• CN:11-2187/TH
  • ISSN:0577-6686

›› 2009, Vol. 45 ›› Issue (2): 100-105.

• 论文 • 上一篇    下一篇

高粘性液体试剂的自动化微量分配系统

刘亚欣;陈立国;孙立宁;荣伟彬   

  1. 哈尔滨工业大学机器人技术与系统国家重点实验室
  • 发布日期:2009-02-15

Automated Dispensing System for Biologic Viscous Micro-drop

LIU Yaxin;CHEN Liguo;SUN Lining;RONG Weibin   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology
  • Published:2009-02-15

摘要: 在膜蛋白结晶等生物工程领域,常需要对高粘性生物试剂进行精确的分配和转移操作。研制一套液体操作机器人系统,它可以实现纳升级别高粘性试剂的精确分配操作。介绍该系统的结构原理,主要由运动控制模块、分配控制模块和液滴体积检测模块等组成,分别用来实现液滴的精确分配操作和体积检测功能。接下来对影响试剂分配过程的因素进行分析,给出成功实现微量试剂液滴分配操作时,分配头与基板之间高度必须满足的临界高度范围。针对具有不同粘度的三种试剂进行分配试验,验证理论分析结果,结果表明该系统分配精度小于7%,重复精度(用变异系数表示)小于10%。

关键词: 液滴体积检测, 液体分配, 粘性试剂

Abstract: A robotic liquid handling system is developed for dispensing highly viscous reagent with nanoliter volumes in membrane protein crystallization. The system construction is introduced, and it mainly consists of motion control module, dispensing control module, droplet volume detection module. Highly viscous reagent can be dispensed in nanoliter through controlling the dispensing control module and the motion control module correctly, and the volume of micro-drop can be detected by means of robotic vision technique. The factors that influence the successful delivery of nanoliter volumes of highly viscous reagent are discussed through analysis of the dispensing process. And the two critical values that the dispense height should be kept are derived. Three kinds of reagent with different viscosity are used for dispensing experiments to verify the theoretical results. The accuracy of the system has been shown to be below 7%, and the coefficient of variance (CV) has been shown to be below 10%.

Key words: Drop volume detection, Liquid dispensing, Viscous reagent

中图分类号: