How to handle or dispose of the umbilical cord

Abstract

The invention relates to a method for handling or processing an umbilical cord using a device (110) comprising: - a head (111) comprising at least one actuator and at least two attachment elements; - two working parts (130) engageable with attachment elements by means of a reversible attachment such that each working part (130) together with the head (111) forms a tool that can be actuated by at least one actuator; and - a device (119) for moving the head (111) in space. The method includes the steps of: attaching a working part (130) to a first attachment element by moving the head (111); attaching another working part (130) to a second attachment element by moving the head (111); applying a tool to the umbilicus by actuating an actuator; and detaching at least one of the working parts (130) from a corresponding attachment element.

Description

[Technical field]

[0001] FIELD OF THEINVENTION The present invention relates to a method for handling or processing an umbilical cord.

[0002] The invention also relates to an apparatus for the handling and processing of biological objects. More particularly, the invention relates to an apparatus including an element that can be actuated with a reversible fixture. [Background technology]

[0003] The handling and processing of biological objects, in particular the umbilical cord, must be carried out under strict working conditions and in particular to avoid any risk of cross-contamination. This working environment is required by Good Manufacturing Practices (GMP). Reducing the direct handling of biological objects by humans is one of the measures to limit the risk of contamination. The use of robotic tools makes it possible to reduce human contact with biological objects.

[0004] However, known robotic tools for handling and processing biological objects are not satisfactory.

[0005] Known methods for handling biological objects in compliance with GMP rely on sterilization of tools between each handling. However, this method significantly prolongs the time of work on biological objects. Furthermore, some biological material, in particular the umbilical cord, must be handled and processed as quickly as possible to ensure the quality of the extracted elements. In addition, sterilization also entails an increase in the costs of processing biological objects, especially in the context of automation of the handling steps.

[0006] The present invention aims to provide a method that allows the handling and processing of biological objects, in particular umbilical cords, in a manner that is fast, automatic, repeatable or low-cost and at the same time reduces the risk of cross-contamination. Summary of the Invention

[0007] For this purpose, the present invention provides - a head comprising at least one actuator and at least two mounting elements, the at least one actuator being configured to rotate the at least one mounting element about its axis of rotation and / or to cause the at least one mounting element to undergo a linear movement along an axis parallel to an axis connecting the two mounting elements, - two working parts, each of which can be engaged with a mounting element by a reversible attachment so as to form a tool that can be actuated by at least one actuator together with the head; and - a device for moving the head in space, Using an apparatus including - mounting the work part on the first mounting element by moving the head; - mounting another work part on the second mounting element by moving the head; - applying a tool to the umbilical cord by actuating an actuator; and - separating at least one useful part from a corresponding mounting element, The present invention relates to a method for handling or processing an umbilical cord, comprising:

[0008] The method allows for rapid replacement of working parts between each handling or processing to reduce the risk of cross contamination.

[0009] In fact, the movable and complex parts such as the actuators and the attachment elements are located in the head, which do not come into contact with the umbilicus. Therefore, only the working parts come into contact with the umbilicus. These parts can therefore be made of simple and easy to make parts, for lower cost replacement between each handling or processing, so as to reduce the risk of cross-contamination.

[0010] The device may be particularly suitable for performing operations of moving, cutting, or rinsing the umbilical cord in the context of a method for extracting stem cells from the umbilical cord.

[0011] In addition, the head can be placed on any mobile device, which makes it possible to obtain a universal tool that can be easily installed on existing mobile devices.

[0012] Finally, a reversible fixture is particularly advantageous because it allows automatic replacement of the working parts of the tool without human intervention. This therefore reduces the risk of cross-contamination due to human contact with the umbilical cord. In addition, a reversible fixture allows for rapid replacement of the working parts. This therefore allows for rapid handling and processing of the umbilical cord in order to guarantee the quality of the extracted elements.

[0013] In another advantageous embodiment of the invention, the device comprises at least one fixed mounting element.

[0014] This allows for the handling of heavier tools or elements or for carrying out handling operations requiring greater force.

[0015] In another advantageous aspect of the invention, the device further comprises an independent actuator for each mounting element.

[0016] This allows for asynchronous movement of the working parts, which increases the number of degrees of freedom of the tool and therefore increases precision during handling or processing of the umbilical cord. In addition, this allows for the use of complex tools such as push syringes.

[0017] In another advantageous embodiment of the invention, the at least one actuation device rotates the mounting elements about their axes of rotation, the axes of rotation of the mounting elements being distinct.

[0018] In another advantageous aspect of the invention, the reversible fastener is magnetic or mechanical.

[0019] In another advantageous aspect of the invention, the reversible fixture is mechanical and includes a pusher that allows the separation of the working part from the corresponding mounting element, the device further including a bearing element, the pusher being pressurized against the bearing element by moving the head in order to remove the working part of the corresponding mounting element.

[0020] In another advantageous embodiment of the invention, the tool is a clamp and each working part is a jaw of the clamp. Preferably, the jaw of the clamp may include several lamellae or teeth arranged with a gap between them so as to allow the clamp to grasp a tubular-shaped biological object (for example, an umbilical cord) and at the same time to prevent contact with the latter and to hold it over its length. Each tooth may also be perforated at its end opposite the head so as not to damage the umbilical cord, which, in the case of a low density umbilical cord, must have enough free space so that its shape can fit the tool that handles it.

[0021] The tool may also be comprised of a liquid collection or evacuation tool, and the working part may include a fixing module for a plunger syringe and a plunger pusher adapted to move a plunger of a syringe fixed to the fixing module when a corresponding actuator is actuated.

[0022] The tool may also comprise a cutting tool configured to cut the umbilical cord, further comprising a working part including a blade and an umbilical cord pusher.

[0023] In another advantageous aspect of the invention, the portion of the working part intended to be in contact with the umbilical cord comprises a biocompatible material, preferably a polymeric material.

[0024] The use of polymeric materials makes it possible to obtain working parts that are easily and cheaply produced, for example they can be produced by additive manufacturing or 3D printing, and therefore these parts can be replaced at lower cost between handling or processing to reduce the risk of cross-contamination.

[0025] In another advantageous embodiment of the invention, the at least one actuator is controlled by a closed loop control.

[0026] This makes it possible to achieve safety in the event of an impact on the working parts: indeed, if pressure is exerted on one of the working parts, with the corresponding mounting element displacing, the actuator can inhibit it and then automatically return to the position before the impact.

[0027] In one embodiment, the device for moving the head comprises a three-axis robotic arm, although the invention can be readily adapted to any type of robotic arm or any other device for translational and / or rotational movement in space.

[0028] In addition, the device at least one sensor configured to identify the location of the umbilical cord; and a control device configured to control a device for moving the head and at least one actuator of the head according to the position of the umbilical cord determined by the sensor.

[0029] In one embodiment, the sensor is a camera, a color sensor or a radar.

[0030] In a second aspect, the present invention also relates to an apparatus adapted for handling or processing biological objects with an actuatable liquid collection or discharge tool, the apparatus comprising: - a head comprising at least one actuator and at least two mounting elements, the at least one actuator being configured to rotate the at least one mounting element about its axis of rotation and / or to cause the at least one mounting element to undergo a linear movement along an axis parallel to an axis connecting the two mounting elements, - two working parts, each of which can cooperate with a mounting element by means of a reversible fixture so as to form a tool that can be actuated by at least one actuator together with a head; and - a device for moving the head (119) in space, The working part includes a locking module for a plunger syringe and a plunger pusher adapted to move a plunger of a syringe secured to the locking module when a corresponding actuator is actuated.

[0031] In a third aspect, the present invention also relates to an apparatus configured for handling or processing a biological object by means of a cutting tool operable to cut the biological object, the apparatus comprising: - a head comprising at least one actuator and at least two mounting elements, the at least one actuator being configured to rotate the at least one mounting element about its axis of rotation and / or to cause the at least one mounting element to undergo a linear movement along an axis parallel to an axis connecting the two mounting elements, - two working parts, each of which can cooperate with a mounting element by means of a reversible fixture so as to form a tool that can be actuated by at least one actuator together with a head; and - a device for moving the head in space, The working parts include a blade and an umbilical cord pusher.

[0032] The invention also provides an apparatus configured to handle or process a biological object with a tool that can be actuated, the apparatus comprising: - a head comprising at least one actuator and at least two mounting elements, the at least one actuator being configured to rotate the at least one mounting element about its axis of rotation and / or to cause the at least one mounting element to undergo a linear movement along an axis parallel to an axis connecting the two mounting elements, - two working parts, each of which can cooperate with a mounting element by means of a reversible fixture so as to form a tool that can be actuated by at least one actuator together with a head; and - a device for moving the head in space.

[0033] Movable and complex parts such as actuators and mounting elements are located in the head, which do not come into contact with the biological object. Thus, only the working parts come into contact with the biological object. Thus, these parts can be composed of simple and easy to fabricate parts for lower cost replacement during each handling or processing, so as to reduce the risk of cross-contamination.

[0034] definition For the purposes of the present invention, the following terms are defined as follows:

[0035] "Biocompatibility" refers to the ability of a substance not to interfere with or degrade biological objects with which it interacts.

[0036] "Good Manufacturing Practice (GMP)" refers to principles and guidelines that should be followed for the manufacture of medicinal products for human and veterinary use. It is one of the quality assurance elements that ensures that products are suitable for these uses and are manufactured and uniformly controlled in accordance with the quality standards laid down in the marketing authorisation.

[0037] "Closed loop control" refers to automatic control of an actuator that allows it to return to a predetermined position after deviation from this position.

[0038] "Reversible fixation" refers to a fixation means that allows for the attachment and detachment of two parts.

[0039] "A tool that can be actuated" refers to a tool that has several positions of use and that can be actuated to switch it from one position to another or to cause it to perform a given function.

[0040] Other features and advantages of the present invention will become apparent from the description given hereinafter in connection with the accompanying drawings which illustrate non-limiting embodiments thereof. [Brief description of the drawings]

[0041] [Figure 1] 1 shows a plan view of a system incorporated in a method according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram of the system of FIG. 1 from another perspective. [Diagram 3] FIG. 2 is a diagram of the system of FIG. 1 in an embodiment in which the collector tray is a movable platform. [Figure 4] 1 shows the head of the handling and processing device of the system in an embodiment in which the head includes two actuators configured to rotate the mounting element about their axes of rotation. [Diagram 5] 1 shows the head of the device in an embodiment where the head includes two actuators configured to impart linear movement of a mounting element along an axis parallel to an axis connecting the two mounting elements. [Figure 6] 1 shows the head of the device in an embodiment in which the head includes two fixed mounting elements. [Figure 7] Shown is a tool that can be actuated to grasp biological objects according to two embodiments: a narrow clamp on the left and a wide clamp with teeth on the right. [Figure 8] 1 shows a tool that can be actuated to grasp a biological object according to two embodiments (a narrow clamp curved on the left and a wide clamp curved on the right). [Figure 9] 1 illustrates an actuable liquid ejection tool according to one embodiment and from three views. [Figure 10] 1 shows another example of a working piece (hook) that can be used with the device. [Figure 11] 1 shows a reversible fastener according to a preferred embodiment (push clip). [Figure 12] Illustrates the use of a reversible fastener according to a preferred embodiment (push clip). [Figure 13] 1 shows a cutting tool according to a preferred embodiment. [Figure 14] 1 shows an embodiment of a gutter. [Figure 15] 1 shows an embodiment of a collector tray (movable platform). [Figure 16] 1 illustrates a cutting tool (straight cutting edge blade) according to one embodiment. [Figure 17] 1 illustrates an umbilical cord pusher tool according to one embodiment. [Figure 18] 1 illustrates a method according to an embodiment of the present invention. [Figure 19] 2 shows a first step of a method according to an embodiment of the invention. [Figure 20] 4 shows a second step of the method according to an embodiment of the invention. [Figure 21] 4 illustrates a fourth step of the method according to an embodiment of the present invention. [Figure 22] 5 illustrates a fifth step of the method according to an embodiment of the present invention. [Diagram 23] 1 illustrates determining the location of a blood clot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] 1-3 show a system 100 for handling or processing biological objects according to an embodiment of the present invention.

[0043] The biological object may consist of any type of biological object that can be grasped. Preferably, the biological object is a part of an organ extracted from the body of an organism, in particular an umbilical cord. For the system 100, this umbilical cord can be handled (e.g., moved, cut, etc.) or processed (e.g., by rinsing) in order to extract stem cells therefrom. In the remainder of the description, the system 100 is described according to its application to the handling and processing of an umbilical cord, but the invention may also be used in the case of handling and processing of any other biological object that can be grasped, such as, for example, organs having a substantially tubular shape, such as an intestine or an artery.

[0044] In particular, the system 100 includes a device 110 configured to handle or process a biological object, at least one sensor 150, and a controller 160.

[0045] The system 100 may further include a cutting tool 120 , a handling area 190 , and a sample storage area 180 , which may include one or more Petri dishes 182 .

[0046] In particular, the apparatus 110 includes a head 111 and a working part 130 .

[0047] Advantageously, the head 111 comprises the complex elements of the device. This is advantageous because during use of the device 110, the head 111 does not come into contact with biological objects. There is therefore no risk of cross-contamination during any handling or processing, which allows the same elements comprising the head 111 to be used multiple times. It is therefore advantageous to include in the head 111 the complex, and therefore more expensive to manufacture, elements. More specifically, as shown in Figures 4-6, the head 111 comprises at least one actuator 112 and at least two mounting elements 113.

[0048] In one embodiment, shown in Figures 4 and 5, the head 111 includes two movable mounting elements 113. In an alternative embodiment, shown in Figure 6, the head 111 includes two movable mounting elements 113 as well as two fixed mounting elements 113a. The fixed mounting elements 113a allow for the handling of heavy tools or elements or for performing handling operations that require significantly greater forces than the capabilities of the actuator 112.

[0049] The actuator 112 is configured to move at least one mounting element 113. In the embodiment shown in FIG. 4, the actuator 112 is configured to rotate the two mounting elements 113 around their rotation axes (Z1, Z2) (the movement of the mounting elements 113 is indicated by the arrows in the left diagram of FIG. 4). In this embodiment, the actuator 112 is preferably configured to perform an arc rotational movement (limitation of rotation). In other words, the actuator 112 is configured to avoid a rotation of 360°. This makes the actuator 112 fully calibrated by rotation up to the permissible limit of their rotation. Indeed, when the actuator 112 reaches its rotation limit, its position is calibrated, for example associated with an angle of 0°. Alternatively, in the embodiment shown in Fig. 5, the actuator 112 is configured to cause the two mounting elements 113 to perform a linear movement (translational movement) along an axis parallel to the axis connecting the two mounting elements 113 (the movement of the mounting elements 113 is indicated by the arrows in the left diagram of Fig. 5). Alternatively, the actuator 112 may be configured to rotate the two mounting elements 113 about their axes of rotation (Z1, Z2) and to translate them along an axis parallel to the axis connecting the two mounting elements 113.

[0050] The rotation axes (Z1, Z2) of the mounting elements 113 can be different, i.e. spaced apart from each other. In the preferred embodiment shown in FIG. 4, the rotation axes (Z1, Z2) of the mounting elements 113 are different and parallel to each other.

[0051] The mounting elements 113a are fixed and they are not actuated by the actuator.

[0052] The actuator 112 may consist of any element for moving the mounting element 113 according to the above mentioned motions. Preferably, the actuator 112 may consist of a motor, a cylinder, etc. In case the actuator 112 is a motor, it may consist of a stepper motor or a servo motor. Preferably, the actuator 112 is a stepper motor, which allows the position of the motor, and thus the position of the mounting element 113, to be set more precisely. Preferably, the stepper motor is controlled by a TMC driver including StallGuard technology, which allows the driver to perform precise movements without sensors.

[0053] Advantageously, the device 110 includes one independent actuator 112 for each attachment element 113, as shown in the right diagram of Figures 4 and 5. This allows for asynchronous movement of the attachment elements 113, which increases the number of degrees of freedom of the tool and therefore increases the precision during handling or processing of biological objects. In addition, this allows the use of complex tools such as pusher syringes.

[0054] In one embodiment, the actuator 112 allows for obtaining a tool that is fixed and cannot be moved (all mounting elements 113 and 113a are fixed).

[0055] Advantageously, at least one actuator 112 is controlled by a closed-loop control. This is advantageous since the closed-loop control makes it possible to achieve safety in the event of an impact. Indeed, if pressure is exerted on one of the attachment elements 113, with a deviation of its position, the actuator 112 automatically causes the attachment element 113 to return to the position before the impact.

[0056] Preferably, the actuator 112 is mounted (hermetically sealed) in a closed case, avoiding all contact with biological objects, as shown in Fig. 6. In this particular embodiment, the mounting element 113 is located at the boundary of the case to connect the actuator 112 located inside the case to the working part 130 located outside the case. The fixed mounting element 113a is located on the outer surface of the case. Preferably, in order to minimize the size of the head 111, the fixed mounting element 113a is located on the side of the head, i.e., on a different surface than the mounting element 113.

[0057] The mounting elements 113 and 113a allow for the mounting of a work part 130 of the tool.

[0058] The head 111 is fixed to a device for moving the head 119. This device for moving the head 119 is included in the device 110. This moving device 119 allows the movement of the head 111 in space to reach different elements of the system 100 or biological objects. The moving device 119 can move on a working space 105, which is a substantially flat surface with predefined dimensions. The dimensions of the working space 105 may allow the arrangement of at least the various working parts 130, the cutting tool 120, the handling area 190, the sample storage area 180 and the waste discharge area 170. The working space may also include space for the device 110, the sensor 150 and / or the control device 160.

[0059] One advantage of the present invention is that the head 111 can be attached to any mobile device. This allows the device to be used and configured with existing mobile devices. In one embodiment, the mobile device 119 includes a three-axis robotic arm.

[0060] The movement of the locomotion device 119 may be controlled automatically by a control device 160 based on information provided by sensors 150, by manual remote control, or according to pre-recorded movement patterns.

[0061] The sensor 150 may consist of any type of sensor that allows the recording of a signal to determine the position of different objects in space. For example, the sensor 150 may consist of, but is not limited to, a color sensor, a camera or a radar. Advantageously, a color sensor also allows the detection or confirmation of the position of blood clots that may be present in the umbilical cord.

[0062] The sensor 150 may be mounted on a fixed support (as shown in FIGS. 2 and 3) or on a moving device 119 .

[0063] In embodiments in which the sensor 150 is mounted on a fixed support, the sensor 150 is preferably positioned at a height such that it covers the entire workspace 105 .

[0064] The sensors 150 may also enable the position of the head 111 and the work part 130 to be determined.

[0065] The signal recorded by the sensor 150 is then sent to the controller 160 for processing therein. The transmission of the signal can be performed in a wired or wireless manner.

[0066] The controller 160 determines the position in space and / or the shape of the biological object, and optionally the position of the tool. These positions are used by the controller 160 to generate steering commands to be executed by the movement device 190 and / or at least one actuator 112 and / or the cutting tool 120. The controller 160 may include a processing unit configured to perform the above-mentioned tasks (determining the position and generating the steering commands). The movement device 190, the actuator 112 and the cutting tool 120 may be controlled by independent controllers.

[0067] As mentioned hereinbefore, the device 110 also includes a working part 130. The working part 130 is an element that comes into contact with the biological object during its handling or processing. Preferably, to avoid cross-contamination, the working part 130 is intended for single use. This means that it is discarded after each handling or processing of the biological object, for example in a waste discharge area 170. In other words, the working part 130 is replaceable. The device 110 is therefore compatible with several different working parts.

[0068] Advantageously, the working parts 130 are constructed from simple parts containing some mechanical elements and few or no electronic components, which is advantageous in order to reduce the cost of fabricating these parts which are intended for one-time use.

[0069] Advantageously, the working part 130 is manufactured from a biocompatible material, preferably a polymeric material. This is advantageous since during use of the device 110, the working part 130 will come into contact with biological objects. The use of a biocompatible polymer therefore allows the use of the working part 130 without disturbing or degrading the biological objects being handled. In one embodiment, only the part of the working part 130 that is intended to come into contact with biological material comprises a biocompatible material. For example, the surface of the working part 130 is treated to make it biocompatible.

[0070] The working part 130 is secured to the head 111 by a reversible fixture 600 to create an actuable tool. The fixture 600 is so-called reversible because it allows for easy removal and repeated attachment-detachment. The reversible fixture 600 can be magnetic or mechanical.

[0071] In embodiments where the reversible fixture 600 is magnetic, if powered by electrical current, attachment may consist of an electromagnet that generates a magnetic field and attaches, by magnetization, the working part 130. Removal of the working part 130 is accomplished by interrupting the current supply to the electromagnet.

[0072] In embodiments where the reversible fixture 600 is mechanical, the fixture may be one of, but is not limited to, a clamp, a suction cup, a ball detent or clip fastener, a screw. Preferably, as shown in FIG. 11, the reversible fixture 600 is a clip fastener with a pusher that allows removal of the working part 130.

[0073] When the reversible fastener 600 is a clip fastener with a pusher (FIG. 11), the fastener includes at least two parts: clips (114, 115) and a base 116. In one embodiment, each attachment element (113, 113) includes a clip (114, 115) and each working part 130 includes a base 116. In an alternative embodiment, each attachment element (113, 113a) includes a base 116 and each working part 130 includes a clip (114, 115). In another alternative embodiment, some attachment elements (113 and / or 113b) include a base 116, while the other attachment elements include clips (114, 115). In this embodiment, each working part 130 of a pair of working parts forming a tool includes a clip (114, 115) for one working part and a base 116 for the other working part. The clip is composed of a guide 114 (a composite part of substantially similar size to the inside size of the base 116) and a pusher 115 (slightly deformable) which includes a bearing area 117 and a movable notch 118. The base 116 has an internal volume capable of receiving the clip (114, 115) which, due to the slight deformation of the pusher 115, allows easy passage of the movable notch 118 during insertion of the clip into the base 116 (left side of FIG. 12) as well as a fixed notch 119 (whereby closing of the fixture 600 and the attachment of the working part 130 creates an actuatable tool). When the movable notch 118 cooperates with the fixed notch 119 (center of FIG. 12), the working part 130 is held in the attachment element (113, 113a) and cannot be removed by pulling.

[0074] In case the reversible fastener 600 is a clip fastener with a pusher, the pusher 115 is actuated (thereby removing the working part 130) by the removal device 140 (FIGS. 1-3). The removal device 140 includes a protruding element, which the pusher 115 holds across the opening 603 of the base 116 (center of FIG. 12) in order to remove the corresponding working part 130. The protruding element then exerts pressure on the support area 117 to slightly deform the pusher 115. When the movable notch 118 no longer cooperates with the fixed notch 119, the corresponding working part 130 falls under the effect of gravity (right side of FIG. 12). Preferably, the working part 130 falls into the waste discharge area 170 so as not to contaminate the working space 105.

[0075] 7 and 8, the actuatable tool (formed when two working parts 130 are secured to the head 111 by mounting elements 113) is a clamp, and each working part 130 is a clamp jaw 300. The jaws 300 are secured to the mounting elements 113 such that when the clamp is actuated by the actuator 112, the clamp jaws 300 are moved toward or away from each other.

[0076] Each jaw of the clamp may consist of one or more teeth 301. Advantageously, each tooth 301 consists of an upper part 303 and a lower part 304. The upper part 303 is arranged between the attachment element 113 and the lower part 304. This is advantageous because during use of the device 110, only the lower part 304 comes into contact with the biological object. The upper part 303 thus makes it possible to define a safe distance by avoiding any contact between the biological object and the elements of the head 111. Preferably, the upper part 303 and the lower part 304 form a non-zero angle α between them. Preferably, the angle α is between 5 and 20°. This allows that during closure of the clamp, only the lower part 304 comes into contact with each other or with the biological object. This also makes it possible to modify the existing spacing between the attachment elements 113 in order to obtain a better retention of the biological object during clamping. Indeed, in embodiments in which the mounting elements 113 have separate, parallel axes of rotation (and thus the mounting elements 113 have a fixed distance between them), the angle formed by the upper and lower portions 303, 304 allows the lower portions 304 to be substantially parallel to one another. In embodiments in which the mounting elements 113 undergo translational motion, the angle formed by the upper and lower portions 303, 304 allows the lower portions 304 to be substantially parallel to one another when the clamp is closed (i.e., when the mounting elements 113 have a minimum distance between them).

[0077] Advantageously, the lower portion 304 is curved as shown in Figure 8. This is advantageous because this particular shape allows for easier capture of a biological object placed on a flat surface while avoiding any degradation of the biological object, especially if the biological object has a generally cylindrical geometry such as an umbilical cord.

[0078] Advantageously, the lower part 304 of each tooth 301 has a hole 302. The hole 302 makes it possible not to damage a biological object, which, if less dense, requires sufficient free space so that its shape can be adapted to the tools that handle it.

[0079] In one embodiment, each jaw 300 includes four teeth 301, as shown on the right side of FIG. 7. In this embodiment, each tooth 301 is spaced apart by a gap of 5-30 millimeters, preferably 15-20 millimeters. This allows the weight of the biological object to be distributed over several contact points to minimize damage caused to the biological object. The use of several teeth allows for placing or gripping the object in grooves such as those described hereinafter.

[0080] In an alternative embodiment, each jaw 300 includes wide teeth 301, as shown on the right side of FIG. 8. This also allows the weight of the biological object to be distributed over several contact points to minimize damage caused to the biological object. In this embodiment, the lower portion 304 may be made from a slightly deformable material, such as, for example, silicone or rubber, so that it deforms upon contact with the working space of the clamp, thereby allowing the jaws to more easily capture the umbilical cord without collapsing and disintegrating the cord.

[0081] In an alternative embodiment, each jaw 300 includes teeth 301 of smaller width, as shown on the left side of Figures 7 and 8, to allow for more precise gripping of small sized biological objects. In one embodiment, one tooth 301 of jaw 300 includes a receiving pan intended to collect a portion of the biological object during its cutting, as will be explained later. Preferably, the receiving pan is fixed to the back of the tooth, i.e. towards the outside of the clamp.

[0082] 9, the actuatable tool (formed when two working parts 130 are fixed to the head 111) is a liquid collection or ejection tool. One of the working parts 130 consists of a plunger-syringe fixed module 201 and a plunger pusher 200. The other working part 130 is a pin 211 that can cooperate with the plunger pusher 200.

[0083] For example, the fixing module 201 is a single part including a body extended by a second part via an arm 207. The body is formed, for example, by a first housing 204 having a U-shaped portion capable of cooperating with the body 202 of the syringe and a second housing 205 capable of cooperating with a retaining ring (or gripping fin) 206 of the syringe. The body is fixed to one of the mounting elements 113 of the head 111. The arm 207 includes an opening 207a capable of cooperating with the plunger pusher 200. Preferably, the opening is rectangular or square (more generally, non-circular) in order to avoid rotation of the plunger pusher 200. The center of the opening 207a of the arm 207 is aligned with the longitudinal axis of the syringe.

[0084] The plunger pusher 200 includes two extensions (208, 209) aligned with the longitudinal axis of the syringe and separated by a transmission structure 210 including a U-shaped guide arranged perpendicular to the two extensions (208, 209). The first extension 209 is the part that contacts the plunger 203 of the syringe to exert a pressure or pull force thereon along the longitudinal axis of the syringe (indicated by a dotted arrow in FIG. 9). The second extension 208 cooperates with an opening 207a of an arm 207 of the fixing module 201. The size of the second extension 208 is selected such that when the plunger pusher 200 completes the pressure movement (when the plunger 203 is fully pushed into the body 202 of the syringe), the second extension 208 is still held in the opening 207a of the arm 207. The arm 207 acts as a stop with which a guide of the transmission structure 210 limits the movement of the plunger pusher 200. The transmission structure 210 allows the transmission of a rotational movement of the second mounting element 113 to the plunger pusher 200 by means of a pin 211 fixed to the mounting element 113. The pin 211 can move inside the guide of the transmission structure 210. This arrangement makes it possible to generate a translational movement of the plunger pusher 200 parallel to the axis of symmetry of the syringe.

[0085] In the embodiment shown in FIG. 10, the tool (formed when two working parts 130 are fixed to the head 111) is a hook 400. For example, the hook comprises a number of teeth 401, preferably two teeth 401. As in the case of a clamp, each tooth may have an upper part 402 and a lower part 403. As in the case of a clamp, the advantage of this feature is that during use of the device 110, only the lower part 403 comes into contact with the biological object or with the part of the device in contact with the biological object. Thus, the upper part 402 makes it possible to define a safe distance from the head 111. The lower part 403 may have a curved shape, preferably a semicircular shape, with their ends pointing in the direction of the upper part 402. Preferably, the upper part 402 and the lower part 403 form a non-zero angle γ between them. Preferably, the angle γ is between 5 and 15°. Preferably, the hook is a fixed tool (the actuator 112 of the mounting element 113 is not actuated or the hook is fixed to a fixed mounting element 113a), so the hook can be used to move an element of the system 100, such as, for example, the groove 503 described below.

[0086] In one embodiment, all work parts 130 used to handle or process biological objects are pre-positioned in the workspace 105 on the tool support 132 at such a distance that the transfer device 119 can reach them. The work parts 130 are positioned on the tool support 132 such that they are easily accessible inside the base 116 of the reversible fixture 600 by clips fixed to the mounting elements (113, 113a).

[0087] As previously described herein, the system 100 also includes a cutting tool 120 controlled by the control device 160. In a preferred embodiment that allows cutting the umbilical cord, the cutting tool 120 includes a groove 503 and a guillotine 507. The guillotine 507 includes a movable blade support 506 and a blade 501 fixed on a rail 505. The movable blade support 506 can move along the rail 505. In an alternative embodiment, the blade 501 is fixed to a three-axis robot arm. In another alternative embodiment shown in FIG. 16, the blade 501 is intended to be fixed to one of the mounting elements (113, 113a) of the head 111 and is therefore a working part 130, including the base 116.

[0088] The groove 503 allows to support the umbilical cord during its cutting. Preferably, the groove 503 has a diameter slightly larger than the diameter of the umbilical cord, which has an average dimension of 1.5 to 2 cm. Preferably, the flange of the groove is configured to cooperate with the shape of the clamp. For example, if the clamp comprises several teeth 301, the flange of the groove comprises recesses 504, each recess 504 configured to receive one of the teeth 301 of the clamp (Figure 13). Alternatively, if the clamp comprises one single wide tooth 301, the flange of the groove has a rather small height relative to the clamp that allows the cord to be placed without releasing it from a height that could cause damage to the cord (Figure 14). Advantageously, the groove is a movable element (non-fixed), which can therefore be moved. For example, the groove can be moved by the hook tool 400. In this embodiment, once the handling of the biological object is completed, the hook tool is placed under the groove in order to lift it and remove it from its support (Figure 14) and then discard it. The new grooves can then be placed into the support by transport with the hook tool.

[0089] Advantageously, the rail 505 of the guillotine 507 is a double rail, including two rails parallel to each other, which is advantageous as it allows the blade support 506 to be oriented in a straight line, obtaining a sharp and precise cut of the umbilical cord.

[0090] The blade 501 may consist of any type of blade. Preferably, the blade 501 is a scalpel that allows for precise cutting of the umbilical cord. In an embodiment where the blade 501 is attached to an independent robotic arm or head 111, the actuator of the robotic arm or head 111 may perform a reciprocating motion perpendicular to the length of the umbilical cord to increase the efficiency and precision of the cutting and avoid crushing of the cord if the blade has a substantially straight cutting edge. Even more advantageously, when the blade 501 is attached to the rail 505, the blade 501 is a concave double blade, i.e. the cutting edge of the blade 501 is formed by two concave cutting edges (501a, 501b) aligned along the blade 501. The intersection 501c of the two concave cutting edges (501a, 501b) may be located in the middle of the entire length of the cutting edge. Advantageously, the intersection 501c of the two concave cutting edges (501a, 501b) is higher than the two ends of the cutting edge of the blade, so that when the blade 501 is placed on a flat surface on its cutting edge, only the two ends of the cutting edge come into contact with said surface. This is advantageous for cutting the umbilical cord. In fact, the umbilical cord has a viscous and slippery surface that makes cutting difficult. During cutting, the intersection 501c of the two concave cutting edges (501a, 501b) is the first point of contact between the blade 501 and the umbilical cord. The intersection 501c, which forms a fine tip, makes it possible to hold the umbilical cord in place and thus prevents it from slipping. In addition, the two ends of the cutting edge, which are placed lower than the intersection 501c, allow the blade 501 to wrap around the umbilical cord, thereby increasing its holding in place. The blade 501 is placed perpendicular to the groove, allowing the cutting of a segment having a substantially annular portion and a substantially constant thickness. To improve severing of the umbilical cord when the blade has a straight cutting edge (rather than double concave), the end of groove 503 where the cut is made may include a second blade aligned with blade 501 and with its cutting edge located substantially at the bottom of groove 503. In this embodiment, the second blade is fixed and is a planar blade. In this manner, the cut is made initially by blade 501 and is completed when blade 501 meets the second blade.

[0091] The cutting tool 120 further comprises a collector tray 502 disposed under one of the ends of the groove 503. In one embodiment, the collector tray 502 is fixed (non-movable) and may or may not be mounted on a spring (FIG. 13). Mounting the collector tray on a spring is particularly advantageous during retrieval of the umbilical cord segment by the device 110. Indeed, this allows pressure to be applied to the bottom of the collector tray so as to fully grasp the segment and at the same time avoid damage to the tray. The inside of the collector tray 502 may also be inclined towards the center of the tray. The latter embodiment is also particularly advantageous during retrieval of the umbilical cord segment. Indeed, in this embodiment, the absence of a right angle at the bottom of the tray makes the umbilical cord segment always fully accessible. In an alternative embodiment, the collector tray 502 is a movable platform (FIGS. 3 or 15). The platform includes a rail 502a on which is placed a support 502b configured to slide laterally along the rail 502a and receive a tray 502c. The tray 502c can then be placed on the support 502b, for example, by a working part provided for this purpose. After each cut, the tray 502c is moved laterally along the rail 502a over a distance that allows for the stepwise placement of the cut segments along the tray. This lateral movement can be performed by an actuator independent of the head, or by a working part that, when attached to the head, exerts pressure on the tray 502c in the direction of the desired movement. This embodiment is advantageous because the tray can be placed directly into the storage area at the end of the cord cutting without any additional handling of the umbilical cord segments. Advantageously, if the working part 130 is a clamping tooth 301 provided on a receiving tray 305, the cutting tool 120 will not include a collector tray. Indeed, in this embodiment, the head 111 is moved before cutting of the biological object so that the tray 305 is placed under the end of the groove. Thus, only the teeth 301 have to be replaced at the end of the handling, which avoids the replacement of an additional element (collector tray) during each handling operation.The collector tray 502 is positioned such that the severed umbilical cord segments fall into the collector tray 502 during their cutting.

[0092] Advantageously, the cutting tool 120 is fixed to an inclined plane. Preferably, the plane is inclined in the longitudinal direction of the groove 503 with respect to the surface of the working space 105, so that the height of the cut at the end of the groove 503 is lower than at the opposite end of the groove 503. For example, the inclination angle between the surface of the working space 105 and the cutting tool 120 is 20-25°. This is advantageous to allow the cut segments to fall more easily into the collector tray 502 or into the receiving pan 305. In addition, the inclination of the entire cutting tool 120 allows to match the perpendicularity between the blade 501 and the groove 503.

[0093] For example, the above-described system 100 allows for handling and processing of umbilical cords. Such a method may be useful in the case of the preparation of clinical grade mesenchymal stem cells derived from Wharton's gelatin, as described in patent application WO2018158542.

[0094] An example of a method for using the system in this particular case is described hereinafter with reference to Figures 18-22. The umbilical cord is placed in the handling area 190 beforehand. The sensor 150 then determines the position and, if necessary, the size of the umbilical cord. If necessary, the sensor also determines the position of the blood clot in the umbilical cord. In practice, the umbilical cord segment containing these mooncakes cannot be used and must be discarded. To determine the position of the mooncakes, the sensor can essentially build a skeleton of the umbilical cord (Figure 23). That is, first, the center line 601 of the umbilical cord is determined, assuming that the umbilical cord 603 has a tubular shape. Then, a portion 602 perpendicular to the center line 601 is identified. The higher the number of the portion 602, the more accurate the position of the mooncake 604. The position of the mooncake is then determined as the position of the portion where the mooncake is located. Alternatively, the positions of the mooncakes can be determined beforehand and the sensor 150 can then verify their positions during handling.

[0095] First, the umbilical cord is processed (step S10, Figs. 18 and 19). Then, to form an actuatable tool, the moving device 119 first moves the head 111 to attach the working parts 130 to the respective attachment elements 113 by the reversible fixtures 600 (step S12). For this first step, the actuatable tool is a liquid collection and drainage tool, such as the one shown in Fig. 9. A syringe pre-filled with a rinsing liquid is used. For example, the rinsing liquid may be phosphate-buffered saline (PBS). The umbilical cord is then processed with the actuatable tool by rinsing off or by rinsing the umbilical vein (step S14). For example, the rinsing may be performed in a container of a size in which the umbilical cord can be placed without damage. In this embodiment, the tray and its contents (liquid used for rinsing) may be discarded after processing. In an alternative embodiment, the rinsing may be performed directly on the workspace 105. In this embodiment, the area where the umbilical cord is rinsed is preferably perforated with one or more holes that allow the rinsing liquid to drain. In case of rinsing of the umbilical vein (whose location can be determined by a sensor), it is advantageous to hold the umbilical cord in place (for example by inserting it into an element fixed in the working space) to avoid any movement due to the pressure exerted during this rinsing. At the end of the process, the working part 130 is removed (step S16) and can be discarded.

[0096] If necessary, the umbilical cord membrane can be incised after rinsing. The incision should have a depth equal to or just slightly greater than the thickness of the membrane so as not to damage the cells inside. For example, the cut can be performed with a straight (rather than double concave) blade. Since the height of the umbilical cord is not constant along its length, the cutting depth needs to be adjusted along the cord. For example, this adjustment can be made by real-time measurement of the cord height with an optical sensor attached to the blade.

[0097] Once the umbilical cord has been rinsed, it is then cut into segments by a cutting tool 120 (e.g., as shown in FIG. 13). The umbilical cord is moved from the handling area 190 towards the cutting tool 120 (step S20, FIGS. 18 and 20). This moving step begins by attaching the working parts 130 to their respective attachment elements 113 with reversible fixtures 600 (step S21). For the transfer of the umbilical cord, the actuatable tool preferably consists of a long clamp, each jaw 300 of which includes at least two teeth 301, preferably four teeth 301. Movement of the moving device 119 then moves the clamp towards the umbilical cord. The head 111 is positioned above the cord such that the jaws 300 of the clamp are oriented parallel to the cord (step S22). The jaws 300 are positioned at a distance greater than the diameter of the cord, and the head 111 is lowered toward the surface of the workspace 105. The clamp is then closed by the actuator 112 to grip the cord without damaging it (step S23). The moving device 119 then moves the actuatable tool and the cord toward the cutting tool 120 (step S24).

[0098] The umbilicus is then placed in the groove 503 (step S25), for example by positioning the teeth 301 of the jaws 300 of the clamp over the recess 504 of the groove, and then by vertically moving the moving device 119 towards the bottom of the recess 504. Preferably, the umbilicus is positioned so that one of its ends protrudes from the groove on the side where the cut is to be performed. The umbilicus is then placed by opening the clamp (step S26). At the end of the transport, the working part 130 is removed (step S27). Step S27 is performed similarly to step S16.

[0099] The cord segment is then cut perpendicular to its length by lowering the blade support 506 along the rail 505 or by reciprocating movement of the robot arm or head 111 (step S30, FIG. 18). For extracting stem cells, preferably the segment has a length of 2-3 mm. If the collector tray is replaced by a clamp including a saucer 305, the method of use may include, before step S30, the step of attaching at least one working part 130 (jaw 300 including teeth 301 including saucer 305) to at least one mounting element 113 by a reversible fixture 600, and then moving the head 111 by the moving device 119 to position the saucer 305 under the segment to be cut. Preferably, in this embodiment, the working parts 130 are fixed to the respective mounting elements 113, the first working part being the jaw 300 including teeth 301 including saucer 305 and the second working part being the jaw 300 including teeth 301. This allows the clamping tool to be generated which will be used later (in step S50).

[0100] The cut segments are then moved to the sample storage area 180 (step S40, Figures 18 and 21). Once the segments have been collected by the receiving tray, the moving device 119 then moves the head 111 and the segments to the sample storage area 180 (step S44) and places them, for example, on a Petri dish 182 (step S45). The segments are then placed in said Petri dish (step S46) by rotation of the actuating device 112, to which the jaws 300 are fixed and which includes the receiving tray 305, or by rotation of the head 111. Once the segments have been collected by the collector tray 502, the working parts 130 are attached to the respective mounting elements 113 by means of the reversible fixtures 600 to form an actuatable tool (step S41). To transfer the segments, the actuatable tool is preferably a narrow clamp, each jaw 300 of the clamp including a tooth 301. The moving device 119 then moves the actuatable tool towards the segments (step S42). The head 111 is placed on the collector tray. The jaws 300 are placed at a distance greater than the diameter of the umbilicus, and the head 111 is lowered towards the bottom of the collector tray. The clamp is then closed by the actuator 112 so as to grip the segment without damage (step S43). The curved shape of the lower part 304 of the teeth 301 is advantageous here since it allows to retrieve the segment by its bottom and lift it from the collector tray 502 before gripping it more firmly. This makes it possible to avoid damage to the segment. The moving device 119 then moves, for example, the actuable tool and the segment towards the sample storage area 180 (step S44) and places it on the Petri dish 182 (step S45). The segment is then placed in said Petri dish (step S46). Preferably, the working part 130 is not removed at the end of the transport as long as the handled umbilicus remains the same. This makes it possible to avoid using these working parts 130 again in the next step. In an alternative embodiment, or at the end of the transport when the umbilical cord cutting is completed, the working parts 130 are removed (step S47). Step S47 is then performed similarly to steps S16 and S27.Alternatively, instead of moving each segment after each cut, as previously described herein, the collector tray may be a movable platform that allows collection of several segments and transporting them together to a storage area.

[0101] If necessary, the umbilicus is later moved forward along the groove (step S50, Figs. 18 and 22) to cut another segment. To move the umbilicus along the groove, the actuatable tool is preferably a narrow clamp, each jaw 300 of the clamp including teeth 301. Preferably, the working parts 130 of the narrow clamp are the same as in step S40. In an alternative embodiment, to form the actuatable tool, the working parts 130 are fixed with reversible fasteners 600 to the respective attachment elements 113 (step S51). The moving device 119 then moves the actuatable tool towards the umbilicus (step S52). The head 111 is oriented with the clamp jaws 300 parallel to the umbilicus and, if necessary, the clamp teeth 301 are positioned above the recesses 504. The jaws 300 are positioned at a distance greater than the diameter of the umbilicus and the head 111 is lowered towards the groove. The clamp is then closed by the actuating device 112 so as to grip the umbilicus without damaging it (step S53). Next, the moving device 119 lifts the actuable tool and the umbilicus and moves them parallel to the groove towards the collector tray 502 (step S54). The moving device 119 then places the umbilicus in the groove 502 (step S55). Step S55 is therefore equivalent to step S26. Alternatively, the device 110 includes as a working part an umbilicus pusher 700 configured to push the umbilicus along the groove. For example, the umbilicus pusher 700 shown in FIG. 17 includes a pastel 701, preferably circular and the size of which substantially corresponds to the average size of the umbilicus. For example, this working part can be fixed to a fixed mounting element 113a. The head 111 can then place the working part on the back side of the umbilicus and impart it with a translational movement in the direction of the front side of the groove on the side of the collector tray.

[0102] Thereafter, preferably the same working parts 130 may be used as in this step S50 to cut (S30) and transport (step S40) new segments. Preferably, the working parts 130 are not removed at the end of the cord movement as long as the cord being handled remains the same. This makes it possible to avoid these working parts 130 being used again in the next step. In an alternative embodiment, or when the cord cutting is completed, the working parts 130 are removed (step S56). Step S56 is performed similarly to steps S16, S27 and S47. Alternatively, the blade 506 may be configured to move along the cord as the cut is performed. Step S50 of moving the cord forward along the groove is then inhibited. If necessary, step S40 of transporting the cut segment is followed by step S30 of cutting a new segment.

[0103] The number of segments to be severed may be determined by controller 160 in response to the total length of the umbilical cord prior to severed, as may be estimated by sensor 150. Alternatively, the number of segments may be predetermined.

[0104] The segments containing mooncakes are arranged through the gap. Preferably, the segments containing mooncakes are discarded in the waste discharge area 170. This step is the same as step S40 of transporting the cut segments in the direction of the sample storage area 180, except that the destination of the segments is the waste discharge area 170 instead of the sample storage area 180.

[0105] The present invention also relates to a method of using the above described device or system, comprising the steps of: - mounting a first work part 130 on a first mounting element 113 by moving the head 111; - mounting a second work part 130 on a second mounting element 113 by moving the head 111; - using the tool thus formed against a biological object by actuation of the actuator 112; and - Detaching at least one working part 130 from a corresponding mounting element 113.

[0106] Preferably, this method of use is used for each handling or processing of biological objects to avoid cross-contamination.

[0107] For example, the work parts 130 used for two successive handlings may be the same.

Claims

1. a head (111) comprising at least one actuator (112) and at least two mounting elements (113), said at least one actuator (112) being configured to rotate at least one of said mounting elements (113) about its axis of rotation and / or to cause at least one of said mounting elements (113) to move in a linear motion along an axis parallel to an axis connecting two mounting elements (113); - two working parts (130), each of which can be engaged with a mounting element (113) by means of a reversible mounting (600) so as to form, together with said head (111), a tool that can be actuated by at least one said actuator (112); and - a device (119) for moving the head in space, 1. A method of handling or processing an umbilical cord using a device (110) comprising: - attaching a work part (130) to a first attachment element (113) by moving said head (111); - mounting another work part (130) on a second mounting element (113) by moving said head (111); - applying the tool to the umbilical cord by actuating the actuation device (112); and - separating at least one said work part (130) from the corresponding said mounting element (113), A method comprising:

2. 10. The method of handling or processing an umbilical cord according to claim 1, wherein the device (110) further comprises an independent actuator (112) for each attachment element (113).

3. 3. The method for handling or processing an umbilical cord according to claim 1, wherein at least one of the actuators (112) rotates the attachment elements (113) about their axes of rotation, and the axes of rotation of the attachment elements (113) are independently different.

4. 10. The method of handling or processing an umbilical cord of claim 1, wherein the reversible fastener (600) is magnetic or mechanical.

5. 5. The method of handling or processing an umbilical cord according to claim 4, wherein the reversible fastener (600) is mechanical and includes a pusher (115) that allows separation of the working part (130) from the corresponding attachment element (113).

6. 2. The method of claim 1, wherein the tool is a clamp and each working part (130) is a jaw (300) of the clamp.

7. 2. The method for handling or processing an umbilical cord according to claim 1, wherein the tool is a liquid collection or discharge tool and the working part (130) includes a plunger syringe fixing module (201) and a plunger pusher (200) adapted to move a plunger (203) of a syringe fixed to the fixing module (201) when the corresponding actuator (112) is actuated.

8. 2. The method of handling or processing an umbilical cord of claim 1, wherein the tool is a cutting tool (120) configured to cut the umbilical cord and the working part (130) includes a blade (501) and an umbilical cord pusher (700).

9. 10. The method for handling or processing an umbilical cord according to claim 1, wherein the portion of the working part (130) intended to come into contact with the umbilical cord comprises a biocompatible material.

10. 10. The method for handling or processing an umbilical cord according to claim 9, wherein the portion of the working part (130) intended to come into contact with the umbilical cord comprises a polymeric material.

11. The device (110) - at least one sensor (150) configured to identify the location of said umbilical cord, and a control device (160) configured to control a device for moving said head (119) and at least one actuator (112) of said head (111) according to the position of said umbilical cord determined by said sensor (150); 10. The method of handling or processing an umbilical cord of claim 1, further comprising:

12. 1. An apparatus (110) configured to handle or process biological objects using an actuatable liquid collection or discharge tool, comprising: a head (111) comprising at least one actuator (112) and at least two mounting elements (113), said at least one actuator (112) being configured to rotate at least one of said mounting elements (113) about its axis of rotation and / or to cause at least one of said mounting elements (113) to move in a linear motion along an axis parallel to an axis connecting two mounting elements (113); two working parts (130), each of which can cooperate with a mounting element (113) by means of a reversible mounting (600) so as to form, together with said head (111), a tool that can be actuated by at least one of said actuators (112); and - device for moving the head in space (119) Including, The working part (130) includes a plunger syringe fixing module (201) and a plunger pusher (200) adapted to move a plunger (203) of a syringe fixed to the fixing module (201) when the corresponding actuator (112) is actuated; Apparatus (110).

13. 1. An apparatus (110) configured to handle or process a biological object by means of a cutting tool (120) operable to cut said biological object, comprising: a head (111) comprising at least one actuator (112) and at least two mounting elements (113), said at least one actuator (112) being configured to rotate at least one of said mounting elements (113) about its axis of rotation and / or to cause at least one of said mounting elements (113) to move in a linear motion along an axis parallel to an axis connecting two mounting elements (113); two working parts (130), each of which can cooperate with a mounting element (113) by means of a reversible mounting (600) so as to form, together with said head (111), a tool that can be actuated by at least one of said actuators (112); and - a device (119) for moving said head in space, Including, The working part (130) includes a blade (501) and an umbilical cord pusher (700). Apparatus (110).

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