Treatment system for in-vitro pharmacokinetic experiment
By installing an external robotic arm on the outside of the automated liquid workstation, combined with a built-in robotic arm and mechanical gripper, the space and equipment type limitations when integrating the automated liquid workstation with peripheral equipment are solved, enabling efficient and accurate in vitro pharmacokinetic experiments.
Patent Information
- Application Number
- CN202520624603.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-03
- Publication Date
- 2026-02-13
- Estimated Expiration
- 2035-04-03
AI Technical Summary
When integrating existing automated liquid workstations with peripheral equipment, there are problems such as difficulty in equipment integration, limited space, and limited types of equipment. In particular, the sample plate loading and unloading operation of centrifuges is difficult to achieve.
By installing an external robotic arm on the outside of the automated liquid workstation, combined with a built-in robotic arm and a mechanical gripper, interaction between the workstation and peripheral equipment is achieved. The external robotic arm acts as a bridge, connecting the automated liquid workstation with peripheral equipment such as sealing machines, centrifuges, film tearing machines, and CO2 incubators, thus solving the space limitation problem.
It achieves seamless integration of automated liquid workstations and peripheral equipment, improves experimental efficiency and accuracy, reduces human error, and realizes fully unattended automated operation.
Smart Images
Figure CN223910874U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of biology especially, a kind of processing system for in vitro pharmacokinetics experiment. BACKGROUND
[0002] With the rapid development of life science technology, the research work of biochemical laboratory faces more complex research objects and increasing sample quantity, and the traditional manual operation mode cannot meet the high-throughput sample processing demand, and the automatic liquid workstation is applied.
[0003] Automatic liquid workstation is a kind of highly integrated and automated experimental equipment, which can efficiently and accurately perform various liquid processing operations, and is widely used in biology, medicine, pharmacy, chemistry and other fields. Automatic liquid workstation is equipped with 8-channel liquid sample adding mechanical arm and 96-channel liquid sample adding mechanical arm, which can realize single-hole precise sample suction and transfer, and also can perform one-time plate sample suction and transfer operation, which can effectively reduce the error caused by manual operation and improve the accuracy and experimental throughput of experiment.
[0004] In vitro pharmacokinetics (ADME) is the abbreviation of drug "absorption (Absorption), distribution (Distribution), metabolism (Metabolism) and excretion (Excretion)", which represents the body's disposal process of drug. The ADME property of drug is determined by its structure, and the determination of the ADME property of drug can provide important reference value for predicting its bioavailability and biological activity (i.e. whether a drug can reach its target and produce corresponding therapeutic effect). In early research and development, the research on ADME property is mainly through the development of animal in vivo pharmacokinetics experiment, and the obtained data is used to predict the PK behavior of drug in human body. Later, with the development of pharmaceutical industry, the number of compounds requiring ADME property screening increased significantly, and the research on ADME property was required to be more in-depth, so in vitro ADME experiment was produced. In the lead optimization (LO) and pre-clinical candidate (PCC) stage, comprehensive in vitro ADME research is usually required, such as multi-species metabolic stability, plasma protein binding, interaction between compound and transporter, inhibition of drug metabolic enzyme, etc., combined with animal PK data, to predict human pharmacokinetics.
[0005] In in vitro pharmacokinetics experiment, automatic liquid workstation can perform precise sample adding, efficient liquid distribution, gradient dilution, sample processing and transfer, incubation control and other operations, but operations such as plate sealing, film tearing and centrifugation still need peripheral equipment to complete.
[0006] Currently, there are reports on the direct integration of automatic liquid workstations and peripheral devices to achieve functional improvement. In this integration mode, the interaction between the workstation and the peripheral device relies on the mechanical gripper of the workstation, but the mechanical gripper of the workstation can only move within the workstation, which means that the integrated device must be close to and around the workstation, and there are the following problems:
[0007] 1) The integration of some devices is very difficult, such as the integration of a centrifuge. It is difficult for the mechanical gripper to achieve the pick-and-place operation of the sample plate in the centrifuge;
[0008] 2) The limited peripheral space of the workstation results in a limited number of integrated devices;
[0009] 3) The mechanical arm cannot interact, resulting in a limited number of integrated devices. Practical new type content
[0010] In order to solve the problems existing in the prior art described above, the utility model provides a processing system for in vitro pharmacokinetic experiment, on the basis of existing automatic liquid workstation, integrate third party peripheral device, realize the interaction between automatic liquid workstation and third party peripheral device through external mechanical arm, satisfy the requirement of in vitro pharmacokinetic experiment.
[0011] In order to solve the above problems, the utility model provides a processing system for in vitro pharmacokinetic experiment, including workbench, one side of workbench is provided with automatic liquid workstation, automatic liquid workstation is provided with built-in mechanical arm and mechanical gripper, its characterized in that, the other side of workbench is provided with peripheral device, peripheral device includes sealing film machine, centrifuge, tear film machine and CO2 incubator, sealing film machine is located at one end close to automatic liquid workstation, tear film machine and CO2 incubator are located at one end away from automatic liquid workstation, external mechanical arm is arranged between automatic liquid workstation and CO2 incubator, external mechanical arm is connected with short gripper or long gripper, centrifuge is located below workbench, workbench is provided with through hole between sealing film machine and external mechanical arm, the position of through hole corresponds with centrifuge.
[0012] As a preferred embodiment, the built-in mechanical arm includes an 8-channel pipetting mechanical arm and a 96-channel pipetting mechanical arm.
[0013] As a preferred embodiment, the external mechanical arm is a plate moving mechanical arm.
[0014] As another preferred embodiment, the external mechanical arm is a four-axis mechanical arm.
[0015] As another preferred embodiment, the gripper width of the external mechanical arm is 77mm-133mm.
[0016] As another preferred embodiment, the Z-axis standard stroke of the external mechanical arm is 400mm.
[0017] As another preferred embodiment, the external mechanical arm is a Hamilton brand multi-axis mechanical arm, model HMotion 400.
[0018] As a preferred embodiment, a sample plate transfer station is arranged near one side of the external mechanical arm in the automated liquid workstation.
[0019] As a preferred embodiment, a heating shaker is also provided in the automated liquid workstation, with a shaking speed of 0-1000rpm.
[0020] As a preferred embodiment, the automated liquid workstation is a Hamilton Star series or Hamilton Vantage series liquid workstation.
[0021] Advantages:
[0022] (1) The processing system for in vitro pharmacokinetic experiments of the utility model, through external mechanical arm as a bridge, connect automation liquid workstation and peripheral equipment, overcome the existing automation liquid workstation and peripheral equipment integration, the peripheral equipment must be close, surround the problem of workstation.
[0023] (2) The processing system for in vitro pharmacokinetic experiments of the utility model, centrifuge is arranged below the workbench surface, and the communication between the external mechanical arm and the centrifuge is realized through the opening, which reduces the occupied space of the workbench surface on the one hand and integrates the function of the centrifuge on the other hand, so that the structure of the whole processing system is more compact.
[0024] (3) The processing system for in vitro pharmacokinetic experiments of the utility model, by arranging the centrifuge below the workbench surface, the existing external mechanical arm can complete the functions of taking and placing the sample plate in the centrifuge, avoiding the design of the complex structure of the external mechanical arm.
[0025] (4) The processing system for in vitro pharmacokinetic experiments of the utility model, by controlling the software VENUS to integrate the automation liquid workstation, the external mechanical arm and the peripheral equipment, the in vitro pharmacokinetic experiment can be automatically performed, the full-process unattended automatic operation is realized, and the experimental efficiency and accuracy are improved.
[0026] The concept, specific structure and technical effects of the utility model will be further described below with reference to the drawings, so as to fully understand the purpose, features and effects of the utility model. BRIEF DESCRIPTION OF DRAWINGS
[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0028] Figure 1 This is a schematic diagram of the processing system used in in vitro pharmacokinetic experiments;
[0029] Figure 2 This is a schematic diagram of the processing system used in in vitro pharmacokinetic experiments.
[0030] Explanation of reference numerals in the attached diagram: 1-External robotic arm, 2-Automatic liquid workstation, 3-Sealing machine, 4-Centrifuge, 5-Sheet tearing machine, 6-CO2 incubator, 7-Workbench. Detailed Implementation
[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0032] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, the term "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0034] If an element is referred to as being "on" or "connected" to another element, it can be directly on the other element or intervening elements can also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can also be present. As used herein the terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions are used for explanation only and are not intended to be limiting.
[0035] The characteristics of in vitro pharmacokinetic experiments are high throughput, high precision and high timeliness. Compared with traditional manual experiments, the automatic liquid workstation can more accurately and efficiently complete liquid processing work such as sample adding, gradient dilution and liquid separation. The automatic operation process can effectively reduce the error caused by human operation, and improve the speed, quality and throughput of in vitro pharmacokinetic testing. However, the automatic liquid workstation cannot realize the operations such as sealing, film tearing and centrifugation, and needs to integrate peripheral equipment. When the automatic liquid workstation is integrated with the peripheral equipment, the liquid and the well plate are usually transferred by using the mechanical arm provided by the workstation. If the peripheral equipment is integrated in the workstation, the movement of the built-in mechanical arm and mechanical gripper is limited, and the use space of the workstation needs to be increased. If the peripheral equipment is integrated outside, due to the distance limitation, the integrated equipment must be close to and surround the workstation, and the type and number of the integrated equipment are limited.
[0036] The inventors of the present application change the existing ideas, install an external mechanical arm 1 outside the workstation, and use the external mechanical arm 1 in cooperation with the built-in mechanical arm and mechanical gripper of the workstation. The built-in mechanical arm and mechanical gripper are used to realize the transfer of the liquid and the well plate inside the workstation, and the external mechanical arm 1 is used to realize the transfer of the well plate between the workstation and the peripheral equipment, so that the external mechanical arm 1 is used as a bridge for the interaction between the workstation and the peripheral equipment to overcome the space limitation when the workstation is integrated with the peripheral equipment.
[0037] The utility model provides a kind of processing system for in vitro pharmacokinetic experiment, including worktop 7, worktop 7 side is provided with automatic liquid workstation 2, and automatic liquid workstation 2 is provided with built-in mechanical arm and mechanical gripper, and built-in mechanical arm includes 8 channel pipette mechanical arm and 96 channel pipette mechanical arm, 8 channel pipette mechanical arm and 96 channel pipette mechanical arm, it can be realized to suction and transfer single-hole sample, and it can also be suctioned, transferred operation of disposable whole plate sample, can effectively reduce the error caused by human operation, improve the accuracy of experiment and experimental throughput.
[0038] Automatic liquid workstation 2 is Hamilton Star series or Hamilton Vantage series liquid workstation, preferably Hamilton brand STARPlus model liquid workstation.
[0039] The automatic liquid workstation 2 is provided with a heating oscillator, and the oscillation speed is 0-1000 rpm.
[0040] The other side of the workbench 7 is provided with peripheral equipment, which includes a film sealing machine 3, a centrifuge 4, a film tearing machine 5 and a CO2 incubator 6. The film sealing machine 3 is located at one end close to the automatic liquid workstation 2, and the film tearing machine 5 and the CO2 incubator 6 are located at one end away from the automatic liquid workstation 2. An external mechanical arm 1 is arranged between the automatic liquid workstation 2 and the CO2 incubator 6, and the external mechanical arm 1 is connected with a short gripper or a long gripper to meet the needs of different experimental scenes.
[0041] The centrifuge 4 is located below the workbench 7, and a through hole is arranged between the film sealing machine 3 and the external mechanical arm 1 on the workbench 7, which corresponds to the position of the centrifuge 4.
[0042] Because the centrifuge 4 has a certain depth, whether the centrifuge 4 is located inside or outside the workstation, taking and placing the sample plate in the centrifuge 4 will face great difficulties, and a mechanical arm with a specific structure needs to be arranged. The application ingeniously punches a hole at one end of the workbench, and the centrifuge 4 is arranged at the hole position below the workbench. The existing mechanical arm and the long gripper can be used to realize the above-mentioned taking and placing operation.
[0043] The external mechanical arm 1 used in the application is a four-axis mechanical arm. Because the external mechanical arm 1 is mainly used for operating the sample plate, and the sample plate is always parallel to the workbench without turning and other operations, the four-axis mechanical arm can meet the experimental requirements.
[0044] According to the weight of the sample plate, the gripper load of the external mechanical arm 1 is selected to be 500g in the application.
[0045] The gripper width of the external mechanical arm 1 in the application is 77mm-133mm, which is suitable for long and wide grabbing operations of standard 96-hole plates.
[0046] The Z-axis standard stroke of the external mechanical arm 1 in the application is 400mm.
[0047] The long gripper, which is extended by 214mm in the Z-axis stroke direction, can access deep and closed positions such as the centrifuge 4, and the long gripper is used in cooperation with the external mechanical arm 1.
[0048] The external mechanical arm 1 is preferably a Hamilton brand multi-axis mechanical arm with a model of HMotion 400. The external mechanical arm 1 provides multiple communication and hardware interfaces, including RS-232 serial interface, RS-485 serial interface, Ethernet interface and multiple digital input and output lines, which can perform signal transmission with a computer host.
[0049] The mechanical arm involved in the Hamilton brand is shown in Table 1.
[0050] Table 1
[0051] Product Description HMotion 400 Z-axis: 400mm; Standard working range: 576mm HMotion 400XR Z-axis: 400mm; Extended working range: 731mm HMotion 400 1.0M HMotion 400 equipped with 1.0 meter linear rail HMotion 400 1.5M HMotion 400 equipped with 1.5 meter linear rail HMotion 400 2.0M HMotion 400 equipped with 2.0 meter linear rail HMotion 750 Z-axis: 750mm; Standard working range: 576mm HMotion 750XR Z-axis: 750mm; Extended working range: 731mm HMotion 750 1.0M HMotion 750 equipped with 1.0 meter linear rail HMotion 750 1.5M HMotion 750 equipped with 1.5 meter linear rail HMotion 750 2.0M HMotion 750 equipped with 2.0 meter linear rail HMotion 750 2.0M Extends the Z-axis travel of the HMotion by 214mm, allowing access to deep and enclosed locations
[0052] As shown in Table 1, the alternative mechanical arm has HMotion 400, HMotion 400XR, HMotion 750, HMotion 750XR. Through repeated experiments, it is found that the mechanical arm of HMotion 400 model is used, the operation is more stable and reliable, the positioning repeatability is high, therefore, the mechanical arm of HMotion 400 model is selected for use in the application. However, the mechanical arm is usually used in the case that the peripheral device is close to the automated liquid workstation 2, if the distance between them is far, the track type external mechanical arm can be selected at this time.
[0053] The automated liquid workstation 2 is provided with a sample plate transfer station on the side close to the external mechanical arm 1. The sample plate in the sample plate transfer station is transferred to the peripheral device by the external mechanical arm 1, or the sample plate in the peripheral device is transferred to the sample plate transfer station.
[0054] The software for controlling the automatic operation of the automated liquid workstation 2, the external mechanical arm 1 and the peripheral device in the application is VENUS, the plug-in used by the external mechanical arm 1 is Hamilton driver for HMotion v2.8.exe, the plug-in used by the film sealing machine 3 is Agilent PlateLoc Sealer v1.1(188976APE), the plug-in used by the film tearing machine 5 is Brooks XPeel HSL(95412-01) v1.2 revC, the plug-in used by the CO2 incubator 6 is Cytomat Setup v9.1.13.exe, and the plug-in used by the centrifuge 4 is Hamilton driver for Hettich Robotic Interface v1.6. The automated liquid workstation 2, the external mechanical arm 1 and the peripheral device are integrated together by VENUS to realize the effect of automatic operation and “unattended”, and the labor cost is reduced.
[0055] Example 1
[0056] As Figure 1 , Figure 2The processing system for in-vitro pharmacokinetics experiment comprises a workbench 7, one side of the workbench 7 is provided with an automatic liquid workstation 2, the automatic liquid workstation 2 is selected from a Hamilton brand STAR Plus model liquid workstation, the liquid workstation is provided with a built-in mechanical arm and a mechanical gripper, the built-in mechanical arm comprises an 8-channel liquid transfer mechanical arm and a 96-channel liquid transfer mechanical arm, and is used for sample adding, liquid distribution and liquid transfer operation, the other side of the workbench 7 is provided with peripheral equipment, the peripheral equipment comprises a film sealing machine 3, a centrifuge 4, a film tearing machine 5 and a CO2 incubator 6, the film sealing machine 3 is located at one end close to the automatic liquid workstation 2, the film tearing machine 5 and the CO2 incubator 6 are located at one end away from the automatic liquid workstation 2, an external mechanical arm 1 is arranged between the automatic liquid workstation 2 and the CO2 incubator 6, and the external mechanical arm 1 is connected with a short gripper or a long gripper. The external mechanical arm 1 cooperates with the short gripper to realize the transfer of sample plates in the film sealing machine 3 and the CO2 incubator 6, and the external mechanical arm 1 cooperates with the long gripper to realize the taking and placing operation of sample plates in the centrifuge 4.
[0057] The centrifuge 4 is located below the workbench 7, and a through hole is arranged between the film sealing machine 3 and the external mechanical arm 1 on the workbench 7, and the through hole corresponds to the position of the centrifuge 4.
[0058] In order to ensure stability, the external mechanical arm 1 is selected from a HMotion 400 model mechanical arm, the external mechanical arm 1 is a four-axis mechanical arm, the gripper width of the external mechanical arm 1 is 77mm-133mm, and the Z-axis standard stroke of the external mechanical arm 1 is 400mm.
[0059] The side of the automatic liquid workstation 2 close to the external mechanical arm 1 is provided with a sample plate transfer position, the sample plate is transferred from a sample plate operation position to the sample plate transfer position by the mechanical gripper, and the sample plate in the sample plate transfer position is transferred to the film sealing machine 3, the centrifuge 4, the film tearing machine 5 or the CO2 incubator 6 by the external mechanical arm 1.
[0060] The control software used in the application is VENUS, the automatic liquid workstation 2, the external mechanical arm 1 and the peripheral equipment are integrated together through VENUS, and the effect of "unattended operation" can be realized.
[0061] The optional film sealing machine 3 is purchased from Agilent PlateLoc G5585B, the centrifuge 4 is purchased from Hettich ROTANTA460 Robotic, the film tearing machine 5 is purchased from Brooks XP-A_230V, and the CO2 incubator 6 is purchased from thermo CYTOMAT2C450-LiN. Of course, the application is not limited to this, and flexible selection can be made according to needs.
[0062] Example 2: Hepatocyte metabolic stability experiment in vitro pharmacokinetics using the system
[0063] Specific steps:
[0064] 1. Turn on the system instruments and equipment, open the liquid workstation software on the computer, click on initialization, and initialization is complete when the system is ready.
[0065] 2. Open the experimental program to be run in the software, arrange the consumables and reagents on the workbench 7 according to the layout in the program, close the instrument door, and click on run in the software.
[0066] 3. The position information (Map) of the test compound in the sample plate is recorded in the Excel table in advance according to the specific format. The software controls the 8-channel mechanical arm to pick (Cherry-pick) the compound by calling the information in the Excel table. Specifically, the 8-channel mechanical arm divides the compound into sample plates according to the edited Map.
[0067] 4. The 96 multi-channel mechanical arm adds the test compound to the cell plate, and the reaction system has been added to the cell plate in advance.
[0068] 5. Move the cell plate into the CO2 incubator for reaction: the mechanical gripper (Co-Re Gripper) in the workstation transfers the cell plate from the sample plate operation site on the workbench 7 to the sample plate, and the external mechanical arm 1 transfers the cell plate to the transfer station (Transfer station) of the CO2 incubator 6. The subsequent cell plate is transferred to the CO2 incubator 6 for incubation.
[0069] 6. The CO2 incubator 6 has been set to a specific temperature and CO2 concentration. The incubation time is set by the software, and when the specific time point is reached, the automated CO2 incubator 6 will transfer the cell plate from the inside to the transfer station (Transfer station), the external mechanical arm 1 will grab the cell plate and transfer it from the transfer station (Transfer station) of the CO2 incubator 6 to the sample plate in the workbench 7, and then the mechanical gripper of the liquid workstation will transfer the cell plate to the sample plate operation site. The gun head on the multi-channel mechanical arm (96 channels) takes out a certain amount of solvent into the corresponding time point plate and adds a termination liquid to terminate the reaction.
[0070] 7、After the corresponding time point termination is completed, the mechanical gripper (Co-Re Gripper) transfers the cell plate to the sample plate transfer position, the external mechanical arm 1 grabs the cell plate, and the cell plate is transferred to the film sealing machine 3 position. The software controls the film sealing machine 3 to seal the film. After the film sealing is completed, the external mechanical arm 1 grabs the cell plate, and the cell plate is transferred to the sample plate transfer position. The mechanical gripper (Co-Re Gripper) grabs the cell plate and transfers it to the heating oscillator on the table top. The software controls the heating oscillator to oscillate (without heating) at a speed of 4000 rpm for 20 minutes to fully mix the cell plate.
[0071] 8、After the oscillation is completed, the mechanical gripper (Co-Re Gripper) grabs the cell plate and transfers it to the sample plate transfer position. The software controls the door above the automatic centrifuge 4 to translate and open, and the external mechanical arm 1 connects the long gripper to transfer the cell plate from the sample plate transfer position to the centrifuge 4 internal plate position. The software controls the door above the centrifuge 4 to translate and close, and starts the centrifuge 4 at a speed of 4000 rpm for 20 minutes.
[0072] 9、After the centrifugation is completed, the software controls the door above the centrifuge 4 to translate and open, and the external mechanical arm 1 long gripper grabs the cell plate and transfers it to the film tearing machine 5 plate position. The software controls the film tearing machine 5 to tear the film. After the film tearing is completed, the external mechanical arm 1 transfers the cell plate to the transfer position through the long gripper, and then the mechanical gripper transfers the cell plate to the corresponding position on the instrument table top. The multi-channel mechanical arm upper gun head adds water to take the supernatant.
[0073] 10、After the supernatant is taken, the cell plate is sealed, the mechanical gripper (Co-Re Gripper) transfers the cell plate to the transfer position, the external mechanical arm 1 transfers the plate from the transfer position to the film sealing machine 3 plate position, and the software controls the film sealing machine 3 to seal the plate.
[0074] 11、Refrigeration: After the film sealing is completed, the external mechanical arm 1 transfers the cell plate to the transfer position, and the mechanical gripper (Co-Re Gripper) transfers the cell plate to the refrigeration carrier for low-temperature refrigeration.
[0075] 12、Subsequent samples are analyzed by liquid chromatography-tandem mass spectrometry.
[0076] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present disclosure.
[0077] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope. It should be noted that, for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application.
Claims
1. A processing system for in vitro pharmacokinetic experiments, comprising a worktop, one side of which is provided with an automated liquid station, which is provided with an in-built mechanical arm and a mechanical gripper, characterised in that, The other side of the workbench is provided with peripheral equipment, the peripheral equipment includes film sealing machine, centrifuge, film tearing machine and CO2 incubator, the film sealing machine is located near one end of the automated liquid workstation, the film tearing machine and the CO2 incubator are located away from one end of the automated liquid workstation, an external mechanical arm is arranged between the automated liquid workstation and the CO2 incubator, the external mechanical arm is connected with a short gripper or a long gripper, the centrifuge is located below the workbench, a through hole is arranged between the film sealing machine and the external mechanical arm of the workbench, and the through hole corresponds to the position of the centrifuge.
2. The processing system for in-vitro pharmacokinetic experiments of claim 1, wherein, The internal mechanical arm includes an 8-channel pipetting mechanical arm and a 96-channel pipetting mechanical arm.
3. The processing system for in-vitro pharmacokinetic experiments of claim 1, wherein, The external mechanical arm is a plate moving mechanical arm.
4. The processing system for in-vitro pharmacokinetic experiments of claim 3, wherein, The external mechanical arm is a four-axis mechanical arm.
5. The processing system for in-vitro pharmacokinetic experiments of claim 3, wherein, The gripper width of the external mechanical arm is 77mm-133mm.
6. The processing system for in-vitro pharmacokinetic experiments of claim 3, wherein, The Z-axis standard stroke of the external mechanical arm is 400mm.
7. The processing system for in-vitro pharmacokinetic experiments of claim 3, wherein, The external mechanical arm is a Hamilton brand multi-axis mechanical arm, and the model is HMotion 400.
8. The processing system for in-vitro pharmacokinetic experiments of claim 1, wherein, The automated liquid workstation is provided with a sample plate transfer position on the side close to the external mechanical arm.
9. The processing system for in-vitro pharmacokinetic experiments of claim 1, wherein, The automated liquid workstation is also provided with a heating oscillator, and the oscillation speed is 0-1000rpm.
10. The processing system for in-vitro pharmacokinetic experiments of claim 1, wherein, The automated liquid workstation is a Hamilton Star series or Hamilton Vantage series liquid workstation.