Cell mechanical traction device

Abstract

The invention discloses a cell mechanics traction device, and relates to the technical field of cell biology, the cell mechanics traction device comprises a cell culture pool, a traction slide way and a variable stiffness slide way are arranged in the cell culture pool; the traction module is connected to the traction slide way in a sliding mode, a magnetic attraction block and a traction stand column are arranged on the traction module, the top of the traction stand column can abut against a hydrogel ring wrapping cells, and dynamic mechanical loading of the cells in the hydrogel ring is achieved by stretching the hydrogel ring; the traction driving module is connected to the exterior of the cell culture pool and can drive the traction module to move along the traction slide way through magnetic attraction force; the force measuring probe is arranged in the cell culture pool and can provide mechanical characteristic feedback of the cell structure in the traction process. According to the cell mechanical traction device provided by the invention, the mechanical stimulation precision on cells is improved.

Description

Technical Field

[0001] This invention relates to the field of cell biology technology, and in particular to a cell mechanical traction device. Background Technology

[0002] As the basic structural and functional unit of organisms, the cell's mechanical properties and mechanical microenvironment play a crucial regulatory role in physiological processes such as cell growth, differentiation, migration, and apoptosis. In recent years, with the continuous deepening of cell mechanics research, it has been gradually recognized that mechanical stimulation is one of the key factors influencing cell biological behavior.

[0003] Currently, experimental methods used to study cell mechanical behavior mainly include fluid shear loading, substrate stretching, cell indentation, and magnetic traction. Existing cell mechanical traction devices all use external driving devices to drive the culture tank to deform, thereby generating mechanical stimulation on the cells embedded inside the culture tank. However, current mechanical traction devices are still difficult to penetrate into the cell culture tank to manipulate the embedded cells.

[0004] Because the mechanical traction device indirectly applies mechanical stimulation to the cells by driving the overall deformation of the culture tank from the outside, it cannot directly enter the culture tank for operation, resulting in insufficient precision of local mechanical stimulation. Summary of the Invention

[0005] The purpose of this invention is to provide a cell mechanical traction device to solve the problems existing in the prior art and improve the precision of mechanical stimulation of cells.

[0006] To achieve the above objectives, the present invention provides the following solution: This invention provides a cell mechanical traction device, comprising: The cell culture pool is equipped with a traction slide and a variable stiffness slide. The traction module is slidably connected to the traction slide. The traction module is equipped with a magnetic block and a traction column. The top of the traction column can abut against the hydrogel ring wrapped around the cells and achieve dynamic mechanical loading of the cells in the hydrogel ring by stretching the hydrogel ring. A traction drive module, connected to the outside of the cell culture tank, is capable of magnetically moving the traction module along the traction slide; and A force probe, placed inside the cell culture tank, can provide feedback on the mechanical characteristics of the cell structure during the stretching process.

[0007] Preferably, the cell culture pool includes a hollow rectangular body. Two rectangular blocks are symmetrically arranged at one end of the rectangular body. An inner groove slide is formed on the inner side of each rectangular block. The two inner groove slides form the traction slide. The traction module is located between the two rectangular blocks, and the two sides of the traction module are slidably connected to the corresponding inner groove slides. The force probe is located at the end of the cell culture pool away from the rectangular body, and the axis of the force probe is arranged perpendicular to the axis of the traction module. The upper and lower surfaces of the inner groove slide are respectively provided with concave slide rails.

[0008] Preferably, the traction module includes a traction slider, with rectangular through holes symmetrically arranged at both ends of the traction slider along its short central axis. The rectangular through holes are movably disposed within the corresponding inner groove slides. The edges of the rectangular through holes are provided with rectangular protrusions parallel to the short central axis of the traction slider, which are used to embed into the concave slide rails of the corresponding inner groove slides. The magnetic block is fixedly disposed within the rectangular through holes. Three first pillars are uniformly disposed at the center of the traction slider, and the projections of the three first pillars are all located on the long central axis of the traction slider. The tops of the first pillars can abut against the extracellular hydrogel ring, and by stretching the hydrogel ring, dynamic mechanical loading of the cells in the hydrogel ring is achieved.

[0009] Preferably, the traction drive module includes blocks symmetrically arranged on the outside of the rectangular block, a magnet block embedded in the inner side of the block, and a horizontally arranged rectangular side arm fixed on the outside of the block. The ends of the two rectangular side arms are fixedly connected by a connecting arm, and a traction slider drive motor is connected to the connecting arm.

[0010] Preferably, the traction drive module includes a traction slider magnetic levitation connection device, which includes a block symmetrically arranged on the outside of the rectangular block. A horizontally arranged rectangular side arm is fixed on the outside of the block, and the ends of the two rectangular side arms are fixedly connected by a connecting arm. A traction slider drive motor is connected to the connecting arm. A rectangular groove is opened on the side of the block near the cell culture pool. Embedded grooves are symmetrically arranged at the upper and lower ends of the rectangular groove. Three rectangular magnet blocks are placed in the internal space of each embedded groove. The magnetic poles of the middle magnet block are arranged vertically, and the magnetic poles of the two magnet blocks symmetrically arranged at the two ends are arranged horizontally. An outer groove is opened on the outer wall of the cell culture pool near the rectangular block. The outer groove is divided into upper and lower parts by a horizontal partition. The block is movably arranged in the outer groove on the corresponding side, and the horizontal partition is movably inserted through the rectangular groove on the corresponding side.

[0011] Preferably, the force probe includes a capillary glass tube horizontally disposed in the cell culture pool. An end effector is disposed at one end of the capillary glass tube. The base of the end effector is a cylindrical fixing sleeve. The cylindrical fixing sleeve is fixedly sleeved on one end of the capillary glass tube. Three second columns are fixedly disposed on the upper surface of the cylindrical fixing sleeve. In the radial direction, the axes of the three second columns are coplanar with the axes of the three first columns in pairs. The long axis of the capillary glass tube passes through the midpoint of the second second column arranged along the axial direction of the force probe. The midpoint of the first second column arranged along the axial direction is offset to one side of the long axis of the capillary glass tube, and the midpoint of the third second column arranged along the axial direction is offset to the other side of the long axis of the capillary glass tube.

[0012] Preferably, the cell culture pool further includes a strip-shaped main body, which is fixedly connected to the outer wall of the rectangular main body, and the long axis of the strip-shaped main body coincides with the long axis of the force probe; a strip-shaped inner groove communicating with the interior of the rectangular main body is formed inside the strip-shaped main body, and strip-shaped tracks are symmetrically arranged on the inner sidewall of the strip-shaped inner groove; a force probe variable stiffness module is slidably arranged in the strip-shaped inner groove, and the force probe variable stiffness module includes a force probe variable stiffness slider; strip-shaped concave slideways are symmetrically arranged on both sides of the force probe variable stiffness slider, and the force probe variable stiffness slider slides... The force probe is movably disposed within the strip-shaped inner groove, and the strip-shaped inner groove slide is slidably connected to the corresponding strip-shaped track; a magnetic block is embedded at the bottom of the force probe variable stiffness slider; a strip-shaped groove is opened at the top of the force probe variable stiffness slider, and two semi-circular grooves are symmetrically arranged on the inner side wall of the strip groove; one end of the force probe is fixed to the end of the strip-shaped body away from the rectangular body, and the other end moves through the space between the two semi-circular grooves and extends into the rectangular body, and the end of the force probe located inside the rectangular body is fixedly provided with the end effector; a variable stiffness drive module is provided on the outside of the strip-shaped body.

[0013] Preferably, the variable stiffness drive module includes rectangular arms symmetrically arranged on both sides of the strip-shaped main body, and a magnet block is fixedly provided on the inner side of the rectangular wall; the two rectangular arms are fixedly connected at the ends away from the rectangular main body through a back arm, and a variable stiffness slider drive motor is connected to the back arm.

[0014] Preferably, the variable stiffness drive module includes a variable stiffness slider magnetic levitation connection device, which includes a back arm with two symmetrical rectangular arms extending from it. The rectangular arms are located on both sides of the strip-shaped main body, and each rectangular arm has a rectangular groove on its inner side. Each rectangular groove contains three rectangular magnets, with the magnetic poles of the middle magnet arranged vertically and the magnetic poles of the two magnets symmetrically located at both ends arranged horizontally. A strip-shaped outer groove is formed on the outer wall of the strip-shaped main body, and the rectangular groove slides within the corresponding strip-shaped outer groove. A variable stiffness slider drive motor is connected to the back arm.

[0015] Preferably, the cell culture pool is provided with a fixed base at the bottom, and a transparent cover plate is fixedly provided at the top of the cell culture pool. A portable microscope is provided on the fixed base, and the lens of the portable microscope is located above the transparent cover plate.

[0016] The present invention achieves the following technical effects compared to the prior art: This invention utilizes a traction module installed inside a cell culture tank and a traction drive module installed outside the cell culture tank to achieve an isolated connection. This allows the traction module to be located in the closed environment of the cell culture tank, ensuring the culture medium and a sterile environment. The traction operation can be performed by the external traction drive module, which moves the traction module based on magnetic attraction. The traction module directly applies traction force to the hydrogel ring outside the cells in the cell culture tank. The force probe can provide mechanical characteristic feedback of the embedded cell structure during the traction process, thereby achieving precise mechanical control of the stretching. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the cell culture pool structure of the cell mechanical traction device in one or more embodiments of the present invention; Figure 2 for Figure 1 AA section view; Figure 3 for Figure 1 BB section view; Figure 4 This is a schematic diagram of the traction slider of the cell mechanical traction device in one or more embodiments of the present invention; Figure 5This is a schematic diagram of the assembly of the traction slider and pure iron in one or more embodiments of the cell mechanical traction device of the present invention; Figure 6 This is a schematic diagram of the magnetic levitation connection device for the traction slider of the cell mechanical traction device in one or more embodiments of the present invention; Figure 7 for Figure 6 CC section view; Figure 8 This is a schematic diagram of the force probe of the cell mechanical traction device in one or more embodiments of the present invention; Figure 9 This is a top view of the force-measuring probe of the cell mechanical traction device in one or more embodiments of the present invention; Figure 10 This is a side view of the force-measuring probe of the cell mechanical traction device in one or more embodiments of the present invention; Figure 11 This is a schematic diagram of the force-measuring probe variable stiffness slider of the cell mechanical traction device in one or more embodiments of the present invention; Figure 12 for Figure 11 DD sectional view; Figure 13 for Figure 11 A bottom view; Figure 14 This is a schematic diagram of a variable stiffness slider magnetic levitation connection device for a cell mechanical traction device in one or more embodiments of the present invention; Figure 15 for Figure 14 EE sectional view; Figure 16 This is a schematic diagram of the assembly process of the cell mechanical traction device in one or more embodiments of the present invention; Figure 17 This is a schematic diagram of the overall structure of the cell mechanical traction device in one or more embodiments of the present invention; Figure 18 for Figure 16 Top view of the third step; Figure 19 for Figure 16 Top view of the fourth step; Figure 20 This is a schematic diagram of the working state of the cell mechanical traction device of the present invention.

[0019] In the diagram: 1-Cell culture tank; 101-Rectangular main body; 102-Strip main body; 103-Rectangular block; 104-Inner groove slide; 105-Concave slide rail; 106-Outer groove; 107-Strip inner groove; 108-Strip track; 109-Strip outer groove; 2-Tethering slider; 201-Rectangular through hole; 202-Rectangular protrusion; 203-First column; 3-Tethering slider magnetic levitation connecting device; 301-Cube; 302-Rectangular side arm; 303-Connecting arm; 304-Rectangular groove; 305-Embedded. 4-Force probe, 401-Circular tube-shaped fixing sleeve, 402-Second column, 5-Force probe variable stiffness slider, 501-Strip concave slide, 502-Strip groove, 503-Semi-circular groove, 6-Variable stiffness slider magnetic levitation connection device, 601-Back arm, 602-Rectangular arm, 603-Rectangular groove, 7-Magnetic block, 8-Magnetic suction block, 9-Fixed base, 10-Portable microscope, 11-Transparent cover plate, 12-Variable stiffness slider drive motor, 13-Tension slider drive motor, 14-Hydrogel ring. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The purpose of this invention is to provide a cell mechanical traction device to solve the problems existing in the prior art and improve the precision of mechanical stimulation of cells.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Existing mechanical traction devices indirectly apply mechanical stimulation to cells by externally driving the overall deformation of the culture tank. This prevents direct access to the culture tank, resulting in insufficient precision in localized mechanical stimulation and significantly limiting the uniformity and controllability of the stimulation. To address this issue, this invention provides a cell mechanical traction device, referencing... Figures 1-20As shown, the system includes a cell culture tank 1, a traction module, a traction drive module, and a force probe 4. The cell culture tank 1 is equipped with a traction slide and a variable stiffness slide. The traction module is slidably connected to the traction slide and is equipped with a magnetic block 8 and a traction column. The top of the traction column can abut against the hydrogel ring 14 encapsulating the cells and achieve dynamic mechanical loading of the cells in the hydrogel ring 14 by stretching the hydrogel ring 14. The traction drive module is connected to the outside of the cell culture tank 1 and can drive the traction module to move along the traction slide through magnetic attraction. The force probe 4 is located inside the cell culture tank 1 and can provide mechanical characteristic feedback of the cell structure during the traction process. This invention utilizes a traction module installed inside the cell culture tank 1 and a traction drive module installed outside the cell culture tank 1 to achieve an isolated connection, so that the traction module is located in the closed environment of the cell culture tank 1, which can ensure the culture medium and sterile environment. The traction operation can be performed by the external traction drive module, which drives the traction module to move based on magnetic attraction. The traction module directly applies traction force to the cells in the cell culture tank 1. The force probe 4 can provide mechanical characteristic feedback of the embedded cell structure during the traction process, thereby achieving precise mechanical control of stretching.

[0024] In one embodiment, the cell culture pool 1 is manufactured from transparent photosensitive resin material using 3D printing. It includes a hollow rectangular body 101, with a length of 5-7 cm, a width of 7-10 cm, and a thickness of 2.5-3.5 cm. The interior depth of the rectangular body 101 is 2-3 cm, and the wall thickness is 0.1-0.2 cm. Two rectangular blocks 103 are symmetrically arranged at one end of the interior of the rectangular body 101. Each rectangular block 103 has a length of 4-5 cm, a width of 1-2 cm, and a thickness consistent with the interior depth of the rectangular body 101. An inner groove slide 104 is formed on the inner side of each rectangular block 103, and the two inner groove slides 104 form a traction slide. The block is positioned between two rectangular blocks 103, and the two sides of the traction module are slidably connected to the corresponding inner groove slides 104 on their respective sides; the force probe 4 is located at the end of the cell culture pool 1 away from the rectangular body 101, and the axis of the force probe 4 is arranged perpendicular to the axis of the traction module; the upper and lower surfaces of the inner groove slide 104 are respectively provided with concave slide rails 105, the specific size and distribution of which are determined according to the actual situation. The thickness of the inner groove slide 104 is 0.1-0.3 cm, the width of the inner groove slide 104 is the same as the width of the rectangular block 103, and the length of the inner groove slide 104 starts from the inner wall surface of one end of the rectangular block 103 and ends at a point 0.1-0.2 cm shorter than the length of the rectangular block 103.

[0025] In one embodiment, the traction module includes a traction slider 2. The traction slider 2 has rectangular through holes 201 symmetrically arranged at both ends along its short central axis. The rectangular through holes 201 are movably disposed within the corresponding inner groove slide 104. The edges of the rectangular through holes 201 have rectangular protrusions 202 parallel to the short central axis of the traction slider 2. These protrusions 202 are used to embed into the concave slide rail 105 of the corresponding inner groove slide 104. A magnetic block 8 is fixedly disposed within the rectangular through hole 201. In this embodiment, the magnetic block 8 is made of strip-shaped pure iron. Three first pillars 203 are evenly distributed at the center of the traction slider 2. The projections of the three first pillars 203 are all located on the long central axis of the traction slider 2. The tops of the first pillars 203 can abut against the extracellular hydrogel ring 14, and by stretching the hydrogel ring 14, dynamic mechanical loading of the cells within the hydrogel ring 14 is achieved. In one embodiment, the pull slider 2 is a rectangular flat plate, the width of which is equal to the straight-line distance between the bottom wall of the groove of the inner groove 104 of the two rectangular blocks 103, and the length is 0.5-0.8 cm, to achieve installation matching. The diameter of the first column 203 is 0.1-0.2 cm and the height is 1 cm.

[0026] In one embodiment, the traction drive module includes a block 301 symmetrically arranged on the outside of the rectangular block 103. A magnet block 7 is embedded in the inner side of the block 301. A horizontally arranged rectangular side arm 302 is fixed on the outside of the block 301. The ends of the two rectangular side arms 302 are fixedly connected by a connecting arm 303. A traction slider drive motor 13 is connected to the connecting arm 303.

[0027] In one embodiment, the traction drive module includes a traction slider magnetic levitation connection device 3. The traction slider magnetic levitation connection device 3 includes a block 301 symmetrically arranged on the outside of the rectangular block 103. A horizontally arranged rectangular side arm 302 is fixedly provided on the outside of the block 301. The ends of the two rectangular side arms 302 are fixedly connected by a connecting arm 303. A traction slider drive motor 13 is connected to the connecting arm 303. A rectangular groove 304 is opened on the side of the block 301 near the cell culture pool 1. Embedded grooves 305 are symmetrically provided at the upper and lower ends of the rectangular groove 304. The internal space of each embedded groove 305 is respectively Three rectangular magnet blocks 7 are placed. The magnetic poles of the middle magnet block 7 are arranged vertically, and the magnetic poles of the two magnet blocks 7 symmetrically located at both ends are arranged horizontally. In one embodiment, the upper part of the middle magnet block 7 is the N pole and the lower part is the S pole, and the inner side of the two magnet blocks 7 at both ends is the N pole and the outer side is the S pole. An outer groove 106 is provided on the outer wall of the cell culture pool 1 near the rectangular block 103. The outer groove 106 is divided into upper and lower parts by a horizontal partition. The block 301 is movably located in the outer groove 106 on the corresponding side, and the horizontal partition is movably inserted into the rectangular groove 304 on the corresponding side. The outer groove 106 is based on the upper and lower inner surfaces of the inner groove slide 104. The upper part of the outer groove 106 is located 0.1-0.2 cm away from the upper inner surface of the inner groove slide 104, and the lower part of the outer groove 106 is located 0.1-0.2 cm away from the lower inner surface of the inner groove slide 104. The thickness of both the upper and lower parts of the outer groove 106 is 0.3-0.5 cm, and the length and width of the outer groove 106 are the same as those of the inner groove slide 104. The middle area of ​​the block 301 is distributed with a rectangular groove 304 with a length of 1.5-2 cm, a width of 1-2 cm, and a thickness of 0.2-0.3 cm. The concave structure of the block 301 should be able to fit into the outer groove 106 during assembly to achieve a matching installation.

[0028] In one embodiment, the force probe 4 includes a capillary glass tube horizontally disposed within the cell culture tank 1. An end effector is disposed at one end of the capillary glass tube. The base of the end effector is a cylindrical fixing sleeve 401, which is fixedly sleeved onto one end of the capillary glass tube. Three second columns 402 are fixedly disposed on the upper surface of the cylindrical fixing sleeve 401. The dimensions of the second columns 402 are the same as those of the first columns 203. In the radial direction, the axes of the three second columns 402 are respectively aligned with the three... The axes of the first column 203 are coplanar pairwise. The long axis of the capillary glass tube passes through the midpoint of the second column 402 arranged along the axial direction of the force probe 4. The midpoint of the first column 402, arranged along the axial direction, is offset to one side of the long axis of the capillary glass tube, and the midpoint of the third column 402, arranged along the axial direction, is offset to the other side of the long axis of the capillary glass tube. Specifically, the midpoint of the first column is offset 0.25 cm to the right of the long axis of the probe, and the midpoint of the third column is offset 0.25 cm to the left. The force probe 4 has an outer diameter of 0.7 mm, an inner diameter of 0.5 mm, and a length of 50 mm.

[0029] In one embodiment, the cell culture pool 1 further includes a strip-shaped body 102, which is fixedly connected to the outer wall of the rectangular body 101, and the long axis of the strip-shaped body 102 coincides with the long axis of the force probe 4; a strip-shaped inner groove 107 communicating with the interior of the rectangular body 101 is formed inside the strip-shaped body 102, and strip-shaped tracks 108 are symmetrically arranged on the inner sidewall of the strip-shaped inner groove 107; a variable stiffness module of the force probe 4 is slidably arranged in the strip-shaped inner groove 107, and the variable stiffness module of the force probe 4 includes a variable stiffness slider 5; a strip-shaped concave slide rail 501 is symmetrically arranged on both sides of the variable stiffness slider 5, and the variable stiffness slider 5 is slidably arranged in the strip-shaped inner groove 107, and the strip-shaped concave slide rail 501 slides with the corresponding side of the strip-shaped track 108. The dynamic connection ensures the stability of the slider during movement. The bottom of the force probe variable stiffness slider 5 has a magnet mounting groove with a width of 0.5 cm, a depth of 0.5 cm, and a length consistent with the length of the force probe variable stiffness slider 5. The magnetic block 8 is made of pure iron and is installed in the magnet mounting groove. The top of the force probe variable stiffness slider 5 has a strip groove 502. Two semi-circular grooves 503 are symmetrically arranged on the inner side wall of the strip groove 502. One end of the force probe 4 is fixed to the end of the strip body 102 away from the rectangular body 101, and the other end moves through the space between the two semi-circular grooves 503 and extends into the rectangular body 101. The end of the force probe 4 located inside the rectangular body 101 is fixed with an end effector. A variable stiffness drive module is provided on the outside of the strip body 102. The force probe variable stiffness slider 5 is a small rectangular block 103 with a width of 3.5-4.5 cm. Centered on the center line of the upper surface of the force probe variable stiffness slider 5, there is a strip groove 502 with a width of 0.8 mm, a depth of 1 cm, and a length consistent with the length of the force probe variable stiffness slider 5.

[0030] In one embodiment, the variable stiffness drive module includes rectangular arms 602 symmetrically arranged on both sides of the strip-shaped main body 102, and a magnet block 7 is fixedly provided on the inner side of the rectangular wall; the two rectangular arms 602 are fixedly connected at the ends away from the rectangular main body 101 through a back arm 601, and a variable stiffness slider drive motor 12 is connected to the back arm 601.

[0031] In one embodiment, the variable stiffness drive module includes a variable stiffness slider magnetic levitation connection device 6. The variable stiffness slider magnetic levitation connection device 6 includes a back arm 601, from which two symmetrical rectangular arms 602 extend. The rectangular arms 602 are located on both sides of the strip-shaped main body 102. Each rectangular arm 602 has a rectangular groove 603 on its inner side. The rectangular groove 603 has a width of 1.5 cm, a length of 0.5 cm, and a depth of 0.5 cm. Each rectangular groove 603 contains three rectangular magnet blocks 7. The magnetic poles of the middle magnet block 7 are arranged vertically, and the magnetic poles of the two magnet blocks 7 symmetrically located at both ends are arranged horizontally. A strip-shaped outer groove 109 is formed on the outer wall of the strip-shaped main body 102. The rectangular groove 603 slides within the corresponding strip-shaped outer groove 109. A variable stiffness slider drive motor 12 is connected to the back arm 601. The upper surface of the strip-shaped body 102 is consistent with that of the rectangular body 101. The bottom of the strip-shaped body 102 is suspended. The width of the strip-shaped body 102 is 3.5-4.5 cm, the length is 2-3 cm, and the thickness is 1.5-2 cm. The depth of the strip-shaped inner groove 107 is 1-2 cm, and the length is 1.5-2 cm. On the outer walls of both sides of the strip-shaped body 102, with a cross-section 1 cm away from the upper surface and parallel to the bottom surface as the reference center, there are strip-shaped outer grooves 109 with a thickness of 0.5-0.8 cm, a length of 0.5 cm, and a width consistent with the width of the strip-shaped body 102.

[0032] In one embodiment, a fixing base 9 is provided at the bottom of the cell culture pool 1, and a transparent cover plate 11 is fixedly provided at the top of the cell culture pool 1. A portable microscope 10 is provided on the fixing base 9, and the lens of the portable microscope 10 is located above the transparent cover plate 11. The assembly process of this invention is as follows: Taking the cell culture tank 1 as a reference, firstly, the magnetic levitation connecting device 3 of the traction slider is inserted into the outer groove 106 of the cell culture tank 1; then, the traction slider 2 is inserted into the inner groove slide 104 and pushed into the center position of the inner groove slide 104; subsequently, the force probe 4 and the force probe variable stiffness slider 5 are assembled into the strip-shaped inner groove 107 of the strip-shaped main body 102, one end of the force probe 4 is fixed on the inner wall of the strip-shaped inner groove 107, and the other end of the force probe 4 passes through the inner groove 107. The force probe variable stiffness slider 5 is connected to the end effector. The three midpoints of the three second columns 402 on the end effector are paired with the midpoints of the three first columns 203 in the radial direction, forming a straight line. These three lines are parallel to each other and perpendicular to the long axis of the probe. Subsequently, the variable stiffness slider magnetic levitation connecting device 6 is inserted into the strip-shaped outer groove 109 of the strip-shaped body 102, and the iron block in the force probe variable stiffness slider 5 is placed in the middle position, thus completing the assembly of the core mechanism of the cell mechanical traction device. Finally, the cell culture tank 1, portable microscope 10, traction slider drive motor 13, variable stiffness slider drive motor 12, and fixed base 9 are connected to realize the traction function of the dual-probe structure.

[0033] In operation, this invention utilizes existing methods to form a hydrogel ring 14 encapsulating cells. The hydrogel ring 14 and the cells embedded within it are then placed in a cell culture tank 1. The hydrogel ring 14 abuts against the first column 203 and the second column 402, respectively. A traction slider drive motor 13 drives the magnetic levitation connecting device 3 to move linearly, thereby utilizing magnetic force to move the traction slider 2 inside the cell culture tank 1 linearly. Figure 20 The first column 203 moves a distance L, stretching the hydrogel ring 14 and thus achieving dynamic mechanical loading on the cells within the hydrogel ring 14. During this process, the second column 402 on the force probe 4 bends due to cell deformation. The degree of bending of the second column 402 is observed in real time using a portable microscope 10, and the data is transmitted to a computer. The force during the stretching process is then calculated using the cantilever beam formula. The portable microscope 10 is a mature existing technology structure capable of automatic observation and real-time image acquisition. To monitor the magnitude of the stretching force F in real time, this invention measures the change in the offset distance δ2 of the second column 402 relative to its initial position and calculates the stretching force F on the hydrogel ring 14 using the formula: F = kδ2 Where k is the stiffness coefficient of the hydrogel ring 14 at the fixed position of the first column 203. Since the force-measuring probe 4 is a slender beam, the deflection δ2 of the probe under force can be described by the existing Euler-Bernoulli equation. Therefore, the stiffness coefficients k and δ2 can be obtained from the Euler-Bernoulli equation, and the tensile force F can then be calculated. Cell growth in the hydrogel ring 14 degrades the hydrogel ring 14, so the change in force F reflects the change in cell growth. The specific process is a mature existing technology and will not be elaborated here.

[0034] By controlling the variable stiffness slider drive motor 12, the position of the variable stiffness slider 5 along the long axis of the force probe 4 is adjusted, moving it along the axis of the force probe 4. This changes the suspension length of the end of the force probe 4 with the end effector, thus providing different tensile force intensities and adjusting the magnitude of the tensile force F. The closer it is to the cylindrical fixed sleeve 401, the greater the displacement of the long axis of the force probe 4 needs to be for the same stretching distance L. By collecting the bending degree of the second column 402 during the stretching process, mechanical characteristic feedback of the embedded cell structure is provided, enabling precise mechanical control of the stretching. This invention can drive the stretching device externally. Furthermore, this dual-probe stretching device also possesses mechanical sensing capabilities, solving the problem of achieving precise operation under mechanical control within a closed culture tank.

[0035] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A cell mechanical traction device, characterized in that: include: The cell culture pool is equipped with a traction slide and a variable stiffness slide. The traction module is slidably connected to the traction slide. The traction module is equipped with a magnetic block and a traction column. The top of the traction column can abut against the hydrogel ring wrapped around the cells and achieve dynamic mechanical loading of the cells in the hydrogel ring by stretching the hydrogel ring. A traction drive module, connected to the outside of the cell culture tank, is capable of magnetically moving the traction module along the traction slide; and A force probe, placed inside the cell culture tank, can provide feedback on the mechanical characteristics of the cell structure during the stretching process.

2. The cell mechanical traction device according to claim 1, characterized in that: The cell culture pool includes a hollow rectangular body. Two rectangular blocks are symmetrically arranged at one end of the rectangular body. The inner side of each rectangular block has an inner groove slide. The two inner groove slides form the traction slide. The traction module is located between the two rectangular blocks, and the two sides of the traction module are slidably connected to the corresponding inner groove slides. The force probe is located at the end of the cell culture pool away from the rectangular body, and the axis of the force probe is arranged perpendicular to the axis of the traction module. The upper and lower surfaces of the inner groove slides are respectively provided with concave slide rails.

3. The cell mechanical traction device according to claim 2, characterized in that: The traction module includes a traction slider. Both ends of the traction slider have rectangular through holes symmetrically arranged around its short central axis. These rectangular through holes are movably disposed within corresponding inner groove tracks. The edges of the rectangular through holes have rectangular protrusions parallel to the short central axis of the traction slider. These rectangular protrusions are used to embed into concave slide rails within the corresponding inner groove tracks. A magnetic block is fixedly disposed within the rectangular through holes. Three first pillars are evenly distributed at the center of the traction slider. The projections of the three first pillars are all located on the long central axis of the traction slider. The tops of the first pillars can abut against the extracellular hydrogel ring, and by stretching the hydrogel ring, dynamic mechanical loading of the cells within the hydrogel ring is achieved.

4. The cell mechanical traction device according to claim 3, characterized in that: The traction drive module includes a block symmetrically arranged on the outside of the rectangular block. A magnet is embedded in the inner side of the block. A horizontally arranged rectangular side arm is fixed on the outside of the block. The ends of the two rectangular side arms are fixedly connected by a connecting arm. A traction slider drive motor is connected to the connecting arm.

5. The cell mechanical traction device according to claim 3, characterized in that: The traction drive module includes a traction slider magnetic levitation connection device, which includes a block symmetrically arranged on the outside of the rectangular block. A horizontally arranged rectangular side arm is fixed on the outside of the block, and the ends of the two rectangular side arms are fixedly connected by a connecting arm. A traction slider drive motor is connected to the connecting arm. A rectangular groove is opened on the side of the block near the cell culture pool. Embedded grooves are symmetrically arranged at the upper and lower ends of the rectangular groove. Three rectangular magnet blocks are placed in the internal space of each embedded groove. The magnetic poles of the middle magnet block are arranged vertically, and the magnetic poles of the two magnet blocks symmetrically arranged at the two ends are arranged horizontally. An outer groove is opened on the outer wall of the cell culture pool near the rectangular block. The outer groove is divided into upper and lower parts by a horizontal partition. The block is movably arranged in the outer groove on the corresponding side, and the horizontal partition is movably inserted through the rectangular groove on the corresponding side.

6. The cell mechanical traction device according to claim 3, characterized in that: The force probe includes a capillary glass tube horizontally positioned within the cell culture chamber. An end effector is located at one end of the capillary glass tube, and the base of the end effector is a cylindrical fixing sleeve. The cylindrical fixing sleeve is fixedly fitted onto one end of the capillary glass tube. Three second columns are fixedly mounted on the upper surface of the cylindrical fixing sleeve. In the radial direction, the axes of the three second columns are coplanar with the axes of the three first columns. The long axis of the capillary glass tube passes through the midpoint of the second second column arranged axially along the force probe. The midpoint of the first second column arranged axially is offset to one side of the long axis of the capillary glass tube, and the midpoint of the third second column arranged axially is offset to the other side of the long axis of the capillary glass tube.

7. The cell mechanical traction device according to claim 6, characterized in that: The cell culture pool further includes a strip-shaped main body, which is fixedly connected to the outer wall of the rectangular main body, and the long axis of the strip-shaped main body coincides with the long axis of the force probe; a strip-shaped inner groove communicating with the interior of the rectangular main body is formed inside the strip-shaped main body, and strip-shaped tracks are symmetrically arranged on the inner sidewall of the strip-shaped inner groove; a force probe variable stiffness module is slidably arranged in the strip-shaped inner groove, and the force probe variable stiffness module includes a force probe variable stiffness slider; strip-shaped concave slideways are symmetrically arranged on both sides of the force probe variable stiffness slider, and the force probe variable stiffness slider is slidably positioned on... The strip-shaped groove is slidably connected to the corresponding strip-shaped track; a magnetic block is embedded at the bottom of the force probe variable stiffness slider; a strip-shaped groove is opened at the top of the force probe variable stiffness slider, and two semi-circular grooves are symmetrically arranged on the inner side wall of the strip groove; one end of the force probe is fixed to the end of the strip body away from the rectangular body, and the other end moves through the space between the two semi-circular grooves and extends into the rectangular body; the end of the force probe located inside the rectangular body is fixedly provided with the end effector; a variable stiffness drive module is provided on the outside of the strip body.

8. The cell mechanical traction device according to claim 7, characterized in that: The variable stiffness drive module includes rectangular arms symmetrically arranged on both sides of the strip-shaped main body, and a magnet block is fixedly provided on the inner side of the rectangular wall; the two rectangular arms are fixedly connected at the ends away from the rectangular main body through a back arm, and a variable stiffness slider drive motor is connected to the back arm.

9. The cell mechanical traction device according to claim 7, characterized in that: The variable stiffness drive module includes a variable stiffness slider magnetic levitation connection device, which includes a back arm with two symmetrical rectangular arms extending from it. The rectangular arms are located on both sides of the strip-shaped main body. Each rectangular arm has a rectangular groove on its inner side, and three rectangular magnets are placed in each rectangular groove. The magnetic poles of the middle magnet are arranged vertically, and the magnetic poles of the two magnets symmetrically located at both ends are arranged horizontally. A strip-shaped outer groove is formed on the outer wall of the strip-shaped main body, and the rectangular groove slides within the corresponding strip-shaped outer groove. A variable stiffness slider drive motor is connected to the back arm.

10. The cell mechanical traction device according to claim 7, characterized in that: The cell culture pool is provided with a fixed base at the bottom and a transparent cover plate is fixedly provided at the top of the cell culture pool. A portable microscope is provided on the fixed base, and the lens of the portable microscope is located above the transparent cover plate.

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