performs treatment of a patient's tissue at a surgical site by operating a controller provided in a remotely located operator control station.
  • a controller provided in a remotely located operator control station.
  • the surgical operation realized by the end effector changes depending on the skill of the operator who performs the operation of the controller. For this reason, the technique which supplements the skill of the unskilled person in cell culture is not suggested.
  • Japanese Patent No. 5416919 Claim 1 paragraphs 0018 to 0021, FIGS. Japanese Patent No. 3582777: Claim 1, FIG.
  • the present invention has been made under such circumstances, and an object of the present invention is to provide a cell culture processing facility capable of reproducing the skill of an expert.
  • the cell culture processing equipment of the present invention includes a culture chamber for cell culture, a suction device for sucking fluid in the culture vessel, and an incubator in which the culture container is housed, A manipulator that is remotely operated for each of the operation on the culture vessel and the operation on the suction tool and is equipped with a movable imaging unit and a tactile function, and provided in the work chamber; A memory that is provided outside the work chamber and stores operation data of the manipulator as teaching data when an operation on at least one of the culture vessel and the suction tool is executed by the manipulator by an operation unit that transmits the movement of the operator. And And And a control unit for reading the teaching data and causing the manipulator to automatically execute at least one of the culture vessel and the suction tool.
  • the cell culture processing facility may have the following features.
  • a plurality of the teaching data is prepared in accordance with a state of an operation target for at least one of the culture vessel and the suction tool, and the movable type mounted on the manipulator from the plurality of teaching data.
  • Teaching data selected based on an image obtained by the imaging unit is used.
  • a manual selection selection unit is provided for an operator to select teaching data to be used from the plurality of teaching data based on the image obtained by the movable imaging unit in (a). Was it.
  • a selection unit for automatic selection for automatically selecting teaching data to be used from the plurality of teaching data based on an image obtained by the movable imaging unit is provided.
  • (C) a switching unit that switches whether the operator's movement is “valid” or “invalid” with respect to the remote operation, and after being switched to “invalid” by the switching unit,
  • the manipulator is configured to automatically execute the operation from a predetermined initial state based on teaching data read from the memory.
  • the control unit is configured to return to the initial state after the manipulator automatically executes the operation.
  • the present invention provides an operation unit that is provided outside a work chamber and that transmits an operator's movement when at least one of the culture vessel for cell culture and the suction tool is operated by the manipulator provided in the work chamber. Since the operation data is stored as teaching data, the operation can be automatically controlled.
  • the cell culture processing equipment of the present invention is provided in a work table 2 in which various devices for cell culture are arranged in a work room 1 partitioned from an external atmosphere by a housing 10 and a position facing the work table 2. And a manipulator 3 for executing the operation of the device.
  • the work table 2 is provided at a height position accessible by a hand 32 of a manipulator 3 described later.
  • an incubator 21 for storing a dish 26 as a culture vessel
  • separated with the work table 2 is shown.
  • the incubator 21 includes a shelf that can accommodate a large number of dishes 26 in a housing that can keep the inside at a constant temperature.
  • FIG. 1 shows an example of an incubator 21 in which two rows of front and rear shelves on the front side and the back side are arranged as viewed from the manipulator 3 side. In this case, the dish 26 accommodated in each shelf can be accessed from the near side by configuring the shelf in the front so as to be movable up and down.
  • the pipette device 22 is used for an operation of sucking a predetermined amount of a liquid sample or various chemicals from a fluid container such as the dish 26 and injecting the liquid sample or various chemicals into another container.
  • the pipette device 22 is detachably held on a stand arranged on the upper surface of the work table 2, for example.
  • a plurality of pipette tips 221 configured to be detachable from the pipette device 22 and exchanged according to the fluid to be handled are held by the tip stand 222.
  • the centrifuge tube 231 is held in a holder (not shown) of a rotating rotor housed in a casing, and the rotating rotor is rotated to apply centrifugal force to the liquid sample in the centrifuge tube 231 to thereby obtain a liquid sample. Separation of cells inside.
  • a centrifuge tube stand 232 that holds the centrifuge tube 231 is disposed.
  • the large-scale culture device 24 includes, for example, a culture tank capable of storing a larger volume of culture solution than the cell dish 26, a culture solution stirring device (not shown), and the like.
  • the culture tank is disposed on the lower side of the work table 2, for example, and can be accessed and removed from the outside of the work chamber 1 (the culture tank is indicated by a broken line in FIG. 1).
  • an inlet 241 for injecting the target cells cultured in the dish 26 into the culture tank protrudes from the upper surface of the work table 2.
  • the mass culture apparatus 24 is provided with a culture flask and a flask incubator, but the description is omitted in FIG.
  • a loading / unloading portion 11 for loading / unloading a container or the like containing a sample or a chemical solution to / from the outside is provided on the side wall surface of the housing 10 on the left hand side when viewed from the manipulator 3. ing.
  • the carry-in / out section 11 is a space configured to be freely partitioned from the outside space and the work chamber 1 by the wall surface on the housing 10 side and the opening / closing doors 111 and 112 provided on the work chamber 1 side. Is provided with a loading / unloading stage 113 that is movable with the loaded / unloaded items placed thereon.
  • the work stage 20 is provided on the work table 2 on the near side of the pipette device 22 and the centrifuge tube stand 232 held on the stand as seen from the manipulator 3 side.
  • the dish 26 operated by the manipulator 3 is placed on the work stage 20.
  • the work table 2 is provided with a transport device 25 configured to be accessible to the work stage 20, the carry-in / out unit 11, and the incubator 21.
  • the transfer device 25 is configured to be able to travel on a traveling rail 251 provided on the work table 2 between the work stage 20 and the carry-in / out unit 11, to be rotatable about a vertical axis, and to be movable up and down.
  • the transport device 25 includes a holding unit 252 that holds an object to be transported such as the dish 26, and the holding unit 252 is expanded and contracted so that the dish on the loading / unloading stage 113 in the loading / unloading unit 11 and the shelves in the incubator 21. 26 holding positions and the work stage 20 can be accessed.
  • a filter unit 12 for filtering gas for example, air outside the work chamber 1 sent from a fan (not shown) is provided on the ceiling portion of the housing 10 constituting the work chamber 1. It has been.
  • the work chamber 1 is provided with an exhaust unit (not shown) that adjusts the pressure inside the housing 10.
  • the cell culture apparatus such as the pipette device 22 that sucks the liquid sample in the dish 26 and the incubator 21 in which the dish 26 is accommodated is separated from the outside by the housing 10. Is provided. And the operation which concerns on the cell culture using these apparatuses is performed using the manipulator 3 arrange
  • the manipulator 3 of the present example includes a upper body provided with a head 31 and two arm-shaped hands 32 on a body-shaped hand support portion 36, and is operated by a remote operation. It is configured as a robot.
  • the head 31 provided at the upper end of the hand support unit 36 includes, for example, two 3D cameras 311, and the direction of the 3D camera 311 can be changed by moving the head 31 up and down and left and right by remote control.
  • the 3D camera 311 and the head 31 correspond to the movable imaging unit of this example.
  • the head 31 is provided with a microphone that detects sound in the work chamber 1.
  • Each hand 32 includes an arm portion 321 having a plurality of joints and a plurality of, for example, 3 to 5 finger portions 322 provided at the tip of the arm portion 321.
  • Each finger part 322 is provided with a plurality of joints. The movement of the arm portion 321 and the finger portion 322 using each joint is executed by a remote operation described later.
  • Each finger 322 is provided with a pressure sensor (not shown), and a tactile sensation when holding the dish 26 or the like can be fed back to the operator P.
  • a proximity sensor that detects the proximity of these devices may be provided on the outer surface of the arm portion 321 in order to avoid a collision with the devices in the work chamber 1.
  • the hand support portion 36 of the manipulator 3 has a lower surface by a base portion 33 extending in the lateral direction along the work table 2 on which the incubator 21 and the pipette device 22 described above are arranged. Supported from the side.
  • a travel rail 331 is provided on the upper surface of the base portion 33, and the hand support portion 36 (manipulator 3) can move left and right on the base portion 33 along the travel rail 331.
  • the hand support portion 36 can freely turn horizontally on the base portion 33.
  • two traveling rails 332 are provided on the floor surface of the base portion 33 so as to extend in a direction (front-rear direction) orthogonal to the base portion 33 formed in a horizontally long shape.
  • the base portion 33 is disposed on these traveling rails 332 and can move in a direction toward or away from the work table 2.
  • FIG. 3 the description of the base portion 33 on the left side is partially omitted toward the drawing.
  • the base unit 33 is provided with a collision sensor for automatically stopping the movement of the base unit 33 when the manipulator 3 detects an impact that has collided with an obstacle, and a control unit for the drive mechanism of the base unit 33. May be.
  • the left and right movement operation and turning operation of the hand support portion 36 provided on the base portion 33 and the front and rear movement operation of the base portion 33 are executed by remote control.
  • the manipulator 3 includes a communication unit (not shown), and the operation signal of the head 31, the hand 32, the hand support unit 36, and the base unit 33 is communicated with the slave side control unit 51 arranged in the work chamber 1. Reception, transmission of image information captured by the 3D camera 311, sound information of the microphone, and pressure information detected by the finger unit 322 are performed.
  • the slave side control unit 51 inputs and outputs these pieces of information with a master side control unit 52 or an automatic control unit 53 (described later) provided on the operation zone side outside the work chamber 1 (shown in FIG. 3). “Signal A, B”). Communication between the manipulator 3 and the slave side control unit 51 may be performed wirelessly or may be performed by wire.
  • the manipulator 3 can switch and execute a remote operation (manual operation) by the operator P via the master-side control unit 52 and an automatic operation based on teaching data stored in advance.
  • a master system that performs a manual operation by the operator P will be described with reference to FIGS. 4 and 5.
  • the operation area of the manipulator 3 in which the master system is provided is not particularly limited as long as it is outside the work room 1.
  • the operation area is provided in a building in which the work room 1 is disposed.
  • the master system of this example includes a headgear unit 61 mounted on the head of an operator P who performs remote operation of the manipulator 3, a head link mechanism 623 that detects the position and orientation of the headgear unit 61, and both hands of the operator P.
  • a finger link mechanism 621 that is attached to the finger and detects the position and orientation of each finger
  • an arm link mechanism 622 that is attached to the hand of the operator P and detects the position and orientation of the arm of the operator P.
  • the head link mechanism 623, the finger link mechanism 621, and the arm link mechanism 622 are attached to the trunk (for example, the back) of the operator P, and the head 31 and the hand 32 in the manipulator 3 (arm part 321 and finger part 322).
  • Is connected to an input / output unit 62 that detects and outputs information that teaches the position and orientation of the input and output.
  • the movement of the body of the operator P is detected as the amount of change of the joint accompanying the change in shape of the head link mechanism 623, the finger link mechanism 621, and the arm link mechanism 622 (multi-joint structure), and the manipulator 3 is remotely operated.
  • An existing system can be used as a technique for outputting teaching information (operation signal) for the purpose.
  • the direction of the headgear 61 detected using the head link mechanism 623 is input as an operation signal for changing the direction of the head 31, and the head 31 of the manipulator 3 moves in conjunction with the movement of the head of the operator P.
  • the operator P is provided with an upper body link mechanism (not shown) that detects a twist around the vertical axis of the upper body, and when the upper body of the operator P is twisted, the hand support portion 36 is horizontally turned toward the twist direction. be able to. Thereafter, when the twist of the upper body of the operator P is returned, the turning of the hand support portion 36 is stopped.
  • the headgear unit 61 is provided with a 3D monitor that displays an image captured by the 3D camera 311 of the manipulator 3, and the operator P can visually check the inside of the work chamber 1 through the 3D monitor. .
  • the position and orientation of the arm and finger of the operator P detected using the finger link mechanism 621 and the arm link mechanism 622 are input as an operation signal of the hand 32, and the movement of the operator P's arm and finger is taken into account.
  • the hand 32 of the manipulator 3 moves.
  • the pressure information detected by the pressure sensor of the finger 322 on the manipulator 3 side is transmitted to the glove worn by the operator P as tactile information of an operation for holding the dish 26 by the hand 32, for example.
  • this example master system is arranged on a work chair 65 on which an operator P who performs remote control of the manipulator 3 is seated, and on the floor surface under the feet of the operator P seated on the work chair 65.
  • a forward pedal 631 for moving the base portion 33 forward and a reverse pedal 632 for moving backward are provided under the right foot side of the operator P sitting on the work chair 65.
  • a right movement pedal 641 for moving the hand support portion 36 on the base 33 to the right and a left movement pedal 642 for moving to the left are provided on the left foot side of the operator P.
  • Various corresponding operations are executed during a period in which these operation pedals 631, 632, 641, and 642 are depressed.
  • the teaching information of the head 31 and the hand 32 acquired from the head link mechanism 623, the finger link mechanism 621, and the arm link mechanism 622 is transmitted to the master side control unit arranged in the operation area via the input / output unit 62. 52 is input. Further, information on the upper body twist of the operator P output from the upper body link mechanism (not shown) and operation information of the operation pedals 631, 632, 641, 642 are also input to the master side control unit 52. These pieces of information are output to the slave side control unit 51 on the work room 1 side as operation signals for remotely operating the manipulator 3. Further, image information, audio information, and pressure information acquired from the slave side control unit 51 are also transmitted to the headgear unit 61 and the glove worn by the operator P via the master side control unit 52.
  • the head link mechanism 623, the finger link mechanism 621, the arm link mechanism 622, the upper body link mechanism (not shown), the input / output unit 62, and the various operation pedals 631, 632, 641, and 642 described above are manipulators.
  • 3 corresponds to an operation section for transmitting the movement of the operator P to 3 and executing the operation of the device for cell culture.
  • the manipulator 3 that is remotely operated (manually operated) via the master system described above has the operation data of the operation executed by the manual operation (the head 31 at each time in the period of executing the operation, According to the position data of the hand support part 36, the hand 32 (arm part 321 and finger part 322) and the base part 33, the moving speed data at each position specified by the position data, the force applied to the dish 26 and the pipette device 22.
  • the operation of the cell culture device can be automatically executed based on the teaching data.
  • the skilled person performs manual operation of the manipulator 3 using the master system described above in advance, and the skill data of the skilled person is automatically obtained by using the operation data of the manipulator 3 at that time as teaching data. It can be reproduced.
  • the cell culture processing equipment of this example includes a control unit (automatic control unit 53) for automatically executing the operation of the device for cell culture by the manipulator 3.
  • a switching unit 54 that switches between a valid state / invalid state of manual operation using the master system and a touch panel 7 that receives instructions from the operator P related to storage of teaching data and execution of automatic operations are provided.
  • FIG. 6 shows the entire control unit 50 including the automatic control unit 53, the slave-side control unit 51, and the master-side control unit 52 described above.
  • the control unit 50 is configured as a computer having a CPU (Central Processing Unit) (not shown) and a memory (storage unit) 501, and teaching data for executing an automatic operation of the manipulator 3 is stored in the memory 501. .
  • the teaching data is stored in the memory 501 of the control unit 50 for each operation of each device for cell culture or for each group of operations.
  • the slave-side control unit 51 and the master-side control unit 52 are configured as separate computers, and the slave-side control unit 51 is disposed in the work chamber, while the master-side control unit 52 is configured. Is arranged on the operation area side where the operator P is located.
  • the automatic control unit 53 plays a role of performing automatic operation of the manipulator 3 based on the teaching data by switching to manual operation using the slave side control unit 51 and the master side control unit 52.
  • the automatic control unit 53 is configured by a computer common to the slave side control unit 51.
  • the initial state is, for example, a state in which the hand 32 of the manipulator 3 has nothing and the left and right hands 32 are aligned in front of the hand support portion 36.
  • the end state is set to the same state as the initial state, for example.
  • the initial state (end state) is set to the so-called origin position of the hand 32.
  • the hand 32 of the manipulator 3 is first set to the initial state from the end state of the preceding operation, and from the initial state to the next state.
  • the operation starts and ends (same as the initial state).
  • the teaching data is configured as operation data until the hand 32 starts from the initial state and returns to the same state.
  • the manual operation is performed while reflecting the result of the pressure information detected by the finger portion 322 on the hand 32 side being transmitted to the glove of the operator P as tactile information.
  • the motion data is also based on the result of feedback of the tactile information, and the delicate motion obtained as a result of the manual operation by the operator P based on the tactile information is stored. Yes.
  • the operation by the hand 32 in the work chamber 1 can be imaged by the movable 3D camera 311 mounted on the head 31 provided at the upper end of the hand support portion 36.
  • the operator P can see the image from the 3D camera 311 by the 3D monitor of the headgear unit 61 mounted on the head.
  • a plurality of teaching data is prepared for each state of an object to be operated (symmetric operation). Therefore, when the automatic operation is performed, the operator P provides teaching data corresponding to the captured image of the 3D camera 311, specifically teaching data corresponding to the state of the operation object recognized from the captured image of the 3D camera 311, Selection can be made via a screen displayed on the touch panel 7.
  • the 3D monitor of the headgear unit 61 is translucent or the field of view of the line of sight is transparent, and both the image of the 3D monitor and the screen displayed on the touch panel 7 can be viewed.
  • the teaching data prepared according to the state of the object to be operated has a variation when the state of the object to be operated (for example, the size of the cell mass in the dish 26 or the state of cell dispersion in the liquid sample) tends to vary.
  • a plurality of operations are prepared in advance so that operations associated with the respective states can be performed.
  • the automatic control unit 53 that performs the automatic operation of the manipulator 3, for example, Teaching data corresponding to the state of the operation target may be selected by image matching or the like.
  • the automatic operation of the manipulator 3 may be stopped, and the teaching data may be selected from the operation screen of the touch panel 7 based on the result of the operator P confirming the 3D monitor image. . Further, depending on whether or not automatic determination such as image matching is easy, the method in which the operator P selects teaching data and the method in which the automatic control unit 53 selects teaching data may be used. Therefore, in the automatic operation of the manipulator 3, the captured image of the 3D camera 311 is used when the operator P selects teaching data or when the automatic control unit 53 automatically selects teaching data.
  • the automatic control unit 53 is connected to a switching unit 54 that performs switching between a valid state / invalid state of manual operation.
  • the switching unit 54 is configured as a pedal provided on the outer side of the forward and backward pedals 631 and 632 described above at the foot of the operator P (FIG. 4).
  • the pedal constituting the switching unit 54 is provided with a stopper that maintains the state where the pedal is lowered once depressed, and returns to the original position when depressed again.
  • the valid / invalid state of the manual operation is switched.
  • the operation of the cell culture processing facility having the configuration described above will be described.
  • the target cells are detached from the dish 26 to prepare a cell suspension and seeded in a new dish 26.
  • the operation will be described as an example.
  • the target cells peeled off from the bottom surface of the dish 26 are collected again for the dish 26 held in the incubator 21 for a new dish 26.
  • the operation of sowing the seed will be described.
  • an operation of accumulating teaching data when the operator P manually operates the manipulator 3 and an operation of executing an automatic operation using the teaching data will be sequentially described.
  • the operator P wears the headgear unit 61, the glove, and the input / output unit 62, sits on the work chair 65, switches the switching unit 54 to a state where manual operation is effective, and starts manual operation of the manipulator 3.
  • an operator P that executes an operation stored as teaching data for example, an operator skilled in the operation is selected.
  • the transport device 25 takes out the dish 26a held in the incubator 21 for a predetermined time, transports it, and places it on the work stage 20.
  • an image of the dish 26 a is taken via the 3D camera 311, and information regarding the cell dispersion state in the dish 26 a is stored in the master-side control unit 52.
  • the dish 26a on the work stage 20 is lifted and then tilted, and the state of attachment of cells attached to the bottom surface of the dish 26a is also imaged.
  • the degree of dispersion may be selected from n types of classification information (for example, “good”, “slightly good”, “bad”, etc.) and associated with the image data. it can.
  • the association of the classification information is performed based on the experience of the operator P, for example. Thereby, the teaching data acquired from this and the image data of the dispersed state of the cells in the dish 26a are associated with each other through the classification information and stored in the memory 501.
  • Step S15 the operator P places the dish 26a on the work stage 20, and moves the hand 32 of the manipulator 3 to the initial position (step S11 in FIG. 10). Thereafter, the operator P switches the manual operation of the manipulator 3 to the invalid state by the switching unit 54 (step S12).
  • the operator P selects “cell suspension preparation operation” from the data accumulation menu 711 on the data accumulation operation selection screen 71 displayed on the touch panel 7 and presses “start” of the start / end switch button 712. (Step S13, FIG. 8).
  • the operator P switches the manual operation of the manipulator 3 to the valid state by the switching unit 54 (step S14), and performs a series of manual operations related to the cell suspension preparation operation on the manipulator 3 waiting at the initial position. Execute (Step S15).
  • the pipette device 22 is gripped by the right hand 32, and a cell dispersion medium is aspirated from a predetermined drug solution container, A preparatory operation for dividing a predetermined amount of culture solution into two new dishes 26b and 26c is performed.
  • the trypsin-treated dish 26 placed on the work stage 20 is grasped with the left hand, and the culture solution in the dish 22b is sucked by the pipette device 22 and then injected into the dish 26a.
  • the pipette device 22 is operated so that the dish 26a is tilted and the cells adhering to the bottom are peeled off.
  • the cell suspension accumulated in the lower part of the tilted dish 26 is again sucked by the pipette device 22 and injected into a high part (surface without liquid) at the bottom of the tilted dish 26 to further detach the cells.
  • FIG. 7A After repeating such an operation a plurality of times, the culture solution is aspirated by the pipette device 22 from the above-described dish 26c containing the culture solution for diluting the cell suspension and injected into the dish 26a (FIG. 7). (B)).
  • the pipette device 22 is returned to the stand, and then the dish 26a is moved to stir the liquid.
  • the dish 26a is revolved clockwise several times, then revolved counterclockwise several times, further swung left and right several times, and finally shaken up and down several times (FIG. 7C).
  • the dish 26 a is transported into the incubator 21 by the transport device 25.
  • the operator P sets the hand 32 of the manipulator 3 to the end state.
  • the end state is the same as the initial state, for example.
  • the operator P switches the manual operation of the manipulator 3 to an invalid state by the switching unit 54 and presses the “end” button of the start / end switch button 712 via the data storage operation selection screen 71.
  • operation data of important operations related to the subculture process of the target cell is stored in the memory 501 as teaching data.
  • the operator P who is an unskilled worker manually operates the manipulator 3 using the master system, is taken out of the incubator 21 by the transport device 25, and is placed on the work stage 20 after the trypsin processing dish. Take 26a. Then, the image of the dish 26a is picked up by the 3D camera 311. After obtaining information on the cell dispersion state in the dish 26a, the dish 26a is placed on the work stage 20 again.
  • the operator P switches the manual operation of the manipulator 3 to an invalid state by the switching unit 54 (step S21 in FIG. 11), and the “cell floating” in the operation selection button 721 is displayed via the automatic operation selection screen 72 displayed on the touch panel 7.
  • “Liquid creation operation” is selected (step S22, FIG. 9).
  • the dispersion state of the cells in the dish 26a can be selected from the pattern selection button 731 on the pattern selection screen 73 displayed following the automatic operation selection screen 72.
  • Data (teaching data Dn) corresponding to Pn) is selected (step S23, FIG. 9).
  • the pattern selection screen 73 in FIG. 9 shows an example in which the teaching data D1 to D3 can be selected corresponding to the three types of patterns P1 to P3.
  • the teaching data Dn may be automatically selected by the automatic control unit 53 by image matching or the like.
  • step S24 the manipulator 3 is first in an initial state before the cell suspension preparation operation. Then, the manipulator 3 reproduces a series of cell suspension preparation operations performed by an expert performed when teaching data is accumulated (step S25).
  • step S26 the manipulator 3 is in an end state.
  • the operator P switches the manual operation of the manipulator 3 to the valid state by the switching unit 54 (step S27), and executes the subsequent operation by manual operation (step S28).
  • step S25 for reproducing the cell suspension preparation operation when the operation of peeling the cells of the dish 26a is repeatedly performed (FIG. 7A), based on the image of the dish 26a displayed on the 3D monitor, Data (teaching data Dn) corresponding to the cell dispersion state (pattern Pn) in the dish 26a may be selected from the pattern selection button 731 on the pattern selection screen 73 each time it is repeated.
  • a predetermined state in the repetitive operation for example, a state where the pipette device 22 is slightly separated from the dish 26a is set as an initial state, and the pipette device 22 is moved again to the same position after the peeling operation is completed. The state is the end state. Thereafter, based on the image of the dish 26a, it is selected whether to repeatedly perform the cell detachment operation or to perform the subsequent cell suspension dilution operation.
  • the cell culture processing facility has the following effects.
  • An operation unit (a head link mechanism 623, a finger link mechanism 621, an arm link mechanism 622, an upper body link mechanism (not shown), an input / output unit 62, and the like provided on the outside of the work chamber 1 to transmit the movement of the operator P.
  • the operation pedal 631, 632, 641, 642 is operated to operate at least one of the cell culture dish 26 and the incubator 21 by the manipulator 3 provided in the work chamber 1, the operation data of the manipulator 3 is taught. Since it is stored as data, the operation can be automatically controlled.
  • the method of accumulating teaching data is not limited to storing one manual operation of the manipulator 3 by the operator P.
  • a series of target operations are repeatedly executed to store operation data for each operation, and the best operation is selected from the operation data related to individual operations included in these operations.
  • Teaching data may be configured by connecting operation data.
  • an average of the manipulator 3 realized based on an average value of position data, pressure data, and the like included in these operation data is obtained by repeatedly executing a target series of operations.
  • the operation may be teaching data.
  • the cells cultured in the cell culture processing facility of this example are not limited to human cells, but may be animal cells, plant cells, or unicellular organism cells.

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  • Biomedical Technology (AREA)
  • Organic Chemistry (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Chemical & Material Sciences (AREA)
  • Zoology (AREA)
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  • Sustainable Development (AREA)
  • Microbiology (AREA)
  • Biotechnology (AREA)
  • Biochemistry (AREA)
  • General Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Genetics & Genomics (AREA)
  • Cell Biology (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Manipulator (AREA)

Abstract

L'invention vise à fournir un équipement de culture cellulaire qui permet de reproduire le niveau de compétence d'un expert. L'invention concerne par conséquent une chambre de travail (1) qui est pourvue d'un récipient de culture (26) pour la culture de cellules, d'un outil d'aspiration (22), et d'un incubateur (21). Un manipulateur (3) à l'intérieur de la chambre de travail (1) est équipé d'une unité d'imagerie mobile (311) et d'une fonction tactile, et ledit manipulateur (3) est actionné à distance afin d'effectuer chacune des opérations relatives au récipient de culture (26) et à l'outil d'aspiration (22). Des données de mouvement pour un manipulateur (2) sont stockées dans une unité de stockage (53) en tant que données d'apprentissage. Les données de mouvement se rapportent à des opérations relatives au récipient de culture (26) et à l'outil d'aspiration (22) réalisées par l'intermédiaire d'unités d'actionnement (621-623 631 632, 641, et 642) qui sont prévues sur l'extérieur de la chambre de travail (1) et qui transmettent les mouvements d'un opérateur. Une unité de commande (53) lit les données d'apprentissage et amène le manipulateur (3) à effectuer automatiquement des opérations relatives au récipient de culture (26) et à l'outil d'aspiration (22).
PCT/JP2015/000802 2015-02-19 2015-02-19 Équipement de traitement de culture cellulaire WO2016132398A1 (fr)

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JP2021100401A (ja) * 2019-12-24 2021-07-08 日本光電工業株式会社 細胞培養評価システム
WO2024101437A1 (fr) * 2022-11-09 2024-05-16 オムロン株式会社 Système de robot
WO2024101438A1 (fr) * 2022-11-09 2024-05-16 オムロン株式会社 Système de robot
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JP7576267B2 (ja) 2021-02-05 2024-10-31 大成建設株式会社 遠隔操作ピペット装置及びピペットのロボットアームへの取付け構造

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JP7576267B2 (ja) 2021-02-05 2024-10-31 大成建設株式会社 遠隔操作ピペット装置及びピペットのロボットアームへの取付け構造
WO2024101437A1 (fr) * 2022-11-09 2024-05-16 オムロン株式会社 Système de robot
WO2024101438A1 (fr) * 2022-11-09 2024-05-16 オムロン株式会社 Système de robot

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