Subject moving device

Patent metadata

Field	Value
Publication number	US-9969967-B2
Application number	US-201715435435-A
Country	US
Kind code	B2
Filing date	Feb 17, 2017
Priority date	Dec 12, 2013
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

A subject moving device includes: a base; a head section provided with vertically movable rods and moving along a prescribed movement path above the base; a first container section which stores a subject of movement; a second container section which receives the subject of movement; a tip stocking section which holds a plurality of tips in a state where the plurality of tips are attachable to the rods, the tips being attachable to and detachable from the rods and being configured to suction the subject of movement and discharge the suctioned subject of movement in accordance with vertical movements of the rods; a tip discarding section which collects the tips having finished the suction and the discharge of the subject of movement and having been detached from the rods; and a control section which controls the vertical movements of the rods and the movement operations of the head section.

First claim

The invention claimed is:

1. A subject moving device comprising:
a base which is formed with translucent material;
a head section which is provided with vertically movable rod and which moves along a prescribed movement path above the base;
a first driving device which is configured to move the head section along the movement path;
a first container section which has an open upper surface and which stores a subject of movement;
a second container section which has an open upper surface and which receives the subject of movement;
a tip which is attachable to the rod, the tip being configured to suction the subject of movement and discharge the suctioned subject of movement in accordance with vertical movement of the rod;
an imaging section which acquires an image of at least one of the first container section and the second container section and an image of the tip in a state where the tip is attached to the rod, the imaging section being arranged below the base so as to be movable;
a second driving device which is configured to move the imaging section; and
a control section which controls the vertical movements of the rod, the movement operations of the head section by the first driving device and the movement operations of the imaging section by the second driving device, wherein
control performed by the control section includes the following:
first control for moving the head section to above the first container section and suctioning the subject of movement stored in the first container section into the tip;
second control for moving the head section to above the second container section and discharging the subject of movement inside the tip to the second container section; and
third control for moving the imaging section between a first position where the imaging section acquires an image of at least one of the first container section and the second container section and a second position where the imaging section acquires an image of the tip attached to the rod, and wherein
the control section controls the first driving device to move the head section to above the second container to perform the second control and controls the second driving device to move the imaging section to below the first container to acquire an image of the first container at the same time.

2. The subject moving device according to claim 1 , wherein
the control section includes a position correcting section which obtains attachment position information on the tip, based on information obtained by the imaging operation of the tip by the imaging section.

3. The subject moving device according to claim 2 , wherein
the tip includes a suction port to suction and discharge the subject of movement, and
the position correcting section performs a process of obtaining a coordinate position of the suction port from position information in a horizontal direction on the suction port as obtained by an image processing to the image of the tip acquired by the imaging section, and focal position information in a vertical direction on the suction port as determined by a focusing operation of the imaging section.

4. The subject moving device according to claim 1 , wherein
the control section causes the tip attached to the rod to move in a vertical direction in predetermined increments after the imaging section is moved to the second position by the third control, and causes the imaging section to acquire an image of the tip after each increment of the tip.

5. The subject moving device according to claim 4 , wherein
the control section obtains a coordinate position of the tip from focal position information at the time of obtaining a focused image which is an image with a highest contrast among the plurality of images obtained after each increment of the tip.

6. The subject moving device according to claim 1 , further comprising
a tip stocking section which holds a plurality of the tips in a state where the plurality of tips are attachable to a plurality of the rods, and
a tip imaging section arranged at the second position, and configured to provide a position where an image of the tip attached to the rod is to be acquired, wherein
the second position is between the tip stocking section and the first container section.

7. The subject moving device according to claim 1 , wherein
the subject is a biological cell.

8. The subject moving device according to claim 7 , wherein the subject is a biological cellular aggregate.

Assignees

• Yamaha Motor Co Ltd

Inventors

• Ito Saburo

Classifications

• G01N35/1065 Primary

  Multiple transfer devices · CPC title

• C12M41/48

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

• C12M33/06

  for multiple inoculation or multiple collection of samples · CPC title

• C12M23/50

  Means for positioning or orientating the apparatus (C12M41/08 takes precedence) · CPC title

• C12M23/12 Primary

  Well or multiwell plates (C12M25/04 takes precedence) · CPC title