Cell manipulation system, program, and cell manipulation method

Abstract

To expand a cell manipulation range even when using a general-purpose observation container, by calculating in advance the coordinate domain of a cell-containing compartment possessed by the observation container.SOLUTION: A cell manipulation system 100 of the present disclosure comprises: an observation container 10 having at least one cell-containing compartment 12; a grip portion 20; a drive portion 30; first imaging portions 40, 44, 46, and 48; second imaging portions 42, 44, 46, and 48; an information processing device 50; and a cell manipulation portion 60, a control portion 52 of the information processing device 50 calculating the coordinate domain of the cell-containing compartment 12 with respect to the reference position of the grip portion 20 based on the images of the cell-containing compartment 12 captured by the first imaging portions 42, 44, 46, and 48, and causing the second imaging portions 42, 44, 46, and 48 to image the cells based on the calculated coordinate domain and at the same time outputting a signal that causes the cell manipulation portion 60 to manipulate the cell.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a cell manipulation system, a program, and a cell manipulation method. [Background technology]

[0002] In research on biological systems, the task of identifying characteristic cells from among many cells in a well for cell culture and aspirating those cells or their components is frequently performed. For example, in the drug discovery process for discovering or designing new drugs, a drug discovery screening process is performed to find those that exhibit medicinal efficacy and activity from among many candidate compounds. In this process, cells that exhibit significantly unique changes are selected from a group of cells in a well to which a candidate compound has been added, and those cells or their components are aspirated and analyzed by mass spectrometry or other methods. When aspirating cells, an aspirating pipette equipped with an aspirating tip and a dispensing device are used to aspirate the cells while observing them under a microscope. When aspirating cellular components, a fine tip called a nanospray tip is used to aspirate the cellular components while observing the cells under a microscope.

[0003] In the work of aspirating cells or cell components, cells to be analyzed must be selected and aspirated while visually inspecting each cell, which is extremely time-consuming when processing a large number of cells and places a heavy burden on the operator. To reduce this burden, Patent Document 1 discloses a cell aspirating support system that easily detects candidate cells to be analyzed from a large number of cells and immediately performs the aspirating work.

[0004] Patent Document 2 discloses a well plate in which a plurality of wells are formed, characterized in that each well has a positioning reference portion formed from a fluorescent substance, as a method for correcting well position errors. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6066110 [Patent Document 2] Patent No. 4985980 Summary of the Invention [Problem to be solved by the invention]

[0006] Accurate cell imaging and suction require a positional accuracy of several micrometers. However, according to the ANSI / SLAS standard (ANSI SLAS 4-2004 (R2012)), the geometric dimensional tolerance of observation containers such as microplates, which corresponds to the positional error of each cell-containing compartment, such as a well, relative to a positioning point, is ±700 μm. However, in an automatic cell suction device such as that disclosed in Patent Document 1, the tip of the suction tip used to suction cells typically varies by up to several hundred μm relative to the reference point for attachment to the automatic cell suction device. Therefore, if a margin for the cell suction range from the well wall is not set taking into account the positional error of the suction tip tip and the well, interference between the well wall and the tip of the suction tip may occur, resulting in damage to the well or the suction tip itself. Alternatively, if the position of the suction tip tip can be measured in advance with sufficient accuracy, it is not necessary to consider the positional error of the suction tip tip. However, even in this case, a margin for the cell suction range must be set taking into account the positional error of the well. Thus, Patent Document 1 has the problem of a narrow cell suction range.

[0007] The technology disclosed in Patent Document 2 has the problem that it is necessary to manufacture a special microplate with a positioning reference formed by a fluorescent substance, and therefore cannot be applied to inexpensive, commercially available general-purpose microplates. In addition, the technology disclosed in Patent Document 2 has the problem that it requires a fluorescence imaging system on the device side, and fluorescence imaging and positioning must be performed for each well, which is time-consuming.

[0008] Therefore, an object of the present disclosure is to expand the cell manipulation range even when a general-purpose observation container is used, by calculating in advance the coordinate area of ​​the cell storage compartment of the observation container. [Means for solving the problem]

[0009] In some embodiments, the cell manipulation system comprises: an observation container having at least one cell-containing compartment; a gripping part that grips the observation container; a drive unit coupled to the gripping unit and configured to horizontally move the observation container together with the gripping unit; a first imaging unit that images the cell storage compartment; a second imaging unit that images the cells contained in the cell containing compartment; an information processing device having a control unit; a cell manipulation unit for manipulating the cells contained in the cell containing compartment; Equipped with The control unit calculating a coordinate area of ​​the cell storage compartment relative to a reference position of the gripping part based on an image of the cell storage compartment captured by the first imaging part; Based on the calculated coordinate region, a signal is output to the second imaging unit to image the cell, and to the cell manipulation unit to manipulate the cell.

[0010] In this way, the coordinate area of ​​the cell storage compartment is calculated in advance before the cells stored in the cell storage compartment are imaged and manipulated, thereby reducing positional errors in the cell storage compartment and expanding the cell manipulation range even when a general-purpose observation container such as a microplate is used.

[0011] In one embodiment, the first imaging unit and the second imaging unit are different imaging systems.

[0012] In this way, by providing the first imaging unit and the second imaging unit as separate imaging systems, it is possible to select imaging systems specialized for each imaging purpose. For example, by using a macro camera that can capture an image of the entire microplate at once as the first imaging system and a microscope as the second imaging system, the first imaging for position correction can be performed in a short time, and the second imaging for sample imaging can be performed with a resolution sufficient for manipulating cells.

[0013] In one embodiment, the first imaging unit and the second imaging unit are of the same imaging system, and the first imaging unit has a lower imaging magnification than the second imaging unit.

[0014] In this way, before the cells contained in the cell storage compartments are imaged and manipulated, the cell storage compartments are imaged by the first imaging unit with a lower imaging magnification than the second imaging unit, and the coordinate area of ​​the cell storage compartment is calculated, thereby reducing positional errors in the cell storage compartments and expanding the cell suction range even when a general-purpose observation container such as a microplate is used.

[0015] In one embodiment, the first imaging unit includes a trans-illumination unit and a microscope.

[0016] In this way, by using a microscope and transmitted illumination as the first imaging unit, it is possible to correct the position of the observation object storage compartment even in the case of a general-purpose microplate.

[0017] In one embodiment, the cell manipulation unit is a suction unit that aspirates the cell or the contents of the cell.

[0018] In this way, the coordinate area of ​​the cell storage compartment is calculated in advance before the cells stored in the cell storage compartment are imaged and manipulated, thereby reducing positional errors in the cell storage compartment and expanding the cell suction range even when a general-purpose observation container such as a microplate is used.

[0019] In one embodiment, the cell manipulation unit is an injection unit that injects a substance into the cell.

[0020] In this way, the coordinate area of ​​the cell storage compartment is calculated in advance before the cells stored in the cell storage compartment are imaged and manipulated, thereby reducing positional errors in the cell storage compartment and expanding the cell injection range even when a general-purpose observation container such as a microplate is used.

[0021] In one embodiment, the cell manipulation unit is a sensing unit that senses cells.

[0022] In this way, the coordinate area of ​​the cell storage compartment is calculated in advance before the cells stored in the cell storage compartment are imaged and manipulated, thereby reducing positional errors of the cell storage compartment and expanding the cell sensing range even when a general-purpose observation container such as a microplate is used.

[0023] In some embodiments, the program The computer functions as the information processing device.

[0024] In this way, the coordinate area of ​​the cell storage compartment is calculated in advance before the cells stored in the cell storage compartment are imaged and manipulated, thereby reducing positional errors in the cell storage compartment and expanding the cell manipulation range even when a general-purpose observation container such as a microplate is used.

[0025] In some embodiments, the cell manipulation method comprises: A method executed by an information processing device, Calculating a coordinate area of ​​the cell storage compartment relative to a reference position of a gripping unit that grips the observation container based on an image of at least one cell storage compartment of the observation container; and Based on the calculated coordinate area, a signal is output to a cell manipulation unit to perform imaging of the cells contained in the cell containing compartment and to the cell manipulation unit to perform manipulation of the cells. Includes.

[0026] In this way, the coordinate area of ​​the cell storage compartment is calculated in advance before the cells stored in the cell storage compartment are imaged and manipulated, thereby reducing positional errors in the cell storage compartment and expanding the cell manipulation range even when a general-purpose observation container such as a microplate is used. [Effects of the Invention]

[0027] According to the present disclosure, by calculating in advance the coordinate area of ​​the cell-containing compartment of the observation container, it is possible to expand the cell manipulation range even when a general-purpose observation container is used. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is a block diagram showing the configuration of a cell manipulation system according to an embodiment of the present disclosure. [Figure 2] 1A and 1B are diagrams illustrating variations in the tip position of the suction tip and position errors of wells in the prior art. [Figure 3] FIG. 1 is a diagram illustrating a cell suction area and a cell suction incapable area in the prior art. [Figure 4] 10 is a flowchart illustrating an operation of an information processing device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same reference numerals indicate the same or equivalent components.

[0030] (Configuration of cell manipulation system) Referring to FIG. 1, a cell manipulation system 100 according to an embodiment of the present disclosure will be described.

[0031] The cell manipulation system 100 includes, for example, a microplate 10 having at least one well 12, a microplate holder 20, an XY stage 30, a well imaging objective lens 40, a cell imaging objective lens 42, a microscope 44, a camera 46, a transillumination light 48, an information processing device 50 having a control unit 52 and a memory unit 54, and a suction unit 60. Here, the microplate 10 corresponds to the observation container. The well 12 corresponds to the cell storage compartment. The microplate holder 20 corresponds to the holder. The XY stage 30 corresponds to the drive unit. The well imaging objective lens 40, the microscope 44, the camera 46, and the transillumination light 48 correspond to the first imaging unit. The cell imaging objective lens 42, the microscope 44, the camera 46, and the transillumination light 48 correspond to the second imaging unit. The suction unit 60 corresponds to the cell manipulation unit.

[0032] The microplate 10 has at least one well 12. Each well 12 contains a sample such as tissue collected from cells. Note that the observation container is not limited to the microplate 10, and any observation container can be used as long as the area where the sample is placed is separated into two or more sections horizontally by a partition or the like.

[0033] The microplate holder 20 holds the microplate 10 .

[0034] The XY stage 30 is coupled to the microplate holder 20, and moves the microplate 10 together with the microplate holder 20 in the XY directions corresponding to the horizontal direction based on a signal output from the control unit 52.

[0035] The well imaging objective lens 40 is used to image the well 12. The imaging magnification of the well imaging objective lens 40 is preferably a magnification that allows imaging of the entire well 12, and is preferably lower than that of the cell imaging objective lens 42. This is because, before imaging and aspirating the cells contained in the well 12, the well 12 is imaged with the well imaging objective lens 40, which has an imaging magnification lower than that of the cell imaging objective lens 42, and the coordinate area of ​​the well 12 is calculated, thereby reducing positional errors of the well 12. The number of well imaging objective lenses 40 may be one or more.

[0036] The cell imaging objective lens 42 is used to capture images of the cells contained in the well 12. The number of cell imaging objective lenses 42 may be one or more.

[0037] Whether the well imaging objective lens 40 or the cell imaging objective lens 42 is to be used for imaging is selected based on a signal output by the control unit 52. The well imaging objective lens 40 and the cell imaging objective lens 42 are attached to a Z-direction linear motion drive device (not shown). The linear motion drive device is fixed to the microscope 44 by a connection unit (not shown). The well imaging objective lens 40 and the cell imaging objective lens 42 are driven in the Z direction relative to the microscope 44 by the linear motion drive device based on a signal output by the control unit 52. Note that the device is not limited to a linear motion drive device as long as it can drive the microplate 10 in the Z direction.

[0038] The microscope 44 includes an imaging lens that focuses light irradiated from the transmitted light 48 and transmitted through the well imaging objective lens 40 or the cell imaging objective lens 42 onto the imaging plane of the camera 46, as well as other necessary optical elements such as mirrors and filters.

[0039] Based on the signal output by the control unit 52, the camera 46 transmits image data of the cells projected onto the image pickup element to the control unit 52.

[0040] The transilluminator 48 irradiates the wells 12 or the cells contained in the wells 12. The transilluminator 48 turns on and off and modulates the illumination intensity based on a signal output by the controller 52.

[0041] The control unit 52 includes a processor such as a central processing unit (CPU) or a graphics processing unit (GPU), a programmable circuit such as a field-programmable gate array (FPGA), a dedicated circuit such as an application-specific integrated circuit (ASIC), or any combination thereof. The control unit 52 controls at least the XY stage 30, the well imaging objective lens 40, the cell imaging objective lens 42, the microscope 44, the camera 46, the trans-illumination 48, and the suction unit 60. The control unit 52 also performs image analysis on an image (or a group of images) of the well 12 captured by the well imaging objective lens 40, the microscope 44, the camera 46, and the trans-illumination 48, and an image (or a group of images) of the cell captured by the cell imaging objective lens 42, the microscope 44, the camera 46, and the trans-illumination 48.

[0042] The storage unit 54 includes semiconductor memory such as RAM (random access memory) or ROM (read only memory), magnetic memory, optical memory, or any combination thereof. The storage unit 54 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 54 stores image data received from the camera 46, imaging and suction setting data input by the user, analysis results of the image data, imaging setting data based on the analysis results, and the like.

[0043] The suction unit 60 has a suction tip 62 at its tip. Furthermore, the suction unit 60 is moved in the XYZ directions by a driving device (not shown) based on a signal output from the control unit 52, and the tip of the suction tip 62 is positioned at an arbitrary location within the well 12. Furthermore, the suction unit 60 performs cell suction based on the signal output from the control unit 52. The target of suction may be a single cell, a cell aggregate formed by an aggregation of multiple cells, or the contents within a single cell.

[0044] (Operation of information processing device) The operation of the information processing device 50 according to this embodiment will be described with reference to Figures 2 to 4. This operation corresponds to the cell manipulation method according to this embodiment.

[0045] In the prior art, as shown in FIG. 2, if a certain margin (hereinafter also referred to as a "cell suction unacceptable range") is not set from the wall surface of the well 12, taking into consideration the variation 72 in the tip position of the suction tip 62 and the position error 74 of the well 12, the wall surface of the well 12 and the tip of the suction tip 62 may interfere with each other, potentially damaging the well 12 or the suction tip 62. Furthermore, as shown in FIG. 3, even if the tip position of the suction tip 62 can be measured in advance, it is necessary to set a certain margin (i.e., a cell suction unacceptable range 78) from the wall surface of the well 12, taking into consideration the position error 74 of the well 12. Therefore, in the prior art, there is a problem in that the cell suction capable range 76 is narrow. Hereinafter, with reference to FIG. 4, the operation of the information processing device 50 according to this embodiment, which can address this problem, will be described.

[0046] Step S100: The microplate 10 is placed on the microplate holder 20.

[0047] Step S101: The XY stage 30 moves to the first well imaging position appropriately designated by the user based on a signal output by the control unit 52 of the information processing device 50. The number of wells 12 imaged at one time may be one or more.

[0048] Step S102: Based on the signal output by the control unit 52, the well imaging objective lens 40 is selected as the objective lens to be used for imaging.

[0049] Step S103: Based on the signal output by the control unit 52, the well imaging objective lens 40 moves to a position where it can clearly image the well 12. Here, "clear" means, for example, that the center position of the well 12 can be calculated with sufficient accuracy. Note that the position where it is possible to clearly image the well 12 is not necessarily limited to a position where it is possible to image a single well 12, and may be a position where it is possible to image multiple wells 12, but is not limited to this.

[0050] Step S104: Based on the signal output by the control unit 52, the transmitted light 48 is turned on, and the camera 46 captures an image of the well 12 via the well imaging objective lens 40 and the microscope 44. Then, based on the signal output by the control unit 52, the camera 46 transmits the image data of the well 12 to the storage unit 54. When the imaging is completed, the transmitted light 48 is turned off based on the signal output by the control unit 52.

[0051] Step S105: The control unit 52 determines whether or not all wells 12 specified by the user have been imaged. If it is determined that all wells 12 have not been imaged, the process proceeds to step S106. On the other hand, if it is determined that all wells 12 have been imaged, the process proceeds to step S107.

[0052] Step S106: If the process proceeds to this step from step S105, the XY stage 30 moves to the next well imaging position designated by the user based on the signal output by the control unit 52. Thereafter, the process returns to step S103.

[0053] In steps S103 to S106, instead of imaging all of the wells 12, only some of the wells 12 may be imaged. In this case, the control unit 52 calculates the coordinate areas of the remaining wells 12 from the coordinate areas of some of the wells 12 in step S107, which will be described later.

[0054] Step S107: If the process proceeds from step S105 to this step, the control unit 52 uses any image analysis technique to calculate the coordinate area of ​​each well 12 from the image data of all wells 12 stored in the memory unit 54. Then, the control unit 52 stores information indicating the calculated coordinate area of ​​each well 12 in the memory unit 54. Here, the coordinate area of ​​the well 12 refers to the inside of the circle (which may include the outer periphery) if the XY cross section of the well 12 is circular, for example, and is calculated using coordinates with the origin at the reference position of the microplate holder 20 (for example, one of the four corners if the XY cross section of the microplate holder 20 is rectangular). Note that in step S107, the control unit 52 may calculate only the center coordinates of each well 12 instead of directly calculating the coordinate area of ​​each well 12. Even in this case, the coordinate area of ​​the well 12 can be calculated using information indicating the predetermined dimensions of the microplate 10.

[0055] Step S108: Based on the signal output by the control unit 52, the cell imaging objective lens 42 is selected as the objective lens to be used for imaging.

[0056] Step S109: Before performing cell suction, the control unit 52 determines whether the cell imaging objective lens 42, etc., can measure the tip position of the suction tip 62. If it is determined that the tip position of the suction tip 62 can be measured, the process proceeds to step S110. On the other hand, if it is not determined that the tip position of the suction tip 62 can be measured, the process proceeds to step S112.

[0057] Step S110: When the process proceeds from step S109 to this step, the cell imaging objective lens 42 etc. measures the tip position of the suction tip 62 based on the signal output by the control unit 52. Here, since the tip position of the suction tip 62 is subject to individual differences between suction tips 62 or errors due to installation, it is preferable to measure the tip position each time the suction tip 62 is installed.

[0058] Step S111: The control unit 52 calculates the cell suction range for each well 12 based on the area coordinates of each well 12 calculated in step S107, information indicating the dimensions of the suction tip 62 acquired in advance by the user, and information indicating the tip position of the suction tip 62 measured in step S110. Specifically, the cell suction range is calculated so that the base of the suction tip 62 does not come into contact with the wall surface of the well 12. The control unit 52 then stores information indicating the calculated cell suction range in the memory unit 54. The process then proceeds to step S113.

[0059] Step S112: When the process proceeds from step S109 to this step, the control unit 52 calculates the cell suction range for each well 12 based on the area coordinates of each well 12 calculated in step S107, information indicating the dimensions of the suction tip 62 obtained in advance by the user, and information indicating the variation in the tip position of the suction tip 62 obtained in advance by the user. Specifically, the cell suction range is calculated taking into account the variation in the tip position of the suction tip 62 so that the base of the suction tip 62 does not come into contact with the wall surface of the well 12. The control unit 52 then stores the information indicating the cell suction range calculated in step S112 in the memory unit 54. The process then proceeds to step S113.

[0060] Step S113: When the process proceeds from step S111 or S112 to this step, the camera 46 captures images of cells via the cell imaging objective lens 42, the microscope 44, and the transmitted illumination 48 within the cell suction range calculated in step S110 or S112 based on the signal output by the control unit 52, while the suction unit 60 suctions cells based on settings appropriately specified by the user. Note that in step S113, the suction unit 60 may be manually operated.

[0061] According to this embodiment, the coordinate region of the well 12 is calculated in advance before imaging and suction of the cells contained in the well 12, thereby reducing positional errors of the well 12. Therefore, it is not necessary to use a microplate with special markings such as positioning markings, and the range in which cells can be suctioned can be expanded even when a general-purpose microplate 10 is used.

[0062] Although the present disclosure has been described above based on the drawings and examples, it should be noted that those skilled in the art may make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure. For example, the functions included in each component or step can be rearranged so as not to be logically inconsistent, and multiple components or steps can be combined or divided into one.

[0063] As a variant, the first and second imaging units may be different imaging systems rather than the same imaging system as in the above-described embodiment. For example, instead of sharing the microscope 44 in the above-described embodiment, the first and second imaging units may have separate microscopes with a resolution capable of identifying the position of the wells 12 to within a few micrometers, as long as the position of each well 12 is sufficiently calibrated and within the driving range of the XY stage 30. By providing separate imaging systems for the first and second imaging units in this way, imaging systems specialized for each imaging purpose can be selected. For example, by using a macro camera capable of capturing an image of the entire microplate at once as the first imaging system and a microscope as the second imaging system, the first imaging for position correction can be performed in a short time, and the second imaging for sample imaging can be performed with sufficient resolution to manipulate the cells.

[0064] As a modified example, the first imaging unit is not limited to the microscope 44 in the above-described embodiment, but may be, for example, a camera capable of capturing the entire microplate 10 in a single image, or a scanner using a polygon mirror or a galvanometer mirror.

[0065] Furthermore, as a modified example, the first imaging unit is not limited to the microscope 44 and transmitted light 48 in the above-described embodiment, but may include any optical microscope that can clearly capture images of the wells 12 in a general-purpose microplate 10 and digitize the images of the wells 12. For example, the first imaging unit may include an incident-light microscope or a reflected-light microscope.

[0066] As a modified example, the manipulation of the cells may be the manipulation of injecting a substance into the cells. In this case, the range of cell injection can be expanded for the same reasons as in the above-described embodiment. The manipulation of injecting a substance into the cells may be performed by any injection unit corresponding to the cell manipulation unit. In this case, a gene vector or mRNA for causing the cells to produce a specific protein, or a gene editing tool such as CRISPR-Cas9, may be injected.

[0067] As a modified example, the operation on the cells may be a cell sensing operation. In this case, for the same reasons as in the above-described embodiment, the cell sensing range can be expanded. The cell sensing operation may be performed by any sensing unit corresponding to the cell manipulation unit. The sensing unit may include, for example, a patch clamp that measures the cell potential, or a nanocapillary sensor in which the inner surface of a nanocapillary filled with an electrolyte solution is modified with an antibody, and the electrical resistance value of the nanocapillary changes when a specific substance binds to the antibody.

[0068] As another modified example, when the microplate 10 has multiple wells 12, the control unit 52 of the information processing device 50 may further calculate a rotational deviation of the microplate 10 relative to the microplate gripping unit 20, the rotational deviation being centered on the vertical axis, based on the coordinate regions of the multiple wells 12 relative to the reference position of the microplate gripping unit 20. Then, the control unit 52 may further perform rotational correction on the image of the cells captured by the second imaging unit, based on the calculated rotational deviation. According to this modified example, the positions of the wells 12 can be corrected even in a general-purpose microplate 10, rather than in a microplate having special markings such as positioning markings.

[0069] As a modified example, an embodiment is also possible in which, for example, a general-purpose computer functions as the information processing device 50 according to the above-described embodiment. Specifically, a program describing the processing content for realizing each function of the information processing device 50 according to the above-described embodiment is stored in the memory of the general-purpose computer, and the program is read and executed by a processor. Therefore, the invention according to this embodiment can also be realized as a program executable by a processor, or a non-transitory computer-readable medium storing the program. [Industrial Applicability]

[0070] The present disclosure can be applied to an automatic cell suction device that takes images of cells seeded on a microplate such as SS2000 and automatically suctions one or more cells or portions of cells at will, but is not limited to this. [Explanation of symbols]

[0071] 100 Cell Manipulation System 10 Microplate (observation container) 12 wells (cell compartments) 20 Microplate holder (holder) 30 XY stage (drive unit) 40 well imaging objective 42 Cell Imaging Objective Lens 44 Microscope 46 Camera 48 Transillumination 50 Information processing equipment 52 Control section 54 Storage section 60 Suction section (cell operation section) 62 Suction Tip 70 cells 72 Variation 74 Position error 76 Cell suction range 78 Cell suction impossible area

Claims

1. an observation container having at least one cell-containing compartment; a gripping part that grips the observation container; a drive unit coupled to the gripping unit and configured to horizontally move the observation container together with the gripping unit; a first imaging unit that images the cell storage compartment; a second imaging unit that images the cells contained in the cell containing compartment; an information processing device having a control unit; a cell manipulation unit for manipulating the cells contained in the cell containing compartment; Equipped with The control unit calculating a coordinate area of ​​the cell storage compartment relative to a reference position of the gripping unit based on an image of the cell storage compartment captured by the first imaging unit; A cell manipulation system that causes the second imaging unit to image the cell based on the calculated coordinate area, while outputting a signal to the cell manipulation unit to manipulate the cell.

2. The cell manipulation system according to claim 1 , wherein the first imaging unit and the second imaging unit are different imaging systems.

3. The cell manipulation system according to claim 1 , wherein the first imaging unit and the second imaging unit are of the same imaging system, and the first imaging unit has a lower imaging magnification than the second imaging unit.

4. The cell manipulation system according to claim 1 , wherein the first imaging unit includes a transmitted illumination and a microscope.

5. The cell manipulation system according to claim 1 , wherein the cell manipulation unit is a suction unit that suctions the cell or the contents of the cell.

6. The cell manipulation system according to claim 1 , wherein the cell manipulation unit is an injection unit that injects a substance into the cell.

7. The cell manipulation system according to claim 1 , wherein the cell manipulation unit is a sensing unit that senses cells.

8. A cell manipulation system as described in claim 1, wherein the observation container has multiple cell storage compartments.

9. The cell manipulation system described in claim 1, wherein the control unit calculates the cell manipulation range of the cell storage compartment based on information indicating the coordinate area of ​​the cell storage compartment, the dimensions of the cell manipulation unit, and the variation in the tip position of the cell manipulation unit.

10. A method executed by an information processing device, Calculating a coordinate area of ​​the cell storage compartment relative to a reference position of a gripping unit that grips the observation container based on an image of at least one cell storage compartment of the observation container; and Based on the calculated coordinate area, a signal is output to a cell manipulation unit to perform imaging of the cells contained in the cell containing compartment and to the cell manipulation unit to perform manipulation of the cells. A method for manipulating cells, comprising:

Images