CN109207343A - A kind of cell microinjection device based on triangle compliant mechanism - Google Patents
A kind of cell microinjection device based on triangle compliant mechanism Download PDFInfo
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- CN109207343A CN109207343A CN201810972156.4A CN201810972156A CN109207343A CN 109207343 A CN109207343 A CN 109207343A CN 201810972156 A CN201810972156 A CN 201810972156A CN 109207343 A CN109207343 A CN 109207343A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 88
- 238000000520 microinjection Methods 0.000 title claims abstract description 48
- 238000002347 injection Methods 0.000 claims abstract description 102
- 239000007924 injection Substances 0.000 claims abstract description 102
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 238000005452 bending Methods 0.000 claims abstract description 9
- 238000007789 sealing Methods 0.000 claims description 48
- 235000014676 Phragmites communis Nutrition 0.000 claims description 26
- 239000000463 material Substances 0.000 claims description 10
- 229910001220 stainless steel Inorganic materials 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 4
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- 229910052753 mercury Inorganic materials 0.000 description 7
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- 102000002322 Egg Proteins Human genes 0.000 description 3
- 108010000912 Egg Proteins Proteins 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000001802 infusion Methods 0.000 description 3
- 210000004681 ovum Anatomy 0.000 description 3
- 230000036316 preload Effects 0.000 description 3
- 244000273256 Phragmites communis Species 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M35/00—Means for application of stress for stimulating the growth of microorganisms or the generation of fermentation or metabolic products; Means for electroporation or cell fusion
Abstract
The invention discloses a kind of cell microinjection devices based on triangle compliant mechanism.The injection device includes the connecting rod for playing connection function, for providing the piezoelectric actuator of movement, it is connect with connecting rod and for fixing piezoelectric actuator and to the wrapper of piezoelectric actuator application pretightning force, the triangle compliant mechanism of the movement of piezoelectric actuator generation is connect and is used to transmit with piezoelectric actuator, the pedestal of injection needle, the injection needle of the needle section including bending are connect and are used to fix with triangle compliant mechanism.A kind of cell microinjection device based on triangle compliant mechanism provided by the embodiment of the present invention can not only reduce generated oscillation crosswise in vibration processes and increase the stability of injection, also have and improve injection success rate and injection precision.
Description
Technical field
The present invention relates to the technical fields of the relevant surgical device of cell, are based on triangle flexible machine more particularly to one kind
The cell microinjection device of structure.
Background technique
With the fast development of modern biomedical, the application of biological cell microinjection is also more burning hot, such as transgenosis
Biology, human assistance reproduction, bio-pharmaceuticals and clone technology etc..The high frequency injected due to the fragility and piezoelectricity of cell
Property, during cell infusion, cell interior structure or cytoskeleton are easily broken, so as to cause cell infusion
Success rate and the survival rate for being injected cell are lower always.Scientific research circle is directed to injury when how to reduce injection to cell, reduces
Injection vibration influences cell bring, makes a large amount of research.It is studied by scholar, during cell rupture of membranes, works as injection
(i.e. without preload) when needle and cell are discontiguous, the principal vibration for playing rupture of membranes is oscillation crosswise；When injection needle and cell connect
(there is preload) when touching, the principal vibration for playing rupture of membranes is axial vibration.
As shown in Fig. 1 (a), in order to reduce oscillation crosswise, researcher proposes a kind of injection device using mercury section.It is this to adopt
One section of mercury is used near the tip of micropipette with the injection device of mercury section；But it due to the toxicity of mercury, increases to behaviour
The requirement of author increases the damage to cell instead to a certain extent.
As shown in Fig. 1 (b), in order to avoid the nocuity of mercury, researcher proposes a kind of injection that piezoelectric actuator is preposition dress
It sets.Piezoelectric actuator is placed directly into behind micropipettor bracket by the injection device, so as to will preferably vibrate
Focus on the tip of micropipette, thus departing from cell infusion to the demand of mercury.
As shown in Fig. 1 (c), in order to further increase the stability of cell rupture of membranes and reduce the damage to cell, research
Person proposes a kind of cell sting device based on compliant mechanism.During the device carries out cell microinjection, due to injection
Needle is similar to a cantilever beam, therefore injection needle is inevitably generated oscillation crosswise and axial direction during being injected
Vibration.Biggish oscillation crosswise often tears cell in injection process, destroys the structure of cell, and cell is made to generate unrepairable
Damage.
Existing cell microinjection device, injection needle are all to stretch out clamping device.Therefore, injection needle is similar to one and hangs
Arm beam applies a ultrasonic vibration in the fixing end of beam, and injection needle unavoidably generates oscillation crosswise and axial vibration.Secondly,
Due to driving the characteristic of piezoelectricity itself, it can also generate an oscillation crosswise while generating axial vibration needed for injecting.
However, the current main research direction of cell microinjection device is how to reduce the size in the rupture of membranes hole of cell, have ignored as
What reduces oscillation crosswise.Even if there is the research to oscillation crosswise, the often research on two-dimensional surface, what is mainly studied is laterally
The front and back of vibration vibrates, and has ignored oscillation crosswise above and below as caused by the gravity of injection needle, and this upper and lower transverse direction
The main reason for vibration is oscillation crosswise.
Further, current most of cell injection device is designed both for staight needle.Due to microscopical image
It is two-dimensional imaging, therefore is difficult to determine the needle point of a three-dimensional motion, the i.e. focal plane of needle point and cell on two-dimensional surface
Focal plane is not in a plane.In this way, injection difficulty is not only significantly increased, it is larger while also result in injection error.
Therefore, in view of the above technical problems, it is necessary to offer can reduce in vibration processes generated oscillation crosswise and
Increase the stability of injection and with the cell injection device for improving injection success rate and injection precision.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide one kind and can reduce generated transverse direction in vibration processes
Vibration and the stability of increase injection and the cell injection device with raising injection success rate and injection precision.The present invention is real
Applying the cell microinjection device based on triangle compliant mechanism provided by example realizes in the three-dimensional space range to piezoelectricity
Driver carry out vibration filtering simultaneously to injection needle carry out on three-dimensional space it is fixed support, thus reach reduce well it is vibrated
The effect of generated oscillation crosswise and the stability of increase injection in journey.Further, base provided by the embodiment of the present invention
The looper provided by the cell microinjection device of triangle compliant mechanism can not only meet the requirement of current microinjection,
There is guiding role to axial vibration in structure simultaneously, further stable axial vibration improves injection success rate and injection
Precision.
To achieve the goals above, the technical solution that one embodiment of the invention provides is as follows: one kind is flexible based on triangle
The cell microinjection device of mechanism, comprising: connecting rod, for playing the extension rod of connection function；Piezoelectric actuator, for providing
The driving source of movement；Wrapper is connect with the connecting rod, for fixing the piezoelectric actuator and to the piezoelectric actuator
Apply pretightning force；Triangle compliant mechanism is connect with the piezoelectric actuator, the fortune generated for transmitting the piezoelectric actuator
It is dynamic；Pedestal is connect, for fixing injection needle with the triangle compliant mechanism；The needle section of injection needle, the injection needle includes
Bending structure.
As a further improvement of the present invention, the pedestal includes: pedestal, is connect with the triangle compliant mechanism；It is close
Seal, for fixing and sealing the injection needle；Spiral cover, positioned at the outside of the sealing ring, for be arranged the sealing ring with
Tightness between the injection needle.
As a further improvement of the present invention, the sealing ring includes spaced first sealing ring and the second sealing
Circle, the spiral cover include the first spiral cover and the second spiral cover, and first spiral cover is located at the outside of first sealing ring, and described the
Two spiral covers are located at the outside of second sealing ring.
As a further improvement of the present invention, the bending angle range of the needle section of the injection needle is 25 degree to 30 degree.
As a further improvement of the present invention, the triangle compliant mechanism is flexible using four columnar combined type triangles
Linkage.
As a further improvement of the present invention, each of described Composite Triangular shape flexure hinge mechanism triangle is flexible
Linkage includes the first reed, the second reed and moving mass.
As a further improvement of the present invention, the angle of first reed and second reed is 90 degree.
As a further improvement of the present invention, first reed and second reed is with a thickness of 0.35 millimeter and long
Degree is 2 millimeters.
As a further improvement of the present invention, the material of the triangle compliant mechanism is stainless steel and elasticity modulus is
200Gpa。
As a further improvement of the present invention, the resonant frequency of the triangle compliant mechanism, the cell microinjection
The ultrasonic vibration frequency of the resonant frequency of device and the piezoelectric actuator is different.
The invention has the following advantages that
It is based on the cell microinjection device of triangle compliant mechanism that triangle is flexible provided by the embodiment of the present invention
Linkage and cell microinjection device combine, and are transported by this no friction, gapless, high-resolution flexible hinge
The vibration that dynamic secondary filtering piezoelectric actuator passes over, to guarantee to inject kinematic error of the needle point in entire move back and forth most
It is small, increase the running precision of flexible hinge.Meanwhile triangle flexible hinge is small etc. since its Static positioning accuracy height, axis float
Advantage has guiding role to the reciprocating motion of injection needle needle point again.Further, in order to guarantee the axial vibration of injection needle needle point
Stability and reduce oscillation crosswise, the cell microinjection dress provided by the embodiment of the present invention based on triangle compliant mechanism
The triangle flexible hinge set is designed to four columns, further reduces the oscillation crosswise of needle point in spatial dimension.Further
Ground, the provided cell microinjection device based on triangle compliant mechanism of the embodiment of the present invention uses elbow needle, in ovum mother
In microscopic procedure, the focal plane of elbow needle and cell increases injection in same level height to a certain extent
Precision.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 (a) is in the prior art using the structural schematic diagram of the injection device of mercury section；
Fig. 1 (b) is in the prior art using the structural schematic diagram of the preposition injection device of piezoelectric actuator；
Fig. 1 (c) is the structural schematic diagram of the injection device in the prior art based on compliant mechanism；
Fig. 2 (a) is the knot of the cell microinjection device based on triangle compliant mechanism provided by the embodiment of the present invention
Structure schematic diagram；
Fig. 2 (b) is the enlarged diagram of needle tip (B) in Fig. 2 (a) illustrated embodiment；
Fig. 3 (a) is the cell focal plane schematic diagram under looper；
Fig. 3 (b) is the cell focal plane schematic diagram under staight needle；
Fig. 4 (a) is the main view of embodiment illustrated in fig. 2 intermediate cam shape compliant mechanism；
Fig. 4 (b) is the left view of embodiment illustrated in fig. 2 intermediate cam shape compliant mechanism；
Fig. 4 (c) is the top view of embodiment illustrated in fig. 2 intermediate cam shape compliant mechanism；
Fig. 4 (d) is the 3 dimensional drawing of embodiment illustrated in fig. 2 intermediate cam shape compliant mechanism；
Fig. 5 is the stress diagram of single reed；
Fig. 6 is single triangle flexible hinge force analysis figure；
Fig. 7 is the scale diagrams of combined type triangle compliant mechanism；
Fig. 8 is the stress diagram of combined type triangle compliant mechanism；
Fig. 9 is the model analysis schematic diagram of triangle compliant mechanism and injection device；
Figure 10 is to export the movement of 2 μm of X-axis in piezoelectric actuator, in the case of the motion artifacts of no Y-axis and Z axis, this hair
The triangle compliant mechanism and injection needle of cell microinjection device based on triangle compliant mechanism provided by bright embodiment
The exercise data of needle point records figure；
Figure 11 is to export the movement of 2 μm of X-axis in piezoelectric actuator, and Y-axis and Z axis add 1 μm of motion artifacts respectively
In the case of, the triangle of the cell microinjection device based on triangle compliant mechanism provided by the embodiment of the present invention is flexible
The exercise data of mechanism and injection needle needle point, which records, schemes.
Description of symbols in attached drawing:
100, injection device 1, connecting rod 2, wrapper
3, piezoelectric actuator 4, triangle compliant mechanism 5, pedestal
6, the first sealing ring 7, the first spiral cover 8, the second sealing ring
9, the second spiral cover 10, injection needle 101, looper needle section
101 ', staight needle needle section 20, microscope 30, cell
41, the first reed 42, the second reed 43, moving mass
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
Join shown in Fig. 2 (a), first embodiment of the invention provides a kind of cell microinjection based on triangle compliant mechanism
Device 100.The injection device 100 includes the connecting rod 1 for playing connection function, for providing the piezoelectric actuator 3 of movement, with
Connecting rod 1 connects and for fixing piezoelectric actuator 3 and to the wrapper 2 of the application pretightning force of piezoelectric actuator 3, with Piezoelectric Driving
The triangle compliant mechanism 4 of the connection of device 3 and the movement for transmitting the generation of piezoelectric actuator 3, connect with triangle compliant mechanism 4
And the pedestal for fixing injection needle 10, the injection needle 10 of the needle section 101 including bending.
Pedestal specifically includes the pedestal 5 connecting with triangle compliant mechanism 4, for fixing and sealing the close of the injection needle
Seal, positioned at the outside of sealing ring and the spiral cover of the tightness for being arranged between sealing ring and injection needle.Injection needle is sheathed on
In the inner ring hole of sealing ring, by the gap between the adjustable sealing ring of rotation spiral cover and injection needle, thus fixed and sealing
Injection needle and sealing ring are detached from by the periphery of injection needle.Sealing ring is specially O-ring seal, material can using rubber,
Silica gel, elastic metallic etc..On the one hand sealing ring plays fixed function, on the other hand seal.Spiral cover is cooperated using sealing ring
Mode improves the interchangeability of injection device.
With continued reference to Fig. 2 (a), in this embodiment, sealing ring includes spaced first sealing ring 6 and the second sealing
Circle 8, the spiral cover include the first spiral cover 7 and the second spiral cover 9.First spiral cover 7 is located at the outside of the first sealing ring 6, the second spiral cover 9
Positioned at the outside of the second sealing ring 8.First sealing ring 6 and the second sealing ring 8 are O-shaped rubber seal.In this embodiment, close
Seal also has a wedge-shaped slope angle.By the wedge-shaped slope angle of sealing ring, when there are noise vibrations in X-axis, Y-axis, Z axis for injection needle
When power, on the one hand sealing ring can play good sealing function, on the other hand can play the work of support injection needle
With.The stability of injection needle during the motion is increased by two o'clock support, reduces the transverse direction of needle point to a certain extent
Vibration.In other embodiments, the number of sealing ring and spiral cover can according to demand or operating condition adaptively changes, and such as 1
Sealing ring and 1 spiral cover or 3 sealing rings and 3 spiral covers etc..In other embodiments, the specific structure of sealing ring and material
Material can also be adaptively changed according to operating condition, such as use V-type silica gel sealing ring.
Referring to Fig. 2 (b), in this embodiment, injection needle needle section 101 uses bending structure (i.e. elbow needle).Injection needle
Needle section 101 bending angle γ range be 25 degree to 30 degree.In this embodiment, bending angle γ uses 30 degree.Such as Fig. 3
(a) shown in, in ovum mother's microscopic procedure, the needle section 101 of elbow needle and the focal plane of cell 30 can control very well
Same level height, thus, the withdraw of the needle and inserting needle can be completed in the focal plane of cell 30.Therefore, the microinjection of elbow needle
The design of device can satisfy the requirement of current microinjection, while elbow needle there is guiding to make axial vibration in structure
With further stable axial vibration improves the precision of injection success rate and injection.Cell as shown in Fig. 3 (b), under staight needle
Focal plane schematic diagram.Currently, most of cell injection device is designed using staight needle.Since the image of microscope 20 is two
Dimension imaging, therefore, it is difficult to determine the needle point of a three-dimensional motion, the i.e. coke of the focal plane of needle point and cell 30 on two-dimensional surface
Plane is not in a plane.Staight needle design structure not only considerably increases injection difficulty, while also making injection error larger.
Flexible hinge is a kind of peculair motion pair that displacement is generated using the flexible deformation of material, is had without friction, continuously
Gap, easy to maintain, high resolution and can integration processing the advantages that.There are mainly four types of the classification of the flexible hinge on basis: straight beam type,
Straight round, ellipse and delta-type.Triangle (reed-type) flexible hinge compensates for common gap formula hinge to a certain extent
The short defect of chain stroke, and the hunt effect that this flexible hinge generates can be set in entire mechanism by reasonable structure
Meter makes global error be reduced to minimum, the running precision for the flexible hinge that increased.Triangular hinge has stroke big, and static state is fixed
Position precision is high, axis floats the excellent static characteristic such as small.It includes what two triangular hinges were spliced that the embodiment of the present invention, which uses,
Combined type triangular hinge.This combined type triangle not only has stroke big, and Static positioning accuracy height, axis float small etc. excellent
Good static characteristic, while the stability of mechanism is increased again, guiding role is played to the axial vibration of injection needle, is improved
The precision of injection.
Referring to Fig. 4 (a) to shown in Fig. 4 (d), the triangle compliant mechanism 4 in the embodiment of the present invention is columnar multiple using four
Box-like triangle flexure hinge mechanism.The material of triangle compliant mechanism is stainless steel and elasticity modulus is 200Gpa.Such as Fig. 7 institute
Show, each of Composite Triangular shape flexure hinge mechanism triangle flexure hinge mechanism includes the first reed 401, the second reed
402 and moving mass 403.2 α of angle between first reed 401 and the second reed 402 is 90 degree.First reed 401 and the second spring
Piece 402 with a thickness of 0.35 millimeter and length is 2 millimeters.
This combined type triangle flexible hinge is made of basic triangle flexible hinge, as long as therefore to single three
The mechanical analysis of angular chain.It is made of due to triangle flexible hinge two reeds and a moving mass, Bu Fangxian
Using AWTAR for single reed free end plane of constraint corner and two directions translation when carry out model simplification reason
By.As shown in figure 5, being the stress diagram of single reed.To analytical formula such as formula 1 and the formula of the single reed of triangle
Shown in 2:
Wherein, parameter setting is as follows:
In above-mentioned formula, T, F in formulatAnd FaThe external load born for the free end of beam；Δx、ΔyIndicate beam certainly with θ
By the displacement held；L and H is respectively the length and thickness of beam；I is cross sectional moment of inertia；E is the elasticity modulus of material.
The occurrence of approximation coefficient is as follows, and these parameters will not change with the change in size of beam:
A=12, b=4, c=-6, e=1.2, g=2/15,
H=-0.1, i=-0.6, j=-1/15, k=1/20,
R=1/700, s=11/6300, q=-1/1400
As shown in fig. 6, being single triangle flexible hinge stress analysis schematic diagram.The load as suffered by outside is to pass through
Free end rigid body passes to the motor segment of two reeds, is deformed it, so that free end rigid body generates micro- rotation position
It moves, therefore as shown in Figure 6 to the force analysis of single triangle flexible hinge.According to the balance strip of rigid body power in rational mechanics
Part can obtain formula 3 to formula 5:
(Fa2-Fa1)sinα+(Ft1+Ft2) cos α=Ft(formula 3)
(Fa1+Fa2)cosα+(Ft1-Ft2) sin α=Fa(formula 4)
The geometry compatibility conditions of triangle flexible hinge end are known that such as according to geometry compatibility conditions in Elasticity
Shown in formula 6 and formula 7:
(δy1-δy2)cosα+(δx1+δx2) sin α=2sin α (1-cos θ) (formula 6)
(δy1+δy2)sinα-(δx1-δx2) cos α=2sin α sin θ (formula 7)
It can be in the hope of the rotational angle theta of hinge and external by formula 1, formula 2, formula 3, formula 4, formula 5, formula 6, formula 7
The relationship of load, as shown in formula 8:
By formula (8) it is known that the size and moment of flexure of rotational angle thetaTangential forceThere is a relationship, and the rigidity of compliant mechanism
(inverse that rigidity is equal to corner) is then by axial forceIt determines.With the increase of axial tension, corner can subtract for entire mechanism
It is small, but axial compressive force is then on the contrary.In addition, axis drift is important a required precision and performance parameter of flexible hinge,
It not only being capable of error analysis, additionally it is possible to carry out error evaluation to entire mechanism, lesser axis drift can also be to a certain extent
Reduce the reciprocating motion of compliant mechanism.Shown in the calculation formula 9 of axis drift:
According to above parameter request, in specific embodiment, the design of relative dimensions is as follows: piezoelectric ceramics it is total
Barrier force is 800N, since the pretightning force of piezoelectricity is usually a quarter of preload, is applied to the pre- of triangle flexible hinge
Clamp force is 200N；The material of triangle flexible hinge is stainless steel, elasticity modulus 200GPa；The two of triangle flexible hinge
2 α of angle of root reed is 90 °；The thickness b of flexible hinge beam is 0.35mm, and length a is 3mm；According to the size of pretightning force, meter
It calculates correspondingRotational angle theta can calculated by formula 8；Final calculated θ is about 1.12 × 10-2；Meanwhile by
It is approximately 0 that formula 9, which can calculate axis drift,.
Since the hybrid hinge of triangle flexible hinge not only has the stability of triangle, while also having
The required precision of triangle flexible hinge.On the one hand it is laterally playing good support during piezoelectricity microinjection
Effect, avoids that biggish oscillation crosswise occurs；On the other hand good guiding role is played.For Wire-cut Electrical Discharge Machining
Convenience, the compliant mechanism as shown in Figure 4 based on triangle flexible hinge.
As shown in figure 8, the stress diagram of combined type triangle compliant mechanism.When giving flexible hinge applied force F,
Since the size of triangular hinge, material are all identical, power averagely can give each tie point, i.e., node 1,2,
3, power suffered by 4 each nodes is identical for F/4.Force analysis is carried out to the Y-axis in Fig. 4 (a), obtains force bearing formulae such as
Shown in formula 10:
Fy=-F1y+F2y+F3y-F4y(formula 10)
Wherein, F1y=F1Sin γ, F2y=F2Sin γ, F3y=F3Sin β, F4y=F4sinβ。
Force analysis is carried out to the Z axis in Fig. 8 (a), show that force bearing formulae is as shown in formula 11:
Fz=-F1z+F2z+F3z-F4z+ F (formula 11)
Wherein, F1z=F1Cos γ, F2z=F2Cos γ, F3z=F3Cos β, F4z=F4cosβ。
By formula 10 it is found that the direction of motion of the flexible hinge in Y-axis is not influenced by load F, that is to say, that cutting with scissors
Each moment of chain movement, the direction of motion in Y-axis can keep balancing, and will not generate displacement；By formula 11 it is found that Z axis
The size of direction force is then related with load.Similarly, will also realize that in Fig. 4 (b) X-axis will not generate displacement, and Z-direction is then and load
There is relationship.Due in piezoelectricity injection process, the load of application tends not to be rule along Z-direction, but by noise or
Person's piezoelectric ceramics properties affect itself, a power along Y-axis and Z axis can be generated.Since the embodiment of the present invention is being set
When counting triangular hinge, it has been contemplated that (i.e. non-axial force is to triangle flexible hinge for the axis drift problem of triangular hinge
Influence), which can be ignored by calculating it can be concluded that axis drift value is smaller, and due to wherein its fix
Effect is another firm triangle, therefore generating corresponding lateral displacement for the power of Y-axis and Z axis theoretically can
With what is disregarded.
Piezoelectric actuator output end increase triangle flexure hinge mechanism so that the propagation of ultrasonic vibration obtained it is good
Good filtering, reduces the propagation of oscillation crosswise and plays good guiding role to axial vibration, not only increase injection
The stability of needle pinpoint movement also realizes the fixed point operation of injection to a certain extent.Further, due to being driven in piezoelectricity
The output end of dynamic device increases triangle flexure hinge mechanism, so that vibration transmitting is filtered, thus the cross that needle point obtains
To vibration very little, the wound in this injection process of cell is reduced, realizes the minimally invasiveization operation of injection.
Since the driver of injection device uses piezoelectric vibration, need before piezoelectricity injection parameters are set to entire
Mechanism carries out model analysis, avoids vibration frequency from generating resonance with triangle flexible hinge or entire injection device, influences
Entire injection process.As shown in figure 9, the model analysis schematic diagram of triangle compliant mechanism and injection device.Triangle flexible machine
The ultrasonic vibration frequency of the resonant frequency of structure, the resonant frequency of cell microinjection device and piezoelectric actuator is different.?
In the embodiment, the resonant frequency of triangle compliant mechanism is greater than 50KHz, and the resonant frequency of injection device is less than 10KHz, piezoelectricity
The general numerical value of ultrasonic vibration frequency of driver is all in 20KHz to 30KHz.Therefore, the oscillating region of total does not exist
In resonant frequency section, therefore biggish experimental error will not be caused because of resonant frequency.In other embodiments, triangle
The ultrasonic vibration frequency of the resonant frequency of compliant mechanism, the resonant frequency of cell microinjection device and piezoelectric actuator it is specific
Other vibration frequencies also can be set into numerical value, only three are needed not form resonant frequency mutually.
Injection device 100 provided by the embodiment of the present invention is ined succession the encapsulation of a piezoelectric actuator 3 on connecting rod 1
Device 2 to fix piezoelectric actuator 3, and applies certain pretightning force；Piezoelectric actuator 3 and triangle compliant mechanism 4 are direct
It is connected, passes motion to triangle compliant mechanism 4；Movement passes to front by the filtering of triangle compliant mechanism 4, balance
Pedestal；For the ease of interchangeability, pedestal is made of five parts, is the first spiral cover 7 and the second spiral cover 9, first respectively
8, pedestals 5 of sealing ring 6 and the second sealing ring, wherein on the one hand sealing ring plays fixed function, on the other hand play sealing
Effect；Vibration passes to injection needle 10 by pedestal.
As can be seen from the above technical solutions, the invention has the following advantages that
It is based on the cell microinjection device of triangle compliant mechanism that triangle is flexible provided by the embodiment of the present invention
Linkage and cell microinjection device combine, and are transported by this no friction, gapless, high-resolution flexible hinge
The vibration that dynamic secondary filtering piezoelectric actuator passes over, to guarantee to inject kinematic error of the needle point in entire move back and forth most
It is small, increase the running precision of flexible hinge.Meanwhile triangle flexible hinge is small etc. since its Static positioning accuracy height, axis float
Advantage has guiding role to the reciprocating motion of injection needle needle point again.Further, in order to guarantee the axial vibration of injection needle needle point
Stability and reduce oscillation crosswise, the cell microinjection dress provided by the embodiment of the present invention based on triangle compliant mechanism
The triangle flexible hinge set is designed to four columns, further reduces the oscillation crosswise of needle point in spatial dimension.Further
Ground, the provided cell microinjection device based on triangle compliant mechanism of the embodiment of the present invention uses elbow needle, in ovum mother
In microscopic procedure, the focal plane of elbow needle and cell increases injection in same level height to a certain extent
Precision.
As shown in Figure 10, in the movement of 2 μm of piezoelectric actuator output of X-axis, the motion artifacts situation of no Y-axis and Z axis
Under, the triangle compliant mechanism of the cell microinjection device based on triangle compliant mechanism provided by the embodiment of the present invention with
The exercise data of injection needle needle point records figure.Piezoelectricity is driven to export the vibration (direction is as shown in the d in figure) of 2 μm of X-axis, due to
In view of microinjection ultrasonic vibration vibration frequency be typically all in 20KHz to 30KHz, therefore only need consider the area
Between amplitude variation.Figure 10 (a) shows that flexible hinge axially can preferably guarantee motion state, vibration amplitude in X-axis
About 1 μm；When vibration is transmitted to needle point, amplitude increases with the increase of vibration frequency.It is flexible in Figure 10 (b)
Vibration amplitude of the mechanism in Y-axis is similar to 0, but the bounce of needle point is but it is obvious that increase especially as vibration frequency,
Rate of rise is bigger.In Figure 10 (c), compliant mechanism, but can be with compared to 0.005 μm in some axial slight bounces of Z axis
Ignore, meanwhile, amplitude at needle point is also increasing with the increase of vibration frequency, but the maximum amplitude in vibration section
It only 0.025 μm, can be ignored.For synthesis, play a leading role in the injection needle needle point oscillation crosswise of the device
Be Y direction vibration, i.e. shake up and down, compare Y-axis shake up and down with the side-to-side vibrations of X-axis, the vibration amplitude of X-axis is also
It is greater than the vibration amplitude of Y-axis, and approximate twice with Y-axis.Therefore, which can satisfy current microinjection
Injection parameters requirement.
As shown in figure 11, the movement of 2 μm of X-axis is exported in piezoelectric actuator, the movement that Y-axis and Z axis add 1 μm respectively is made an uproar
In the case where sound, the triangle of the cell microinjection device based on triangle compliant mechanism provided by the embodiment of the present invention
The exercise data of compliant mechanism and injection needle needle point, which records, schemes.Piezoelectricity is driven to export the vibration amplitude of 2 μm of X-axis, while in Y-axis
1 μm of noise is added with Z axis, (shown in such as Figure 11 (d) of direction).As said in Figure 10 elaboration, it is only necessary to consider that 20KHz is arrived
Amplitude variation in the vibration section of 30KHz.Figure 11 (a) shows to apply whether load to the shadow of the vibration amplitude of needle point
Sound is smaller, and fitting degree of two curves between 20KHz to 30KHz is very high.In Figure 11 (b), noisy vibration exists
Occur biggish vibration when 20KHz, this vibration frequency is avoided when parameter is set, in other vibration frequencies
The trend of lower two curves is the same, but noisy vibration amplitude is larger than muting vibration amplitude.In Figure 11
(c) in, at 20KHz, there is biggish amplitude, the amplitude at other vibration frequencies is lower than 0.5 μm.Summary, adds loaded
What is played a leading role in lateral vibration in microinjection device is still Y direction, but at 20KHz, the vibration of lateral vibration
Width can generate a mutation, therefore avoid this vibration frequency as far as possible when relevant injection parameters are arranged.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of cell microinjection device based on triangle compliant mechanism, which is characterized in that the cell microinjection dress
It sets and includes:
Connecting rod, for playing the extension rod of connection function；
Piezoelectric actuator, for providing the driving source of movement；
Wrapper is connect with the connecting rod, is pre-tightened for fixing the piezoelectric actuator and applying to the piezoelectric actuator
Power；
Triangle compliant mechanism is connect with the piezoelectric actuator, the movement generated for transmitting the piezoelectric actuator；
Pedestal is connect, for fixing injection needle with the triangle compliant mechanism；
Injection needle, the needle section of the injection needle include bending structure.
2. a kind of cell microinjection device based on triangle compliant mechanism according to claim 1, which is characterized in that
The pedestal includes:
Pedestal is connect with the triangle compliant mechanism；
Sealing ring, for fixing and sealing the injection needle；
Spiral cover, the tightness positioned at the outside of the sealing ring, for being arranged between the sealing ring and the injection needle.
3. a kind of cell microinjection device based on triangle compliant mechanism according to claim 2, which is characterized in that
The sealing ring includes spaced first sealing ring and the second sealing ring, and the spiral cover includes the first spiral cover and the second rotation
Lid, first spiral cover are located at the outside of first sealing ring, and second spiral cover is located at the outside of second sealing ring.
4. a kind of cell microinjection device based on triangle compliant mechanism according to claim 1, which is characterized in that
The bending angle range of the needle section of the injection needle is 25 degree to 30 degree.
5. a kind of cell microinjection device based on triangle compliant mechanism according to claim 1, which is characterized in that
The triangle compliant mechanism uses four columnar combined type triangle flexure hinge mechanisms.
6. a kind of cell microinjection device based on triangle compliant mechanism according to claim 5, which is characterized in that
Each of Composite Triangular shape flexure hinge mechanism triangle flexure hinge mechanism include the first reed, the second reed and
Moving mass.
7. a kind of cell microinjection device based on triangle compliant mechanism according to claim 6, which is characterized in that
The angle of first reed and second reed is 90 degree.
8. a kind of cell microinjection device based on triangle compliant mechanism according to claim 7, which is characterized in that
First reed and second reed with a thickness of 0.35 millimeter and length is 2 millimeters.
9. a kind of cell microinjection device based on triangle compliant mechanism according to claim 1, which is characterized in that
The material of the triangle compliant mechanism is stainless steel and elasticity modulus is 200Gpa.
10. a kind of cell microinjection device based on triangle compliant mechanism according to claim 1, feature exist
In the resonant frequency of the triangle compliant mechanism, the resonant frequency of the cell microinjection device and the Piezoelectric Driving
The ultrasonic vibration frequency of device is different.
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