Liquid transport method

Patent metadata

Field	Value
Publication number	US-11261412-B2
Application number	US-202016863327-A
Country	US
Kind code	B2
Filing date	Apr 30, 2020
Priority date	Dec 26, 2014
Publication date	Mar 1, 2022
Grant date	Mar 1, 2022

Abstract

A liquid transport method is disclosed for efficiently producing cell cultures. The liquid transport method of the present disclosure, which is in processing of cells, includes: a) a step in which a container holding a liquid is gripped by a gripping tool of a robot; and b) a step in which the liquid in the container is transported to a collection container by rotating the gripped container. In steps a) and b) the robot operates such as not to pass over a vertical line of an opening of the collection container.

First claim

What is claimed is:

1. A liquid transport method in processing of cells, the liquid transport method comprising:
a) a step in which lateral sides of a container holding a liquid is gripped by a gripping tool of a robot from a cassette configured to hold a plurality of containers, the cassette having a plurality of recessed parts each shaped corresponding to a bottom surface of the container, the gripping of the container being conducted in such a manner that the gripping tool is not present over a vertical line of an opening of the container;
b) a step in which the liquid in the container is transported into a collection container by rotating the gripped container and orienting the opening of the gripped container toward a vertically lower direction;
wherein in steps a) and b), the robot operates in such a manner as not to pass over a vertical line of an opening of the collection container; and
wherein the container has a container main body and a cap, the method further comprising:
detaching the cap of the container from the container main body by the robot and disposing the cap on a cap depository prior to conducting the step a); and
gripping the lateral sides of the container main body of the container.

2. The liquid transport method according to claim 1 ,
wherein the gripping tool is rotatable, and
in step b), the container is rotated, in the same direction, about a center axis consisting of an axis parallel to an axis of rotation of the gripping tool.

3. The liquid transport method according to claim 1 ,
wherein in step b), the container is reciprocated up and down when the opening of the container is oriented downward.

4. The liquid transport method according to claim 1 , wherein in step b), the rotation of the container is performed while being accompanied by a translational motion.

5. The liquid transport method according to claim 1 , wherein the liquid is a culture medium.

6. A cell processing system, which is a system for use in processing of cells by use of a container, the cell processing system comprising:
a rectangular base provided with a plurality of processing areas for performing processing by use of the container and a carrying-in/carrying-out area where things for use in the processing can be carried in and carried out;
a robot that is provided on the base and has a gripping tool capable of gripping at least part of the container, the robot being adjacent to each of the plurality of processing areas;
a housing that covers the processing areas, the robot, and at least part of the carrying-in/carrying-out area and is able to maintain cleanliness of an inside of the housing;
at least one working section that is disposed on the housing or the base and is configured in such a manner that manual operation in the housing from outside of the housing;
wherein the gripping tool of the robot can reach each of the processing areas;
the housing is configured such that a part of the housing adjacent to the carrying-in/carrying-out area can be opened and closed;
the at least one working section is configured such that a workable area of the at least one working section overlaps with the processing area and/or the carrying-in/carrying-out area for use in the processing can be moved between the respective processing areas and the carrying-in/carrying-out area through the at least one working section;
at least one openable and closeable slide shutter, the at least one openable and closeable shutter configured to produce a closed system when the at least one shutter is closed;
a plurality of suction portions in the base and in a vicinity of the at least one shutter, the plurality of suction portions configured to generate a clean space having a reduced-pressure state in the clean space; and
wherein the plurality of processing areas comprise:
a first processing area configured to dispense a liquid into the container;
a second processing area configured to dispose of and collect a culture medium in the container; and
a third processing area configured to attach and detach a cap of the container.

7. The cell processing system according to claim 6 , further comprising:
a plurality of the working sections, wherein workable areas of the working sections adjacent to each other overlap with each other.

8. The cell processing system according to claim 6 , wherein manual preparation for the processing in the processing area can be performed by the working section.

9. The cell processing system according to claim 6 , wherein the processing is performed by the robot.

10. The cell processing system according to claim 6 , wherein the working section is a glove.

11. The cell processing system according to claim 6 , wherein the liquid is a culture medium.

12. The cell processing system according to claim 6 , wherein the first processing area includes a dispensing pump, a culture medium storage container for storing a culture medium, a tube for supplying the culture medium from the culture medium storage container into the container by the dispensing pump, and a liquid measurement sensor for measuring the amount of the liquid dispensed into the container.

13. The cell processing system according to claim 6 , wherein the second processing area includes a collection container configured to collect the culture medium transported from the container and a sensor configured to measure an amount of the collected culture medium.

14. The cell processing system according to claim 13 , wherein the sensor is a weight sensor disposed under the collection container or an optical sensor configured to optically detect an amount of liquid.

15. The cell processing system according to claim 14 , wherein the third processing area includes a securing means for securing a cassette for the container, the container being one of a plurality of containers and a cap depository for supporting the cap detached from the container.

16. A cell processing system, which is a system for use in processing of cells by use of a container, the cell processing system comprising:
a rectangular base provided with a plurality of processing areas for performing processing by use of the container and a carrying-in/carrying-out area where things for use in the processing can be carried in and carried out, the plurality of processing areas including a first processing area configured to dispense a liquid into the container, a second processing area configured to dispose of and collect a culture medium in the container, and a third processing area configured to attach and detach a cap of the container;
a robot that is provided on the base and has a gripping tool capable of gripping at least part of the container, the robot being adjacent to each of the plurality of processing areas;
a housing that covers the processing areas, the robot, and at least part of the carrying-in/carrying-out area and is able to maintain cleanliness of an inside of the housing;
a plurality of working sections disposed on the housing or the base and configured in such a manner that manual operation in the housing from outside of the housing can be performed;
wherein the gripping tool of the robot can reach each of the processing areas;
the housing is configured such that a part of the housing adjacent to the carrying-in/carrying-out area can be opened and closed; and
the plurality of working sections include at least two working sections on one side of the rectangular base and at least two working sections on an opposite side of the rectangular base, the plurality of working sections being configured such that a workable area of the plurality of work

Assignees

• Terumo Corp

Inventors

• Yori Kouichirou
• Jinno Makoto

Classifications

• B25J21/00 Primary

  Chambers provided with manipulation devices (constructional features of the mounting of the manipulator in the wall B25J1/08 {; glove-boxes for nuclear applications G21F7/04}) · CPC title

• C12M41/48

  Automatic or computerized control (automatic analysis G01N35/00) · CPC title

• G01N35/1016

  Control of the volume dispensed or introduced · CPC title

• G05B2219/40073

  Carry container with liquid, compensate liquid vibration, swinging effect · CPC title

• B25J21/02

  Glove-boxes, i.e. chambers in which manipulations are performed by the human hands in gloves built into the chamber walls {(glove- boxes for removal of dirt B08B15/026; glove-boxes shielded against radiation G21F7/04)}; Gloves therefor · CPC title