WO2023005049A1 - 软骨仿生基质凝胶自动合成仪器 - Google Patents
软骨仿生基质凝胶自动合成仪器 Download PDFInfo
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- WO2023005049A1 WO2023005049A1 PCT/CN2021/128886 CN2021128886W WO2023005049A1 WO 2023005049 A1 WO2023005049 A1 WO 2023005049A1 CN 2021128886 W CN2021128886 W CN 2021128886W WO 2023005049 A1 WO2023005049 A1 WO 2023005049A1
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- 210000000845 cartilage Anatomy 0.000 title claims abstract description 48
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 44
- 238000003786 synthesis reaction Methods 0.000 title claims abstract description 44
- 239000011159 matrix material Substances 0.000 title claims abstract description 41
- 230000003592 biomimetic effect Effects 0.000 title claims abstract description 40
- 239000003153 chemical reaction reagent Substances 0.000 claims abstract description 61
- 238000003756 stirring Methods 0.000 claims abstract description 60
- 239000003814 drug Substances 0.000 claims abstract description 44
- 238000010008 shearing Methods 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims description 86
- 238000003860 storage Methods 0.000 claims description 19
- 238000011049 filling Methods 0.000 claims description 17
- 229940079593 drug Drugs 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 239000003795 chemical substances by application Substances 0.000 claims description 10
- 238000005520 cutting process Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 17
- 230000009471 action Effects 0.000 description 12
- 238000011068 loading method Methods 0.000 description 12
- 239000000047 product Substances 0.000 description 10
- 238000002156 mixing Methods 0.000 description 7
- HEMHJVSKTPXQMS-UHFFFAOYSA-M Sodium hydroxide Chemical compound [OH-].[Na+] HEMHJVSKTPXQMS-UHFFFAOYSA-M 0.000 description 6
- 230000008901 benefit Effects 0.000 description 6
- 239000000843 powder Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000006285 cell suspension Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 210000001188 articular cartilage Anatomy 0.000 description 2
- 238000005119 centrifugation Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000012467 final product Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 201000008482 osteoarthritis Diseases 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 210000000130 stem cell Anatomy 0.000 description 2
- 208000020084 Bone disease Diseases 0.000 description 1
- 230000000735 allogeneic effect Effects 0.000 description 1
- 230000036770 blood supply Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000028993 immune response Effects 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- 238000002054 transplantation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01J—CHEMICAL OR PHYSICAL PROCESSES, e.g. CATALYSIS OR COLLOID CHEMISTRY; THEIR RELEVANT APPARATUS
- B01J13/00—Colloid chemistry, e.g. the production of colloidal materials or their solutions, not otherwise provided for; Making microcapsules or microballoons
Definitions
- the invention belongs to the technical field of medical devices, and in particular relates to an automatic cartilage bionic matrix gel synthesis instrument.
- Articular osteochondral damage caused by trauma or bone disease is very common in clinical practice, among which cartilage defects can reach 50%, and then develop into various degenerative joint diseases such as osteoarthritis, seriously affecting the function of the affected limb and the quality of life of the patient .
- Articular cartilage itself lacks blood supply and has low repair ability.
- the existing medical clinical treatment measures have problems such as limited area of repaired cartilage defect, easy recurrence after operation, and immune response to allogeneic articular cartilage transplantation, which affect the implantation effect and postoperative recovery of patients.
- cartilage tissue engineering scaffold cartilage biomimetic matrix gel.
- the cartilage biomimetic matrix gel product is a new type of cartilage repair product, and the product is synthesized step by step from various components.
- the production of products is carried out manually, and there is no automatic equipment to replace it.
- there are problems such as improper grasp of the reaction time of each link, improper control of component dosage, and human pollution during the operation process. Automation equipment is urgently needed to replace manual operation.
- the object of the present invention is to provide an automatic cartilage biomimetic matrix gel synthesis instrument, aiming at solving the problem of cartilage biomimetic matrix gel production without automatic equipment.
- the invention provides a cartilage biomimetic matrix gel automatic synthesis instrument, comprising a frame module composed of a base frame, a platform plate, and a slant plate.
- the base frame is provided with a horizontally arranged platform plate and an inclined plate arranged obliquely.
- a drug tray module for carrying the drug tray module and making it centrifugally rotate is provided, and a clamping module for clamping the drug tray module on the drug tray module, and a clamping module for clamping the bottom of the drug tray module on the clamping module are arranged on the inclined plate.
- the rack module also includes a slide rail, a slide plate, a bracket, a guide rail, a ball screw mechanism E and a supporting plate.
- the slide rail, the bracket, the supporting plate and the ball screw mechanism E are arranged on the platform plate, and the slide plate passes through the slide rail and the ball screw mechanism E.
- the platform plate is slidingly connected and driven by the ball screw mechanism E.
- the slant plate passes through the platform plate and is fixedly connected with the bracket and the supporting plate at both ends of the length direction.
- the medicine tray module is also used to carry the push rod and the stirring rod, and is composed of a turntable, a storage tube, a through slot, a block, a base, a chassis, and a rotating motor.
- Inwardly inclined storage tube a single storage tube is used to store the drug tube, push rod or stirring rod, the middle part of the turntable is provided with a through groove, and the base is provided with the opposite sides of the through groove set on the turntable respectively.
- a pair of clamping blocks, the base is rotatably arranged on the chassis, the chassis is installed on the slide plate, and the chassis is provided with a rotating motor for driving the base and the turntable to rotate.
- one side of the through groove set on the turntable is provided with a stepped groove, and one of the pair of clamping blocks is adapted to the stepped groove; the base is also provided with a square positioned in the middle of the through groove set on the turntable .
- the base is also provided with a pressing spring acting on the bottom of the turntable, two springs are arranged symmetrically, and are spaced apart from a pair of clamping blocks.
- the clamping module is composed of a ball screw mechanism A, a connecting frame A, a double-threaded screw mechanism A, and a splint.
- the ball screw mechanism A is set on the inclined plate and acts on the connecting frame A, and the connecting frame A is slidably connected to the guide rail.
- the connecting frame A is provided with a double-thread screw mechanism A, and the double-thread screw mechanism A is provided with a pair of splints for clamping and placing the drug tray module on the loading tube.
- the mixing module is composed of ball screw mechanism C, ball screw mechanism D, connection frame C, connection frame D, bearing seat A, telescopic spring, grabbing shaft, bearing seat B, and locking sleeve.
- the ball screw mechanism C is set on the inclined plate
- the connecting frame C and the connecting frame D are slidingly connected with the guide rail respectively
- the connecting frame D and the connecting frame C are connected up and down correspondingly through the ball screw mechanism D
- the connecting frame D is equipped with a bearing seat A, which is connected
- the frame C is provided with a bearing seat B, which is provided with a locking sleeve that is rotatably connected with it
- the grabbing shaft is equipped with a telescopic spring between the bearing seat A and the bearing seat B, and one end of the grabbing shaft runs through
- the lock sleeve is also equipped with a lock-release structure that can extend and retract the lock sleeve.
- the other end of the grab shaft is rotatably connected with the bearing seat A.
- the lock-release structure includes a tapered head arranged at the end of the grab shaft and along the The grab shaft is axially opened in the slot on the end where the conical head is located.
- the stirring module also includes a coupling sleeve and a rotating motor.
- the grasping shaft is connected to the rotating motor through the coupling sleeve at the diverging end away from the locking sleeve.
- the coupling sleeve is rotatably connected to the bearing seat A, and the rotating motor is fixed on the bearing On the seat A, the two ends of the telescopic spring act on the locking sleeve and the coupling sleeve respectively.
- the cutting module is composed of a ball screw mechanism B, a connecting frame B, a double-threaded screw mechanism B, and scissors.
- the ball screw mechanism B is set on the inclined plate and acts on the connecting frame B, and the connecting frame B is slidingly connected to the guide rail.
- a double-thread screw mechanism B is set on the connecting frame B, and a pair of scissors for cutting the bottom of the filling tube is set on the double-thread screw mechanism B.
- a control box, a baffle and a shell are also provided on the bottom frame, and a terminal box is provided on the baffle, the control box is electrically connected to the terminal box, and the stirring module, the clamping module and the shearing module are electrically connected to the terminal box , the medicine tray module is electrically connected with the control box; the front and rear sides of the casing are respectively provided with a front door and a rear door, and the side walls on both sides of the casing are provided with relative gripping grooves.
- the cartilage biomimetic matrix gel automatic synthesis instrument mentioned in the present invention can solve the manual synthesis of cartilage biomimetic matrix gel products, realize fully automatic synthesis, and help to improve product synthesis accuracy, efficiency and quality.
- the cartilage biomimetic matrix gel automatic synthesis instrument mentioned in the present invention has the advantages of simple and easy overall structure, convenient operation, perfect function, small size, etc., and effectively reduces the intensity of manual work, which has a positive effect on improving the efficiency of scientific and technological machinery. effect.
- Fig. 1 is the front structure schematic diagram of this cartilage biomimetic matrix gel automatic synthesis instrument
- Fig. 2 is a schematic diagram of the bottom view of Fig. 1;
- Fig. 3 is the schematic diagram of the three-dimensional structure of the cartilage biomimetic matrix gel automatic synthesis instrument
- Fig. 4 is another three-dimensional structural schematic diagram of the cartilage biomimetic matrix gel automatic synthesis instrument
- Fig. 5 is a schematic diagram of the shape and structure of the cartilage biomimetic matrix gel automatic synthesis instrument
- Fig. 6 is a rear view structural schematic diagram of Fig. 5;
- FIG. 7 is a schematic diagram of the three-dimensional structure of the rack module in the cartilage biomimetic matrix gel automatic synthesis instrument
- Fig. 8 is a schematic diagram of the three-dimensional structure of the Chinese medicine tray module of the cartilage biomimetic matrix gel automatic synthesis instrument
- Fig. 9 is a schematic diagram of the three-dimensional structure after removing the turntable in Fig. 8;
- Fig. 10 is a schematic diagram of the three-dimensional structure of one side of the inclined plate in the cartilage biomimetic matrix gel automatic synthesis instrument;
- Fig. 11 is a schematic diagram of the three-dimensional structure of the other side of the inclined plate in the cartilage biomimetic matrix gel automatic synthesis instrument;
- Fig. 12 is a schematic diagram of the three-dimensional structure of the clamping module in the cartilage biomimetic matrix gel automatic synthesis instrument
- Fig. 13 is a schematic diagram of the three-dimensional structure of the stirring module in the cartilage biomimetic matrix gel automatic synthesis instrument
- Fig. 14 is a schematic diagram of the exploded structure of the grasping shaft in Fig. 13;
- Fig. 15 is a schematic diagram of the three-dimensional structure of the cutting module in the cartilage biomimetic matrix gel automatic synthesis instrument
- Fig. 16 is the working flow diagram of the automatic synthesis instrument of the cartilage biomimetic matrix gel
- frame module 1 drug tray module 2, agent filling tube 3, clamping module 4, pinching module 5, shearing module 6, control box 7, terminal box 8, baffle plate 9, housing 10, front door 11. Grip groove 12, rear door 13, push rod 14, stirring rod 15; chassis 101, platform plate 102, slide rail 103, slide plate 104, bracket 105, inclined plate 106, guide rail 107, ball screw mechanism E108, pallet 109; turntable 201, storage tube 202, through groove 203, stepped groove 204, block 205, block 206, top pressure spring 207, base 208, chassis 209, rotating motor 210; ball screw mechanism A401, connecting frame A402 , double thread screw mechanism A403, splint 404; ball screw mechanism C501, ball screw mechanism D502, connecting frame C503, connecting frame D504, rotating motor 505, bearing seat A506, telescopic spring 507, grab shaft 508, bearing seat B509, locking sleeve 510, coupling sleeve 511; ball screw mechanism B601, connecting frame B602,
- a cartilage biomimetic matrix gel automatic synthesis instrument mentioned in this embodiment mainly includes a frame module 1, a drug tray module 2, a filling tube 3, a clamping module 4, a clamping Stirring module 5, shearing module 6, control box 7 and terminal box 8, wherein, rack module 1 is as bearing main body, plays the role of supporting and assembling other modules, and it is wrapped by shell 10, and the front and rear sides of shell 10 A front door 11 and a rear door 13 are respectively provided for convenient observation and operation.
- Relative gripping grooves 12 are provided on the side walls of both sides of the casing 10 for easy handling and operation.
- the clamping module 4 is used to clamp and place the medicine tube 3 on the medicine tray module 2, and cooperate with the work of the stirring module 5; and the stirring module 5 is used to clamp and place the push rod 14 or the stirring rod 15 and Make it push or stir the reagent in the loading tube 3 clamped on the clamping module 4; the shearing module 6 is used to cut the bottom of the loading tube 3 clamped on the clamping module 4 , so that the reagent in the filling tube is pushed into another filling tube by the action of the stirring module 5, so as to complete the mixing of the two reagents in the two filling tubes.
- the control box 7 is electrically connected to the terminal box 8, the stirring module 5, the clamping module 4 and the shearing module 6 are electrically connected to the terminal box 8, and the medicine tray module 2 is electrically connected to the control box 7 to realize automatic electrical connection. control operation.
- the automatic cartilage biomimetic matrix gel synthesis instrument can solve the manual synthesis of cartilage biomimetic matrix gel products, realize automatic synthesis, and help to improve the synthesis accuracy, efficiency and quality of products.
- the slide plate 104 and the medicine tray module 2 slide on the horizontal plane of the platform plate 102 relative to the frame module 1 and move away from or approach the inclined plate 106, while the stirring module 5, the clamping module 4 and the shearing module 6 are relatively opposite to the frame.
- the module 1 slides on the inclined plate 106 to cooperate with the drug tray module 2 to complete the relevant steps and actions involved in the synthesis of the cartilage biomimetic matrix gel product.
- the driving device used in the ball screw mechanism E108 adopts a servo motor, which is convenient for automatic control.
- the medicine tray module is also used to carry the push rod 14 and the stirring rod 15, including a turntable 201, a storage tube 202, a through groove 203, a stepped groove 204, a block 205, a block 206, Pressure spring 207, base 208, chassis 209 and rotary motor 210, wherein, on the turntable 201 and along its radial ring, there are a plurality of inwardly inclined storage tubes 202, and a single storage tube 202 is used to store the agent Tube 3, push rod 14 or stirring rod 15, a through groove 203 is opened in the middle of the turntable 201, and a pair of blocks 205 are respectively engaged with the opposite sides of the through groove 203 provided by the turntable 201 on the base 208.
- the cooperation relationship between the clamping block 205 and the through groove 203 can make the fixed connection between the turntable 201 and the base 208; and the base 208 is arranged on the chassis 209 through bearing rotation, and the chassis 209 is installed on the slide plate 104,
- the chassis 209 is provided with a rotating motor 210 for driving the base 208 and the turntable 201 to rotate, and the rotating motor 210 can drive the turntable 201 to rotate, so that the reagent in the loading tube 3 placed in the storage tube 202 on the turntable 201
- the centrifugal rotation action is helpful to the mixing between the components of the cartilage biomimetic matrix gel product.
- one side of the through groove 203 provided on the turntable 201 is provided with a stepped groove 204, and one of the pair of clamping blocks 205 is adapted to the stepped groove 2, so as to facilitate the assembly and positioning between the turntable 201 and the base 208.
- the base 208 is also provided with a block 206 located in the middle of the through groove 203 provided by the turntable 201. On the one hand, it can further improve the assembly and positioning identification between the turntable 201 and the base 208. On the other hand, the position of the base 208 can be The rotational force is better transmitted to the turntable 201 through the block 206, so that the centrifugal rotation of the turntable 201 is better.
- the base 208 is also provided with a pressing spring 207 acting on the bottom of the turntable 201.
- the pressing springs 207 are arranged in two symmetrical arrangements, and are spaced apart from a pair of blocks 205. Through the action of the pressing springs 207 After the turntable 201 is engaged on the base 208 , the turntable 201 can provide a compression reaction force to press the turntable 201 , so that the assembly effect between the turntable 201 and the base 208 is better.
- the storage tube 202 is arranged obliquely on the turntable 201, and the mouth of the storage tube 202 is deflected toward the inside of the turntable, so that when the turntable 201 is doing centrifugal rotation, it is ensured that the reagent in the loading tube 3 placed in the storage tube 202 does not will be thrown out.
- the included angle between the central axis of the storage tube 202 and the vertical direction is 30°, 40°, 45°, etc.
- the driving device used for the rotary motor 210 adopts a servo motor, which is convenient for automatic control.
- the corresponding filling tubes, push rods and stirring rods are placed in sequence through the storage tube on the turntable, and the rotating motor is used to make the turntable rotate, so that the reagents in the filling tubes on the turntable are centrifugally rotated. To complete the centrifugal synthesis of the reagents in the tube.
- the clamping module 4 is composed of a ball screw mechanism A401, a connecting frame A402, a double thread screw mechanism A403, and a splint 404, wherein: the ball screw mechanism A401 is set on the swash plate 106 and functions On the connection frame A402, the connection frame A402 is slidingly connected with the guide rail 107, the connection frame A402 is provided with a double-threaded screw mechanism A403, and a pair of splints for clamping and placing the drug tray module 2 on the top-loading agent tube 3 are arranged on the double-threaded screw mechanism A403 404.
- the height of the splint 404 relative to the drug tube 3 on the medicine tray module 2 can be adjusted through the ball screw mechanism A401, and the double-threaded screw mechanism A403 is used to operate the two splints 404 to implement the action of clamping the drug tube 3.
- Both the ball screw mechanism A401 and the double thread screw mechanism A403 are driven by servo motors, which is convenient for automatic control.
- the mixing module 5 includes a ball screw mechanism C501, a ball screw mechanism D502, a connecting frame C503, a connecting frame D504, a rotating motor 505, a bearing seat A506, and a telescopic spring 507, grabbing shaft 508, bearing seat B509, locking sleeve 510 and shaft coupling sleeve 511, wherein: the ball screw mechanism C501 is installed on the swash plate 106, the connecting frame C503 and the connecting frame D504 are respectively slidingly connected with the guide rail 107, and The connecting frame D504 and the connecting frame C503 are connected up and down correspondingly through the ball screw mechanism D502.
- the connecting frame D504 is provided with a bearing seat A506, and the connecting frame C503 is provided with a bearing seat B509.
- the bearing seat B506 is provided with a rotating connection with it through a bearing.
- the locking sleeve 510, and the telescopic spring 507 located between the bearing seat A506 and the bearing seat B508 is set on the grasping shaft 508.
- One end of the grasping shaft 508 runs through the locking sleeve 510 and is provided with a locking sleeve that can be extended and retracted.
- the other end of the grab shaft 508 is rotationally connected with the bearing seat A506 through a bearing
- the lock-and-release structure includes a conical head (not marked) arranged at the end of the grab shaft 508 and along the grab shaft 508 A slot (not marked) axially formed on the end where the tapered head is located.
- the bearing seat A506 The grasping shaft 508 provided on the top is in an extended state relative to the locking sleeve 510, and the conical head on the grasping shaft 508 is exposed outside the locking sleeve, and the slot on it is used to facilitate the push rod 14 or the stirring rod 15
- the elastic force of the telescopic spring 507 will push the connecting frame D504 away from the connecting frame C503, thereby driving the grabbing shaft 508 to retreat, and then make the taper on the grabbing shaft 508
- the head is retracted into the locking sleeve 510, and the locking sleeve 510 is used to complete the clamping of the push rod 14 or the stirring rod 15.
- connection frame C503 and the connection frame D504 can be integrally moved on the slant plate 106 relative to the guide rail 107, and the pairing agent can be completed by grabbing the push rod 14 clamped on the shaft 508
- the gel synthesis reagent in the tube 3 performs a pushing action.
- the grasping shaft 508 is connected to the rotating motor 505 through the shaft coupling sleeve 511 at the end deviated from the locking sleeve 510, and the coupling sleeve 511 is rotationally connected with the bearing seat A506, the rotating motor 505 is fixed on the bearing housing A506, and the telescopic spring 507 The two ends act on the locking sleeve 510 and the coupling sleeve 511 respectively.
- the rotating motor 505 can provide rotational force for the grabbing shaft 508, so that the grabbing shaft 508 can be rotated after clamping the stirring rod 15, so that the gel synthesis reagent in the filling tube 3 can be controlled by the stirring rod 15. Carry out the corresponding stirring work.
- the rotary motor 505 can be a coreless motor.
- the hollow cup motor has outstanding energy-saving characteristics, sensitive and convenient control characteristics and stable operation characteristics, and can be used as a high-efficiency energy conversion device for the mixing assembly.
- the driving device used in ball screw mechanism C501 and ball screw mechanism D502 is a servo motor for automatic control.
- the cutting module 6 is composed of a ball screw mechanism B601, a connecting frame B602, a double thread screw mechanism B603, and scissors 604.
- the ball screw mechanism B601 is arranged on the inclined plate 106 and Act on the connection frame B602, the connection frame B602 is slidingly connected with the guide rail 107, the double thread screw mechanism B603 is set on the connection frame B602, and a pair of scissors for cutting the bottom of the filling tube 3 is set on the double thread screw mechanism B603.
- the distance between the scissors 604 and the clamping agent tube 3 on the clamping module 4 can be adjusted by the ball screw mechanism B601, and the two scissors 604 are operated by the double threaded screw mechanism B603 to implement the bottom of the agent tube 3
- the medicine tray module 2 also needs to be moved to the clamping module 4, so that the drug tube clamped on the clamping module 4 is on the top, and the other drug tube placed on the medicine tray module 2 below it.
- the reagent tube so that after the bottom of the upper clamping tube is cut by the shearing module 6, the reagent in it can enter the lower reagent tube, and the reagent mixing of the two reagent tubes is completed, which is the subsequent mixing module 5. Push or stir to provide the base.
- the drive devices used in the ball screw mechanism B601 and the double-thread screw mechanism B603 are all servo motors, which are convenient for automatic control.
- Step 1) place six loading tubes 3 sequentially on the storage tube 2 of the turntable 201 of the medicine tray module 2, respectively defined as: reagent I, 87.5 ⁇ L of pure water; reagent II, OCS&OHA dry powder 0.013 g; reagent III, 450 ⁇ L of pure water; Reagent IV, 0.05 g of Col-II dry powder; Reagent V, 45 ⁇ L of NaOH solution; cell suspension, and place the upper push rod 14 and the stirring rod 15 on the remaining storage cylinder 2 on the turntable 201; The turntable 201 is placed on the rack module 1;
- Step 2 start the ball screw mechanism E108 on the rack module 1, so that the slide plate 104 drives the medicine tray module 2 away from the inclined plate 106, that is, approach the front door 11 on the casing 10;
- Step 3 make the clamping module 4 and the shearing module 6 be located at the lower end of the slant plate 106, and the pinching module 5 be located at the upper end of the slant plate 106, and start the ball screw mechanism E108 on the frame module 1, so that the slide plate 104 drives the medicine tray Module 2 moves towards ramp 106;
- Step 4 rotate the turntable 201 by the rotating motor 210, and under the indexing action of the turntable 201, make the storage tube 2 equipped with the push rod 14 be located under the stirring module 5; then, start the ball wire of the stirring module 5
- the rod mechanism C501 and the ball screw mechanism D502 allow the grab shaft 508 to grab the push rod 14;
- Step 5 after implementing the action of step 2), move the clamping module 4 to the top of the medicine tray module 2, and rotate the turntable 201 by the rotating motor 210, and under the indexing action of the turntable 201, the The reagent filling tube 3 of the reagent I is located at the clamping position of the clamping module 4; then, start the ball screw mechanism E108 on the frame module 1, so that the slide plate 104 drives the medicine tray module 2 to move to the inclined plate 106, and start the ball screw mechanism Mechanism A401 moves the connection frame A402 down to the specified position, starts the double-threaded screw mechanism A403 to drive the splint 404 to hold the reagent tube 3 with reagent I, and then moves the connection frame A402 up to the specified position through the ball screw mechanism A401.
- Location
- Step 6 after implementing step 2), move the shearing module 6 through its ball screw mechanism B601 to drive the connecting frame B602 to the bottom of the loading tube 3 with reagent I clamped on the clamping module 4 Proper position, make its scissors align with the cutting position at the bottom of the filling tube 3; then, start the ball screw mechanism E108 on the rack module 1, so that the slide plate 104 drives the medicine tray module 2 to move to the swash plate 106, and through the rotation
- the motor 210 rotates the turntable 201, and under the action of the indexing of the turntable 201, the loading tube 3 containing the reagent II is positioned at the clamping position of the clamping module 4; the ball screw mechanism C501 of the stirring module 5 is started to drive the push rod 14 Insert into the loading tube 3 containing the reagent I; start the double-threaded screw mechanism B603 on the shearing module 6 to drive the scissors 604 to cut the bottom of the loading tube containing the reagent I, and at the same time, stir the
- Step 7 after implementing step 2), move the shearing module 6 down to the lower end of the inclined plate 106, move the stirring module 5 up to the upper end of the inclined plate 106, then move back to the medicine tray module 2 and turn the turntable 201 After the reverse rotation, the clamping module 4 puts the reagent tube containing the reagent I back on the turntable 201;
- Step 8 after implementing the action of step 2), the clamping module 4 is also moved down to the lower end of the swash plate 106, and the stirring module 5 is moved to cooperate with the rotation of the turntable 201, so that the push rod on the grasping shaft 508 is released.
- Step 9 repeat steps 1)-8) to dissolve the Col-II dry powder, that is, take 450 ⁇ L of water from reagent III and add it to the dry powder Col-II of reagent IV, and stir at 90 r/min for about 2 min, and centrifuge;
- Step 10 repeat steps 1)-8) to adjust the pH value of the Col-II solution, that is, take 45 ⁇ L of NaOH solution of reagent V and add it to the Col-II solution mixed with reagent III and reagent IV, and use 90r/min to stir for about 2min, and centrifugation;
- Step 11 repeat steps 1)-8) to add the OCS-OHA solution, that is, take the OCS-OHA solution mixed with reagent I and reagent II, centrifuge through the rotating motor 210, add reagent III, reagent IV and reagent V In the Col-II, and use 90r/min stirring for about 3min, and centrifugation;
- Step 12 repeat steps 1)-8), to add the cell suspension (can also be added manually), that is, add 20 ⁇ L of the cell suspension to the Col which is mixed with reagent I, reagent II, reagent III, reagent IV and reagent V -II, and use 90r/min to stir for about 3min, and then centrifuge to get the final product.
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Abstract
本发明属于医疗器械技术领域，提出一种软骨仿生基质凝胶自动合成仪器，旨在解决软骨仿生基质凝胶产品无自动化设备生产的问题，包括由底架、平台板、斜板组成的机架模块，底架上设有水平布置的平台板和倾斜布置的斜板，平台板上设置有用于承载装剂管并使之离心旋转的药盘模块，斜板上设置有用于夹放药盘模块上装剂管的夹取模块、用于对夹取模块上夹持的装剂管底部进行剪切的剪切模块、及用于夹放推杆或搅拌杆并使之对夹取模块上夹持的装剂管内的试剂进行推挤或搅拌的夹搅模块，且斜板自上而下依次布置夹搅模块、夹取模块和剪切模块。本发明解决了软骨仿生基质凝胶产品的人为手工合成，并实现了全自动合成，提高了产品制成精度、效率和质量。
Description
本发明属于医疗器械技术领域，具体涉及一种软骨仿生基质凝胶自动合成仪器。
在临床中由创伤或骨病所致关节骨软骨损伤十分常见，其中软骨缺损者可达50％，进而发展成为骨性关节炎等各类退行性关节疾病，严重影响患肢功能和患者生活质量。关节软骨自身缺乏血供，修复能力低下，现有医学临床治疗措施存在修复软骨缺损面积有限、术后易复发、异体关节软骨移植会产生免疫反应等问题，影响植入效果和患者术后恢复。随着干细胞应用的发展和对天然软骨成分、结构及功能的探索，利用干细胞的多向分化能力和天然软骨中的重要成分来构建组织工程软骨，并研发了与天然软骨成分相仿、结构相仿的软骨组织工程支架—软骨仿生基质凝胶。软骨仿生基质凝胶产品属新型软骨修复产品，产品由多种组分分步合成。目前产品制作均由人工进行，尚无自动化设备替代。同时，人工操作过程中存在各环节反应时间把握不当、组分用量控制不当造成误差，而且操作过程中还可能造成人为污染等问题，亟待自动化设备来代替人工操作。
发明内容
有鉴于此，本发明的目的在于提供一种软骨仿生基质凝胶自动合成仪器，旨在解决软骨仿生基质凝胶产品无自动化设备生产的问题。
本发明是通过以下技术方案来实现的：
本发明提供一种软骨仿生基质凝胶自动合成仪器，包括由底架、平台板、斜板组成的机架模块，底架上设有水平布置的平台板和倾斜布置的斜板，平台板上设置有用于承载装剂管并使之离心旋转的药盘模块，斜板上设置有用于夹放药盘模块上装剂管的夹取模块、用于对夹取模块上夹持的装剂管底部进行剪切的剪切模块、及用于夹放推杆或搅拌杆并使之对夹取模块上夹持的装剂管内的试剂进行推挤或搅拌的夹搅模块，且斜板自上而下依次布置夹搅模块、夹取模块和剪切模块。
进一步，机架模块还包括有滑轨、滑板、支架、导轨、滚珠丝杆机构E和托板组成，平 台板上设置滑轨、支架、托板和滚珠丝杆机构E，滑板通过滑轨与平台板滑动连接，并由滚珠丝杆机构E驱动，斜板穿过平台板并在其长度方向上的两端分别与支架和托板固定连接，斜板上设有辅以夹搅模块、夹取模块和剪切模块滑动的导轨。
进一步，药盘模块还用于承载推杆和搅拌杆，由转盘、搁物筒、通槽、卡块、基座、底盘、旋转电机组成，转盘上并沿其径向环布有多个向内倾斜的搁物筒，单个搁物筒用于搁置装剂管、推杆或搅拌杆，转盘的中部开设有通槽，基座上设有与转盘所设通槽的相对两侧分别卡合的一对卡块，基座转动的设置在底盘上，底盘安装在滑板上，底盘上设有用于驱动基座及转盘转动的旋转电机。
进一步，转盘上所设的通槽一侧设有阶梯槽，且一对卡块中之一与阶梯槽相适配；所述基座上还设有与转盘所设通槽的中部定位的方块。
进一步，基座上还设有作用于转盘底部的顶压弹簧，弹簧设置为两个，呈对称布置，且与一对卡块相互间隔设置。
进一步，夹取模块由滚珠丝杆机构A、连接框架A、双螺纹丝杆机构A、夹板组成，滚珠丝杆机构A设于斜板上并作用于连接框架A，连接框架A与导轨滑动连接，连接框架A上设置双螺纹丝杆机构A，双螺纹丝杆机构A上设置一对用于夹放药盘模块上装剂管的夹板。
进一步，夹搅模块由滚珠丝杆机构C、滚珠丝杆机构D、连接框架C、连接框架D、轴承座A、伸缩弹簧、抓取轴、轴承座B、锁紧套组成，滚珠丝杆机构C设置在斜板上，连接框架C和连接框架D分别与导轨滑动连接，且连接框架D与连接框架C通过滚珠丝杆机构D呈上下对应连接，连接框架D上设有轴承座A，连接框架C上设有轴承座B，轴承座B内设有与之转动连接的锁紧套，抓取轴上套装有位于轴承座A与轴承座B之间的伸缩弹簧，抓取轴的一端贯穿锁紧套并设有能伸出和缩回锁紧套的锁放结构，抓取轴的另一端与轴承座A转动连接，锁放结构包括有设置在抓取轴端部的锥形头和沿抓取轴轴向开设在锥形头所在端部上的开槽。
进一步，夹搅模块还包括有联轴套和旋转马达，抓取轴在背离锁紧套的背离端通过联轴套连接上旋转马达，联轴套与轴承座A转动连接，旋转马达固定在轴承座A上，伸缩弹簧的两端分别作用于锁紧套和联轴套上。
进一步，剪切模块由滚珠丝杆机构B、连接框架B、双螺纹丝杆机构B、剪刀组成，滚珠丝杆机构B设于斜板上并作用于连接框架B，连接框架B与导轨滑动连接，连接框架B上设置双螺纹丝杆机构B，双螺纹丝杆机构B上设置一对用于剪切装剂管底部的剪刀。
进一步，底架上还设有控制箱、挡板和外壳，挡板上设有端子箱，控制箱与端子箱电性连接，夹搅模块、夹取模块和剪切模块与端子箱电性连接，药盘模块与控制箱电性连接；外 壳的前后侧分别设有前门和后门，外壳的两侧侧壁上设有相对的握槽。
本发明的优点在于：
1、本发明提及的软骨仿生基质凝胶自动合成仪器能够解决软骨仿生基质凝胶产品的人为手工合成，并实现全自动合成，且有助于提高产品合成精度、效率和质量。
2、本发明提及的软骨仿生基质凝胶自动合成仪器具有整体结构简单易行、操作方便、功能完善、体积小等优点，并有效的减轻了人工工作强度，对提升科技机械使用效率有积极作用。
本发明的其他优点、目标和特征在某种程度上将在随后的说明书中进行阐述，并且在某种程度上，基于对下文的考察研究对本领域技术人员而言将是显而易见的，或者可以从本发明的实践中得到教导。本发明的目标和其他优点可以通过下面的说明书来实现和获得。
为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步的详细描述，其中：
图1为本软骨仿生基质凝胶自动合成仪器的正面结构示意图；
图2为图1的仰视结构示意图；
图3为本软骨仿生基质凝胶自动合成仪器的立体结构示意图；
图4为本软骨仿生基质凝胶自动合成仪器的另一立体结构示意图；
图5为本软骨仿生基质凝胶自动合成仪器的外形结构示意图；
图6为图5的后视结构示意图；
图7为本软骨仿生基质凝胶自动合成仪器中机架模块的立体结构示意图；
图8为本软骨仿生基质凝胶自动合成仪器中药盘模块的立体结构示意图；
图9为图8中去掉转盘后的立体结构示意图；
图10为本软骨仿生基质凝胶自动合成仪器中斜板一侧的立体结构示意图；
图11为本软骨仿生基质凝胶自动合成仪器中斜板另一侧的立体结构示意图；
图12为本软骨仿生基质凝胶自动合成仪器中夹取模块的立体结构示意图；
图13为本软骨仿生基质凝胶自动合成仪器中夹搅模块的立体结构示意图；
图14为图13中抓取轴部分组成的分解结构示意图；
图15为本软骨仿生基质凝胶自动合成仪器中剪切模块的立体结构示意图；
图16为本软骨仿生基质凝胶自动合成仪器的工作流程图；
附图标记：机架模块1，药盘模块2，装剂管3，夹取模块4，夹搅模块5，剪切模块6， 控制箱7，端子箱8，挡板9，外壳10，前门11，握槽12，后门13，推杆14，搅拌杆15；底架101，平台板102，滑轨103，滑板104，支架105，斜板106，导轨107，滚珠丝杆机构E108，托板109；转盘201，搁物筒202，通槽203，阶梯槽204，卡块205，方块206，顶压弹簧207，基座208，底盘209，旋转电机210；滚珠丝杆机构A401，连接框架A402，双螺纹丝杆机构A403，夹板404；滚珠丝杆机构C501，滚珠丝杆机构D502，连接框架C503，连接框架D504，旋转马达505，轴承座A506，伸缩弹簧507，抓取轴508，轴承座B509，锁紧套510，联轴套511；滚珠丝杆机构B601,连接框架B602，双螺纹丝杆机构B603，剪刀604。
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需要说明的是，以下实施例中所提供的图示仅以示意方式说明本发明的基本构想，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。
如图1-6所示，本实施例中提及的一种软骨仿生基质凝胶自动合成仪器，主要包括有机架模块1，药盘模块2，装剂管3，夹取模块4，夹搅模块5，剪切模块6，控制箱7和端子箱8，其中，机架模块1作为承载主体，起到支撑和装配其他模块的作用，且其被外壳10包裹，而外壳10的前后侧分别开设有前门11和后门13，方便观察及操作，外壳10的两侧侧壁上设置相对的握槽12，便于搬运操作；而药盘模块2是用于承载装剂管3并使之离心旋转动作，夹取模块4则是用于夹放药盘模块2上装剂管3，并配合夹搅模块5的工作；而夹搅模块5则是用于夹放推杆14或搅拌杆15并使之对夹取模块4上夹持的装剂管3内的试剂进行推挤或搅拌动作；剪切模块6则是用于对夹取模块4上夹持的装剂管3底部进行剪切，以使该装剂管内的试剂通过夹搅模块5的作用后被推挤进入另一个装剂管中，以完成两个装剂管中的两种试剂混合。而控制箱7与端子箱8电性连接，夹搅模块5、夹取模块4和剪切模块6与端子箱8电性连接，药盘模块2与控制箱7电性连接，以实现自动化电控操作。这样，采用上述方案，本软骨仿生基质凝胶自动合成仪器能够解决软骨仿生基质凝胶产品的人为手工合成，并实现全自动合成，且有助于提高产品合成精度、效率和质量。
再结合图7所示，本机架总成包括有底架101、平台板102、滑轨103、滑板104、支架105、斜板106、导轨107、滚珠丝杆机构E108和托板109，其中，底架101上设有水平布置的平台板102和倾斜布置的斜板106，平台板102上设置药盘模块2，斜板106上并自上而下依次布置夹搅模块5、夹取模块4和剪切模块6；平台板102上设置滑轨103、支架104、 托板109和滚珠丝杆机构E108，滑板104通过滑轨103与平台板102滑动连接，并由滚珠丝杆机构E108驱动，斜板106穿过平台板102并在其长度方向上的两端分别与支架105和托板109固定连接，斜板106上设有辅以夹搅模块5、夹取模块4和剪切模块6滑动的导轨107。这样，滑板104及药盘模块2相对于机架模块1在平台板102的水平面上滑动而远离或靠近斜板106，夹搅模块5、夹取模块4和剪切模块6则相对于机架模块1在斜板106上滑动而使之配合药盘模块2工作，来完成软骨仿生基质凝胶产品在合成中所涉及到的相关步骤及动作。滚珠丝杆机构E108所用驱动装置采用伺服电机，便于自动化控制。
再结合图8、9所示，本药盘模块还用于承载推杆14和搅拌杆15，包括有转盘201、搁物筒202、通槽203、阶梯槽204、卡块205、方块206、顶压弹簧207、基座208、底盘209和旋转电机210，其中，转盘201上并沿其径向环布有多个向内倾斜的搁物筒202，单个搁物筒202用于搁置装剂管3、推杆14或搅拌杆15，转盘201的中部开设有通槽203，基座208上设有与转盘201所设通槽203的相对两侧分别卡合的一对卡块205，通过卡块205与通槽203之间的配合关系，即可使得转盘201与基座208之间固定连接；而基座208通过轴承转动的设置在底盘209上，底盘209则安装在滑板104上，底盘209上设有用于驱动基座208及转盘201转动的旋转电机210，通过旋转电机210即可带动转盘201转动，从而使得转盘201上的搁物筒202内置入的装剂管3内的试剂进行离心旋转动作，有助于软骨仿生基质凝胶产品各组成成分之间的混合。另外，转盘201上所设的通槽203一侧设有阶梯槽204，且一对卡块205中之一与阶梯槽2相适配，以便于转盘201与基座208之间的装配定位作用；基座208上还设有与转盘201所设通槽203的中部定位的方块206，一方面可进一步提升转盘201与基座208之间的装配定位识别，另一方面可将基座208的旋转力通过方块206更好的传递给转盘201，以使转盘201的离心旋转运动更好。而基座208上还设有作用于转盘201底部的顶压弹簧207，顶压弹簧207设置为两个，呈对称布置，且与一对卡块205相互间隔设置，通过顶压弹簧207的作用，可使转盘201在卡合于基座208上后，由其提供压缩反力而顶压转盘201，使得转盘201与底座208之间的装配效果更佳。搁物筒202在转盘201上倾斜布置，且搁物筒202口部向转盘内偏斜，以便于转盘201在做离心旋转运动时，保证搁物筒202内放置的装剂管3内试剂不会被甩出。而搁物筒202的中轴线与竖向之间的夹角采用30°、40°、45°等。旋转电机210所用驱动装置采用伺服电机，便于自动化控制。使用时，通过转盘上的搁物筒来依次放置相应的装剂管、推杆及搅拌杆，并利用旋转电机来使转盘获得旋转运动，从而使得转盘上的装剂管内的试剂获得离心旋转，以完成对装剂管内试剂的离心合成。
在结合图10-12所示，夹取模块4由滚珠丝杆机构A401、连接框架A402、双螺纹丝杆 机构A403、夹板404组成，其中：滚珠丝杆机构A401设于斜板106上并作用于连接框架A402，连接框架A402与导轨107滑动连接，连接框架A402上设置双螺纹丝杆机构A403，双螺纹丝杆机构A403上设置一对用于夹放药盘模块2上装剂管3的夹板404。使用时，通过滚珠丝杆机构A401可调节夹板404相对于药盘模块2上装剂管3的高度，并利用双螺纹丝杆机构A403操作两夹板404来实施对装剂管3的夹取动作。滚珠丝杆机构A401和双螺纹丝杆机构A403所用驱动装置均采用伺服电机，便于自动化控制。
再结合图10-11、13-14所示，本夹搅模块5包括有滚珠丝杆机构C501、滚珠丝杆机构D502、连接框架C503、连接框架D504、旋转马达505、轴承座A506、伸缩弹簧507、抓取轴508、轴承座B509、锁紧套510和联轴套511，其中：滚珠丝杆机构C501安装在斜板106上，连接框架C503和连接框架D504分别与导轨107滑动连接，且连接框架D504与连接框架C503通过滚珠丝杆机构D502呈上下对应连接，连接框架D504上设有轴承座A506，连接框架C503上设有轴承座B509，轴承座B506内通过轴承设有与之转动连接的锁紧套510，抓取轴508上套装有位于轴承座A506与轴承座B508之间的伸缩弹簧507，抓取轴508的一端贯穿锁紧套510并设有能伸出和缩回锁紧套510的锁放结构，抓取轴508的另一端与轴承座A506通过轴承转动连接，该锁放结构包括有设置在抓取轴508端部的锥形头(未标记)和沿抓取轴508轴向开设在锥形头所在端部上的开槽(未标记)。使用时，通过滚珠丝杆机构D502的作用，使得连接框架D504向连接框架C503靠拢，即轴承座A506与轴承座B509之间的高度被压缩，且伸缩弹簧507也被压缩，此时轴承座A506上设置的抓取轴508则相对于锁紧套510呈伸出状态，抓取轴508上的锥形头露出锁紧套外，并利用其上的开槽来方便推杆14或者搅拌杆15进入其内，然后滚珠丝杆机构D502不作用后，受伸缩弹簧507的弹力恢复而推动连接框架D504远离连接框架C503，从而带动抓取轴508后退，进而使的抓取轴508上的锥形头回缩至锁紧套510内，并利用锁紧套510完成对推杆14或搅拌杆15的夹持。反之，要取下推杆14或搅拌杆15时，重复上述操作即可。而通过滚珠丝杆机构C501可对连接框架C503及连接框架D504形成整体的在斜板106上相对于导轨107做直线运动，并通过抓取轴508上夹持的推杆14来完成对装剂管3内的凝胶合成试剂进行推挤动作。另外，抓取轴508在背离锁紧套510的背离端通过联轴套511连接上旋转马达505，联轴套511与轴承座A506转动连接，旋转马达505固定在轴承座A506上，伸缩弹簧507的两端分别作用于锁紧套510和联轴套511上。这样，通过旋转马达505可为抓取轴508提供旋转力，以使得抓取轴508在夹持有搅拌杆15后能够获得旋转，从而通过搅拌杆15对装剂管3内的凝胶合成试剂进行相应的搅拌工作。该旋转马达505可以采用空心杯电机。空心杯电动机具有突出的节能特性、灵敏方便的控制特性和稳定的运行特性，可以作为本夹搅总成高效率的能量转换装置。滚珠 丝杆机构C501和滚珠丝杆机构D502所用的驱动装置为伺服电机,以便自动化控制。
再结合图10-11、15所示，本剪切模块6由滚珠丝杆机构B601、连接框架B602、双螺纹丝杆机构B603、剪刀604组成，滚珠丝杆机构B601设于斜板106上并作用于连接框架B602，连接框架B602与导轨107滑动连接，连接框架B602上设置双螺纹丝杆机构B603，双螺纹丝杆机构B603上设置一对用于剪切装剂管3底部的剪刀。使用时，通过滚珠丝杆机构B601可调节剪刀604相对于夹取模块4上夹持装剂管3的距离，并利用双螺纹丝杆机构B603操作两剪刀604来实施对装剂管3底部的剪切动作，此时的药盘模块2也需移动至夹取模块4下，使得夹取模块4上夹持的装剂管在上，并与其在下的药盘模块2上放置的另一装剂管相对应，以便上方的装夹管底部被剪切模块6剪底后，其内试剂能够进入下方的装剂管内，完成两个装剂管的试剂混合，为后续的夹搅模块5的推挤或搅拌提供基础。滚珠丝杆机构B601和双螺纹丝杆机构B603所用驱动装置均采用伺服电机，便于自动化控制。
如图16所示，以一个具体的示例来阐述下本软骨仿生基质凝胶自动合成仪器的工作流程，如下：
步骤1)、在药盘模块2的转盘201的搁物筒2上依次放置六个装剂管3，分别定义为：试剂Ⅰ，纯水87.5μL；试剂Ⅱ，OCS&OHA干粉0.013g；试剂Ⅲ，纯水450μL；试剂Ⅳ，Col-Ⅱ干粉0.05g；试剂Ⅴ，NaOH溶液45μL；细胞悬液，并在转盘201上剩余的搁物筒2上分别放置上推杆14和搅拌杆15；并将该转盘201放置于机架模块1上；
步骤2)、启动机架模块1上的滚珠丝杆机构E108，使滑板104带动药盘模块2远离斜板106，即向外壳10上的前门11靠近；
步骤3)、使夹取模块4和剪切模块6位于斜板106下端，夹搅模块5位于斜板106上端，并启动机架模块1上的滚珠丝杆机构E108，使滑板104带动药盘模块2移向斜板106；
步骤4)、通过旋转电机210转动转盘201，并在转盘201的分度作用下，使装有推杆14的搁物筒2位于夹搅模块5下方；然后，启动夹搅模块5的滚珠丝杆机构C501和滚珠丝杆机构D502，让抓取轴508对推杆14进行抓取；
步骤5)、再实施步骤2)的动作后，并将夹取模块4移动至药盘模块2的上方，且通过旋转电机210转动转盘201，并在转盘201的分度作用下，使装有试剂Ⅰ的装剂管3位于夹取模块4的夹取位；然后，启动机架模块1上的滚珠丝杆机构E108，使滑板104带动药盘模块2移向斜板106，启动滚珠丝杆机构A401使连接框架A402下移至指定位置，启动双螺纹丝杆机构A403带动夹板404夹持住带有试剂Ⅰ的装剂管3，再通过滚珠丝杆机构A401使连接框架A402上移至指定位置；
步骤6)、再实施步骤2)的动作后，并将剪切模块6通过其滚珠丝杆机构B601带动连 接框架B602移动至夹取模块4上夹持的装有试剂Ⅰ的装剂管3底部合适位置，使其剪刀对准装剂管3底部剪切位；然后，启动机架模块1上的滚珠丝杆机构E108，使滑板104带动药盘模块2又移向斜板106，并通过旋转电机210转动转盘201，并在转盘201的分度作用下，使装有试剂Ⅱ的装剂管3位于夹取模块4的夹取位；启动夹搅模块5的滚珠丝杆机构C501带动推杆14插入装有试剂Ⅰ的装剂管3内；启动剪切模块6上的双螺纹丝杆机构B603带动剪刀604动作，对装有试剂Ⅰ的装剂管底部进行剪切，同时，夹搅模块5继续下移而推挤装有试剂Ⅰ的装剂管，使其内的试剂Ⅰ正好流入药盘模块2上装有试剂Ⅱ的装剂管中，进行混合；即：溶解OCS-OHA干粉，将试剂I的87.5μL水加入试剂Ⅱ的OCS&OHA混合干粉中；
步骤7)、再实施步骤2)的动作后，将剪切模块6下移至斜板106下端，将夹搅模块5上移至斜板106上端，再移回药盘模块2并使转盘201反向转动后，由夹取模块4将原装有试剂Ⅰ的装剂管放回转盘201上；
步骤8)、再实施步骤2)的动作后，将夹取模块4也下移至斜板106下端，并移动夹搅模块5及配合转盘201的转动，使抓取轴508上的推杆放回转盘201上，并夹持上转盘201上的搅拌杆15；并使转盘201旋转混合有试剂Ⅰ和试剂Ⅱ的装剂管至夹搅模块5的搅拌位，启动夹搅模块5的旋转马达505，使抓取轴508带动搅拌杆15在混合有试剂Ⅰ和试剂Ⅱ的装剂管内搅拌，采用100r/min搅拌约5min，并静置约15min得OCS-OHA溶液；再使夹搅模块5将搅拌杆15放回至转盘201上的原位；
步骤9)，重复步骤1)-8)，来溶解Col-Ⅱ干粉，即取试剂Ⅲ的450μL水加入试剂Ⅳ的干粉Col-Ⅱ中，并采用90r/min搅拌约2min，及离心作用；
步骤10)，重复步骤1)-8)，来调节Col-Ⅱ溶液pH值，即取试剂Ⅴ的45μLNaOH溶液加入混合有试剂Ⅲ和试剂Ⅳ的Col-Ⅱ溶液中，并采用90r/min搅拌约2min，及离心作用；
步骤11)，重复步骤1)-8)，来加入OCS-OHA溶液，即取混合有试剂Ⅰ和试剂Ⅱ的OCS-OHA溶液通过旋转电机210离心后加入混合有试剂Ⅲ、试剂Ⅳ和试剂Ⅴ的Col-Ⅱ中，并采用90r/min搅拌约3min，及离心作用；
步骤12)，重复步骤1)-8)，来加入细胞悬液(也可采用手动加入)，即将20μL细胞悬液加入到混合有试剂Ⅰ、试剂Ⅱ、试剂Ⅲ、试剂Ⅳ和试剂Ⅴ的Col-Ⅱ中，并采用90r/min搅拌约3min，再离心后得最终产品。
上所述仅为本发明的优选实施例，并不用于限制本发明，显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱开本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。
Claims (10)
- 软骨仿生基质凝胶自动合成仪器，其特征在于，包括由底架(101)、平台板(102)、斜板(106)组成的机架模块(1)，底架上设有水平布置的平台板和倾斜布置的斜板，平台板上设置有用于承载装剂管(3)并使之离心旋转的药盘模块(2)，斜板上设置有用于夹放药盘模块上装剂管的夹取模块(4)、用于对夹取模块上夹持的装剂管底部进行剪切的剪切模块(6)、及用于夹放推杆(14)或搅拌杆(15)并使之对夹取模块上夹持的装剂管内的试剂进行推挤或搅拌的夹搅模块(5)，且斜板自上而下依次布置夹搅模块、夹取模块和剪切模块。
- 根据权利要求1所述的软骨仿生基质凝胶自动合成仪器，其特征在于，所述机架模块还包括有滑轨(103)、滑板(104)、支架(105)、导轨(107)、滚珠丝杆机构E(108)和托板(109)组成，平台板上设置滑轨、支架、托板和滚珠丝杆机构E，滑板通过滑轨与平台板滑动连接，并由滚珠丝杆机构E驱动，斜板穿过平台板并在其长度方向上的两端分别与支架和托板固定连接，斜板上设有辅以夹搅模块、夹取模块和剪切模块滑动的导轨。
- 根据权利要求2所述的软骨仿生基质凝胶自动合成仪器，其特征在于，所述药盘模块还用于承载推杆和搅拌杆，由转盘(201)、搁物筒(202)、通槽(203)、卡块(205)、基座(208)、底盘(209)、旋转电机(210)组成，转盘上并沿其径向环布有多个向内倾斜的搁物筒，单个搁物筒用于搁置装剂管、推杆或搅拌杆，转盘的中部开设有通槽，基座上设有与转盘所设通槽的相对两侧分别卡合的一对卡块，基座转动的设置在底盘上，底盘安装在滑板上，底盘上设有用于驱动基座及转盘转动的旋转电机。
- 根据权利要求3所述的软骨仿生基质凝胶自动合成仪器，其特征在于，所述转盘上所设的通槽一侧设有阶梯槽(204)，且一对卡块中之一与阶梯槽相适配；所述基座上还设有与转盘所设通槽的中部定位的方块(206)。
- 根据权利要求3所述的软骨仿生基质凝胶自动合成仪器，其特征在于，所述基座上还设有作用于转盘底部的顶压弹簧(207)，所述弹簧设置为两个，呈对称布置，且与一对卡块相互间隔设置。
- 根据权利要求2所述的软骨仿生基质凝胶自动合成仪器，其特征在于，所述夹取模块由滚珠丝杆机构A(401)、连接框架A(402)、双螺纹丝杆机构A(403)、夹板(404)组成，滚珠丝杆机构A设于斜板上并作用于连接框架A，连接框架A与导轨滑动连接，连接 框架A上设置双螺纹丝杆机构A，双螺纹丝杆机构A上设置一对用于夹放药盘模块上装剂管的夹板。
- 根据权利要求2所述的软骨仿生基质凝胶自动合成仪器，其特征在于，所述夹搅模块由滚珠丝杆机构C(501)、滚珠丝杆机构D(502)、连接框架C(503)、连接框架D(504)、轴承座A(506)、伸缩弹簧(507)、抓取轴(508)、轴承座B(509)、锁紧套(510)组成，滚珠丝杆机构C设置在斜板上，连接框架C和连接框架D分别与导轨滑动连接，且连接框架D与连接框架C通过滚珠丝杆机构D呈上下对应连接，连接框架D上设有轴承座A，连接框架C上设有轴承座B，轴承座B内设有与之转动连接的锁紧套，抓取轴上套装有位于轴承座A与轴承座B之间的伸缩弹簧，抓取轴的一端贯穿锁紧套并设有能伸出和缩回锁紧套的锁放结构，抓取轴的另一端与轴承座A转动连接，锁放结构包括有设置在抓取轴端部的锥形头和沿抓取轴轴向开设在锥形头所在端部上的开槽。
- 根据权利要求7所述的软骨仿生基质凝胶自动合成仪器，其特征在于，所述夹搅模块还包括有联轴套(511)和旋转马达(505)，抓取轴在背离锁紧套的背离端通过联轴套连接上旋转马达，联轴套与轴承座A转动连接，旋转马达固定在轴承座A上，伸缩弹簧的两端分别作用于锁紧套和联轴套上。
- 根据权利要求2所述的软骨仿生基质凝胶自动合成仪器，其特征在于，所述剪切模块由滚珠丝杆机构B(601)、连接框架B(602)、双螺纹丝杆机构B(603)、剪刀(604)组成，滚珠丝杆机构B设于斜板上并作用于连接框架B，连接框架B与导轨滑动连接，连接框架B上设置双螺纹丝杆机构B，双螺纹丝杆机构B上设置一对用于剪切装剂管底部的剪刀。
- 根据权利要求1-9任一项所述的软骨仿生基质凝胶自动合成仪器，其特征在于，所述底架上还设有控制箱(7)、挡板(9)和外壳(10)，所述挡板上设有端子箱(8)，所述控制箱与端子箱电性连接，所述夹搅模块、夹取模块和剪切模块与端子箱电性连接，所述药盘模块与控制箱电性连接；所述外壳的前后侧分别设有前门(11)和后门(13)，所述外壳的两侧侧壁上设有相对的握槽(12)。
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| CN109394535A (zh) * | 2018-09-10 | 2019-03-01 | 深圳市博为医疗机器人有限公司 | 一种用于安瓿瓶的自动配药机器人 |
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| CN113041886A (zh) * | 2021-02-25 | 2021-06-29 | 青岛大学附属医院 | 一种药剂混配装置 |
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