CN110607229A - Cell Metastasis Observation Mechanism and Its Working Method - Google Patents

Abstract

The invention relates to a cell transfer observation mechanism and a working method thereof, wherein the mechanism comprises a bracket, a transfer component and an observation component, the transfer component comprises a sucker component and a multidirectional moving component, the sucker component is connected with the multidirectional moving component, and the multidirectional moving component is connected to the bracket; the observation assembly comprises a microscope assembly and a culture bottle moving assembly, the culture bottle moving assembly comprises a moving structure and a bearing structure, the bearing structure is connected to the moving structure, the moving structure is connected to the support, and the microscope assembly is connected to the support. The invention realizes the automatic movement of the culture bottle to the position of the microscope, and can automatically change the position of the culture bottle so as to achieve the purpose of comprehensively observing the growth condition of cells, improve the observation efficiency, avoid the contact of people in the whole moving and observing process, further reduce the pollution risk and have low cost.

Description

Cell Metastasis Observation Mechanism and Its Working Method

technical field

The invention relates to a cell observation mechanism, more specifically to a cell transfer observation mechanism and a working method thereof.

Background technique

Stem cells are adherent cells, attached to the surface of the culture dish during culture, and can continue to proliferate until the cells proliferate to cover the entire surface of the culture dish, at which time the stem cells can be stripped from the culture dish. The stripped stem cells are separated by a centrifuge and other processes to obtain relatively clean cells, which can be cultured for the next generation. During stem cell culture, it is necessary to take out the culture dish from the incubator regularly, and observe the cell growth state through a microscope to judge the time of cell harvest and the culture quality of the batch of cells.

The existing way to observe the results of cell culture is to manually open the door of the incubator, manually take out the culture dish, and move it to the microscope for cell detection, and then send it back to the incubator after the test. Vibration causes the petri dish to fall, which makes observation fail, and the cost of pure manual operation is high; and in order to fully detect the growth of a petri dish, the position of the petri dish needs to be manually changed, and the petri dish has been in contact with people many times, increasing the risk of contamination , and the efficiency is low.

Therefore, it is necessary to design a new mechanism to automatically move the culture bottle and observe the growth of the cells in an all-round way, improve the observation efficiency, and avoid human contact during the entire movement and observation process, thereby reducing the risk of contamination and at low cost.

Contents of the invention

The purpose of the present invention is to overcome the defects of the prior art, and provide a cell transfer observation mechanism and a working method thereof.

In order to achieve the above object, the present invention adopts the following technical solutions: the cell transfer observation mechanism includes a bracket, a transfer assembly and an observation assembly, the transfer assembly includes a suction cup assembly and a multidirectional movement assembly, and the suction cup assembly and the multidirectional movement assembly connected, the multidirectional moving assembly is connected to the support; the observation assembly includes a microscope assembly and a culture bottle moving assembly, and the culture bottle moving assembly includes a moving structure and a carrying structure, and the carrying structure is connected to the moving Structurally, the mobile structure is connected to the support, and the microscope assembly is connected to the support; when the cell culture results need to be observed, the multi-directional mobile assembly works after the sucker assembly absorbs the culture bottle to move the suction cup assembly and the culture bottle, so that the culture bottle moves to the carrying structure, the suction cup assembly releases the suction of the culture bottle, and the carrying structure moves under the drive of the moving structure, so that all The above-mentioned microscope assembly is used for comprehensive observation of the cells in the culture flask.

Its further technical solution is: the carrying structure includes a carrying frame and a stand, the carrying frame is provided with a limiting channel for placing culture bottles, the carrying frame is connected with the stand, and the stand is connected on the mobile structure.

Its further technical solution is: the moving structure includes a Y-axis moving structure and an X-axis moving structure, the Y-axis moving structure is connected to the bracket, and the X-axis moving structure is connected to the Y-axis moving structure; The stand is connected to the X-axis moving structure.

Its further technical solution is: the microscope assembly includes a microscope and a controller, the microscope is connected to the bracket through a microscope mounting frame, a through groove is provided at the lower end of the microscope mounting frame, and one end of the Y-axis moving structure placed in the slot.

Its further technical solution is: the multi-directional moving assembly includes a rotating assembly, a Z-axis linear module, a second X-axis linear module, and a second Y-axis linear module, and the Z-axis linear module is connected to the bracket Above, the second X-axis linear module is connected to the Z-axis linear module, and the second Y-axis linear module is connected to the second X-axis linear module; the rotating assembly and the The second Y-axis linear module is connected, and the suction cup assembly is connected with the rotating assembly.

Its further technical solution is: the suction cup assembly includes a suction cup mounting plate and several suction cups, the several suction cups are respectively connected to the suction cup mounting plate, and the suction cup mounting plate is connected to the rotating assembly.

Its further technical solution is: the rotating assembly includes a swing cylinder, the swing cylinder is connected to the suction cup mounting plate, and the swing cylinder is connected to the second Y-axis linear module through a first mount.

Its further technical solution is: the Z-axis linear module is connected to the bracket through the second mounting seat, the second X-axis linear module is connected to the Z-axis linear module through the third mounting seat, The second Y-axis linear module is connected to the second X-axis linear module through a fourth mount.

The present invention also provides the working method of the cell metastasis observation mechanism, comprising:

When it is necessary to observe the results of cell culture, after the suction cup assembly absorbs the culture bottle, the multidirectional moving assembly works to move the suction cup assembly and the culture bottle, so that the culture bottle moves to the supporting structure, and the suction cup assembly releases the suction of the culture bottle, The supporting structure moves under the drive of the moving structure, so that the microscope assembly can observe the cells in the culture flask comprehensively.

Its further technical scheme is: when the microscope component conducts a comprehensive observation of the cells in the culture flask, obtain the image of the culture flask; perform binarization processing on the image of the culture flask; extract the background image of the cells; The cell-free area inside the image is blackened to obtain the processed image; the particle analysis is performed on the processed image to obtain the percentage of each particle in the processed image area; according to the percentage of each particle in the processed image Calculate the fusion degree as a percentage of the image area; send the fusion degree and the processed image.

Compared with the prior art, the present invention has the beneficial effects that: the present invention sets the transfer assembly and the observation assembly, and after the suction cup assembly of the transfer assembly absorbs the culture bottle, the multi-directional moving assembly drives the suction cup assembly and the culture bottle to move, so that the culture bottle The bottle moves to the top of the carrier frame, and the carrier frame moves to the position of the microscope under the drive of the culture bottle moving component to observe the growth of the cells inside the culture bottle, realize automatic movement of the culture bottle to the position of the microscope, and automatically change the culture The position of the bottle can be used to fully observe the growth of cells and improve the efficiency of observation. The entire movement and observation process does not come into contact with people, thereby reducing the risk of contamination and low cost.

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

Fig. 1 is a three-dimensional structural schematic diagram of a cell metastasis observation mechanism provided by a specific embodiment of the present invention;

Fig. 2 is a three-dimensional structural schematic diagram of an observation assembly provided by a specific embodiment of the present invention;

Fig. 3 is a schematic diagram of an exploded structure of an observation assembly provided by a specific embodiment of the present invention;

Fig. 4 is a three-dimensional structural schematic diagram of a transfer assembly provided by a specific embodiment of the present invention;

Fig. 5 is a schematic diagram of an exploded structure of a transfer assembly provided by a specific embodiment of the present invention;

Fig. 6 is a schematic diagram of an image of cells in a culture flask provided by a specific embodiment of the present invention;

Fig. 7 is a schematic diagram of a background image of cells provided by a specific embodiment of the present invention;

Fig. 8 is a schematic diagram of an image of particle analysis provided by a specific embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation or position indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. The relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, therefore It should not be construed as a limitation of the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In the present invention, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense unless otherwise clearly specified and limited, for example, it may be connected or detachable connected, Or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms should not be understood as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

As shown in the specific embodiment in Figures 1 to 8, the cell transfer observation mechanism provided in this embodiment can be used in the process of cell culture and preparation to realize automatic transfer of the culture flask, so that the cells in the culture flask can be placed under a microscope , and can automatically change the position of the culture bottle for comprehensive observation of the cells, realize automatic movement of the culture bottle and comprehensive observation of the growth of the cells, improve the efficiency of observation, and avoid contact with people during the entire movement and observation process, thereby reducing the risk of contamination, and low cost.

Please refer to Fig. 1, the above-mentioned cell transfer observation mechanism includes a support (not shown in the figure), a transfer assembly and an observation assembly, the transfer assembly includes a suction cup assembly and a multi-directional movement assembly, the suction cup assembly is connected with the multi-directional movement assembly, and the multi-directional The mobile assembly is connected to the bracket. The observation component includes a microscope component and a culture bottle moving component. The culture bottle moving component includes a moving structure and a carrying structure. The carrying structure is connected to the moving structure, the moving structure is connected to the support, and the microscope component is connected to the support.

When it is necessary to observe the results of cell culture, after the suction cup assembly absorbs the culture bottle 60, the multi-directional moving assembly works to move the suction cup assembly and the culture bottle 60, so that the culture bottle 60 moves to the supporting structure, and the suction cup assembly is released to the culture bottle 60 The holding structure moves under the drive of the moving structure, so that the microscope component can fully observe the cells in the culture flask.

The suction cup component and the multi-directional moving component cooperate to take the culture bottle and move the culture bottle to the position of the microscope, so as to facilitate the detection and observation of cells, and automatically transfer the culture bottle to achieve the purpose of automatic cell transfer and improve the overall observation efficiency.

The culture bottle 60 is placed on the supporting structure, and is moved back and forth by the moving structure, so that the culture bottle 60 is in different positions, and then the microscope assembly can obtain images of all cells in the culture bottle 60 to realize comprehensive observation.

In one embodiment, please refer to FIG. 2 and FIG. 3 , the above-mentioned carrying structure includes a carrying frame 250 and a stand, and the carrying frame 250 is provided with a limiting channel, and the culture bottle 60 is placed in the limiting channel, and the carrying frame 250 Connected to the stand, which is connected to the mobile structure.

The limiting through groove can play a role in positioning and limiting the placement of the culture bottle 60 . The supporting frame 250 can be properly arranged on the microscope 210 to facilitate observation of cells.

An inclined surface is provided on the side wall of the limiting channel, and the mouth of the culture bottle 60 abuts against the inclined surface to serve as a positioning function for placing the culture bottle 60 .

In an embodiment, please refer to FIG. 3 , the upper end of the above-mentioned stand is connected with a connecting piece 244 facing outward, and the connecting piece 244 is connected with the supporting frame 250 .

In addition, a third connecting plate 241 is provided at the lower end of the stand, and the third connecting plate 241 is connected to the mobile structure. Specifically, fasteners such as bolts can be used to connect the third connecting plate 241 to the mobile structure.

In one embodiment, the above-mentioned stand includes a vertical bar 242 and a horizontal bar 243, the horizontal bar 243 is connected to the upper end of the vertical bar 242, and the connecting piece 244 is connected to the outer end of the horizontal bar 243, the third connecting plate 241 Connected to the lower end of the vertical rod 242, the stand of the 7-shaped structure formed by the horizontal rod 243 and the vertical rod 242 can be set, so that the culture bottle 60 will not collide with the microscope assembly during the movement process, and the whole cell observation can be improved. success rate in the process.

In one embodiment, please refer to FIG. 3 , the above-mentioned moving structure includes a Y-axis moving structure and an X-axis moving structure, the Y-axis moving structure is connected to the bracket, and the X-axis moving structure is connected to the Y-axis moving structure; the stand is connected On the X-axis moving structure.

Use the X-axis moving structure and the Y-axis moving structure to realize the automatic movement of the culture bottle 60, so that the culture situation of all the cells in the culture bottle 60 can be observed under the microscope 210, so as to comprehensively detect the growth of the cells in the culture bottle 60 , and the entire moving process is performed in a sealed space without contact with people, thereby reducing the risk of contamination.

In one embodiment, please refer to FIG. 2, the above-mentioned X-axis moving structure includes a first X-axis linear module 230, the first X-axis linear module 230 is connected to the Y-axis moving structure through a mounting plate 231, and the stand is connected on the first X-axis linear module 230 .

In this embodiment, the above-mentioned first X-axis linear module 230 is provided with a first X-axis slider, and the third connecting plate 241 is connected to the first X-axis slider. Driven by the first X-axis linear module 230 to move in the X-axis direction, the movement of the culture bottle 60 in the X-axis direction is realized.

In one embodiment, please refer to FIG. 2 , one side of the above-mentioned installation plate 231 is provided with a vertically upward blocking piece 232 . The stopper 232 can prevent the first X-axis linear module 230 from colliding directly with the edge of the Y-axis moving structure during the moving process.

In one embodiment, please refer to FIG. 2 , the above-mentioned Y-axis moving structure includes a first Y-axis linear module 220, the first Y-axis linear module 220 is connected to the bracket, and the mounting plate 231 is connected to the first Y-axis linear module. Group 220 is connected.

In this embodiment, the above-mentioned first Y-axis linear module 220 is provided with a first Y-axis slider, and the mounting plate 231 is connected to the first Y-axis slider. Driven by the Y-axis linear module 220, the movement in the Y-axis direction is carried out to realize the movement of the culture bottle 60 in the Y-axis direction. Cooperating with the first X-axis linear module 230, the movement of the culture bottle 60 in the Y-axis and X-axis directions can be realized. move.

In this embodiment, the above-mentioned first X-axis linear module 230 is an electric servo module, and the first Y-axis linear module 220 is an electric servo module.

In one embodiment, please refer to Fig. 2, the microscope assembly includes a microscope 210 and a controller 211, the microscope 210 is connected to the bracket through the microscope mounting frame 212, the lower end of the microscope mounting frame 212 is provided with a through groove, and the Y-axis moving structure One end is placed in the through groove. The through groove is provided so that the culture bottle 60 can be moved onto the microscope 210 driven by the first Y-axis linear module 220 and the first X-axis linear module 230 . In addition, one end of the microscope mounting frame 212 is provided with a notch, so as to facilitate the work of the first Y-axis linear module 220 and the first X-axis linear module 230, the first Y-axis linear module 220 and the first X-axis linear module The combined movement of the module 230 can move the culture bottle 60 to any point within a certain range, which is convenient for the microscope 210 to observe and image at multiple points.

The microscope 210 can take pictures of the culture bottle 60, and send the captured cell image data in the culture bottle 60 to the controller 211 for observation and calculation of the culture results, and complete the automatic observation of the entire cell culture results.

Since the stem cells in the culture bottle 60 are colorless and transparent objects, the microscope 210 arranged upside down can only be enlarged enough to observe their growth form.

In one embodiment, the first X-axis linear module 230 can drive the X-axis slider to slide by connecting the screw rod to the servo motor through a coupling, and the first Y-axis linear module 220 is fixed on the X-axis slider. The first Y-axis linear module 220 also drives the Y-axis slider to slide by connecting the servo motor with a screw through a coupling; combining the first X-axis linear module 230 and the first Y-axis linear module 220 can realize the The culture bottle 60 moves on a plane within the movement range of the XY axes. The supporting frame 250 is hollow, which is convenient for imaging under the microscope 210 .

In this embodiment, the embedded controller 211 can also be used to receive and control the movement of the first X-axis linear module 230 and the first Y-axis linear module 220 through communication, trigger the camera on the microscope 210 to take pictures, and take pictures and detect The results are uploaded to the controller 211.

In this embodiment, a camera and an illuminating light are connected to the above-mentioned microscope mounting frame 212 .

The above-mentioned observation assembly is used to carry the culture bottle 60 by setting a bearing structure, the culture bottle 60 is driven to move in the X-axis direction and the Y-axis direction by the moving structure, and the microscope 210 is turned upside down, and the cells in the culture bottle 60 can be observed. Carry out comprehensive observation, realize the automatic movement of the culture bottle 60, improve the observation efficiency, so as to comprehensively detect the growth of the cells in the culture bottle 60, and the whole moving process does not come into contact with people, thereby reducing the risk of contamination.

In one embodiment, the above-mentioned multi-directional moving assembly includes a rotating assembly, a Z-axis linear module 110, a second X-axis linear module 120, and a second Y-axis linear module 130, and the Z-axis linear module 110 is connected to the bracket Above, the second X-axis linear module 120 is connected to the Z-axis linear module 110, and the second Y-axis linear module 130 is connected to the second X-axis linear module 120; the rotation assembly and the second Y-axis linear module 130 connection, the suction cup assembly is connected with the rotating assembly.

The cooperation of the Z-axis linear module 110, the second X-axis linear module 120, and the second Y-axis linear module 130 can realize the movement of the culture bottle in the three directions of XYZ, and the setting of the rotating component can be used for some people who need to rotate The culture flask is rotated so as to observe the cells in the culture flask.

In an embodiment, please refer to FIG. 4 and FIG. 5 , the above-mentioned suction cup assembly includes a suction cup mounting plate 150 and several suction cups, the several suction cups are connected to the suction cup mounting plate 150 respectively, and the suction cup mounting plate 150 is connected to the rotating assembly.

One suction cup mounting plate 150 is provided with several suction cups, just can carry out the absorption of several culture bottles 60, can absorb a plurality of culture bottles 60 at a time, to improve the efficiency of culture bottle 60 transfer.

The suction cup mounting plate 150 is provided with several through holes for the installation of the suction cup. After the suction cup absorbs the culture bottle 60 under negative pressure, when it moves to a designated position, the suction cup eliminates the negative pressure and places the culture bottle 60 in the carrying structure.

In one embodiment, please refer to FIG. 5 , the above-mentioned rotating assembly includes a swing cylinder 140, the swing cylinder 140 is connected to the suction cup mounting plate 150, and the swing cylinder 140 is connected to the second Y-axis linear module 130 through a first mount. . The rotating structure can drive the suction cup mounting plate 150 to rotate, so that the culture bottle 60 can be switched from an upright state to a horizontal state, so as to facilitate better stacking and strong practicability.

In one embodiment, please refer to FIG. 5 , the above-mentioned first mounting base includes a first side plate 142 and a second side plate 141 , the first side plate 142 is connected to the bottom of the second side plate 141 , and the swing cylinder 140 is connected to On the first side plate 142 , the second side plate 141 is connected with the second Y-axis linear module 130 .

In order to make the structure of the whole mechanism more compact, the swing cylinder 140 is placed below the second Y-axis linear module 130, which is also convenient for sucking the culture bottle 60, so that the culture bottle 60 has a better rotation space and is more convenient to rotate.

In an embodiment, please refer to FIG. 5 , the above-mentioned Z-axis linear module 110 is connected to the bracket through the second mount 111 .

The above-mentioned Z-axis linear module 110 is an electric servo module, and the Z-axis linear module 110 is provided with a Z-axis slider, and the above-mentioned second mounting base 111 is mounted on the bracket by fasteners such as bolts.

In an embodiment, please refer to FIG. 5 , the second X-axis linear module 120 is connected to the Z-axis linear module 110 through a third mounting seat 121 .

In this embodiment, the above-mentioned second X-axis linear module 120 is an electric servo module, and the third mounting seat 121 is connected to the Z-axis slider through fasteners such as bolts. The second X-axis linear module 120 is provided with the second X-axis slide block.

In an embodiment, please refer to FIG. 5 , the second Y-axis linear module 130 is connected to the second X-axis linear module 120 through a fourth mounting base.

In this embodiment, the above-mentioned second Y-axis linear module 130 is an electric servo module, and the fourth mounting seat is connected to the second X-axis slider through fasteners such as bolts.

Specifically, the above-mentioned fourth mounting base includes a first connecting plate 132 and a second connecting plate 131, the first connecting plate 132 is connected to the second X-axis slider, and the second connecting plate 131 is connected to the first connecting plate 132 Above, the second connecting plate 131 is provided with a through slot, the motor on the second Y-axis linear module 130 is embedded in the through slot, and the second Y-axis linear module 130 is connected to the second connecting plate 131 .

With the help of the second X-axis linear module 120 , the second Y-axis linear module 130 , and the Z-axis linear module 110 , the suction cup assembly can be moved to a designated position, so as to transfer the culture bottle 60 to the supporting structure. When the assembly is rotated, the suction cup assembly and the culture bottle 60 are rotated until the culture bottle 60 is in a horizontal state, so as to meet the requirements of the microscope for observing the cells in the culture bottle 60 .

When it is necessary to transfer the culture bottle 60 to the microscope 210 for cell growth observation, the suction cup assembly moves to the position of the culture bottle 60 under the action of the multi-directional moving assembly, and when the suction cup touches the culture bottle 60, the suction cup works under negative pressure , after sucking the culture bottle 60, the multi-directional moving component works, and the rotating component drives the suction cup assembly and the culture bottle 60 to rotate until the culture bottle 60 rotates to a horizontal state, and the multi-directional moving component drives the rotating component, the suction cup component and the culture bottle 60 to move To the top of the bearing structure, so that the culture bottle 60 is placed on the top of the carrier 250, the suction cup assembly eliminates the negative pressure, then the suction cup assembly, the moving assembly and the rotating assembly return to the original state, and the microscope assembly starts to work, so that it can be used under the microscope 210. The culture conditions of all the cells in the culture bottle 60 are observed, so as to comprehensively detect the growth of the cells in the culture bottle 60, and the entire moving process is performed in a sealed space without contact with people, thereby reducing the risk of contamination.

The above-mentioned cell transfer observation mechanism, by setting the transfer assembly and the observation assembly, after the suction cup assembly of the transfer assembly absorbs the culture bottle 60, the multi-directional moving assembly drives the suction cup assembly and the culture bottle 60 to move, so that the culture bottle moves to the carrier 250 Above, the carrier 250 moves to the position of the microscope 210 under the drive of the culture bottle moving component, and observes the growth of the cells inside the culture bottle 60, so as to realize automatic movement of the culture bottle 60 to the position of the microscope 210, and can automatically change the culture The position of the bottle 60 is used to fully observe the growth of cells and improve the efficiency of observation. The entire movement and observation process does not come into contact with people, thereby reducing the risk of contamination and low cost.

In one embodiment, the working method of the cell metastasis observation mechanism is also provided, including:

When it is necessary to observe the results of cell culture, after the suction cup assembly absorbs the culture bottle 60, the multi-directional moving assembly works to move the suction cup assembly and the culture bottle 60, so that the culture bottle 60 moves to the supporting structure, and the suction cup assembly is released to the culture bottle 60 The holding structure moves under the drive of the moving structure, so that the microscope component can fully observe the cells in the culture flask.

Additionally, include:

When the microscope component fully observes the cells in the culture bottle 60, the image of the culture bottle 60 is acquired; the image of the culture bottle 60 is binarized; the background image of the cells is extracted; The cell-free area is blackened to obtain the processed image; the processed image is analyzed for particles to obtain the percentage of each particle in the processed image area; according to the percentage of each particle in the processed image area Calculate the fusion degree; send the fusion degree and the processed image.

At the beginning of the stem cell observation, put the culture bottle 60 on the tray of the detection mechanism. There are two working modes, one is remote trigger detection, and the controller 211 can send commands through communication to start the detection work; the other is For timing trigger detection, the interval time of automatic detection of a song can be set on the controller 211, and the detection can be automatically triggered to start working after the timing time has arrived.

The first X-axis linear module 230 and the first Y-axis linear module 220 work, and drive the bearing assembly to drive the culture bottle 60 to move on the XY plane, and adjust the first X-axis linear module 230 and the first Y-axis linear module The rigidity of the servo motor 220 and the acceleration and deceleration time of start and stop can achieve soft movements when the first X-axis linear module 230 and the first Y-axis linear module 220 move, and minimize the vibration of the culture bottle 60 . The camera and lighting are in a fixed position and will not shake by themselves. When the first X-axis linear module 230 and the first Y-axis linear module 220 move to the photographing position, delay for a certain period of time to ensure that the culture bottle 60 and the culture solution are still, first turn on the light, and then the camera takes a picture . After the camera is finished shooting, the first X-axis linear module 230 and the first Y-axis linear module 220 can immediately move to the next working position; when the camera has collected the cell pictures in the culture bottle 60, as shown in Figure 6, The picture is sent to the controller 211, and the picture first passes through the appropriate thresholds of the settings of the three parameters of Red, Green and Blue, and adjusts the three color thresholds of red (Red), green (Green) and blue (Blue) of the image. Finally, the red color of cells with a dark yellow background can be retained, and the green and blue colors can be filtered out, while the background color remains unchanged, so that the color image can be binarized, and the red color of the cell background area can be maximized to achieve Lift out the background of the cells, as shown in Figure 7; then blacken the image area without cells, and then perform particle analysis on the blackened image, as shown in Figure 8, it is obtained that each particle accounts for the total image area percentage, and summed to obtain the fusion degree.

As shown in FIG. 6 , after the culture bottle 60 is magnified with a 40 times objective lens, the original picture taken by a video camera, the background light source is a halogen lamp. The cell-free area is yellow, the center of the stem cell is dark yellow, and the periphery is colorless. Completely blacken the background without the color of the cell-free area, so that there is a clear difference between the cell-free area and the cell-free area. As shown in Figure 8, the particle detection is performed on the processed binary image without cells, and the total number of particles is obtained. The number and the area percentage of each particle in the image; the sum of the area percentages of all particles in the image can be obtained as the percentage of the cells in the culture dish surface in the image area, that is, the fusion degree, because the photographed area is only a culture bottle 60 For a small area, it is necessary to collect multiple images of one culture bottle 60, and the most realistic fusion value is achieved by making statistics on the results of all image processing and calculating the average value.

It should be noted that those skilled in the art can clearly understand that the specific implementation process of the working method of the above-mentioned cell metastasis observation mechanism can refer to the corresponding description in the embodiment of the previous cell metastasis observation mechanism. For the convenience and brevity of description, I won't repeat them here.

The above only uses examples to further illustrate the technical content of the present invention, so that readers can understand more easily, but it does not mean that the implementation of the present invention is limited to this, and any technical extension or re-creation done according to the present invention is subject to the present invention. protection of. The protection scope of the present invention shall be determined by the claims.

Claims (10)

1. Cell transfer observation mechanism, characterized in that it includes a support, a transfer assembly and an observation assembly, the transfer assembly includes a suction cup assembly and a multidirectional movement assembly, the suction cup assembly is connected to the multidirectional movement assembly, and the multidirectional movement assembly is connected to the multidirectional movement assembly. The moving assembly is connected on the support; the observation assembly includes a microscope assembly and a culture bottle moving assembly, and the culture bottle moving assembly includes a moving structure and a carrying structure, and the carrying structure is connected to the moving structure, and the moving The structure is connected to the support, and the microscope assembly is connected to the support; when it is necessary to observe the results of cell culture, after the suction cup assembly absorbs the culture bottle, the multi-directional movement assembly works to connect the suction cup assembly and the culture bottle. The bottle moves, so that the culture bottle moves to the carrying structure, the suction cup assembly releases the suction of the culture bottle, and the carrying structure moves under the drive of the moving structure, so that the microscope assembly moves to the culture bottle The cells inside are fully observed. 2. The cell transfer observation mechanism according to claim 1, wherein the carrying structure comprises a carrier and a stand, and the carrier is provided with a limiting channel for placing a culture bottle, and the carrier is It is connected with the stand, and the stand is connected to the mobile structure. 3. The cell metastasis observation mechanism according to claim 2, wherein the moving structure comprises a Y-axis moving structure and an X-axis moving structure, the Y-axis moving structure is connected to the support, and the X-axis The moving structure is connected to the Y-axis moving structure; the stand is connected to the X-axis moving structure. 4. The cell transfer observation mechanism according to claim 3, wherein the microscope assembly includes a microscope and a controller, the microscope is connected to the support through a microscope mount, and the lower end of the microscope mount is provided with a There is a through slot, and one end of the Y-axis moving structure is placed in the through slot. 5. The cell metastasis observation mechanism according to any one of claims 1 to 4, wherein the multi-directional movement assembly includes a rotation assembly, a Z-axis linear module, a second X-axis linear module, and a second Y-axis module. axis linear module, the Z-axis linear module is connected to the bracket, the second X-axis linear module is connected to the Z-axis linear module, and the second Y-axis linear module is connected to On the second X-axis linear module; the rotating assembly is connected to the second Y-axis linear module, and the suction cup assembly is connected to the rotating assembly. 6. The cell transfer observation mechanism according to claim 5, wherein the suction cup assembly includes a suction cup mounting plate and several suction cups, and several of the suction cups are respectively connected to the suction cup mounting plate, and the suction cups are installed A plate is attached to the rotating assembly. 7. The cell transfer observation mechanism according to claim 6, wherein the rotating assembly includes a swing cylinder, the swing cylinder is connected to the suction cup mounting plate, and the swing cylinder is connected to the on the second Y-axis linear module. 8. The cell metastasis observation mechanism according to claim 7, characterized in that, the Z-axis linear module is connected to the bracket through a second mount, and the second X-axis linear module is installed through a third The seat is connected to the Z-axis linear module, and the second Y-axis linear module is connected to the second X-axis linear module through the fourth mounting seat. 9. The working method of the cell metastasis observation mechanism, comprising: When it is necessary to observe the results of cell culture, after the suction cup assembly absorbs the culture bottle, the multidirectional moving assembly works to move the suction cup assembly and the culture bottle, so that the culture bottle moves to the supporting structure, and the suction cup assembly releases the suction of the culture bottle, The supporting structure moves under the drive of the moving structure, so that the microscope assembly can observe the cells in the culture flask comprehensively. 10. the working method of cell transfer observation mechanism according to claim 9, is characterized in that, when described microscope component carries out overall observation to the cell in culture bottle, obtains the image of culture bottle; The image of culture bottle is carried out binary value processing; extract the background image of cells; blacken the cell-free area in the binarized image to obtain the processed image; perform particle analysis on the processed image to obtain the proportion of each particle. The percentage of the processed image area; calculate the fusion degree according to the percentage of each particle in the processed image area; send the fusion degree and the processed image.