Fully automated stem cell clone selection and transfer integrated device

Abstract

This invention provides a fully automated integrated device for stem cell clone selection and transfer, belonging to the technical field of stem cell auxiliary equipment. The device includes a frame and a positioning mechanism, a picking mechanism, a transfer mechanism, a container adaptation platform, and a driving mechanism, all mounted on the frame. The positioning mechanism includes a positioning plate and an imaging scaffold, arranged vertically on the frame. The positioning plate can support a culture dish, the imaging scaffold can mount a camera, and the driving mechanism can drive the imaging scaffold to move up and down and rotate vertically. The picking mechanism is located between the positioning plate and the imaging scaffold and can pick stem cell clones from the culture dish via the driving mechanism. The transfer mechanism is located below the picking mechanism and can receive the stem cell clones picked by the picking mechanism. The container adaptation platform is located below the transfer mechanism and can fix the target container. This invention can improve the sterility and efficiency of stem cell clone selection and transfer.

Description

Technical Field

[0001] This utility model belongs to the field of stem cell auxiliary equipment technology, specifically relating to a fully automated integrated device for stem cell cloning, selection, and transfer. Background Technology

[0002] The selection and transfer of stem cell clones are core steps in the large-scale culture, clinical research, and industrial application of stem cells. The standardization of these procedures directly affects cell viability, purity, and subsequent application outcomes. Currently, the selection and transfer processes of stem cell clones are typically completed in two separate settings. The selection operation must be performed in a dedicated culture device, and after selection, the clone must be transferred to the target container using handheld tools or a separate transport device.

[0003] However, this split-operation mode exposes stem cell clones to the external environment after selection and before transfer, making them susceptible to bacterial contamination. At the same time, the scene switching and manual connection steps are cumbersome, the operation is not convenient, and the time consumption is long, which significantly reduces the overall operation efficiency and makes it difficult to adapt to the standardized requirements of large-scale stem cell preparation. Utility Model Content

[0004] The technical problem to be solved by this invention is how to improve the sterility and efficiency of stem cell clone selection and transfer. In view of the shortcomings of the prior art, this invention provides a fully automated integrated device for stem cell clone selection and transfer.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: This invention provides a fully automated integrated device for stem cell clone picking and transfer, comprising a frame and a positioning mechanism, a picking mechanism, a transfer mechanism, a container adaptation platform, and a driving mechanism, all mounted on the frame. The positioning mechanism includes a positioning plate and an imaging scaffold, arranged vertically on the frame. The positioning plate is configured to support a culture dish, and the imaging scaffold is configured to mount a camera. The driving mechanism is configured to drive the imaging scaffold to move vertically and rotate vertically, so that the camera focuses on the culture dish. The picking mechanism is located between the positioning plate and the imaging scaffold and is configured to pick up stem cell clones from the culture dish via the driving mechanism. The transfer mechanism is located below the picking mechanism and is configured to receive the stem cell clones picked by the picking mechanism. The container adaptation platform is located below the transfer mechanism and is configured to fix a target container, so that the stem cell clones received by the transfer mechanism move to the target container.

[0006] Compared to existing technologies, the advantages of this invention include: A fully automated integrated stem cell cloning picking and transfer device is composed of a frame and a positioning mechanism, a picking mechanism, a transfer mechanism, a container adaptation platform, and a driving mechanism, all mounted on the frame. The positioning mechanism consists of a positioning plate and an imaging scaffold, arranged sequentially on the frame. The positioning plate is configured to hold the culture dish, and the imaging scaffold is configured to mount the camera. The driving mechanism drives the imaging scaffold to move up and down and rotate vertically. This configuration allows the imaging scaffold to be rotated vertically to the side above the positioning plate before the culture dish is placed on it, facilitating placement. After the culture dish is placed, the imaging scaffold can carry the camera and rotate it above the dish, allowing the camera to focus on the dish during vertical movement, achieving precise acquisition of the culture dish image for subsequent processing. The process involves cloning and picking. The picking mechanism, located between the positioning plate and the imaging scaffold, is configured to pick stem cell clones from the culture dish via a drive mechanism. The transfer mechanism, located below the picking mechanism, is configured to receive the picked stem cell clones. This configuration allows for seamless transfer of the picked clones to the transfer mechanism immediately after the picking mechanism completes the cloning process, effectively improving efficiency and convenience. Finally, a container adapter platform, located below the transfer mechanism, is configured to fix the target container. This allows the stem cell clones received by the transfer mechanism to move to the target container. Driven by the drive mechanism, the positioning, picking, transfer, and receiving of stem cell clones are integrated, ensuring work efficiency while avoiding the risk of contamination from exposure to air during multi-scenario operations, effectively improving sterility.

[0007] Optionally, the positioning plate has a placement groove on its end face, and the driving mechanism includes a first rotary driving member, which is placed on the bottom wall of the placement groove and driven to connect with the culture dish placed in the placement groove to drive the culture dish to rotate around the vertical direction; the transfer mechanism includes a receiving groove, the upper end of which is flush with the inner wall of the culture dish, the lower end of which faces the container adapter platform, the opening of which is upward and inclined relative to the vertical direction, and the receiving groove is configured to move back and forth in the horizontal direction to drive the upper end of which moves above the culture dish.

[0008] Optionally, the picking mechanism includes a moving arm, a flexible microneedle assembly, and an optical tweezers assembly. The driving mechanism further includes a first linear drive. The moving arm is slidably mounted on the frame and driven by the first linear drive to move back and forth along the horizontal direction. The flexible microneedle assembly and the optical tweezers assembly are both mounted on the moving arm and both face the culture dish.

[0009] Optionally, the flexible microneedle assembly includes a clamp and a microneedle, and the driving mechanism further includes a second rotary drive member. One end of the clamp holds one end of the microneedle, and the other end of the clamp is mounted on a first part of the moving arm via the second rotary drive member to rotate around the horizontal direction to drive the other end of the microneedle to move up and down. The upper limit of the microneedle's movement is located above the upper end of the receiving groove in the vertical direction.

[0010] Optionally, the optical tweezers assembly includes a laser emitting head and an angle adjustment seat. The driving mechanism further includes a third rotary drive member. The laser emitting head is mounted on the angle adjustment seat, and the angle adjustment seat is mounted on the second part of the moving arm via the third rotary drive member. The angle adjustment seat rotates around the horizontal direction to drive the optical tweezers force field formed by the laser emitting head to move up and down. The upper limit of the optical tweezers force field is located above the upper end of the receiving groove in the vertical direction.

[0011] Optionally, the transfer mechanism further includes an inclined channel, which is a hollow structure with openings at both ends and is inclined relative to the vertical direction. The upper end of the inclined channel is smoothly connected to the lower end of the receiving groove. The lower end of the inclined channel is connected to a drip port located above the container adapter platform. The side wall of the inclined channel is provided with a buffer injection port for buffer injection.

[0012] Optionally, the driving mechanism includes a fourth rotary drive and a second linear drive. The imaging support includes a moving block, a rotating frame, and a mounting frame. The moving block is slidably mounted on the frame and driven by the second linear drive to move closer to or further away from the positioning plate in the vertical direction. The rotating frame is driven by the fourth rotary drive to rotate around the vertical direction under the drive of the fourth rotary drive. The mounting frame is mounted on the outside of the rotating frame and configured to mount the camera so that the camera moves to directly above the positioning plate as the rotating frame rotates.

[0013] Optionally, the container adaptation platform includes a placement base and a movable placement frame. The driving mechanism includes a third linear drive component. The placement base is installed at the bottom of the frame and has a waste liquid discharge port that extends vertically. The movable placement frame is configured to place the target container and is drivenly connected to the third linear drive component installed on the placement base to reciprocate horizontally under the drive of the third linear drive component.

[0014] Optionally, the mobile placement rack includes a mobile frame and placement clamps. The mobile frame is slidably mounted on the placement base and drivenly connected to the third linear drive member. The placement clamps are multiple in number and are spaced apart on the mobile frame along the horizontal direction and configured to clamp the target container.

[0015] Optionally, the frame is covered with a transparent acrylic shell, the side wall of the transparent acrylic shell is provided with double doors, and the top wall is provided with ventilation holes. The ventilation holes are equipped with HEPA filters. The inner side wall of the transparent acrylic shell is provided with a UV disinfection lamp mounting slot for placing the UV disinfection lamp. A magnetic sealing strip is provided between the double doors and the frame. Attached Figure Description

[0016] The present invention will now be described in further detail with reference to the accompanying drawings.

[0017] Figure 1 : A schematic diagram of the structure of the fully automated stem cell cloning, selection, and transfer integrated device in this embodiment of the present invention; Figure 2 : Figure 1 An enlarged schematic diagram of A shown in the image; Among them, 1-frame, 2-positioning mechanism, 21-positioning plate, 211-placement slot, 22-imaging support, 221-moving block, 222-rotating frame, 223-mounting frame, 3-picking mechanism, 31-moving arm, 32-flexible microneedle assembly, 321-clamp, 322-microneedle, 33-optical tweezers assembly, 331-laser emitting head, 332-angle adjustment seat, 4-transfer mechanism, 41-receiving slot, 42-tilting channel, 421-drip port, 422-buffered fluid injection port, 5-container adapter platform, 51-placement base, 52-moving placement frame, 521-moving frame, 522-placement fixture, 6-drive mechanism, 61-first rotary drive, 62-first linear drive, 63-second rotary drive, 64-third rotary drive, 65-fourth rotary drive, 66-second linear drive, 67-third linear drive. Detailed Implementation

[0018] To better understand this utility model, the following embodiments further illustrate its content, but the scope of protection of this utility model is not limited to the embodiments described below. Numerous specific details are set forth in the following description to provide a more thorough understanding of this utility model. However, it will be apparent to those skilled in the art that this utility model can be practiced without one or more of these details.

[0019] It should be noted that the Z-axis in the attached figures represents the vertical direction, i.e., the up-down position, with the positive direction of the Z-axis representing upward and the negative direction representing downward; the Y-axis in the attached figures represents the horizontal direction and is designated as the front-back position, with the positive direction of the Y-axis representing the front and the negative direction representing the back; the X-axis in the attached figures represents the left-right position, with the positive direction of the X-axis representing the right and the negative direction representing the left. It should also be noted that the aforementioned representations of the Z, Y, and X axes are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0020] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this utility model are only used to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0021] It should be noted that the terms "one" and "multiple" used in this utility model are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0022] This utility model provides a fully automated integrated device for stem cell clone picking and transfer, including a frame 1 and a positioning mechanism 2, a picking mechanism 3, a transfer mechanism 4, a container adaptation platform 5, and a driving mechanism 6, all mounted on the frame 1. The positioning mechanism 2 includes a positioning plate 21 and an imaging scaffold 22, which are arranged vertically and mounted on the frame 1. The positioning plate 21 is configured to support a culture dish, and the imaging scaffold 22 is configured to mount a camera. The driving mechanism 6 is configured to drive the imaging scaffold 22 to move up and down and rotate around the vertical direction so that the camera focuses on the culture dish. The picking mechanism 3 is located between the positioning plate 21 and the imaging scaffold 22 and is configured to pick up stem cell clones in the culture dish via the driving mechanism 6. The transfer mechanism 4 is located below the picking mechanism 3 and is configured to receive the stem cell clones picked by the picking mechanism 3. The container adaptation platform 5 is located below the transfer mechanism 4 and is configured to fix a target container so that the stem cell clones received by the transfer mechanism 4 move to the target container.

[0023] Specifically, frame 1 is made of stainless steel with a cross-sectional size of 20×20mm and an overall height of 800mm to ensure the stability of each mechanism during installation; the positioning plate 21 is equipped with anti-slip silicone pads 212 to accommodate culture dishes with a diameter of 35-100mm and prevent displacement during rotation; the mounting surface of the imaging bracket 22 is equipped with a level bubble meter to facilitate the calibration of the camera's horizontal position.

[0024] In this embodiment, as Figure 1 As shown, a fully automated stem cell cloning picking and transfer integrated device is composed of a frame 1 and positioning mechanisms 2, picking mechanisms 3, transfer mechanisms 4, container adaptation platforms 5, and driving mechanisms 6, all mounted on the frame 1. Positioning mechanism 2 consists of a positioning plate 21 and an imaging scaffold 22, arranged vertically on the frame 1. The positioning plate 21 is configured to hold the culture dish, and the imaging scaffold 22 is configured to mount the camera. The driving mechanism 6 is configured to drive the imaging scaffold 22 to move vertically and rotate vertically. This configuration allows the imaging scaffold 22 to be rotated vertically to the side above the positioning plate 21 before the culture dish is placed on it, facilitating placement. After the culture dish is placed, the imaging scaffold 22 can carry the camera and rotate it above the culture dish, allowing the camera to focus on the dish and accurately acquire the image, facilitating subsequent processing. The process involves cloning and picking. The picking mechanism 3 is located between the positioning plate 21 and the imaging scaffold 22, and is configured to pick stem cell clones from the culture dish via the drive mechanism 6. The transfer mechanism 4 is located below the picking mechanism 3 and is configured to receive the stem cell clones picked by the picking mechanism 3. This configuration allows the picked clones to be directly transferred to the transfer mechanism 4 after the picking mechanism 3 completes the cloning process, achieving seamless integration between picking and subsequent transfer, effectively improving efficiency and convenience. Finally, the container adaptation platform 5 is located below the transfer mechanism 4 and is configured to fix the target container. This configuration allows the stem cell clones received by the transfer mechanism 4 to move to the target container. Driven by the drive mechanism 6, the positioning, picking, transfer, and receiving of stem cell clones are integrated, ensuring work efficiency while avoiding the risk of contamination from exposure to air during multi-scenario operations, effectively improving sterility.

[0025] Optionally, the end face of the positioning plate 21 is provided with a placement groove 211, and the driving mechanism 6 includes a first rotary driving member 61, which is placed on the bottom wall of the placement groove 211 and is driven to connect with the culture dish placed in the placement groove 211 to drive the culture dish to rotate in the vertical direction; the transfer mechanism 4 includes a receiving groove 41, which is flush with the inner side wall of the culture dish along its upper end, and the lower end of the receiving groove 41 faces the container adapter platform 5. The receiving groove 41 is opened upward and is inclined relative to the vertical direction. The receiving groove 41 is configured to move back and forth in the horizontal direction to drive the upper end of the receiving groove 41 to move above the culture dish.

[0026] Specifically, the inner diameter of the placement groove 211 is 2mm larger than the outer diameter of the culture dish, and a positioning pin is set on the bottom wall of the groove to cooperate with the positioning hole at the bottom of the culture dish to ensure rotational coaxiality; the receiving groove 41 has a wall thickness of 1mm, a groove depth of 5mm, and a rounded edge with a radius of 1mm at the groove opening to avoid scratching the clones; a telescopic electric cylinder is installed on the frame 1 on one side of the receiving groove 41, and the drive end of the telescopic electric cylinder is connected to the transfer mechanism 4, so that the receiving groove 41 can move back and forth in the horizontal direction by telescopic movement of the telescopic electric cylinder; the first rotation drive component 61 can be a rotary motor or a servo motor, etc.

[0027] In this optional embodiment, such as Figure 1 As shown, the positioning plate 21 has a placement groove 211 on its end face. The driving mechanism 6 is equipped with a first rotary driving member 61, which is placed on the bottom wall of the placement groove 211 and driven by the culture dish placed in the placement groove 211. With this configuration, the first rotary driving member 61 is embedded in the bottom wall of the placement groove 211, and the output shaft engages with the connecting seat at the bottom of the culture dish, driving the culture dish to rotate in the vertical direction. This allows the camera to scan all clones in the culture dish, achieving comprehensive clone identification. At the same time, the rotation moves the clones at the corresponding positions in the culture dish to the picking path of the picking mechanism 3, facilitating subsequent picking. Based on this, the transfer mechanism 4 is equipped with a receiving groove 41, along which the receiving groove 41... The upper end of 1 is flush with the inner wall of the culture dish, and the lower end of the receiving groove 41 faces the container adapter platform 5. The opening of the receiving groove 41 is upward and inclined relative to the vertical direction, such as an inclination angle of 15 degrees. This setting can avoid the receiving groove 41 interfering with the movement of the picking mechanism 3 when the picking mechanism 3 is performing the picking operation. At the same time, the receiving groove 41 is configured to move back and forth in the horizontal direction, thereby driving the upper end of the receiving groove 41 to move above the culture dish. This setting allows the clone to fall directly into the receiving groove 41 after the picking mechanism 3 picks the clone out of the culture dish, achieving a seamless connection between picking and transfer, effectively shortening the clone transfer path, reducing the risk of exposure and falling, and effectively improving the sterility and safety.

[0028] Optionally, the picking mechanism 3 includes a moving arm 31, a flexible microneedle assembly 32, and an optical tweezers assembly 33. The driving mechanism 6 also includes a first linear drive member 62. The moving arm 31 is slidably mounted on the frame 1 and driven by the first linear drive member 62 to move back and forth in the horizontal direction. The flexible microneedle assembly 32 and the optical tweezers assembly 33 are both mounted on the moving arm 31 and both face the culture dish.

[0029] Specifically, the movable arm 31 is made of aluminum alloy, is 300mm long, and has scale lines on its surface for easy calibration of the picking position. It moves back and forth via the dovetail groove guide rail on the frame 1. The dovetail groove guide rail is equipped with a grease filling port to reduce sliding friction. Both the flexible microneedle assembly 32 and the optical tweezers assembly 33 are equipped with quick-release seats for easy maintenance and replacement. The first linear drive component 62 is a telescopic motor or telescopic electric cylinder, etc.

[0030] In this optional embodiment, such as Figure 1 and Figure 2 As shown, a picking mechanism 3 is composed of a movable arm 31, a flexible microneedle assembly 32, and an optical tweezers assembly 33. The driving mechanism 6 is also equipped with a first linear drive 62. The movable arm 31 is slidably mounted on the frame 1 and driven by the first linear drive 62, so that it can move back and forth in the horizontal direction under the drive of the first linear drive 62. The flexible microneedle assembly 32 and the optical tweezers assembly 33 are both mounted on the movable arm 31 and face the culture dish. In this way, the flexible microneedle assembly 32 and the optical tweezers assembly 33 can move with the movable arm 31, approaching or moving away from the culture dish, which facilitates the placement of the culture dish and the picking operation. At the same time, the flexible microneedle assembly 32 and the optical tweezers assembly 33 can work together. The flexible microneedle assembly 32 can pick up adherent clones, while the optical tweezers assembly 33 can pick up suspended clones, effectively improving the operation efficiency.

[0031] Optionally, the flexible microneedle assembly 32 includes a clamp 321 and a microneedle 322. The drive mechanism 6 also includes a second rotary drive 63. One end of the clamp 321 holds one end of the microneedle 322. The other end of the clamp 321 is mounted on the first part of the moving arm 31 through the second rotary drive 63 to rotate around the horizontal direction to drive the other end of the microneedle 322 to move up and down. The upper limit of the microneedle 322 is located above the upper end of the receiving groove 41 in the vertical direction.

[0032] Specifically, the microneedle 322 is made of medical-grade elastic alloy material, with a tip diameter of 1μm, a body diameter of 0.5mm, and a length of 50mm, providing a certain degree of elastic cushioning; the chuck 321 has a built-in buffer spring, and the clamping force is adjustable, ranging from 5-10N, to avoid damaging the microneedle 322; the second rotation drive 63 is equipped with an angle limit block to limit the maximum rotation angle and prevent excessive picking; the second rotation drive 63 can be a rotary motor or a servo motor, etc.; the upper limit movement position of the microneedle 322 is 5mm higher than the upper end of the receiving groove 41, and the lower limit movement position can reach the bottom of the culture dish, with a total stroke of 10mm.

[0033] In this optional embodiment, such as Figure 1 and Figure 2 As shown, a flexible microneedle assembly 32 is formed by a chuck 321 and a microneedle 322. The driving mechanism 6 is also provided with a second rotary drive 63. One end of the chuck 321 clamps one end of the microneedle 322, which can ensure the installation of the microneedle 322 and facilitate the disassembly and maintenance of the microneedle 322. The other end of the chuck 321 is mounted on the first part of the moving arm 31 through the second rotary drive 63, so as to drive the other end of the microneedle 322 to move up and down around the horizontal direction. The upper limit of the microneedle 322 is located above the upper end of the receiving groove 41 in the vertical direction. With this configuration, the microneedle 322 can be used to pick up the clones in the culture dish, and the movement of the microneedle 322 can be avoided from interfering with the receiving groove 41. At the same time, the rotary drive can achieve stable picking and effectively avoid cell damage.

[0034] Optionally, the optical tweezers assembly 33 includes a laser emitting head 331 and an angle adjustment seat 332. The driving mechanism 6 also includes a third rotary drive 64. The laser emitting head 331 is mounted on the angle adjustment seat 332. The angle adjustment seat 332 is mounted on the second part of the moving arm 31 through the third rotary drive 64 to rotate around the horizontal direction to drive the optical tweezers force field formed by the laser emitting head 331 to move up and down. The upper limit of the optical tweezers force field is located above the upper end of the receiving groove 41 in the vertical direction.

[0035] Specifically, the laser emitting head 331 uses a near-infrared laser with a wavelength of 808nm and an optical tweezers force field range of 5-100pN, which is suitable for 5-50μm suspended clones; the angle adjustment seat 332 is equipped with a scale with an accuracy of 1°, which facilitates precise adjustment of the force field position; the third rotation drive 64 is a rotary motor or a servo motor; during rotation, the optical tweezers force field formed by the laser emitting head 331 moves up and down, with the upper limit position 3mm higher than the upper end of the receiving groove 41, and the lower limit position covering the cloning area in the culture dish.

[0036] In this optional embodiment, such as Figure 1 and Figure 2As shown, an optical tweezers assembly 33 is formed by a laser emitting head 331 and an angle adjustment seat 332. The driving mechanism 6 is also provided with a third rotary drive 64. The laser emitting head 331 is mounted on the angle adjustment seat 332, and the angle adjustment seat 332 is mounted on the second part of the moving arm 31 through the third rotary drive 64. Under the driving action of the third rotary drive 64, the angle adjustment seat 332 can rotate around the horizontal direction, thereby driving the optical tweezers force field formed by the laser emitting head 331 to move up and down, realizing the picking of clones captured by the optical tweezers force field. Moreover, the upper limit of the optical tweezers force field is located above the upper end of the receiving groove 41 in the vertical direction, which can ensure that the clones captured by the laser emitting head 331 fall stably on the receiving groove 41.

[0037] Optionally, the transfer mechanism 4 also includes an inclined channel 42, which is a hollow structure with openings at both ends and is inclined relative to the vertical direction. The upper end of the inclined channel 42 is smoothly connected to the lower end of the receiving groove 41. The lower end of the inclined channel 42 is connected to a drip port 421 located above the container adapter platform 5. The side wall of the inclined channel 42 is provided with a buffer injection port 422 for buffer injection.

[0038] Specifically, the inclined channel 42 has an inner diameter of 2mm and a length of 100mm, and its inner wall is coated with a hydrophobic coating to reduce liquid adhesion; the outlet diameter of the drip port 421 is 1mm, and the edges are rounded to prevent liquid from sticking to the wall; the buffer solution inlet 422 has a built-in filter cotton to prevent impurities from being introduced when injecting the buffer solution; the inclination angle of the inclined channel 42 can be equal to or greater than the inclination angle of the receiving tank 41.

[0039] In this optional embodiment, such as Figure 1 As shown, the transfer mechanism 4 is also provided with an inclined channel 42. The inclined channel 42 is a hollow structure with openings at both ends and is inclined relative to the vertical direction. The upper end of the inclined channel 42 is smoothly connected to the lower end of the receiving groove 41, which facilitates the stable movement of the clones received by the receiving groove 41 to the inclined channel 42 and avoids cell damage. At the same time, the lower end of the inclined channel 42 is connected to a droplet 421 located above the container adapter platform 5, so that the clones can fall stably into the target container in the container adapter platform 5 through the droplet 421, realizing the transfer of clones. On this basis, the side wall of the inclined channel 42 is provided with a buffer injection port 422 for buffer injection. With this setting, the buffer injected through the buffer injection port 422 can encapsulate the clones to form microdroplets, ensuring the smoothness and safety of the clones flowing along the inclined channel 42.

[0040] Optionally, the drive mechanism 6 includes a fourth rotary drive 65 and a second linear drive 66. The imaging support 22 includes a moving block 221, a rotating frame 222, and a mounting frame 223. The moving block 221 is slidably mounted on the frame 1 and is driven to be connected to the second linear drive 66 to move closer to or further away from the positioning plate 21 in the vertical direction. The rotating frame 222 is driven to be connected to the fourth rotary drive 65 to rotate in the vertical direction under the drive of the fourth rotary drive 65. The mounting frame 223 is mounted on the outside of the rotating frame 222 and is configured to mount the camera so that the camera moves to directly above the positioning plate 21 as the rotating frame 222 rotates.

[0041] Specifically, the mounting frame 223 is adapted to a 2 / 3-inch industrial camera, and a locking knob is provided on the side to further fix the camera position; the fourth rotary drive 65 can be a rotary motor or a servo motor; the second linear drive 66 can be a telescopic electric cylinder or a telescopic hydraulic cylinder.

[0042] In this optional embodiment, such as Figure 1 and Figure 2 As shown, the drive mechanism 6 is equipped with a fourth rotary drive 65 and a second linear drive 66. The imaging support 22 is composed of a moving block 221, a rotating frame 222, and a mounting frame 223. The moving block 221 is slidably mounted on the frame 1 and is driven by the second linear drive 66, so that it can move closer to or away from the positioning plate 21 in the vertical direction under the driving action of the second linear drive 66. The rotating frame 222 is driven by the fourth rotary drive 65, so that it can rotate in the vertical direction under the driving action of the fourth rotary drive 65. On this basis, the mounting frame 223 is mounted on the outside of the rotating frame 222 and is configured to mount the camera. With this configuration, the camera moves to the top of the positioning plate 21 as the rotating frame 222 rotates, and moves up and down to achieve precise focusing.

[0043] Optionally, the container adapter platform 5 includes a placement base 51 and a movable placement frame 52. The drive mechanism 6 includes a third linear drive member 67. The placement base 51 is installed at the bottom of the frame 1 and has a waste liquid discharge port that runs vertically through the frame. The movable placement frame 52 is configured to place the target container and is driven to connect with the third linear drive member 67 installed on the placement base 51 so that it can reciprocate in the horizontal direction under the drive of the third linear drive member 67.

[0044] Specifically, the placement base 51 is equipped with linear guide rails, and the linear guide rails 512 are arranged in a double parallel layout with a spacing of 50mm to ensure that the moving placement frame 52 moves smoothly without shaking; the surface of the placement base 51 is provided with drainage grooves that radiate towards the waste liquid discharge outlet to facilitate waste liquid collection; the third linear drive 67 is equipped with a stroke adjustment knob, which can adjust the movement stroke according to the container specifications; the third linear drive 67 is a linear actuator.

[0045] In this optional embodiment, such as Figure 1 As shown, the base 51 and the movable placement rack 52 form a container adaptation platform 5. The drive mechanism 6 is equipped with a third linear drive 67. The placement base 51 is installed at the bottom of the frame 1 and has a waste liquid discharge port that runs vertically through it, which allows the waste liquid to be discharged stably. The movable placement rack 52 is configured to place the target container and is driven by the third linear drive 67 installed on the placement base 51. Under the drive of the third linear drive 67, it can move back and forth in the horizontal direction, so that the target container placed on the movable placement rack 52 can be accurately moved to the direct below the transfer mechanism 4, achieving precise alignment and ensuring the stable landing of the clone.

[0046] Optionally, the movable placement rack 52 includes a movable rack 521 and a placement clamp 522. The movable rack 521 is slidably mounted on the placement base 51 and is drivenly connected to the third linear drive member 67. The placement clamp 522 has multiple clamps, which are spaced apart in the horizontal direction on the movable rack 521 and configured to clamp the target container.

[0047] Specifically, the placement clamp 522 is an elastic clamp with anti-slip texture on the clamping surface to increase friction and prevent the target container from sliding; the moving frame 521 has scale lines on its surface to facilitate precise positioning of each placement clamp; and the bottom of the placement clamp 522 has a buffer pad to reduce collision damage when the container is placed.

[0048] In this optional embodiment, such as Figure 1 As shown, a movable placement frame 52 is composed of a movable frame 521 and a placement clamp 522. The movable frame 521 is slidably mounted on the placement base 51 and is drivenly connected to the third linear drive member 67, so that it moves back and forth under the driving action of the third linear drive member 67. There are multiple placement clamps 522, which are installed at intervals along the horizontal direction on the movable frame 521 and are configured to clamp the target container. This allows multiple target containers to be moved sequentially to the underside of the transfer mechanism 4, realizing a streamlined transfer of cloning and effectively improving work efficiency.

[0049] Optionally, the frame 1 is covered with a transparent acrylic shell. The side wall of the transparent acrylic shell is provided with double doors, and the top wall is provided with ventilation holes. The ventilation holes are equipped with HEPA filters. The inner side wall of the transparent acrylic shell is provided with a UV disinfection lamp mounting slot for placing the UV disinfection lamp. A magnetic sealing strip is provided between the double doors and the frame 1.

[0050] Specifically, the viewing surface of the transparent acrylic shell is coated with an anti-fog coating to prevent fogging caused by internal temperature differences from affecting observation; the double doors are equipped with handles and locks, and the ultraviolet disinfection lamp can be activated when the lock is closed; the ultraviolet disinfection lamp mounting slot is equipped with heat dissipation holes to prevent the disinfection lamp from overheating during operation; the HEPA filter is a removable structure for easy periodic replacement.

[0051] In this optional embodiment, a transparent acrylic shell is provided on the outer side of the frame 1. The transparent acrylic shell is 3mm thick and is integrally covered on the outside of the frame 1. It adopts a spliced ​​structure and is fixed to the frame 1 with bolts to effectively isolate external bacteria. The side wall of the transparent acrylic shell has double doors, and the top wall has ventilation holes with HEPA filters inside. The inner side wall of the transparent acrylic shell has a UV disinfection lamp mounting slot for placing the UV disinfection lamp. A magnetic sealing strip is provided between the double doors and the frame 1. The double doors are located on the front of the shell, allowing ventilation... The door is hinged to the outer shell, and a magnetic sealing strip is installed on the edge of the door. When closed, it fits tightly with the outer shell, effectively improving the sealing performance. There are four vents on the top wall of the outer shell, arranged in a rectangle. Each vent has a built-in HEPA filter with a pore size of 0.22μm to achieve sterile air filtration. At the same time, there are two symmetrically distributed ultraviolet disinfection lamp mounting slots on the inner side wall of the outer shell. The disinfection lamps are fixed in the slots with buckles. When turned on, they can disinfect the internal space in all directions, ensuring a sterile environment inside the outer shell and improving the sterility of the clone.

[0052] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A fully automated integrated device for stem cell cloning, selection, and transfer, characterized in that, The system includes a frame (1) and a positioning mechanism (2), a picking mechanism (3), a transfer mechanism (4), a container adaptation platform (5), and a driving mechanism (6), all mounted on the frame (1). The positioning mechanism (2) includes a positioning plate (21) and an imaging support (22). The imaging support (22) and the positioning plate (21) are arranged vertically and are both mounted on the frame (1). The positioning plate (21) is configured to support the culture dish, and the imaging support (22) is configured to mount the camera. The driving mechanism (6) is configured to drive the imaging support (22) to move up and down and around the vertical axis. The direction is rotated so that the camera focuses on the culture dish; the picking mechanism (3) is located between the positioning plate (21) and the imaging support (22) and is configured to pick up the stem cell clone in the culture dish via the driving mechanism (6); the transfer mechanism (4) is located below the picking mechanism (3) and is configured to receive the stem cell clone picked by the picking mechanism (3); the container adapter platform (5) is located below the transfer mechanism (4) and is configured to fix the target container so that the stem cell clone received by the transfer mechanism (4) moves to the target container.

2. The fully automated stem cell cloning, selection, and transfer integrated device as described in claim 1, characterized in that, The positioning plate (21) has a placement groove (211) on its end face. The driving mechanism (6) includes a first rotating drive member (61), which is placed on the bottom wall of the placement groove (211) and is connected to the petri dish placed in the placement groove (211) to drive the petri dish to rotate around the vertical direction. The transfer mechanism (4) includes a receiving groove (41), which is flush with the inner wall of the petri dish along its upper end. The lower end of the receiving groove (41) faces the container adapter platform (5). The receiving groove (41) is open upward and is inclined relative to the vertical direction. The receiving groove (41) is configured to move back and forth in the horizontal direction to drive the upper end of the receiving groove (41) to move above the petri dish.

3. The fully automated stem cell cloning, selection, and transfer integrated device as described in claim 2, characterized in that, The picking mechanism (3) includes a moving arm (31), a flexible microneedle assembly (32), and an optical tweezers assembly (33). The driving mechanism (6) also includes a first linear drive (62). The moving arm (31) is slidably mounted on the frame (1) and driven to be connected to the first linear drive (62) to move back and forth along the horizontal direction. The flexible microneedle assembly (32) and the optical tweezers assembly (33) are both mounted on the moving arm (31) and both face the culture dish.

4. The fully automated stem cell cloning, selection, and transfer integrated device as described in claim 3, characterized in that, The flexible microneedle assembly (32) includes a clamp (321) and a microneedle (322). The drive mechanism (6) further includes a second rotary drive (63). One end of the clamp (321) holds one end of the microneedle (322). The other end of the clamp (321) is mounted on the first part of the moving arm (31) through the second rotary drive (63) to rotate around the horizontal direction and drive the other end of the microneedle (322) to move up and down. The upper limit of the microneedle (322) is located above the upper end of the receiving groove (41) in the vertical direction.

5. The fully automated stem cell cloning, selection, and transfer integrated device as described in claim 3, characterized in that, The optical tweezers assembly (33) includes a laser emitting head (331) and an angle adjustment seat (332). The driving mechanism (6) also includes a third rotary drive (64). The laser emitting head (331) is mounted on the angle adjustment seat (332). The angle adjustment seat (332) is mounted on the second part of the moving arm (31) via the third rotary drive (64) to rotate around the horizontal direction to drive the optical tweezers force field formed by the laser emitting head (331) to move up and down. The upper limit of the optical tweezers force field is located above the upper end of the receiving groove (41) in the vertical direction.

6. The fully automated stem cell cloning, selection, and transfer integrated device as described in any one of claims 2 to 5, characterized in that, The transfer mechanism (4) further includes an inclined channel (42), which is a hollow structure with openings at both ends and is inclined relative to the vertical direction. The upper end of the inclined channel (42) is smoothly connected to the lower end of the receiving groove (41). The lower end of the inclined channel (42) is connected to a drip port (421) located above the container adapter platform (5). The side wall of the inclined channel (42) is provided with a buffer injection port (422) for buffer injection.

7. The fully automated stem cell cloning and transfer integrated device as described in any one of claims 1 to 5, characterized in that, The driving mechanism (6) includes a fourth rotary drive (65) and a second linear drive (66). The imaging support (22) includes a moving block (221), a rotating frame (222), and a mounting frame (223). The moving block (221) is slidably mounted on the frame (1) and driven to be connected to the second linear drive (66) to move closer to or further away from the positioning plate (21) in the vertical direction. The rotating frame (222) is driven to be connected to the fourth rotary drive (65) to rotate around the vertical direction under the drive of the fourth rotary drive (65). The mounting frame (223) is mounted on the outside of the rotating frame (222) and is configured to mount the camera so that the camera moves to directly above the positioning plate (21) as the rotating frame (222) rotates.

8. The fully automated stem cell cloning, selection, and transfer integrated device as described in any one of claims 1 to 5, characterized in that, The container adaptation platform (5) includes a placement base (51) and a movable placement frame (52). The driving mechanism (6) includes a third linear drive (67). The placement base (51) is installed at the bottom of the frame (1) and has a waste liquid discharge outlet that runs vertically through the frame. The movable placement frame (52) is configured to place the target container and is driven to connect with the third linear drive (67) installed on the placement base (51) so as to reciprocate horizontally under the drive of the third linear drive (67).

9. The fully automated stem cell cloning, selection, and transfer integrated device as described in claim 8, characterized in that, The movable placement rack (52) includes a movable frame (521) and placement clamps (522). The movable frame (521) is slidably mounted on the placement base (51) and is drivenly connected to the third linear drive (67). There are multiple placement clamps (522), which are spaced apart on the movable frame (521) along the horizontal direction and are configured to clamp the target container.

10. The fully automated stem cell cloning, selection, and transfer integrated device as described in any one of claims 1 to 5, characterized in that, The frame (1) is covered with a transparent acrylic shell. The side wall of the transparent acrylic shell is provided with a double door, and the top wall is provided with a ventilation hole. The ventilation hole is equipped with a HEPA filter. The inner side wall of the transparent acrylic shell is provided with a UV disinfection lamp mounting slot for placing the UV disinfection lamp. A magnetic sealing strip is provided between the double door and the frame (1).

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