WO2023097676A1 - 全自动细胞培养系统及其方法 - Google Patents

全自动细胞培养系统及其方法 Download PDF

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WO2023097676A1
WO2023097676A1 PCT/CN2021/135434 CN2021135434W WO2023097676A1 WO 2023097676 A1 WO2023097676 A1 WO 2023097676A1 CN 2021135434 W CN2021135434 W CN 2021135434W WO 2023097676 A1 WO2023097676 A1 WO 2023097676A1
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cell culture
culture
fully automatic
workbench
plate
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PCT/CN2021/135434
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English (en)
French (fr)
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张骁
秦季生
叶青青
董建华
宋研
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生物岛实验室
中国科学院广州生物医药与健康研究院
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Priority to PCT/CN2021/135434 priority Critical patent/WO2023097676A1/zh
Publication of WO2023097676A1 publication Critical patent/WO2023097676A1/zh

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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

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  • the invention relates to the field of biotechnology, in particular to an automatic cell culture system and a method thereof.
  • a fully automatic cell culture system including a pre-analysis device, a cell culture device and a control device
  • the pre-analysis device includes an automatic centrifuge electrically connected to the control device, a first multi-directional movement transfer mechanism, an automatic plate
  • the lifting mechanism, the second multi-directional motion transfer mechanism, the fluorescent imaging recognition mechanism and the adjustable tilting rotation mechanism, the automatic centrifuge is used to realize the centrifugation of the culture plate
  • the first multi-directional motion transfer mechanism is used to realize the cell culture process.
  • Pipetting and changing liquid, culture plate clamping transfer, the fluorescent imaging recognition mechanism is used to identify the cell culture state and finished products, the automatic plate lifting mechanism is used for orifice plate storage and automatic extraction, and the second multi-directional movement transfer
  • the mechanism is used to complete the interaction between the pre-analysis device and the cell culture device or external materials, and the adjustable tilting and rotating mechanism is used to realize the mixing of reagents and culture plates;
  • the cell culture device includes a culture tower electrically connected to the control device, and a third multi-directional motion transfer mechanism, the culture tower is used for cell culture incubation, and the third multi-directional motion transfer mechanism is used to transfer the culture Reagents for cell culture in the tower incubator with the pre-analytical device.
  • the fully automatic cell culture system further includes an air cleaning device, the air cleaning device is electrically connected to the control device, and the air cleaning device is used to clean the pre-analysis device and the The cell culture unit purifies the air.
  • the air purification device includes a first air purification mechanism and a second air purification mechanism, the first air purification mechanism is used to purify the air of the pre-analysis device, and the second air purification mechanism Used to purify the air of the cell culture device.
  • the automatic panel lifting mechanism includes a lifting base and a panel lifting drive component, and the panel lifting drive component is connected to the lifting base for driving the lifting base along the Lifting movement in the vertical direction, the lifting base is used for stacking and storing the orifice plates.
  • the automatic plate lifting mechanism further includes a position detection component, the position detection component is used to detect the position of the orifice plate on the lifting base, when the position detection component detects that the lifting The first layer of orifice plate on the base is taken away, and the control device controls the plate lifting driving part to drive the lifting base to rise a predetermined distance, and the predetermined distance is equal to the thickness of one layer of orifice plate.
  • the fully automatic cell culture system includes a first workbench and/or a second workbench, the first workbench and the second workbench are arranged side by side, and the pre-analysis device is arranged on The first workbench and the cell culture device are arranged on the second workbench.
  • a first panel is provided in the middle of the first workbench, and the automatic centrifuge and the automatic plate lifting mechanism are both arranged on the first workbench and located at the second Below a panel, the first multi-directional motion transfer mechanism is set on the top of the first workbench, the second multi-directional motion transfer mechanism is set on the first panel, and the fluorescence imaging recognition mechanism is set On the first panel and close to the second workbench, the constant temperature mechanism, the reagent cold storage mechanism, the adjustable tilting rotation mechanism, and the solid-liquid separation recovery processing mechanism are all arranged on the on the first panel.
  • the cell culture device further includes a finished product storage rack, the finished product storage rack and the culture tower are both arranged on the second workbench, and the third multi-directional motion transfer mechanism is installed on the second workbench and above the finished product storage rack.
  • the bottom of the first workbench is provided with a plurality of first self-locking casters
  • the bottom of the second workbench is provided with a plurality of second self-locking casters.
  • the pre-analysis device further includes a constant temperature mechanism electrically connected to the control device, a solid-liquid separation recovery processing mechanism, and a reagent cold storage mechanism; the solid-liquid separation recovery processing mechanism is used to realize the cultivation The waste liquid and waste materials generated in the process are recycled and processed, and the reagent cold storage mechanism is used for cold storage of reagents.
  • the culture tower is a 4 ⁇ 6 turret culture tower.
  • Another object of the present invention is to provide an automatic cell culture method.
  • a fully automatic cell culture method using the described fully automatic cell culture system comprising the steps of:
  • the culture plate containing the sample is placed in the culture tower for the first preset time, and the control device controls the third multi-directional movement transfer mechanism to transfer the culture plate for the first preset time to the fluorescence imaging identification mechanism for imaging and recording The growth state of the sample; the control device controls the first multi-directional movement transfer mechanism to assist in the quantitative liquid exchange and pipetting of the culture medium in the culture plate;
  • control device controls the third multi-directional movement transfer mechanism to transfer the culture plate for the second preset time to the fluorescence imaging recognition mechanism
  • the control device controls the fluorescence imaging recognition mechanism to complete imaging analysis on the samples in the culture plate, and the control device judges whether the confluence of the samples reaches a preset value according to the imaging analysis results.
  • the control device controls the first multi-directional motion transfer mechanism to assist in completing the replenishment of the culture plate with culture fluid, and transfers the culture plate supplemented with culture fluid to the culture tower to continue culturing.
  • the control device controls the fluorescent imaging identification mechanism to record the growth state of the sample, and determines whether the cells grow normally, and repeats this cycle until the cell subculture is completed.
  • the above-mentioned fully automatic cell culture system is composed of a pre-analysis device and a cell culture device to realize real-time monitoring of the cell culture process, automatic culture expansion, identification, classification and selection, and automatic data analysis and mining.
  • the fully automatic cell culture system of the present invention has the characteristics of high culture efficiency, strong developability of the culture process, real-time monitoring, high cleanliness, good stability, high adaptability, miniaturization and the like.
  • the above-mentioned fully automatic cell culture system can be used as a breakthrough in industrialization by cultivating a kind of targeted and therapeutically significant cells.
  • the automatic centrifuge is used to realize the centrifugation of the culture plate
  • the first multi-directional movement transfer mechanism is used to realize the liquid transfer during the cell culture process, and the clamping and transfer of the culture plate
  • the fluorescent imaging recognition mechanism is used to identify the cell culture state and finished products
  • the automatic plate lifting mechanism is used for orifice plate storage and automatic extraction
  • the second multi-directional motion transfer mechanism is used to complete the pre-analysis device and
  • the cell culture device interacts with external materials
  • the adjustable tilting mechanism is used to mix the reagents with the culture plate and spread the glue
  • the solid-liquid separation and recycling mechanism is used to recycle the waste liquid and waste generated during the culture process
  • the reagent cold storage mechanism is used for cold storage of reagents
  • the culture tower is used for cell culture incubation
  • the third multi-directional movement transfer mechanism is used to realize the transfer of the incubator in the culture tower and the pre-analysis device Reagents for cell culture.
  • Fig. 1 is a schematic diagram of a fully automatic cell culture system according to an embodiment of the present invention
  • Figure 2 is a schematic front view of the pre-analysis device of the fully automatic cell culture system shown in Figure 1;
  • FIG. 3 is a three-dimensional schematic diagram of a pre-analysis device of the fully automatic cell culture system shown in FIG. 1;
  • Fig. 4 is a schematic front view of the cell culture device of the fully automatic cell culture system shown in Fig. 1;
  • FIG. 5 is a schematic perspective view of a cell culture device of the fully automatic cell culture system shown in FIG. 1 .
  • Solid-liquid separation recovery processing mechanism Cell culture device; 201, finished product storage rack; 202, culture tower; 203, the third multi-directional movement transfer mechanism; 300, control device; 401, the first air purification mechanism; 402, the second air purification mechanism; 501, the first 1 working table; 5011, the first panel; 502, the second working table; 601, the first self-locking casters; 602, the second self-locking casters.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the embodiment of the present application provides a fully automatic cell culture system 10 to solve the problems of traditional cell culture systems that the culture efficiency cannot meet the expected requirements, the culture system is large in size, low in adaptability, and unable to monitor the culture status in real time. It will be described below in conjunction with the accompanying drawings.
  • FIG. 1 is a schematic structural diagram of the fully automatic cell culture system 10 provided in the embodiment of the present application.
  • the fully automatic cell culture system 10 of the present application can be used for large-scale cell culture.
  • an automatic cell culture system 10 includes a pre-analysis device 100 , a cell culture device 200 and a control device 300 .
  • Fig. 2 is a schematic front view of the pre-analysis device 100 of the fully automatic cell culture system 10 shown in Fig. 1;
  • Fig. 3 is a pre-analysis device of the fully automatic cell culture system 10 shown in Fig. 1 100 is a three-dimensional schematic diagram, the pre-analysis device 100 includes an automatic centrifuge 101 electrically connected to the control device 300, a first multi-directional motion transfer mechanism 102, an automatic plate lifting mechanism 103, a second multi-directional motion transfer mechanism 104, and a fluorescent imaging recognition Mechanism 105, constant temperature mechanism 106, adjustable tilting and rotating mechanism 107, solid-liquid separation recovery processing mechanism 108 and reagent cold storage mechanism 109. It should be noted that the above-mentioned constant temperature mechanism 106, solid-liquid separation and recovery processing mechanism 108, and reagent cold storage mechanism 109 can be omitted in another specific embodiment.
  • the constant temperature mechanism 106 can choose 37°C constant temperature mechanism 106 .
  • the reagent cold storage mechanism 109 may be a 4°C reagent cold storage mechanism 109 .
  • the specific temperature of the constant temperature mechanism 106 can be set as required.
  • the temperature of the reagent cold storage mechanism 109 can be set as required.
  • the automated centrifuge 101 is used to realize the centrifugation of the culture plate.
  • the automatic centrifuge 101 can automatically open and close the door and accurately locate.
  • the first multi-directional motion transfer mechanism 102 is used to implement liquid transfer, liquid replacement, and culture plate clamping transfer during the cell culture process.
  • Fluorescent imaging identification mechanism 105 is used to identify cell culture status and finished products.
  • the automatic plate lifting mechanism 103 is used for orifice plate storage and automatic extraction.
  • the objects that the automatic plate lifting mechanism 103 can adapt to include but are not limited to various types of orifice plates such as 96 deep-well plates, 96 shallow-well plates, and cassette tips.
  • the second multi-directional motion transfer mechanism 104 is used to complete the material interaction between the pre-analysis device 100 and the cell culture device 200 or the outside world.
  • the second multi-directional motion transfer mechanism 104 can realize the functions of material transfer and orifice plate identification under the control of the control device 300.
  • the adjustable tilting and rotating mechanism 107 is used for mixing the reagent and the culture plate and spreading the glue.
  • the solid-liquid separation recovery treatment mechanism 108 is used to realize the recovery and treatment of waste liquid and waste materials generated in the cell culture process, so as to avoid secondary pollution in the cell culture process.
  • the reagent cold storage mechanism 109 is used for cold storage of reagents.
  • Fig. 4 is a schematic front view of the cell culture device 200 of the fully automatic cell culture system 10 shown in Fig. 1;
  • Fig. 5 is a cell culture device of the fully automatic cell culture system 10 shown in Fig. 1 200 is a three-dimensional schematic diagram.
  • the cell culture device 200 includes a culture tower 202 electrically connected to a control device 300 and a third multi-directional motion transfer mechanism 203 .
  • the culture tower 202 is used for cell culture incubation.
  • the culture tower 202 may be a 4 ⁇ 6 turret culture tower.
  • the 4 ⁇ 6 turret culture tower is composed of 24 small incubators independently developed independently. Among them, one incubator can meet the subculture and culture needs of a batch of cells, so the 4 ⁇ 6 turret culture tower can simultaneously Undertake 24 batches of cell culture and incubation work.
  • the third multi-directional movement transfer mechanism 203 is used to transfer reagents for cell culture from the incubator in the culture tower 202 to the pre-analysis device 100 .
  • control device 300 may be a PLC programmable logic controller.
  • the first multi-directional motion transfer mechanism 102, the second multi-directional motion transfer mechanism 104, and the third multi-directional motion transfer mechanism 203 can all be manipulators.
  • the first multi-directional motion transfer mechanism 102 , the second multi-directional motion transfer mechanism 104 , and the third multi-directional motion transfer mechanism 203 can all move in three directions: X, Y, and Z.
  • the first multi-directional motion transfer mechanism 102, the second multi-directional motion transfer mechanism 104, and the third multi-directional motion transfer mechanism 203 can be set according to actual needs.
  • the first multi-directional motion transfer mechanism 102 is a multifunctional collaborative manipulator.
  • the second multi-directional motion transfer mechanism 104 is a mechanical transfer arm.
  • the third multi-directional motion transfer mechanism 203 is a transport robot.
  • the fully automatic cell culture system 10 further includes an air cleaning device.
  • the air cleaning device is electrically connected with the control device 300 .
  • the air purification device is used to purify the air of the pre-analysis device 100 and the cell culture device 200 .
  • the air purification device of this embodiment can provide a clean environment of class 10,000 for the fully automatic cell culture system 10 .
  • the air cleaning device includes a first air cleaning mechanism 401 and a second air cleaning mechanism 402 .
  • the first air purification mechanism 401 is used to purify the air of the pre-analysis device 100
  • the second air purification mechanism 402 is used to purify the air of the cell culture device 200 .
  • the automatic plate lifting mechanism 103 includes a lifting base 1031 and a plate lifting driving part 1032 .
  • the plate lifting driving component 1032 is connected to the lifting base 1031 for driving the lifting base 1031 to move vertically.
  • the lifting base 1031 is used for stacking and storing the orifice plates.
  • the automatic plate lifting mechanism 103 also includes a position detection component.
  • the position detection component is used to detect the position of the orifice plate on the lifting base 1031 .
  • the control device 300 controls the plate lifting drive component 1032 to drive the lifting base 1031 up a predetermined distance, which is equal to the thickness of one layer of orifice plate.
  • the position detecting means may be a position sensor, an infrared sensor, or the like.
  • the fully automatic cell culture system 10 includes a first workbench 501 and/or a second workbench 502 .
  • the first workbench 501 and the second workbench 502 are arranged side by side.
  • the pre-analysis device 100 is set on the first workbench 501
  • the cell culture device 200 is set on the second workbench 502 .
  • the above-mentioned first air cleaning mechanism 401 and the second air cleaning mechanism 402 are respectively arranged on the first workbench 501 and the second workbench 502.
  • the first air cleaning mechanism 401 is arranged on the top of the first workbench 501, and the space in the first workbench 501 is air cleaned; the second air cleaning mechanism 402 is arranged on the top of the second workbench 502, and The space in the second workbench 502 is air cleaned.
  • a first panel 5011 is provided in the middle of the first workbench 501 .
  • Both the automated centrifuge 101 and the automated plate lifting mechanism 103 are located on the first workbench 501 and below the first panel 5011 .
  • the first multi-directional motion transfer mechanism 102 is disposed on the top of the first workbench 501
  • the second multi-directional motion transfer mechanism 104 is disposed on the first panel 5011 .
  • the fluorescent imaging identification mechanism 105 is disposed on the first panel 5011 and is close to the second workbench 502 .
  • the constant temperature mechanism 106 , the reagent cold storage mechanism 109 , the adjustable tilting mechanism 107 and the solid-liquid separation recovery mechanism 108 are all arranged on the first panel 5011 . It should be noted that the positions of the above components can be adjusted according to actual needs.
  • the cell culture device 200 further includes a finished product storage rack 201 .
  • the finished product storage rack 201 and the cultivation tower 202 are both arranged on the second workbench 502 .
  • the third multi-directional motion transfer mechanism 203 is installed on the second workbench 502 and above the finished product storage rack 201 .
  • a plurality of first self-locking casters 601 are provided on the bottom of the first workbench 501 .
  • a plurality of second self-locking casters 602 are provided on the bottom of the second workbench 502 .
  • the arrangement of the first self-locking casters 601 and the second self-locking casters 602 can realize the adjustment of the positions of the first workbench 501 and the second workbench 502 .
  • Another embodiment of the present invention also provides an automatic cell culture method.
  • a fully automatic cell culture method using a fully automatic cell culture system 10 comprising the steps of:
  • the control device 300 controls the third multi-directional motion transfer mechanism 203 to cooperate with the first multi-directional motion transfer mechanism 102 to cultivate the culture for the first preset time.
  • the plate is transferred to the fluorescence imaging recognition mechanism 105 for imaging to record the growth state of the sample;
  • the control device 300 controls the first multi-directional motion transfer mechanism 102 to cooperate with the first multi-directional motion transfer mechanism 102 to assist in the quantitative exchange of the culture medium in the culture plate , pipetting work;
  • control the culture plate to return to the original incubator of the culture tower 202 to continue culturing for the second preset time, and the control device 300 controls the third multi-directional motion transfer mechanism 203 to cooperate with the first multi-directional motion transfer mechanism 102 to transfer and cultivate the second preset time.
  • the control device 300 controls the fluorescence imaging recognition mechanism 105 to complete the imaging analysis of the samples in the culture plate, and the control device 300 judges whether the confluence of the samples reaches the preset value according to the imaging analysis result, and according to the preset value Determine whether the cells need to be picked and transferred;
  • the control device 300 controls the third multi-directional motion transfer mechanism 203 and the first multi-directional motion transfer mechanism. 102 Cooperate with the assistant to complete the supplement of culture medium for the culture plate, and transfer the culture plate supplemented with culture medium to the culture tower 202 to continue culturing.
  • the control device 300 controls the fluorescence imaging identification mechanism 105 to record the growth status of the sample, determine whether the cells are growing normally, and cycle like this. until the cell passage is complete.
  • the third multi-directional motion transfer mechanism 203 is a multi-axis manipulator, which can meet the requirements of opening and closing the door, taking plates at each point of the 4 ⁇ 6 turret culture tower 202, and interacting with the second multi-directional motion transfer mechanism 104 for materials.
  • the first multi-directional motion transfer mechanism 102 is a multi-functional manipulator, which can move in the XYZ three-axis space, and can reach all the work points on the table in the pre-analysis device 100. Plates with good culture fluid can be transferred to the second multi-directional motion transfer mechanism 104 through the first multi-directional motion transfer mechanism 102.
  • the second multi-directional motion transfer mechanism 104 After the second multi-directional motion transfer mechanism 104 receives the culture plate, it can transfer the culture plate to the pre-set The outside of the analysis device 100 enters into the cell culture device 200 .
  • the second multi-directional motion transfer mechanism 104 in the pre-analysis device 100 can transfer the culture plate into the cell culture device 200, and the third multi-directional motion transfer mechanism 203 in the cell culture device 200 can take away the second multi-directional motion transfer mechanism. Plates on body 104.
  • the method for using the above-mentioned fully automatic cell culture system 10 includes the following steps:
  • the control device 300 controls the third multi-directional movement transfer mechanism 203 and the first multi-directional movement
  • the transfer mechanism 102 cooperates to transfer the culture plate incubated for a period of time to the fluorescence imaging recognition mechanism 105 for imaging to record the growth state of the sample.
  • the control device 300 controls the first multi-directional motion transfer mechanism 102 to assist in the quantitative liquid exchange and pipetting of the culture medium in the culture plate.
  • control device 300 controls the culture plate to return to the original incubator of the culture tower 202 (which can provide suitable temperature, humidity and mixed gas environment for cell culture) to continue culturing for a period of time, and the control device 300 controls the third multi-directional movement transfer mechanism 203 cooperates with the first multi-directional movement transfer mechanism 102 to transfer the culture plate to the fluorescence imaging recognition mechanism 105, the control device 300 controls the fluorescence imaging recognition mechanism 105 to complete the imaging analysis of the samples in the culture plate, and the control device 300 judges the identity of the sample according to the imaging analysis results Whether the confluence reaches 80%, based on this, whether the cells need to be picked and transferred.
  • the control device 300 controls the third multi-directional motion transfer mechanism 203, the first multi-directional motion transfer mechanism 102 and with the assistance of each module of the pre-analysis device 100, the cell transfer expansion can be completed. Increase the required operations, such as preparing new sample plates, refrigerating pre-packaged culture reagents, recycling waste culture liquid, mixing reagents, and incubating samples at constant temperature. At this time, the first passage of cells is completed. .
  • the control device 300 controls the third multi-directional motion transfer mechanism 203 to cooperate with the first multi-directional motion transfer mechanism 102 to assist in completing the replenishment of the culture solution in the culture plate , and send the culture plate supplemented with culture solution back to the original incubator to continue culturing.
  • the control device 300 controls the fluorescence imaging recognition mechanism 105 to perform imaging to record the growth state of the sample, determine whether the cells are growing normally, and cycle like this until the passage of the cells is completed. Outbound requirements.
  • the above-mentioned fully automatic cell culture system 10 is composed of a pre-analysis device 100 and a cell culture device 200 to realize real-time whole-process monitoring of the cell culture process, automatic culture expansion, identification, sorting and picking, and automatic data analysis and mining.
  • the fully automatic cell culture system 10 of the present invention has the characteristics of high culture efficiency, strong developability of the culture process, real-time monitoring, high cleanliness, good stability, high adaptability, and miniaturization.
  • the above-mentioned fully automatic cell culture system 10 can be used as a breakthrough in industrialization by cultivating a cell with a clear target and therapeutic significance.

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Abstract

本发明公开了一种全自动细胞培养系统。该全自动细胞培养系统包括预分析装置、细胞培养装置以及控制装置，所述预分析装置包括与所述控制装置电性连接的自动化离心机、第一多方位运动转移机构、自动化板料升降机构、第二多方位运动转移机构、荧光成像识别机构、恒温机构、可调式倾斜旋转机构、固液分离回收处理机构以及试剂冷存机构；细胞培养装置包括与所述控制装置电性连接的培养塔、第三多方位运动转移机构，所述培养塔用于细胞培养孵化，所述第三多方位运动转移机构用于实现转运所述培养塔中培养箱与所述预分析装置进行细胞培养的试剂。本发明的全自动细胞培养系统可实现细胞培养过程的实时全程监控、自动化培养扩增、识别、分类挑取、数据自动分析挖掘。

Description

全自动细胞培养系统及其方法 技术领域
本发明涉及生物技术领域，特别是涉及一种全自动细胞培养系统及其方法。
背景技术
目前，在生物技术领域，细胞培养并不能完全实现自动化，细胞培养的效率达不到预期要求。另外，现有的细胞细胞培养系统存在体积大、适配性低、不能实时监控培养状态。
发明内容
基于此，有必要针对传统的细胞培养系统存在的培养效率达不到预期要求、培养系统体积大、适配性低、不能实时监控培养状态的问题，提供一种全自动细胞培养系统。
一种全自动细胞培养系统，包括预分析装置、细胞培养装置以及控制装置，所述预分析装置包括与所述控制装置电性连接的自动化离心机、第一多方位运动转移机构、自动化板料升降机构、第二多方位运动转移机构、荧光成像识别机构以及可调式倾斜旋转机构，所述自动化离心机用于实现培养板离心，所述第一多方位运动转移机构用于实现细胞培养过程中移液换液、培养板夹持转移，所述荧光成像识别机构用于鉴别细胞培养状态及成品，所述自动化板料升降机构用于孔板储存和自动化提取，所述第二多方位运动转移机构用于完成所述预分析装置与所述细胞培养装置或者外界的物料交互，所述可调式倾斜旋转机构用于实现试剂与培养板混匀铺胶；
细胞培养装置包括与所述控制装置电性连接的培养塔、第三多方位运动转移机构，所述培养塔用于细胞培养孵化，所述第三多方位运动转移机构用于实现转运所述培养塔中培养箱与所述预分析装置进行细胞培养的试剂。
在其中一些实施例中，所述全自动细胞培养系统还包括空气净化装置，所述空气净化装置与所述控制装置电性连接，所述空气净化装置用于对所述预分析装置与所述细胞培养装置净化空气。
在其中一些实施例中，所述空气净化装置包括第一空气净化机构以及第二空气净化机构，所述第一空气净化机构用于对所述预分析装置净化空气，所述第二空气净化机构用于对所述细胞培养装置净化空气。
在其中一些实施例中，所述自动化板料升降机构包括升降基座以及板料升降驱动部件，所述板料升降驱动部件连接于所述升降基座以用于驱动所述升降基座沿着竖直方向升降运动，所述升降基座用于重叠储存孔板。
在其中一些实施例中，所述自动化板料升降机构还包括位置检测部件，所述位置检测部件用于检测所述升降基座上的孔板位置，当所述位置检测部件检测到所述升降基座上的第一层孔板被取走，所述控制装置控制所述板料升降驱动部件驱动所述升降基座上升预定距离，所述预定距离等于一层孔板的厚度。
在其中一些实施例中，所述全自动细胞培养系统包括第一工作台和/或第二工作台，所述第一工作台和所述第二工作台并列设置，所述预分析装置设置于所述第一工作台，所述细胞培养装置设置于所述第二工作台。
在其中一些实施例中，所述第一工作台的中部位置设置有第一面板，所述自动化离心机设置与所述自动化板料升降机构均设置于所述第一工作台且位于所述第一面板的下方，所述第一多方位运动转移机构设置于所述第一工作台的顶部，所述第二多方位运动转移机构设置于所述第一面板上，所述荧光成像识 别机构设置于所述第一面板上且靠近于所述第二工作台，所述恒温机构、所述试剂冷存机构、所述可调式倾斜旋转机构以及所述固液分离回收处理机构均设置于所述第一面板上。
在其中一些实施例中，所述细胞培养装置还包括成品储放架，所述成品储放架与所述培养塔均设置于所述第二工作台，所述第三多方位运动转移机构安装于所述第二工作台并位于所述成品储放架的上方。
在其中一些实施例中，所述第一工作台的底部设置有多个第一自锁脚轮，所述第二工作台的底部设置有多个第二自锁脚轮。
在其中一些实施例中，所述预分析装置还包括与所述控制装置电性连接的恒温机构、固液分离回收处理机构以及试剂冷存机构；所述固液分离回收处理机构用于实现培养过程中产生的废液废料回收处理，所述试剂冷存机构用于冷存试剂。
在其中一些实施例中，所述培养塔为4×6转塔式培养塔。
本发明的另一目的还在于提供一种全自动细胞培养方法。
一种使用所述的全自动细胞培养系统的全自动细胞培养方法，包括如下步骤：
将含有样本的培养板置入培养塔中培养第一预设时间，控制装置控制第三多方位运动转移机构将培养第一预设时间的所述培养板转移至荧光成像识别机构进行成像以记录样本生长状态；所述控制装置控制第一多方位运动转移机构辅助完成所述培养板中的培养液的定量换液、移液工作；
控制所述培养板返回培养塔的原培养箱中继续培养第二预设时间，所述控制装置控制第三多方位运动转移机构转移培养第二预设时间的所述培养板至荧光成像识别机构，所述控制装置控制荧光成像识别机构对所述培养板中的样本 完成成像分析，所述控制装置根据成像分析结果判断样本的汇合度是否达到预设值。
在其中一些实施例中，根据所述预设值判断细胞是否需要挑取转移工序；如样本的汇合度达到所述预设值，表示样本完成第一次传代工作，如样本的汇合度未达到所述预设值，所述控制装置控制所述第一多方位运动转移机构辅助完成所述培养板补充培养液，并将补充培养液的所述培养板转移至所述培养塔继续培养，所述控制装置控制荧光成像识别机构记录样本生长状态，确定细胞是否正常生长，以此循环，直至细胞传代完成。
上述全自动细胞培养系统由预分析装置、细胞培养装置组成，实现细胞培养过程的实时全程监控、自动化培养扩增、识别、分类挑取、数据自动分析挖掘。本发明的全自动细胞培养系统具备培养高效率、培养过程可开发性强、可实时监控、洁净度高、稳定性佳、适配性高、小型化等特点。上述全自动细胞培养系统可作为以培养一种目标明确的、有治疗意义的细胞作为产业化突破口。
上述的全自动细胞培养系统的各个机构的功能如下：自动化离心机用于实现培养板离心，所述第一多方位运动转移机构用于实现细胞培养过程中移液换液、培养板夹持转移，所述荧光成像识别机构用于鉴别细胞培养状态及成品，所述自动化板料升降机构用于孔板储存和自动化提取，所述第二多方位运动转移机构用于完成所述预分析装置与所述细胞培养装置或者外界的物料交互，所述可调式倾斜旋转机构用于实现试剂与培养板混匀铺胶，所述固液分离回收处理机构用于实现培养过程中产生的废液废料回收处理，所述试剂冷存机构用于冷存试剂；所述培养塔用于细胞培养孵化，所述第三多方位运动转移机构用于实现转运所述培养塔中培养箱与所述预分析装置进行细胞培养的试剂。全自动细胞培养系统通过上述各个机构的配合实现了细胞培养过程的实时全程监控、 自动化培养扩增、识别、分类挑取、数据自动分析挖掘。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单的介绍。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对本领域技术人员来说，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
为了更完整地理解本申请及其有益效果，下面将结合附图来进行说明。其中，在下面的描述中相同的附图标号表示相同部分。
图1为本发明一实施例所述的全自动细胞培养系统示意图；
图2为图1所示的全自动细胞培养系统的预分析装置正面示意图；
图3为图1所示的全自动细胞培养系统的预分析装置立体示意图；
图4为图1所示的全自动细胞培养系统的细胞培养装置正面示意图；
图5为图1所示的全自动细胞培养系统的细胞培养装置立体示意图。
附图标记说明
10、全自动细胞培养系统；100、预分析装置；101、自动化离心机；102、第一多方位运动转移机构；103、自动化板料升降机构；1031、升降基座；1032、板料升降驱动部件；104、第二多方位运动转移机构；105、荧光成像识别机构；106、恒温机构；107、可调式倾斜旋转机构；108、固液分离回收处理机构；109、试剂冷存机构；200、细胞培养装置；201、成品储放架；202、培养塔；203、第三多方位运动转移机构；300、控制装置；401、第一空气净化机构；402、第二空气净化机构；501、第一工作台；5011、第一面板；502、第二工作台；601、第一自锁脚轮；602、第二自锁脚轮。
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施例的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本申请实施例提供一种全自动细胞培养系统10，以解决传统的细胞培养系统存在的培养效率达不到预期要求、培养系统体积大、适配性低、不能实时监控培养状态的问题。以下将结合附图对进行说明。
本申请实施例提供的全自动细胞培养系统10，示例性的，请参阅图1所示，图1为本申请实施例提供的全自动细胞培养系统10的结构示意图。本申请的全自动细胞培养系统10能够用于细胞大规模培养。
为了更清楚的说明全自动细胞培养系统10的结构，以下将结合附图对全自动细胞培养系统10进行介绍。
示例性的，请参阅图1所示，一种全自动细胞培养系统10，包括预分析装置100、细胞培养装置200以及控制装置300。
请参阅图2、图3所示，图2为图1所示的全自动细胞培养系统10的预分析装置100正面示意图；图3为图1所示的全自动细胞培养系统10的预分析装置100立体示意图，预分析装置100包括与控制装置300电性连接的自动化离心机101、第一多方位运动转移机构102、自动化板料升降机构103、第二多方位运动转移机构104、荧光成像识别机构105、恒温机构106、可调式倾斜旋转机构107、固液分离回收处理机构108以及试剂冷存机构109。需要说明的是，上述的恒温机构106、固液分离回收处理机构108以及试剂冷存机构109可以在另一个具体实施例中省略。
其中，恒温机构106可以选择37℃恒温机构106。试剂冷存机构109可以是4℃试剂冷存机构109。具体地，恒温机构106的具体温度可以根据需要进行设定。试剂冷存机构109的温度可以根据需要进行设定。
自动化离心机101用于实现培养板离心。自动化离心机101能够自动化开关门、精准定位。
第一多方位运动转移机构102用于实现细胞培养过程中移液、换液、培养板夹持转移。
荧光成像识别机构105用于鉴别细胞培养状态及成品。
自动化板料升降机构103用于孔板储存和自动化提取。自动化板料升降机构103可适应的对象包括但不限于96深孔板、96浅孔板、盒式Tip头等多种类型孔板。
第二多方位运动转移机构104用于完成预分析装置100与细胞培养装置200或者外界的物料交互。第二多方位运动转移机构104能够在控制装置300的控 制下，实现物料转移、孔板识别功能。
可调式倾斜旋转机构107用于实现试剂与培养板混匀铺胶。
固液分离回收处理机构108用于实现细胞培养过程中产生的废液、废料回收处理，避免细胞培养过程中二次污染。
试剂冷存机构109用于冷存试剂。
请参阅图4、图5所示，图4为图1所示的全自动细胞培养系统10的细胞培养装置200正面示意图；图5为图1所示的全自动细胞培养系统10的细胞培养装置200立体示意图，细胞培养装置200包括与控制装置300电性连接的培养塔202、第三多方位运动转移机构203。
培养塔202用于细胞培养孵化。在一个具体实施例中，培养塔202可以为4×6转塔式培养塔。4×6转塔式培养塔是由24个独立自主研发的小型培养箱组成，其中，一个培养箱可满足一批次细胞的传代及培养需求，故该4×6转塔式培养塔最大可同时承接24个批次的细胞培养、孵化工作。
第三多方位运动转移机构203用于实现转运培养塔202中培养箱与预分析装置100进行细胞培养的试剂。
需要说明的是，上述的控制装置300可以是PLC可编程逻辑控制器。
其中，第一多方位运动转移机构102、第二多方位运动转移机构104、第三多方位运动转移机构203均可以是机械手。第一多方位运动转移机构102、第二多方位运动转移机构104、第三多方位运动转移机构203均能够在X、Y、Z三个方向上移动。具体地，第一多方位运动转移机构102、第二多方位运动转移机构104、第三多方位运动转移机构203可以根据实际需要进行设置。
在其中一些实施例中，第一多方位运动转移机构102为多功能协作机械手。
在其中一些实施例中，第二多方位运动转移机构104为机械转运臂。
在其中一些实施例中，第三多方位运动转移机构203为搬运机械手。
在其中一些实施例中，全自动细胞培养系统10还包括空气净化装置。空气净化装置与控制装置300电性连接。空气净化装置用于对预分析装置100与细胞培养装置200净化空气。本实施例的空气净化装置能够为全自动细胞培养系统10提供万级洁净环境。
在其中一些实施例中，请参阅图1、图3、图5所示，空气净化装置包括第一空气净化机构401以及第二空气净化机构402。第一空气净化机构401用于对预分析装置100净化空气，第二空气净化机构402用于对细胞培养装置200净化空气。
在其中一些实施例中，请参阅图2、图3所示，自动化板料升降机构103包括升降基座1031以及板料升降驱动部件1032。板料升降驱动部件1032连接于升降基座1031以用于驱动升降基座1031沿着竖直方向升降运动。升降基座1031用于重叠储存孔板。
在其中一些实施例中，自动化板料升降机构103还包括位置检测部件。位置检测部件用于检测升降基座1031上的孔板位置。当位置检测部件检测到升降基座1031上的第一层孔板被取走，控制装置300控制板料升降驱动部件1032驱动升降基座1031上升预定距离，预定距离等于一层孔板的厚度。位置检测部件可以是位置传感器、红外线传感器等。
在其中一些实施例中，请参阅图2、图4所示，全自动细胞培养系统10包括第一工作台501和/或第二工作台502。第一工作台501和第二工作台502并列设置。预分析装置100设置于第一工作台501，细胞培养装置200设置于第二工作台502。当设置第一工作台501与第二工作台502时，上述的第一空气净化机构401以及第二空气净化机构402分别设置在第一工作台501与第二工作台 502上。具体地，第一空气净化机构401设置在第一工作台501的顶部，并对第一工作台501内的空间进行空气净化；第二空气净化机构402设置在第二工作台502的顶部，并对第二工作台502内的空间进行空气净化。
在其中一些实施例中，第一工作台501的中部位置设置有第一面板5011。自动化离心机101设置与自动化板料升降机构103均设置于第一工作台501且位于第一面板5011的下方。第一多方位运动转移机构102设置于第一工作台501的顶部，第二多方位运动转移机构104设置于第一面板5011上。荧光成像识别机构105设置于第一面板5011上且靠近于第二工作台502。恒温机构106、试剂冷存机构109、可调式倾斜旋转机构107以及固液分离回收处理机构108均设置于第一面板5011上。需要说明的是，上述的各个元器件的位置可以根据实际需要进行调整。
在其中一些实施例中，细胞培养装置200还包括成品储放架201。成品储放架201与培养塔202均设置于第二工作台502。第三多方位运动转移机构203安装于第二工作台502并位于成品储放架201的上方。
在其中一些实施例中，请参阅图1所示，第一工作台501的底部设置有多个第一自锁脚轮601。第二工作台502的底部设置有多个第二自锁脚轮602。第一自锁脚轮601、第二自锁脚轮602的设置能够实现第一工作台501、第二工作台502位置的调整。
本发明的另一实施例还提供了一种全自动细胞培养方法。
一种使用的全自动细胞培养系统10的全自动细胞培养方法，包括如下步骤：
将含有样本的培养板置入培养塔202中培养第一预设时间，控制装置300控制第三多方位运动转移机构203与第一多方位运动转移机构102配合将培养第一预设时间的培养板转移至荧光成像识别机构105进行成像以记录样本生长 状态；控制装置300控制第一多方位运动转移机构102与第一多方位运动转移机构102配合辅助完成培养板中的培养液的定量换液、移液工作；
控制培养板返回培养塔202的原培养箱中继续培养第二预设时间，控制装置300控制第三多方位运动转移机构203与第一多方位运动转移机构102配合转移培养第二预设时间的培养板至荧光成像识别机构105，控制装置300控制荧光成像识别机构105对培养板中的样本完成成像分析，控制装置300根据成像分析结果判断样本的汇合度是否达到预设值，根据预设值判断细胞是否需要挑取转移工序；
如样本的汇合度达到预设值，表示样本完成第一次传代工作，如样本的汇合度未达到预设值，控制装置300控制第三多方位运动转移机构203与第一多方位运动转移机构102配合辅助完成培养板补充培养液，并将补充培养液的培养板转移至培养塔202继续培养，控制装置300控制荧光成像识别机构105记录样本生长状态，确定细胞是否正常生长，以此循环，直至细胞传代完成。
第三多方位运动转移机构203是为一个多轴机械手，可以满足4×6转塔式培养塔202的各点位的开关门、取板动作以及与第二多方位运动转移机构104进行物料交互。第一多方位运动转移机构102为多功能的机械手，可以进行XYZ三轴的空间移动，可以抵达预分析装置100中台面所有工位点，同时具有移液换液、夹板放板功能，例如更换好培养液的板子，可以通过第一多方位运动转移机构102把培养板转移至第二多方位运动转移机构104中，第二多方位运动转移机构104接收培养板后，并转移培养板到预分析装置100外部进入即细胞培养装置200内。预分析装置100中的第二多方位运动转移机构104可以把培养板转移到细胞培养装置200内，细胞培养装置200中的第三多方位运动转移机构203即可取走第二多方位运动转移机构104上的培养板。
具体地，上述全自动细胞培养系统10的使用方法包括如下步骤：
以MSC细胞培养为例，经人工处理完的脐带切块放入培养塔202中的某一培养箱中培养一段时间后，控制装置300控制第三多方位运动转移机构203与第一多方位运动转移机构102配合将孵育一段时间的培养板转移至荧光成像识别机构105进行成像以记录样本生长状态。同时控制装置300控制第一多方位运动转移机构102辅助完成培养板中的培养液的定量换液、移液工作。接着，控制装置300控制培养板返回培养塔202原定的培养箱(可给细胞培养提供合适的温湿度及混合气体环境)中继续培养一段时间后，控制装置300控制第三多方位运动转移机构203与第一多方位运动转移机构102配合转移培养板至荧光成像识别机构105，控制装置300控制荧光成像识别机构105对培养板中的样本完成成像分析，控制装置300根据成像分析结果判断样本的汇合度是否达到80％，以此为根据，进行细胞是否需要挑取转移工序。若样本的汇合度已达到80％汇合度，控制装置300控制第三多方位运动转移机构203、第一多方位运动转移机构102配合及预分析装置100各个模块的辅助下，可完成细胞转移扩增所需的一应操作，如准备新的样本板材、冷藏预封装好的培养试剂、培养废液的回收处理、试剂混合操作、样本恒温孵育等需求，此时细胞的第一次传代工作完成。如样本的汇合度未达到80％，即执行补充培养液程序，控制装置300控制第三多方位运动转移机构203与第一多方位运动转移机构102配合辅助完成培养板中的培养液的补充工作，并将补充培养液的培养板送回原培养箱继续培养，控制装置300控制荧光成像识别机构105进行成像以记录样本生长状态，确定细胞是否正常生长，以此循环，直至细胞传代完成，满足出库要求。
上述全自动细胞培养系统10由预分析装置100、细胞培养装置200组成，实现细胞培养过程的实时全程监控、自动化培养扩增、识别、分类挑取、数据 自动分析挖掘。本发明的全自动细胞培养系统10具备培养高效率、培养过程可开发性强、可实时监控、洁净度高、稳定性佳、适配性高、小型化等特点。上述全自动细胞培养系统10可作为以培养一种目标明确的、有治疗意义的细胞作为产业化突破口。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种全自动细胞培养系统，其特征在于，包括预分析装置、细胞培养装置以及控制装置，所述预分析装置包括与所述控制装置电性连接的自动化离心机、第一多方位运动转移机构、自动化板料升降机构、第二多方位运动转移机构、荧光成像识别机构以及可调式倾斜旋转机构，所述自动化离心机用于实现培养板离心，所述第一多方位运动转移机构用于实现细胞培养过程中移液、换液、培养板夹持转移，所述荧光成像识别机构用于鉴别细胞培养状态及成品，所述自动化板料升降机构用于孔板储存和自动化提取，所述第二多方位运动转移机构用于完成所述预分析装置与所述细胞培养装置或者外界的物料交互，所述可调式倾斜旋转机构用于实现试剂与培养板混匀铺胶；
    细胞培养装置包括与所述控制装置电性连接的培养塔、第三多方位运动转移机构，所述培养塔用于细胞培养孵化，所述第三多方位运动转移机构用于实现转运所述培养塔中培养箱与所述预分析装置进行细胞培养的试剂。
  2. 根据权利要求1所述的全自动细胞培养系统，其特征在于，所述全自动细胞培养系统还包括空气净化装置，所述空气净化装置与所述控制装置电性连接，所述空气净化装置用于对所述预分析装置与所述细胞培养装置净化空气。
  3. 根据权利要求2所述的全自动细胞培养系统，其特征在于，所述空气净化装置包括第一空气净化机构以及第二空气净化机构，所述第一空气净化机构用于对所述预分析装置净化空气，所述第二空气净化机构用于对所述细胞培养装置净化空气。
  4. 根据权利要求1-3任意一项所述的全自动细胞培养系统，其特征在于，所述自动化板料升降机构包括升降基座以及板料升降驱动部件，所述板料升降驱动部件连接于所述升降基座以用于驱动所述升降基座沿着竖直方向升降运动，所述升降基座用于重叠储存孔板。
  5. 根据权利要求4所述的全自动细胞培养系统，其特征在于，所述自动化板料升降机构还包括位置检测部件，所述位置检测部件用于检测所述升降基座上的孔板位置，当所述位置检测部件检测到所述升降基座上的第一层孔板被取走，所述控制装置控制所述板料升降驱动部件驱动所述升降基座上升预定距离，所述预定距离等于一层孔板的厚度。
  6. 根据权利要求1-3、5任意一项所述的全自动细胞培养系统，其特征在于，所述全自动细胞培养系统包括第一工作台和/或第二工作台，所述第一工作台和所述第二工作台并列设置，所述预分析装置设置于所述第一工作台，所述细胞培养装置设置于所述第二工作台。
  7. 根据权利要求6所述的全自动细胞培养系统，其特征在于，所述第一工作台的中部位置设置有第一面板，所述自动化离心机设置与所述自动化板料升降机构均设置于所述第一工作台且位于所述第一面板的下方，所述第一多方位运动转移机构设置于所述第一工作台的顶部，所述第二多方位运动转移机构设置于所述第一面板上，所述荧光成像识别机构设置于所述第一面板上且靠近于所述第二工作台，所述恒温机构、所述试剂冷存机构、所述可调式倾斜旋转机构以及所述固液分离回收处理机构均设置于所述第一面板上。
  8. 根据权利要求6所述的全自动细胞培养系统，其特征在于，所述细胞培养装置还包括成品储放架，所述成品储放架与所述培养塔均设置于所述第二工作台，所述第三多方位运动转移机构安装于所述第二工作台并位于所述成品储放架的上方。
  9. 根据权利要求1-3、5任意一项所述的全自动细胞培养系统，其特征在于，所述预分析装置还包括与所述控制装置电性连接的恒温机构、固液分离回收处理机构以及试剂冷存机构；所述固液分离回收处理机构用于实现培养过程中产 生的废液废料回收处理，所述试剂冷存机构用于冷存试剂。
  10. 一种使用权利要求1-9任意一项所述的全自动细胞培养系统的全自动细胞培养方法，其特征在于，包括如下步骤：
    将含有样本的培养板置入培养塔中培养第一预设时间，控制装置控制第三多方位运动转移机构将培养第一预设时间的所述培养板转移至荧光成像识别机构进行成像以记录样本生长状态；所述控制装置控制第一多方位运动转移机构辅助完成所述培养板中的培养液的定量换液、移液工作；
    控制所述培养板返回培养塔的原培养箱中继续培养第二预设时间，所述控制装置控制第三多方位运动转移机构转移培养第二预设时间的所述培养板至荧光成像识别机构，所述控制装置控制荧光成像识别机构对所述培养板中的样本完成成像分析，所述控制装置根据成像分析结果判断样本的汇合度是否达到预设值。
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