Systems, methods and apparatus for the automated culture of cells
Systems and methods for the automated culture of cells and apparatus and methods for dissociating one or more colonies in a culture of cells are described. The automated systems include at least an imaging module, a pipette module, a handling module, and optionally a stage module. Coordinated operation of the foregoing modules is effected by at least one processor based on one or more characteristics of the culture of cells calculated from one or more images captured at a first time point and at one or more subsequent time points. The apparatus includes a mounting surface, having one or more impact bumpers, connected to a rotatable drive, a platform rotatable dependently or independently of the drive, and one or more impact brackets connected to the platform and collidable with the one or more impact bumpers to transmit a dissociative force to a culture of cells in a cell culture vessel upon the platform.
1. An automated system for adaptively passaging a culture of cells in a cell culture medium within a cell culture vessel, the automated system comprising:
an imaging station comprising a camera for capturing one or more images of the culture of cells at a first time point and at one or more subsequent time points;
a pipette module having one or more pipettes for drawing a fluid from the cell culture vessel through a pipette tip mateable with an end of the one or more pipettes;
a liquid dispenser station spaced apart from the pipette module and in fluid communication with more than one solution reservoir, the liquid dispenser station comprising more than one conduit respectively in fluid communication with a separate one of the more than one solution reservoirs, wherein a solution is dispensed from the liquid dispenser station in bulk into the cell culture vessel;
a handling module having a pair of opposable arms for gripping and transporting the cell culture vessel or a lid thereof or a daughter cell culture vessel or a lid thereof within the automated system; and
at least one processor in communication with the imaging station, the pipette module, the liquid dispenser station, and the handling module, the processor configured to:
receive the one or more images from the imaging station;
based on the one or more images received from the imaging station, calculate one or more characteristics of the culture of cells; and
execute an automated passaging protocol to passage the culture of cells, the protocol including coordinating operation of the pipette module, the liquid dispenser station and the imaging station based on comparing the calculated one or more characteristics of the culture of cells to:
a) a learned threshold level for the one or more characteristics; or
b) an inputted threshold level for the one or more characteristics;
wherein:
the one or more characteristics calculated in respect of the culture of cells in the cell culture vessel and a second culture of cells in a second cell culture vessel is different at the first time point or at the one or more subsequent time points and the different one or more characteristics become more consistent between the culture of cells in the cell culture vessel and the second culture of cells in the second cell culture vessel during a subsequent passage; and
wherein the culture of cells and the second culture of cells are the same type of cells.
2. The automated system according to claim 1 , wherein the one or more characteristics includes:
a) a measure of a confluence of the culture of cells;
b) a measure of a morphology of cells or colonies of the culture of cells;
c) a measure of differentiation of cells or colonies of the culture of cells;
d) a measure of colony size distribution of the culture of cells;
e) a measure of the change of a), b), c), or d) from the first time point to the one or more subsequent time points; or
f) a measure of a) relative to b), c) or d), a measure of b) relative to a), c), or d), a measure of c) relative to a), b), or d), or a measure of d) relative a), b), or c).
3. The automated system according to claim 2 , wherein the learned or the inputted threshold level is:
i. for a), between 30-90% for cell or colony confluence;
ii. for b), between ±30% of a control culture;
iii. for c), between 0 to 30% of a control culture in a maintenance protocol or between 50% to 100% of a control culture in a differentiation protocol; or
iv. for d), within 15% of a mean colony size distribution of a control culture, or a subfraction thereof.
4. The automated system according to claim 1 , further comprising a stage comprising a platform for supporting the cell culture vessel, the stage movable in a first plane along a first axis or a second axis, or both.
5. The automated system according to claim 4 , wherein the stage or a subcomponent thereof pivots about an edge thereof along a third axis.
6. The automated system according to claim 1 , further comprising a refrigeration station to store one or more of the more than one solution reservoirs and a waste reservoir, wherein the more than one solution reservoirs, the refrigeration module and the waste reservoir are external of an enclosure housing at least the stage, the imaging station, the pipette module, the liquid dispenser station, and the handling module.
7. The automated system according to claim 6 , wherein the waste reservoir is in fluid communication with a waste trough within the enclosure.
8. The automated system according to claim 7 , wherein the waste trough is coated with a hydrophobic coating.
9. The automated system according to claim 1 , further comprising one or more load sensors, wherein the one or more load sensors are configured to i) detect and report on a mass of a load on the imaging station, on the stage, or in the more than one solution reservoirs, and ii) trigger an alert when the mass of the load is different than expected.
10. An automated method for adaptively passaging a culture of cells, comprising:
providing the culture of cells in a cell culture medium within a cell culture vessel, wherein the cell culture medium is dispensed in bulk into the cell culture vessel from a liquid dispenser station including more than one conduit and wherein each conduit is in fluid communication with a separate one of the more than one solution reservoirs and wherein the liquid dispenser station is spaced apart from a pipette module;
capturing by a camera one or more images of the culture of cells at a first time point and at one or more subsequent time points;
transforming the one or more images to contrast the culture of cells from a background;
calculating by at least one processor communicatively coupled to the camera one or more characteristics of the culture of cells based on the transformed one or more images; and
executing by the at least one processor an automated passaging protocol based on comparing the calculated one or more characteristics of the culture of cells to:
a) a learned threshold level for the one or more characteristics; or
b) a pre-determined threshold level for the one or more characteristics;
wherein:
the one or more characteristics calculated in respect of the culture of cells in the cell culture vessel and a second culture of cells in a second cell culture vessel is different at the first time point or at the one or more subsequent time points and the different one or more characteristics become more consistent between the culture of cells in the cell culture vessel and the second culture of cells in the second cell culture vessel during a subsequent passage; and
wherein the culture of cells and the second culture of cells are the same type of cells.
11. The automated system according to claim 10 , wherein the one or more characteristics includes:
a) a measure of the confluence of the culture of cells;
b) a measure of the morphology of cells or colonies of the culture of cells;
c) a measure of the differentiation of cells or colonies of the culture of cells;
d) a measure of colony size distribution of the culture of cells;
e) a measure of the change of a), b), c), or d) from the first time point to the one or more subsequent time points; or
f) a measure of a) relative to b), c) or d), a measure of b) relative to a), c), or d), a measure of c) relative to a), b), or d), or a measure of d) relative a), b), or c).
12. The automated system according to claim 11 , wherein the learned or the inputted threshold level is:
i. for a), between 30-90% for cell or colony confluence;
ii. for b), between ±30% of a control culture;
iii. for c), between 0 to 30% of a control culture in a maintenance protocol or between 50% to 100% of a control culture in a differentiation protocol; or
iv. for d), within 15% of a mean colony size distribution of a control culture, or a subfraction thereof.
13. The automated method according to claim 10 , further comprising obtaining a suspension of cells from the culture of cells and seeding some or all of the suspension of cells in a daughter cell culture vessel.
14. The automated method according to claim 13 , wherein prior to seeding in the daughter cell culture vessel the suspension of cells is passed through a first pipette tip to dissociate the culture of cells into a single cell suspension or a plurality of clumps having an average diameter not exceeding a bore diameter of the first pipette tip.
15. The automated method according to claim 13 , wherein obtaining the suspension of cells includes aspirating the cell culture medium from the cell culture vessel and contacting the culture of cells in the cell culture vessel with a detachment solution.
16. The automated method according to claim 15 , wherein the detachment solution is a fractionation solution, and the fractionation solution selectively detaches either a first population of differentiated cells or a second population of undifferentiated cells from a wall of the cell culture vessel.
17. The automated method according to claim 10 , wherein the culture of cells are pluripotent stem cells.
18. The automated method according to claim 17 , wherein the pluripotent stem cells are human pluripotent stem cells.
19. The automated method according to claim 17 , wherein the pluripotent stem cells are passaged as clumps.
20. The automated system according to claim 1 , wherein the pipette module and the handling module are comprised in a carriage.
21. The automated system according to claim 4 , wherein the stage at least partially underlies the liquid dispenser station and the imaging station.