Cell Picking Device
By optimizing the installation position and movement path of the suction head, the problem of suction head collision is solved, safe and stable movement between suction heads is achieved, and the efficiency and safety of the cell pickup device are improved.
Patent Information
- Application Number
- CN201980098268.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2019-07-26
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2039-07-26
AI Technical Summary
In the cell pickup device, when the stent of the pipette tip rises, the suction part cannot fully rise, resulting in a collision between the tips, affecting the stability and safety of the device.
By designing the relative movement of the bracket and the suction part, the installation position of the suction head is optimized when the suction part moves in the up and down direction to ensure that the lower end of the suction head is located further below the upper end of the other suction head, and the suction part follows the support. Move over the inter-hole area to avoid collision.
It effectively prevents collisions between suction heads, ensures the stability and safety of the device, and at the same time shortens the up and down movement distance of the suction part, improving the movement efficiency.
Smart Images
Figure CN114096653B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a cell picking device. Background Art
[0002] When aspirating specific cells from a container such as a cell culture container, an operator manually aspirates the cells using an aspiration device such as a pipette while confirming the position of the target cells through a microscope. In addition, since this operation requires skill, a cell aspiration system that supports the aspiration of cells has been proposed for unskilled operators (see, for example, Patent Document 1).
[0003] In the cell aspiration system described in Patent Document 1, a tubular pipette tip for cells stored in an aspiration container is mounted on the aspiration unit. The tip of the pipette tip is optically detected by a detection unit, and based on the detection result, the aspiration unit is moved three-dimensionally by a transport unit so that the tip of the pipette tip is guided into a specific cell.
[0004] Patent Document 1: Japanese Patent Application Publication No. 2016-112012 Summary of the invention
[0005] [Problems to be solved by the invention]
[0006] Generally speaking, a rack for holding a plurality of pipette tips for replacement is arranged near the suction unit. When a pipette tip is installed on the suction unit, the suction unit moves above any one of the plurality of pipette tips held on the rack. In the above state, the suction unit rises and moves from above the rack to the outside of the rack.
[0007] When the suction part can be raised sufficiently, the pipette tip installed in the suction part does not collide with other pipette tips held in the bracket. However, in order to prevent the driving part of the suction part from interfering with other components of the cell picking device, the vertical movement of the suction part is sometimes limited. In this case, since the suction part cannot be raised sufficiently, there is a possibility that the pipette tip installed in the suction part and other pipette tips held in the bracket may collide.
[0008] The object of the present invention is to provide a cell picking device capable of preventing the collision of a pipette tip.
[0009] [Technical means to solve the problem]
[0010] According to one aspect of the present invention, there is provided a cell picking device, comprising: a supporting portion supporting a bracket having a plurality of holes for holding a plurality of pipette tips; a suction portion for suctioning a sample; a driving portion for moving the suction portion in an up-down direction and for moving the suction portion and the supporting portion relative to each other in a horizontal direction; a control portion for controlling the driving portion in such a manner that any one of the plurality of pipette tips held on the bracket is mounted on the suction portion by movement of the suction portion in an up-down direction, and the suction portion is moved toward the outside of the bracket by relative movement of the suction portion and the supporting portion; and the control portion controls the driving portion in such a manner that, in a state where the lower end of the pipette tip mounted on the suction portion is located below the upper end of the other pipette tips held on the bracket, the suction portion moves from the upper side of the bracket to the outer side of the bracket along an area between the plurality of holes of the bracket and through the upper side of the area between the plurality of holes.
[0011] [Effects of the Invention]
[0012] According to the present invention, even in a state where the lower end of the pipette tip attached to the suction portion is located below the upper ends of other pipette tips held on the holder, collision of the pipette tips can be prevented. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 This is a schematic diagram showing the structure of a cell picking device according to one embodiment of the present invention.
[0014] Figure 2 Yes means Figure 1 Schematic diagram of the structure of the suction device.
[0015] Figure 3 It is a plan view showing the structure of the bracket.
[0016] Figure 4 It is a figure for demonstrating the attachment of the suction head to the suction part and the movement of the suction part.
[0017] Figure 5 It is a figure for demonstrating the attachment of the suction head to the suction part and the movement of the suction part.
[0018] Figure 6 It is a figure for demonstrating the attachment of the suction head to the suction part and the movement of the suction part.
[0019] Figure 7 It is a figure for demonstrating the attachment of the suction head to the suction part and the movement of the suction part.
[0020] Figure 8 It is a diagram for explaining the movement of the suction unit in the reference example.
[0021] Fig. 9 It is a plan view for explaining the movement of the suction unit in the reference example.
[0022] Fig.10 It is a diagram for explaining the movement of the suction unit in the comparative example.
[0023] Fig.11 It is a diagram for explaining the movement of the suction unit in the comparative example.
[0024] Fig.12 It is a diagram for explaining the operation of sucking cells using the suction device.
[0025] Fig.13 It is a diagram for explaining the discharge operation of cells using the suction device.
[0026] Fig.14 It is a diagram for explaining the discharge operation of cells using the suction device.
[0027] Fig.15 Yes means Figure 1 Figure 2 is a diagram of the structure of a control unit.
[0028] Fig.16 This is a flowchart showing an example of an algorithm of the cell storage process executed by the control unit.
[0029] Fig.17 It means that the suction processing unit performs Fig.16 Flowchart of an example of an algorithm for cell aspiration processing.
[0030] Fig.18 It means that the discharge processing unit performs Fig.16 Flowchart of an example of an algorithm for cell ejection processing. DETAILED DESCRIPTION
[0031] (1) Structure of the cell picking device
[0032] Hereinafter, a cell picking device according to an embodiment of the present invention will be described in detail with reference to the drawings. Figure 1 Schematic diagram showing the structure of a cell picking device according to one embodiment of the present invention. Figure 1 As shown, the cell picking device 100 includes a suction device 10, an observation device 20, a plate changer 30, and a control unit 50. In addition, the cell picking device 100 is provided with a sample container 110, a culture plate 120, and a rack 130.
[0033] The sample container 110 is, for example, a culture dish that contains a sample containing cells. The culture plate 120 is a multi-well plate in which a plurality of wells 121 are arranged, and is used for culturing cells. The rack 130 holds a plurality of replacement pipette tips 131 (hereinafter referred to as replacement tips 131). In this example, in the culture plate 120, 24 wells 121 are arranged in 4 rows × 6 columns. In addition, 96 replacement tips 131 are held in the rack 130 in a state of being arranged in 8 rows × 12 columns.
[0034] The suction device 10 includes a pipette-type suction unit 11. At the front end of the suction unit 11, any replacement suction tip 131 previously held by the holder 130 is installed (hereinafter, the replacement suction tip 131 installed in the suction unit 11 is simply referred to as the suction tip 12). The suction device 10 suctions the cells in the sample container 110 through the suction tip 12 and discharges (seeds) them into any well 121 of the culture plate 120. Thereafter, the same operation is repeated using a new replacement suction tip 131 and well 121. The detailed structure and operation of the suction device 10 will be described later.
[0035] The observation device 20 includes a stage 21, an illumination unit 22, a camera unit 23, and a microscope unit 24, and is arranged adjacent to the suction device 10. A sample container 110 is placed on the stage 21. The illumination unit 22 is arranged above the stage 21. The illumination unit 22 includes a light source such as a light emitting diode, and illuminates the sample container 110 placed on the stage 21. The stage 21 is light-transmissive. Alternatively, an opening may be formed in the stage 21 to allow light from the illumination unit 22 to pass downward.
[0036] The imaging unit 23 is disposed below the stage 21. The imaging unit 23 includes a plurality of lenses and cameras, and magnifies and photographs the sample in the sample container 110 illuminated by the illumination unit 22. The microscope unit 24 includes an eyepiece, a lens barrel, an objective lens, and the like, and is used by the user when observing the sample in the sample container 110 placed on the stage 21 under magnification.
[0037] The plate changer 30 is an optional device that is arranged in a manner facing the observation device 20 while sandwiching the suction device 10, and is configured to be loadable and detachable relative to the suction device 10. The plate changer 30 includes a base 31, a vertical shaft 32, a support portion 33, and a drive portion 34. The vertical shaft 32 is provided in a manner extending in the up-down direction within the base 31. The upper portion of the vertical shaft 32 protrudes from the base 31. The support portion 33 is, for example, a plate member having a disc shape, and is mounted in a horizontal posture on the upper end of the vertical shaft 32. The culture plate 120 and the bracket 130 are supported on the support portion 33.
[0038] The driving unit 34 includes a rotating unit 35 and a moving unit 36, and is connected to the supporting unit 33 via a vertical shaft 32 in the base 31. The rotating unit 35 includes, for example, an electric motor, and rotates the supporting unit 33 in a horizontal plane. Thus, the culture plate 120 and the rack 130 supported by the supporting unit 33 are selectively moved to the vicinity of the suction device 10.
[0039] Specifically, when the suction device 10 is to discharge cells into any of the wells 121, the culture plate 120 is moved to the vicinity of the suction device 10. On the other hand, when any of the replacement tips 131 is to be installed in the suction section 11, the holder 130 is moved to the vicinity of the suction device 10. According to the above structure, the movement range of the support section 33 can be prevented from becoming larger.
[0040] The moving part 36 includes, for example, a stepping motor, and moves the support part 33 in parallel in a horizontal plane. Specifically, the moving part 36 moves any well 121 of the culture plate 120 or any replacement pipette tip 131 of the holder 130 to a position where the suction part 11 can access (for example, below the suction part 11). Thus, cells can be discharged from the suction device 10 to the well 121, or the replacement pipette tip 131 can be installed in the suction part 11.
[0041] The control unit 50 is, for example, a personal computer including a central processing unit (CPU) and a memory, etc. Alternatively, the control unit 50 may be a microcomputer respectively provided in the suction device 10 and the plate changer 30. The control unit 50 controls the operation of the suction device 10 and the plate changer 30.
[0042] (2) Structure of the suction device
[0043] Figure 2 Yes means Figure 1 Schematic diagram of the structure of the suction device 10. Figure 2 As shown, the suction device 10 includes a suction unit 11, a suction head 12, a holder 13, a base 14, a vertical shaft 15, and a driving unit 16. The driving unit 16 includes a rotating unit 17, a rotating unit 18, and a suction driving unit 19. The holder 13 holds the suction unit 11 on the suction driving unit 19. The vertical shaft 15 is provided on the upper surface of the base 14 so as to extend in the up-down direction.
[0044] The rotating part 17 includes, for example, an electric motor, and is rotatably mounted on the upper end of the vertical shaft 15 in the horizontal plane. The rotating part 18 includes, for example, an electric motor, and is rotatably mounted on the rotating part 17 in the vertical plane. The rotating parts 17 and 18 may also include a single electric motor that is rotatable in the horizontal plane and in the vertical plane.
[0045] The suction drive unit 19 includes, for example, a stepping motor, and is mounted on the rotating unit 18 so as to be able to move forward and backward along a predetermined direction (the up-down direction when the rotating unit 18 is not rotating in the vertical plane). In addition, the suction drive unit 19 includes a suction mechanism configured to be able to suction and discharge cells from the suction unit 11. Furthermore, the suction drive unit 19 includes a tip detachment mechanism configured to be able to detach the tip 12 from the front end of the suction unit 11.
[0046] (3) Installation and movement of suction head
[0047] Figure 3 1 is a plan view showing the structure of the bracket 130. Figure 3 As shown, the bracket 130 has a rectangular shape when viewed from above. Hereinafter, the short side direction of the rectangular bracket 130 is referred to as the row direction, and the long side direction is referred to as the column direction. The short side direction or the row direction is an example of the first direction, and the long side direction or the column direction is an example of the second direction.
[0048] The rack 130 is provided with 96 holes 132 arranged in 8 rows and 12 columns. Thus, a strip-shaped area B1 extending in the column direction between each two holes 132 adjacent in the row direction is defined. In addition, a strip-shaped area B2 extending in the row direction between each two holes 132 adjacent in the column direction is defined. A replacement suction head 131 is held in each hole 132.
[0049] Figures 4 to 7 1 is a diagram for explaining the installation of the suction head 12 on the suction unit 11 and the movement of the suction unit 11. Figure 4 As shown in FIG. 1 , when the suction head 12 is mounted on the suction unit 11, the suction unit 11 is moved so that the front end of the suction unit 11 is located above any one of the plurality of replacement suction heads 131 held on the bracket 130. Figure 5 As shown in FIG. 1 , the suction unit 11 is lowered, and the replacement suction head 131 is installed as the suction head 12 at the front end of the suction unit 11. Figure 6 As shown, the suction portion 11 rises.
[0050] Afterwards, if Figure 7 As shown in FIG. 1 , in a state where the lower end of the suction head 12 mounted on the suction unit 11 is located below the upper end of the other replacement suction head 131 held on the bracket 130, the suction unit 11 moves horizontally from the upper side of the bracket 130 to the outer side of the bracket 130. Here, in the movement of the suction unit 11 with the suction head 12 mounted, the suction unit 11 passes along the area between the plurality of holes 132 of the bracket 130 and passes above the area between the plurality of holes 132. In this example, the suction unit 11 is as shown in FIG. Figure 3As indicated by the middle thick dotted arrow, the suction portion 11 is disposed along the strip-shaped area B2 and passes above the strip-shaped area B2. The suction portion 11 may be disposed along the strip-shaped area B1 and pass above the strip-shaped area B1 instead of along the strip-shaped area B2.
[0051] According to the above structure, although the lower end of the suction head 12 mounted on the suction unit 11 is located below the upper end of the other replacement suction head 131 held on the bracket 130, the suction unit 11 can be moved from the upper part of the bracket 130 to the outer part of the bracket 130 by simple control without colliding with the suction head 12 mounted on the suction unit 11 and the other replacement suction head 131 held on the bracket 130. In addition, since the moving distance of the suction unit 11 in the up-down direction is short, the suction unit 11 can be quickly moved from the upper part of the bracket 130 to the outer part of the bracket 130.
[0052] Furthermore, the suction unit 11 and the support 130 only need to move relative to each other in the horizontal plane. Therefore, the support 130 may be moved without moving the suction unit 11 in the horizontal plane. Figure 1 The moving portion 36 moves the bracket 130 in a horizontal plane.
[0053] (4) Reference Examples and Comparative Examples
[0054] Figure 8 and Fig. 9 It is a diagram for explaining the movement of the suction unit 11 in the reference example. Fig.10 and Fig.11 1 is a diagram for explaining the movement of the suction unit 11 in the comparative example. Figure 8 In the reference example, the amount of movement of the suction unit 11 in the vertical direction is sufficiently large. Figure 8 As shown in the figure, the suction part 11 can be raised so that the front end of the suction head 12 installed in the suction part 11 is located above the upper end of the replacement suction head 131 held by the bracket 130.
[0055] Therefore, in the reference example, the suction unit 11 may not be along the area between the plurality of holes 132 of the bracket 130 and pass above the area between the plurality of holes 132 when the suction head 12 is installed. Fig. 9 As shown by the thick dotted arrow in FIG. 1 , the suction unit 11 may also pass through the hole 132 of the bracket 130 in a manner of crossing the hole 132 of the bracket 130 while the suction head 12 is installed. Even in the above case, the suction unit 11 may be moved from the upper side of the bracket 130 to the outer side of the bracket 130 without the suction head 12 installed in the suction unit 11 colliding with other replacement suction heads 131 held in the bracket 130.
[0056] On the other hand, Figure 1In the figure, the suction device 10 and the observation device 20 are shown sufficiently separated for easy viewing. However, in reality, in the cell picking device 100, a part of the suction drive unit 19 of the suction device 10 is located below a support member (not shown) for supporting the illumination unit 22 of the observation device 20. Therefore, the vertical movement amount of the suction unit 11 is limited so that the suction drive unit 19 does not interfere with the support member. Specifically, the vertical movement amount of the suction unit 11 is smaller than the axial length of the suction head 12.
[0057] In the case where the above restriction exists, a case where the suction unit 11 with the suction head 12 installed is moved across any hole 132 as in the reference example is considered as a comparative example. Even in the above structure, when the replacement suction head 131 is not held in the hole 132, as in the reference example, Fig.10 As shown in FIG. 1 , the suction head 12 and the replacement suction head 131 do not collide. However, when the replacement suction head 131 is held in the hole 132, as shown in FIG. Fig.11 As shown, the suction head 12 collides with the replacement suction head 131 .
[0058] (5) Cell suction action
[0059] Fig.12 2 is a diagram for explaining the aspiration operation of cells by using the aspiration device. Fig.12 As shown in FIG. 1 , a sample container 110 placed on a stage 21 contains a predetermined volume of a liquid sample 1. The sample 1 contains cells 2 to be sucked. The cells 2 are adsorbed on the bottom surface of the sample container 110 at approximately the center of the sample container 110. Fig.12 In the figure, the microscope section 24 is omitted.
[0060] During the cell suction operation, the rotating unit 17 rotates in the horizontal plane so that the suction unit 11 and the suction head 12 face the observation device 20. In addition, the rotating unit 18 rotates in the vertical plane so that the suction head 12 attached to the suction unit 11 is tilted at a predetermined angle.
[0061] Next, the suction drive unit 19 moves toward the tip direction along the axial direction of the suction head 12. As a result, the tip of the suction head 12 contacts the cell 2. In this state, the suction mechanism of the suction drive unit 19 operates, and the cell 2 adsorbed on the bottom surface of the sample container 110 is sucked by the suction head 12.
[0062] (6) Cell excretion action
[0063] Fig.13 and Fig.14 1 is a diagram for explaining the discharge operation of cells by the suction device 10. Fig.13 As shown in the figure, during the cell discharge operation, the rotating part 17 rotates in the horizontal plane so that the suction part 11 and the suction head 12 face the plate changer 30. In addition, the rotating part 35 rotates in the horizontal plane so that the culture plate 120 is located closer to the suction device 10 than the rack 130. Furthermore, the moving part 36 moves parallel in the horizontal plane so that any well 121 of the culture plate 120 is located below the suction head 12 installed in the suction part 11.
[0064] In this state, the suction mechanism of the suction drive unit 19 is operated, and the cells 2 in the tip 12 are discharged downward. As a result, the discharged cells 2 are accommodated in the well 121 of the culture plate 120. After the cells 2 are discharged from the tip 12, the tip detaching mechanism of the suction drive unit 19 is operated, thereby detaching the tip 12 from the front end of the suction unit 11. The detached tip 12 is discarded in a discarding unit (not shown).
[0065] Afterwards, if Fig.14 As shown in the figure, the rotating part 35 rotates in the horizontal plane so that the support 130 is located closer to the suction device 10 than the culture plate 120. In addition, the moving part 36 moves parallel to the horizontal plane so that any replacement suction head 131 held on the support 130 is located below the front end of the suction part 11. In the said state, the suction drive part 19 moves downward. In the said case, the replacement suction head 131 held on the support 130 is installed as the suction head 12 at the front end of the suction part 11. Thereafter, as described above, the suction head 12 is moved to the outside of the support 130. In this way, it is possible to repeat the above steps. Fig.12 The suction action of cell 2.
[0066] In the culture plate 120, the order of the wells 121 for accommodating the cells 2 is pre-registered in the control unit 50. Similarly, in the rack 130, the order of the replacement tips 131 mounted on the suction unit 11 is pre-registered in the control unit 50. When the suction operation of the cells 2 is repeated, new replacement tips 131 and wells 121 are used in accordance with the order of the wells 121 and replacement tips 131 registered in the control unit 50, and the discharge operation of the cells 2 is repeated. In this way, the cells 2 can be automatically and sequentially accommodated in the plurality of wells 121 of the culture plate 120.
[0067] (7) Cell collection and processing
[0068] Fig.15 Yes means Figure 1 Figure 2 is a diagram of the structure of a control unit. Fig.16 FIG. 5 is a flowchart showing an example of an algorithm for the cell storage process executed by the control unit 50. Fig.15As shown in FIG. 1 , the control unit 50 includes an information acquisition unit 51, a suction processing unit 60, and a discharge processing unit 70 as functional units. The CPU of the control unit 50 implements the functional units of the control unit 50 by executing the cell storage program stored in the memory. Part or all of the functional units of the control unit 50 may also be implemented by hardware such as electronic circuits. Fig.15 The control unit 50 and Fig.16 Flowchart illustrating the cell containment process.
[0069] First, the information acquisition unit 51 acquires various information registered by the user (hereinafter referred to as registration information) (step S1). The user can register a position in the sample container 110 where the cell 2 is likely to exist or a position near the position as the suction position. In addition, the user can register a selection of "immediately move to the discharge position after picking up" or "not immediately move to the discharge position after picking up".
[0070] Furthermore, the user can register information related to the sample container 110, the culture plate 120, and the rack 130. The information related to the sample container 110 includes the depth and other dimensions of the sample container 110. The information related to the culture plate 120 includes the number of wells 121 and the order of the wells 121 for accommodating the cells 2. The information related to the rack 130 includes the number of replacement tips 131 held and the order of the replacement tips 131 installed in the suction unit 11.
[0071] Next, the suction processing unit 60 performs a cell suction process (step S2). The cell suction process is a process of suctioning cells 2 from the sample 1 contained in the sample container 110 into the suction head 12 based on the registration information acquired in step S1. In this example, the suction head 12 is mounted on the suction unit 11 in the initial state. However, if the suction head 12 is not mounted on the suction unit 11 in the initial state, the following process is performed between step S1 and step S2. Fig.18 Steps S24 to S26.
[0072] Next, the discharge processing unit 70 performs a cell discharge process (step S3). The cell discharge process is a process of discharging the cells 2 sucked into the tip 12 in the cell aspiration process of step S2 into any well 121 of the culture plate 120 and then replacing the tip 12. The details of the cell aspiration process and the cell discharge process will be described later. After the cell discharge process, the cell storage process ends.
[0073] (8) Cell aspiration treatment
[0074] Fig.17 It means that the suction processing unit 60 performs Fig.16 Flowchart of an example of an algorithm for cell aspiration processing. Fig.15As shown in FIG. 1 , the suction processing unit 60 includes a moving unit 61, a suction control unit 63, and a retreat unit 64 as further functional units. Fig.12 The suction part 11, Fig.15 The suction processing unit 60 and Fig.17 Flowchart illustrating the cell aspiration process.
[0075] First, the advancing unit 61 controls the rotating unit 17, the rotating unit 18 and the suction driving unit 19 to advance the tip of the suction head 12 mounted on the suction unit 11 to the position of the sample 1 in the sample container 110 (the suction position registered in step S1) ( Fig.12 , Figure 4 and step S11).
[0076] Next, the suction control unit 63 controls the suction drive unit 19 to suction the cells 2 into the suction head 12 (step S12 ).
[0077] After that, the suction control unit 63 determines whether to continue suction (step S13). If continuous suction is not performed, the suction control unit 63 determines that suction is not continued and enters step S14. If continuous suction is performed, the suction control unit 63 determines that suction is continued and returns to step S12. When continuous suction is repeated, the front end of the suction head 12 may move slightly.
[0078] In step S14, the evacuation unit 64 controls the suction drive unit 19 to evacuate the suction head 12 from the sample 1 (step S14). When the suction head 12 is evacuated, the evacuation unit 64 ends the cell aspiration process.
[0079] (9) Cell excretion treatment
[0080] Fig.18 This indicates that the discharge processing unit 70 performs Fig.16 Flowchart of an example of an algorithm for cell ejection processing. Fig.15 As shown in FIG. 1 , the discharge processing unit 70 includes a first position adjustment unit 71, a discharge control unit 72, a disassembly unit 73, a second position adjustment unit 74, and a mounting unit 75 as further functional units. Fig.13 and Fig.14 The suction part 11, Fig.15 The discharge processing unit 70 and Fig.18 Flowchart illustrating the cell ejection process.
[0081] First, the first position adjustment unit 71 controls the rotating unit 17, the rotating unit 18, the rotating unit 35 and the moving unit 36 according to the order of the wells 121 obtained in step S1, thereby adjusting the positional relationship between the suction unit 11 and the culture plate 120 ( Fig.13In the above case, the next well 121 in the culture plate 120 that is to contain the cell 2 is located below the front end of the suction part 11 .
[0082] Next, the discharge control unit 72 discharges the cells 2 in the tip 12 by controlling the suction drive unit 19 (step S22). Thus, the cells 2 are contained in the well 121. Next, the detachment unit 73 detaches the tip 12 from the suction unit 11 by controlling the suction drive unit 19 (step S23).
[0083] In step S24, the second position adjustment unit 74 controls the rotating unit 17, the rotating unit 18, the rotating unit 35 and the moving unit 36 according to the order of the replacement suction heads 131 obtained in step S1, thereby adjusting the positional relationship between the suction unit 11 and the bracket 130 ( Fig.14 In the above case, the next replacement suction head 131 to be installed in the suction unit 11 in the bracket 130 is located below the front end of the suction unit 11 .
[0084] Next, the mounting unit 75 mounts the replacement suction head 131 on the suction unit 11 by controlling the suction driving unit 19 (step S25 ). Specifically, the replacement suction head 131 is mounted on the suction unit 11 as the suction head 12 by moving the suction unit 11 downward.
[0085] Next, the movement control unit 76 controls the rotating unit 17, the rotating unit 18, the rotating unit 35, and the moving unit 36 to move the suction unit 11 from the upper side of the bracket 130 to the outer side of the bracket 130. At this time, the suction unit 11 passes along the area between the plurality of holes 132 of the bracket 130 and passes above the area between the plurality of holes 132 ( Fig.14 When the suction unit 11 moves to the outside of the rack 130, the movement control unit 76 ends the cell discharge process.
[0086] (10) Effect
[0087] In the cell picking device 100 , when the suction unit 11 with the suction head 12 attached moves, the suction unit 11 moves along the strip-shaped area B1 or the strip-shaped area B2 and passes above the strip-shaped area B1 or the strip-shaped area B2 .
[0088] According to the above structure, even when the vertical movement of the suction unit 11 is restricted, the suction head 12 mounted on the suction unit 11 does not collide with other replacement suction heads 131 held on the bracket 130. Thus, the suction unit 11 can be easily controlled to move from the upper side of the bracket 130 to the outer side of the bracket 130.
[0089] In addition, since the suction unit 11 does not need to be greatly moved in the vertical direction, the suction unit 11 can be moved from above the holder 130 to outside the holder 130 in a short time. In addition, the cell picking device 100 can be made smaller in the vertical direction.
[0090] Furthermore, since the vertical movement amount of the suction unit 11 can be limited, the observation device 20 can be easily installed adjacent to the suction device 10 without interfering with the suction device 10. Therefore, the user can use the observation device 20 to observe the sample under magnification.
[0091] (11) Other Implementations
[0092] (a) In the above embodiment, the suction unit 11 is not configured to be movable in parallel in a horizontal plane, but the embodiment is not limited thereto. The suction unit 11 may be configured to be movable in parallel in a horizontal plane. Specifically, a moving unit that is the same as the moving unit 36 may be provided in the suction device 10. In the above case, the first position adjustment unit 71 or the second position adjustment unit 74 may control the moving unit of the suction device 10 instead of controlling the moving unit 36. In addition, the moving unit 36 may not be provided in the plate changer 30.
[0093] (b) In the above embodiment, the driving unit 34 includes the rotating unit 35, but the embodiment is not limited thereto. In the case where the culture plate 120 and the support 130 can be selectively moved to the vicinity of the suction device 10 by fully and largely moving the support 33 in the horizontal plane using the moving unit 36, the driving unit 34 may not include the rotating unit 35.
[0094] (12) Morphology
[0095] Those skilled in the art will appreciate that the multiple exemplary embodiments described above are specific examples of the following embodiments.
[0096] (Item 1) A cell picking device may include:
[0097] a support portion supporting a rack having a plurality of holes for holding a plurality of pipette tips;
[0098] A suction part, used for sucking the sample;
[0099] The driving unit moves the suction unit in the up-down direction and moves the suction unit and the support unit relative to each other in the horizontal direction; the control unit controls the driving unit in such a manner that any one of the plurality of pipette tips held on the bracket is mounted on the suction unit by the up-down movement of the suction unit, and the suction unit moves toward the outside of the bracket by the relative movement of the suction unit and the support unit.
[0100] The control unit controls the driving unit in such a manner that the suction unit moves from the upper side of the bracket to the outer side of the bracket along the area between the multiple holes of the bracket and through the upper side of the area between the multiple holes when the lower end of the pipette tip mounted on the suction unit is located below the upper ends of other pipette tips held on the bracket.
[0101] In the cell picking device, during the movement of the suction unit with the suction tip attached, the suction unit moves along the region between the plurality of holes of the holder and passes above the region between the plurality of holes.
[0102] According to the above configuration, even when the vertical movement of the suction unit is limited, the suction unit can be moved from above the holder to outside the holder without the suction head mounted on the suction unit colliding with other replacement suction heads held in the holder.
[0103] (Item 2) The cell picking device according to Item 1 may be:
[0104] The plurality of holes are formed on the bracket at equal intervals in a first direction and a second direction intersecting the first direction.
[0105] A first band-shaped region extending in the second direction is formed between each two holes of the bracket adjacent to each other in the first direction, and a second band-shaped region extending in the first direction is formed between each two holes adjacent to each other in the second direction.
[0106] The control unit controls the driving unit so that the suction unit moves from the upper side of the stent to the outer side of the stent along the first belt-shaped area or the second belt-shaped area and passes above the first belt-shaped area or the second belt-shaped area.
[0107] In this case, the suction unit can be moved from above the holder to outside the holder by simple control without the suction head attached to the suction unit colliding with other replacement suction heads held in the holder.
[0108] (Item 3) The cell picking device according to Item 1 or Item 2 may further include:
[0109] A suction device, comprising the suction portion; and
[0110] The observation device is disposed adjacent to the suction device and is used for observing the sample.
[0111] According to the above configuration, since the amount of movement of the suction unit in the vertical direction can be restricted, the observation device can be easily installed adjacent to the suction device 10 without interfering with the suction device.
[0112] Therefore, the user can observe the sample by magnifying it using the observation device.
[0113] (Item 4) The cell picking device according to Item 1 or Item 2 may be:
[0114] The driving unit is configured to cause the suction unit to perform suction and discharge operations according to control by the control unit, and is configured to detach the pipette tip from the suction unit.
[0115] The control unit controls the driving unit in a manner of sequentially performing first control, second control, third control, and fourth control,
[0116] The first control is to suck the sample from the sample container containing the sample into the pipette tip by the suction unit.
[0117] The second control is to discharge the sample sucked into the pipette tip by the suction unit into any well of a culture plate having a plurality of wells,
[0118] The third control is to detach the pipette tip from the suction section,
[0119] The fourth control is to mount any one of the pipette tips held in the rack to the suction section.
[0120] In the above case, the sample is sucked from the sample container to the pipette tip. Thereafter, the sample is discharged from the pipette tip to any well of the culture plate. Alternatively, the pipette tip is removed from the suction unit, and any pipette tip held in the holder is mounted on the suction unit. Thus, the sucked sample can be automatically accommodated in any well of the culture plate.
[0121] (Item 5) The cell picking device according to Item 4 may be:
[0122] The control unit repeatedly performs the first control, the second control, the third control, and the fourth control so that the sample is discharged into a well different from the well from which the sample has already been discharged in the second control.
[0123] In the above case, the sample is sucked from the sample container to the pipette tip. After that, the sample is discharged from the pipette tip to any well of the culture plate. In addition, the pipette tip is removed from the suction part, and any pipette tip held in the holder is mounted on the suction part. By repeating these controls, the sucked samples can be automatically and continuously accommodated in multiple wells of the culture plate.
[0124] (Item 6) The cell picking device according to Item 4 may be:
[0125] The driving part is configured to rotate the supporting part.
[0126] The support portion further supports the culture plate,
[0127] In the second control, the control unit positions the culture plate closer to the suction unit than the support,
[0128] In the fourth control, the rotation of the support portion by the drive portion is controlled so that the holder is located closer to the suction portion than the culture plate.
[0129] In such a case, the culture plate and the support can be selectively moved to a position where the suction part can access without increasing the moving range of the support part.
Claims
1. A cell picking device, characterized in that: include: a support portion supporting a rack having a plurality of holes for holding a plurality of pipette tips; A suction part, used for sucking the sample; a driving unit, which moves the suction unit in the up-down direction and moves the suction unit and the support unit relative to each other in the horizontal direction; a control unit that controls the driving unit in such a manner that any one of the plurality of pipette tips held on the bracket is mounted on the suction unit by moving the suction unit in the up-down direction, and the suction unit is moved toward the outside of the bracket by relative movement between the suction unit and the support unit; and The control unit controls the driving unit by executing a program stored in the memory so that, when the lower end of the pipette tip mounted on the suction unit is located below the upper ends of other pipette tips held on the bracket, the suction unit moves from the upper side of the bracket to the outer side of the bracket along the area between the multiple holes of the bracket and through the upper side of the area between the multiple holes.
2. The cell picking device according to claim 1, characterized in that: The plurality of holes are formed on the bracket at equal intervals in a first direction and a second direction intersecting the first direction. A first band-shaped region extending in the second direction is formed between each two holes of the bracket that are adjacent in the first direction, and a second band-shaped region extending in the first direction is formed between each two holes that are adjacent in the second direction. The control unit controls the driving unit so that the suction unit moves from the upper side of the stent to the outer side of the stent along the first belt-shaped area or the second belt-shaped area and passes above the first belt-shaped area or the second belt-shaped area.
3. The cell picking device according to claim 1 or 2, characterized in that: Also includes: A suction device, comprising the suction portion; as well as The observation device is disposed adjacent to the suction device and is used for observing the sample.
4. The cell picking device according to claim 1 or 2, characterized in that: The driving unit is configured to cause the suction unit to perform suction and discharge operations according to control by the control unit, and is configured to detach the pipette tip from the suction unit. The control unit controls the driving unit in a manner of sequentially performing first control, second control, third control, and fourth control, The first control is to suck the sample from the sample container containing the sample into the pipette tip by the suction unit. The second control is to discharge the sample sucked into the pipette tip by the suction unit into any well of a culture plate having a plurality of wells, The third control is to detach the pipette tip from the suction section, The fourth control is to mount any one of the pipette tips held in the rack to the suction section.
5. The cell picking device according to claim 4, characterized in that: The control unit repeatedly performs the first control, the second control, the third control, and the fourth control so that the sample is discharged into a well different from a well from which the sample has already been discharged in the second control.
6. The cell picking device according to claim 4, characterized in that: The driving part is configured to rotate the supporting part. The support portion further supports the culture plate, In the second control, the control unit positions the culture plate closer to the suction unit than the support, In the fourth control, the rotation of the support portion by the drive portion is controlled so that the holder is located closer to the suction portion than the culture plate.