CN105607686A - Nanometer-level-microoperation-based unicellular sub-nanometer-level motion control system - Google Patents
Nanometer-level-microoperation-based unicellular sub-nanometer-level motion control system Download PDFInfo
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- CN105607686A CN105607686A CN201610014538.7A CN201610014538A CN105607686A CN 105607686 A CN105607686 A CN 105607686A CN 201610014538 A CN201610014538 A CN 201610014538A CN 105607686 A CN105607686 A CN 105607686A
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- 230000033001 locomotion Effects 0.000 title abstract description 9
- 239000000523 sample Substances 0.000 claims abstract description 72
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 2
- 238000002474 experimental method Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract 1
- 210000004027 cell Anatomy 0.000 description 16
- 238000000034 method Methods 0.000 description 6
- 230000009087 cell motility Effects 0.000 description 5
- 238000011160 research Methods 0.000 description 3
- 238000000465 moulding Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010170 biological method Methods 0.000 description 1
- 238000005460 biophysical method Methods 0.000 description 1
- 230000005779 cell damage Effects 0.000 description 1
- 208000037887 cell injury Diseases 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- RFHAOTPXVQNOHP-UHFFFAOYSA-N fluconazole Chemical compound C1=NC=NN1CC(C=1C(=CC(F)=CC=1)F)(O)CN1C=NC=N1 RFHAOTPXVQNOHP-UHFFFAOYSA-N 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000520 microinjection Methods 0.000 description 1
- 210000001082 somatic cell Anatomy 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G21/00—Mechanical apparatus for control of a series of operations, i.e. programme control, e.g. involving a set of cams
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- Automation & Control Theory (AREA)
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Abstract
Disclosed in the invention is a nanometer-level-microoperation-based unicellular sub-nanometer-level motion control system. A microoperation platform is fixed on an objective table of a microscope; a first switching board is fixed on the microoperation platform; and a single-shaft sub-nanometer-level positioning system is fixed on the surface of the first switching board. An upper end of a second switching board is connected to the side surface of the single-shaft sub-nanometer-level positioning system; a probe clamping device clamp is fixed at a lower end of the second switching board; and a probe clamp with a probe installed at the front end is clamped in a spring clamp groove of the probe clamping device clamp. The probe arranged at the front end of the probe clamp is processed by opening according to the design demand; and cells near the pointed end of the probe are absorbed or released based on a positive pressure or negative pressure provided by the rear end of the probe clamp. According to the invention, the three-shaft precision can reach 7nm, the control range can be to 20nm, and the damages on living cells are low; the motion control precision is high and the closed ring precision can reach 0.05 nm; and because of the small three-dimensional size of the microoperation platform, the space of the objective table is saved and integration of the table to other complicated experiment systems can be realized easily.
Description
Technical field
The present invention relates to unicellular kinetic control system, especially relate to a kind of unicellular Subnano-class kinetic control system based on the micro-behaviour of nanoscale.
Background technology
Engineering science combines with biomedicine and can solve the insurmountable problem of a lot of traditional biological methods, and the method that engineering field is studied a question is engineering science and the biomedical important channel combining in the middle of being applied to biological research. Along with the development of bio-physical method in recent years, wherein a lot of novel, efficient methods have become the important tool of biomedical research gradually. On these emerging System Markets, often there is no integrated product, but user is incorporated into the submodule of moulding in new system as required dexterously.
The control of cell movement is the basis of a lot of biomethanics area research methods, and the accurate RACS of complete cell movement but rarely has and mentions. Because cell size is little, its motion control precision prescribed is high, response is fast. Seldom have in the market the unicellular kinetic control system of moulding, especially as submodule, the unicellular kinetic control system that can be integrated into simply, easily new system is more rare.
First the control that realizes cell movement will capture individual cells and be fixed in probe tip. The more method of application is mainly to form negative pressure by hydraulic pressure/baric systerm to produce suction at present, by the unicellular capillary micro pipette tip that is adsorbed on. Cell movement control aspect, the small size of cell often needs high power objective to observe, and the field range of high power objective is conventionally very little, thereby need to realize very accurate even other manipulation of Subnano-class of nanometer to cell. A lot of experiments based on microscopical unicellular level all need unicellular micromanipulation, as microinjection, patch-clamp etc., much need especially the reciprocating motion of manipulating cells based on dynamical investigation method, as mechanics of biomembranes probe (BFP) experiment. Therefore, need a kind of being easy to test with other unicellular kinetic control system of integrating.
Summary of the invention
The object of the invention is to provide a kind of unicellular Subnano-class kinetic control system based on the micro-behaviour of nanoscale. By providing positive/negative pressure at probe clamper end, realize the release/crawl to cell. Carry out accurate three-dimensional control to unicellular with the micro-behaviour's platform of nanoscale, and realize the ultraprecise control that cell single shaft is moved with the sub-axis Nano-positioners of single shaft.
For achieving the above object, the technical solution used in the present invention is:
The present invention includes micro-behaviour's platform, the first keyset, the sub-axis Nano-positioners of single shaft, the second keyset, probe clamper fixture, probe clamper and probe, micro-behaviour's platform is fixed on microscopical objective table, the first keyset is fixed on micro-behaviour's platform by screw, the sub-axis Nano-positioners of the single shaft back side is fixed on the surface of the first keyset, the second keyset upper end is connected to the sub-axis Nano-positioners of single shaft side, probe clamper fixture is fixed in the second keyset lower end screw, probe clamper is stuck in the spring card slot of probe clamper fixture, the probe that is contained in probe clamper front end need to carry out opening processing according to design, and provide malleation or negative pressure to release or draw near cell probe tip by probe clamper rear end.
Described micro-behaviour's platform model is for being the three-dimensional micro-behaviour's platform of Sensapex.
The sub-axis Nano-positioners model of described single shaft is the product P-753.1CD of PhysikInstrument company, 12 microns of strokes, closed-loop precision 0.05 nanometer.
Described the second keyset lower end is provided with equally distributed screwed hole, meets the required differing heights of probe.
Described probe clamper fixture model is the product HIK-3 of Narishige company probe clamper fixture.
Described probe clamping type number is the product HI-7 of Narishige company probe clamper.
The beneficial effect that the present invention has is:
The present invention, mainly for unicellular precise motion control problem in life science, provides a kind of Subnano-class based on the micro-behaviour of nanoscale unicellular kinetic control system. By being provided to probe clamper end, realizes the attached cytoproximal release/absorption of probe tip positive/negative pressure; Carry out accurate three-dimensional control to unicellular with the micro-behaviour's platform of nanoscale, and realize with the sub-axis Nano-positioners of single shaft the ultraprecise control that cell single shaft is moved, have following advantage concurrently:
1) unicellular easy and simple to handle, the high and scope of space control accuracy wide (X, Y, Z tri-can reach ~ 7nm of axle precision, control range ~ 20mm), control procedure is little to active somatic cell damage;
2) motion control precision, closed-loop precision reaches 0.05 nanometer.
3) the second even cloth hole, keyset lower end, the convenient probe height of adjusting, makes the adaptability of this system stronger.
4) because the micro-behaviour's platform of Sensapex three-dimensional dimension is little, save objective table space, be readily integrated into other complex experiment systems.
Brief description of the drawings
Fig. 1 is systematic schematic diagram of the present invention.
Fig. 2 is the structure chart of the present invention's the first keyset.
Fig. 3 is the structure chart of the present invention's the second keyset.
In figure: 1, micro-behaviour's platform, 2, the first keyset, 3, the sub-axis Nano-positioners of single shaft, 4, the second keyset, 5, probe clamper fixture, 6, probe clamper, 7, probe.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, Figure 2, Figure 3 shows, the present invention includes micro-behaviour's platform 1, the first keyset 2, sub-axis Nano-positioners 3, the second keysets 4 of single shaft, probe clamper fixture 5, probe clamper 6 and probe 7.
Micro-behaviour's platform 1 is fixed on microscopical objective table, the first keyset 2 is fixed on micro-behaviour's platform 1 by screw, the sub-axis Nano-positioners of single shaft 3 back sides are fixed on the surface of the first keyset 2, the second keyset 4 upper ends are connected to the sub-axis Nano-positioners of single shaft 3 sides, probe clamper fixture 5 is fixed in the second keyset 4 lower end screws, probe clamper 6 is stuck in the spring card slot of probe clamper fixture 5, the probe 7 that is contained in probe clamper 6 front ends need to carry out opening processing according to design, and provide malleation or negative pressure to discharging or near the most advanced and sophisticated cells of absorption probe 7 by probe clamper 6 rear ends.
Described micro-behaviour's platform 1 model is for being the three-dimensional micro-behaviour's platform of Sensapex.
Sub-axis Nano-positioners 3 models of described single shaft are PhysikInstrument (PI) product P-753.1CD of company, 12 microns of strokes, closed-loop precision 0.05 nanometer. Its controller is PhysikInstrument(PI) E753.1CD of company controller, the control software PI-MICROMOVE providing by PI Corp. controls, and can be according to user's needs, is integrated in other system with different programming language codings.
Described the second keyset 4 lower ends are provided with equally distributed screwed hole, meet the required differentiated levels of probe.
Described probe clamper fixture 5 models are the product HIK-3 of Narishige company probe clamper fixture.
Described probe clamper 6 models are for being the product HI-7 of Narishige company probe clamper.
Operation principle of the present invention is as follows:
First write the control program of the sub-axis Nano-positioners 3 of single shaft according to needed cell movement track. Probe 7 needs bore to carry out opening processing according to user, puts into probe clamper 6, is communicated with hydraulic pressure/pneumatic control system at probe clamper 6 ends, realizes the most advanced and sophisticated attached cytoproximal release/absorption of probe 7 by the control of positive/negative pressure; Probe clamper 6 is put into the spring card slot of probe clamper fixture 7; Adjust the accurate burnt spiral of microscope, target cell is clearly appeared in the visual field; Micro-behaviour's platform 1 is fixed on the correct position of microscope carrier, and by handle or programme-control, mobile micro-behaviour's platform 1, makes probe 7 tips clearly appear at visual field central authorities; Continuing mobile micro-behaviour's platform 1 makes probe 7 tips approach target cell; Provide appropriate underpressure to probe clamper 6 ends, draw target cell; Start-up routine, controls the sub-axis Nano-positioners 3 of single shaft, can make drawn cell according to required orbiting motion; Motion finishes backward probe clamper 6 ends provides malleation, and inhaled cell is discharged, and can draw in addition cell afterwards and repeatedly test.
Claims (6)
1. the unicellular Subnano-class kinetic control system based on the micro-behaviour of nanoscale, it is characterized in that: comprise micro-behaviour's platform (1), the first keyset (2), the sub-axis Nano-positioners of single shaft (3), the second keyset (4), probe clamper fixture (5), probe clamper (6) and probe (7), micro-behaviour's platform (1) is fixed on microscopical objective table, the first keyset (2) is fixed on micro-behaviour's platform (1) by screw, the sub-axis Nano-positioners (3) of the single shaft back side is fixed on the surface of the first keyset (2), the second keyset (4) upper end is connected to the sub-axis Nano-positioners (3) of single shaft side, probe clamper fixture (5) is fixed in the screw of the second keyset (4) lower end, probe clamper (6) is stuck in the spring card slot of probe clamper fixture (5), the probe (7) that is contained in probe clamper (6) front end need to carry out opening processing according to user, and provide malleation or negative pressure to discharging or near the most advanced and sophisticated cell of absorption probe (7) by probe clamper (6) rear end.
2. a kind of unicellular Subnano-class kinetic control system based on the micro-behaviour of nanoscale according to claim 1, is characterized in that: described micro-behaviour's platform (1) model is for being the three-dimensional micro-behaviour's platform of Sensapex.
3. a kind of unicellular Subnano-class kinetic control system based on the micro-behaviour of nanoscale according to claim 1, it is characterized in that: sub-axis Nano-positioners (3) model of described single shaft is the product P-753.1CD of PhysikInstrument company, 12 microns of strokes, closed-loop precision 0.05 nanometer.
4. a kind of unicellular Subnano-class kinetic control system based on the micro-behaviour of nanoscale according to claim 1, is characterized in that: described the second keyset (4) lower end is provided with equally distributed screwed hole, meets the required differing heights of probe.
5. a kind of unicellular Subnano-class kinetic control system based on the micro-behaviour of nanoscale according to claim 1, is characterized in that: described probe clamper fixture (5) model is the product HIK-3 of Narishige company probe clamper fixture.
6. a kind of unicellular Subnano-class kinetic control system based on the micro-behaviour of nanoscale according to claim 1, is characterized in that: described probe clamper (6) model is for being the product HI-7 of Narishige company probe clamper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610014538.7A CN105607686B (en) | 2016-01-11 | 2016-01-11 | Nanometer-level-microoperation-based unicellular sub-nanometer-level motion control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610014538.7A CN105607686B (en) | 2016-01-11 | 2016-01-11 | Nanometer-level-microoperation-based unicellular sub-nanometer-level motion control system |
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| CN105607686A true CN105607686A (en) | 2016-05-25 |
| CN105607686B CN105607686B (en) | 2017-02-01 |
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| CN201610014538.7A Active CN105607686B (en) | 2016-01-11 | 2016-01-11 | Nanometer-level-microoperation-based unicellular sub-nanometer-level motion control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112834473A (en) * | 2021-01-07 | 2021-05-25 | 华中科技大学 | Non-diagnosis-purpose quantitative detection method for active oxygen of single sperm and application thereof |
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|---|---|---|---|---|
| CN101481653A (en) * | 2008-01-11 | 2009-07-15 | 南京理工大学 | Single cell microoperation apparatus for microscopic injection |
| CN103131664A (en) * | 2013-02-06 | 2013-06-05 | 华南理工大学 | Single-cell clamping method and single-cell position regulating device |
| US20130206976A1 (en) * | 2010-10-11 | 2013-08-15 | University of North Texas System | Nanomanipulation Coupled Nanospray Mass Spectrometry (NMS) |
| JP2013240879A (en) * | 2011-08-04 | 2013-12-05 | Nsk Ltd | Piezoelectric actuator, manipulator, manipulator system and operation method of fine object |
| CN104232614A (en) * | 2013-06-15 | 2014-12-24 | 长春理工大学 | Method and system for carrying out magnetic micromanipulation on cell in physiological environment |
| CN104586511A (en) * | 2015-02-04 | 2015-05-06 | 长春理工大学 | Universal magnetic force micromanipulation system and method for gas and liquid |
| CN105092900A (en) * | 2014-05-20 | 2015-11-25 | 中国科学院沈阳自动化研究所 | Scanning probe clamping device for atomic force microscope |
| CN205353836U (en) * | 2016-01-11 | 2016-06-29 | 浙江大学 | Unicellular inferior nanometer motion control system based on nanometer is grasped a little |
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2016
- 2016-01-11 CN CN201610014538.7A patent/CN105607686B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101481653A (en) * | 2008-01-11 | 2009-07-15 | 南京理工大学 | Single cell microoperation apparatus for microscopic injection |
| US20130206976A1 (en) * | 2010-10-11 | 2013-08-15 | University of North Texas System | Nanomanipulation Coupled Nanospray Mass Spectrometry (NMS) |
| JP2013240879A (en) * | 2011-08-04 | 2013-12-05 | Nsk Ltd | Piezoelectric actuator, manipulator, manipulator system and operation method of fine object |
| CN103131664A (en) * | 2013-02-06 | 2013-06-05 | 华南理工大学 | Single-cell clamping method and single-cell position regulating device |
| CN104232614A (en) * | 2013-06-15 | 2014-12-24 | 长春理工大学 | Method and system for carrying out magnetic micromanipulation on cell in physiological environment |
| CN105092900A (en) * | 2014-05-20 | 2015-11-25 | 中国科学院沈阳自动化研究所 | Scanning probe clamping device for atomic force microscope |
| CN104586511A (en) * | 2015-02-04 | 2015-05-06 | 长春理工大学 | Universal magnetic force micromanipulation system and method for gas and liquid |
| CN205353836U (en) * | 2016-01-11 | 2016-06-29 | 浙江大学 | Unicellular inferior nanometer motion control system based on nanometer is grasped a little |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112834473A (en) * | 2021-01-07 | 2021-05-25 | 华中科技大学 | Non-diagnosis-purpose quantitative detection method for active oxygen of single sperm and application thereof |
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| CN105607686B (en) | 2017-02-01 |
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Effective date of registration: 20171219 Address after: Yuhang District, Hangzhou City, Zhejiang Province, 311121 West 1500, building 5, floor 14 health Valley Patentee after: ZHEJIANG PLTTECH HEALTH TECHNOLOGY CO.,LTD. Address before: 310027 Hangzhou, Zhejiang Province, Xihu District, Zhejiang Road, No. 38, No. Patentee before: Zhejiang University |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
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Denomination of invention: Single cell sub nanometer level motion control system based on nanoscale micromanipulation Granted publication date: 20170201 Pledgee: Guotou Taikang Trust Co.,Ltd. Pledgor: ZHEJIANG PLTTECH HEALTH TECHNOLOGY CO.,LTD. Registration number: Y2024980011422 |