CN114369516A - Membrane puncturing device based on piezoelectric superstructure strong-modal damping compliant guide mechanism - Google Patents
Membrane puncturing device based on piezoelectric superstructure strong-modal damping compliant guide mechanism Download PDFInfo
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- CN114369516A CN114369516A CN202111611732.0A CN202111611732A CN114369516A CN 114369516 A CN114369516 A CN 114369516A CN 202111611732 A CN202111611732 A CN 202111611732A CN 114369516 A CN114369516 A CN 114369516A
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- 239000012528 membrane Substances 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 238000013016 damping Methods 0.000 title claims abstract description 17
- 238000002347 injection Methods 0.000 claims abstract description 28
- 239000007924 injection Substances 0.000 claims abstract description 28
- 239000000919 ceramic Substances 0.000 claims abstract description 27
- 238000006073 displacement reaction Methods 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000000694 effects Effects 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 10
- 230000004083 survival effect Effects 0.000 claims abstract description 8
- 230000006378 damage Effects 0.000 claims abstract description 7
- 238000005265 energy consumption Methods 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims abstract description 4
- 230000003321 amplification Effects 0.000 claims description 37
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 37
- 210000004027 cell Anatomy 0.000 claims description 19
- 210000000170 cell membrane Anatomy 0.000 claims description 6
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 description 6
- 239000003990 capacitor Substances 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 3
- 229910052753 mercury Inorganic materials 0.000 description 3
- 238000000520 microinjection Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 108090000623 proteins and genes Proteins 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 208000002193 Pain Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000004520 electroporation Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 230000009261 transgenic effect Effects 0.000 description 1
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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
- C12M23/00—Constructional details, e.g. recesses, hinges
- C12M23/48—Holding appliances; Racks; Supports
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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
- C12M35/04—Mechanical means, e.g. sonic waves, stretching forces, pressure or shear stimuli
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Abstract
The invention discloses a membrane puncturing device based on a piezoelectric superstructure strong modal damping compliant guide mechanism, which comprises a membrane puncturing compliant mechanism, a piezoelectric ceramic driver, a piezoelectric superstructure, an injection needle fixing assembly and an injection needle, wherein the piezoelectric ceramic driver generates micro displacement under the action of a control system, the micro displacement is amplified by the membrane puncturing compliant mechanism to form large-stroke displacement, and the injector fixing assembly is driven to enable the injection needle to have large-stroke membrane puncturing movement. The piezoelectric superstructure is composed of a plurality of piezoelectric sheets, the piezoelectric sheets are connected with a shunt circuit, and the effect of modal damping enhancement of the membrane-piercing compliant mechanism is realized through the energy consumption effect of the shunt circuit. The invention not only has the characteristics of simple structure, low cost and large stroke operation range, but also can effectively reduce the transverse vibration in the membrane puncturing process so as to improve the survival rate of cells and simultaneously reduce the harm to cell operators.
Description
Technical Field
The invention relates to the technical field of cell puncture, in particular to a membrane puncturing device based on a piezoelectric superstructure strong-modal damping compliant guide mechanism.
Background
In cell engineering, methods for introducing a foreign substance into cells include gene guns, electrofusion, electroporation, cell injection, and the like, and among them, experimental methods for introducing a foreign substance into cells by cell injection are the methods for obtaining transgenic animals first, and have advantages of high integration efficiency, no DNA fragments in the introduced foreign substance, and no restriction on the length of the introduced foreign gene. The cell injection process comprises cell holding, membrane puncturing, injection and other processes, wherein the membrane puncturing process plays a key role in improving the survival rate of cells injected with exogenous substances. In the past, the cell puncture link is realized by manual operation through a micromanipulator, and the operation efficiency is very low. Later researchers designed a piezoelectric type micro-injection needle feeding device, which realized a rapid membrane puncturing operation process through a piezoelectric ceramic driver and had high control and positioning accuracy, but the whole stroke of the device was very small, and the device caused the transverse vibration generated by the micro-injection needle to cause great damage to cell membranes in the feeding process, so that the cell membranes were difficult to heal after the injection operation, and the survival rate of the cells was reduced. To address this problem of lateral vibration, researchers have proposed a piezoelectric vibrating membrane-puncturing device in which a section of mercury is poured into a micro-needle to reduce the damage to the cell membrane caused by lateral vibration. Although this device increases the speed of membrane penetration while reducing lateral vibration, the mercury used is highly toxic, harmful to both cells and operators, and is cumbersome to operate.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a membrane puncturing device based on a piezoelectric superstructure strong-modal damping compliant guide mechanism.
The invention adopts the following technical scheme:
the utility model provides a prick membrane device based on gentle and agreeable guiding mechanism of piezoelectricity superstructure strong mode damping, includes prick membrane gentle and agreeable mechanism, piezoceramics driver, syringe needle fixed subassembly and syringe needle, piezoceramics driver produces small displacement under control system's effect, and this small displacement forms the large stroke displacement after stinging membrane gentle and agreeable mechanism and amplifying, drives the fixed subassembly of syringe and makes the syringe needle have the prick membrane motion of large stroke.
Furthermore, the membrane pricking and softening mechanism comprises a two-stage amplification unit, a softening and softening guide unit and a rigid unit, wherein two sides of the rigid unit are connected with the softening and softening guide unit, the two-stage amplification unit comprises a first-stage amplification unit, a support rod, a conduction rod and a second-stage amplification unit, the second-stage amplification unit is arranged on the support rod, and the output force or displacement of the first-stage amplification unit is transmitted to the second-stage amplification unit through the conduction rod.
Further, the flexible guide unit comprises a plurality of flexible guide beams, and piezoelectric superstructures are arranged on the upper and lower surfaces of the flexible guide beams.
Further, the piezoelectric superstructure comprises a plurality of piezoelectric patches, and the piezoelectric patches are connected with the shunt circuit. The shunt circuit comprises a series-parallel circuit of energy dissipation components such as a resistor, an inductor, a capacitor and a negative capacitor.
Further, the piezoelectric ceramic actuator also comprises a piezoelectric force sensor for measuring the force output by the piezoelectric ceramic actuator.
The piezoelectric ceramic driver is arranged on the two sides of the piezoelectric ceramic driver and used for isolating the influence of heat generated by the piezoelectric ceramic driver due to high-frequency motion on other components.
Further, the injection needle fixing assembly comprises an inclined support frame, a needle holder fixing frame and a needle holder, the rigid unit is connected with the inclined support frame, the inclined support frame is connected with the needle holder fixing frame, the needle holder is fixed on the needle holder fixing frame, and the injection needle is connected with the needle holder.
Furthermore, the inclined support frame comprises a positioning hole, an arc-shaped groove and an inclined support frame connecting hole, and the needle holder fixing frame and the inclined support frame are connected through the positioning hole and the arc-shaped groove to enable the injection needle to rotate at a certain angle.
Further, the ceramic plates are specifically two and are respectively arranged on two sides of the piezoelectric ceramic driver.
Furthermore, the piezoelectric superstructure realizes the effect of enhancing modal damping of the membrane puncturing compliant mechanism under the effect of energy consumption components of the shunt circuit, and reduces the transverse vibration generated by the driving of the piezoelectric ceramic driver to the injection needle in the process of high-speed membrane puncturing movement so as to reduce the damage to cell membranes and finally realize the purpose of improving the cell survival rate.
The invention has the beneficial effects that:
the passive damping technology of piezoelectric shunt enhanced modal damping is used, and the passive damping device has the characteristics of simple structure and low cost.
The invention realizes the target of high amplification ratio through a compact two-stage amplification mechanism, thereby leading the membrane puncturing mechanism to have the characteristic of large stroke operation range.
The invention can effectively reduce the transverse vibration in the membrane puncturing process through the piezoelectric shunting reinforced modal damping technology, thereby effectively improving the survival rate of cells.
The invention avoids using harmful materials such as mercury and the like, thereby reducing the harm of life health brought by cell operators in experiments.
Drawings
FIG. 1 is a schematic three-dimensional structure of an entire device according to an embodiment of the present invention;
FIG. 2 is a schematic top view of a key portion of an embodiment of the present invention;
FIG. 3 is a schematic diagram of a top view of a compliant mechanism for piercing a film according to an embodiment of the invention;
FIG. 4 is a schematic three-dimensional structure of a reclining support according to an embodiment of the present invention;
FIG. 5 is a schematic three-dimensional structure of a needle holder fixing frame according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
Examples
As shown in fig. 1, 2 and 3, a membrane puncturing device based on a piezoelectric superstructure strong modal damping compliant guide mechanism includes a membrane puncturing compliant mechanism 1, a piezoelectric ceramic driver 4, an injection needle fixing assembly and a bending injection needle 9.
The puncture membrane compliance mechanism 1 comprises a fixed base 102, a two-stage amplification unit 103, a compliance guide unit 101 and a rigid unit 104, wherein the two-stage amplification unit 103 comprises a first-stage amplification unit 1031, a support rod 1032, a conduction rod 1033 and a second-stage amplification unit 1034, the support rod 1032 plays a supporting role for the second-stage amplification unit 1034, the conduction rod 1033 plays a role in transmitting the output force or displacement of the first-stage amplification unit 1031 to the second-stage amplification unit 1034, a pressure electric sensor 2, a ceramic piece 3A, a piezoelectric ceramic driver 4 and a ceramic piece 3B are sequentially embedded between the fixed base 102 and the first-stage amplification unit 1031 of the two-stage amplification unit 103, and the second-stage amplification unit 1034 of the two-stage amplification unit 103 is connected with the rigid unit 104.
The injection needle fixing assembly comprises an inclined support frame 6, a needle holder fixing frame 10, a needle holder 8 and a bent injection needle 9, the rigid unit 104 is connected with the inclined support frame 6, the inclined support frame 6 is connected with the needle holder fixing frame 10 through a hexagon screw 7C and a hexagon screw 7B, the needle holder 8 is fixed on the needle holder fixing frame 10 through a hexagon screw 7A and a hexagon screw 7D, and the bent injection needle 9 is connected with the needle holder 8.
The piezoelectric force sensor 2 is used for measuring the force output by the piezoelectric ceramic driver 4, the number of the ceramic pieces is two, and the ceramic piece 3A and the ceramic piece 3B are used for isolating the influence of the heating caused by the high-speed operation of the piezoelectric ceramic driver 4 on the piezoelectric force sensor 2 and the pricking membrane compliance mechanism 1.
The rigid unit 104 is a rigid structure, that is, elastic deformation of the structure is ignored, the left side and the right side of the rigid unit are respectively connected with the flexible guide unit 101, the flexible guide unit 101 is composed of a plurality of groups of flexible guide beams 1011, and a plurality of piezoelectric sheets 5 are respectively adhered to the upper surface and the lower surface of the flexible guide beams 1011 to serve as piezoelectric superstructures.
The two-stage amplification unit 103 may generate a large-stroke output displacement after amplifying the small displacement input by the piezoceramic driver 4 twice by the first-stage amplification unit 1031 and the second-stage amplification unit 1034, so as to have a large-stroke cell operation range.
Further, the first-stage amplification unit and the second-stage amplification unit in this embodiment have half the structure of the conventional bridge amplification mechanism.
Further, the micro displacement refers to a displacement of a micrometer order, and the large stroke refers to a displacement amplified by several times or more than ten times on the basis of the micro displacement.
The piezoelectric sheet 5 is externally connected with a shunt circuit (not shown in the drawings), and the shunt circuit includes, but is not limited to, a series-parallel circuit of load components such as a resistor, an inductor, a capacitor, a negative capacitor and the like.
The piezoelectric superstructure realizes the effect of enhancing the modal damping of the membrane puncturing compliant mechanism 1 under the effect of energy consumption components of the shunt circuit, so that the transverse vibration generated by the piezoelectric ceramic driver 4 driving the bending type injection needle 9 in the process of high-speed membrane puncturing motion can be reduced to reduce the damage to cell membranes, and finally the aim of improving the cell survival rate is fulfilled.
As shown in fig. 4, the inclined support frame 6 includes a positioning hole 601, an arc-shaped groove 602 and an inclined support frame connection hole 603, the inclined support frame 6 fixes the inclined support frame connection hole 603 on the rigid unit connection hole 1041 of the rigid unit 104 through a screw, and the inclined support frame 6 connects the positioning hole 601 and the arc-shaped groove 602 with the two holder fixing holes 1003 of the needle holder 10 by using two hexagon screws 7C and 7B, respectively.
As shown in fig. 5, the needle holder 10 fixes the needle holder 8 on the needle holder mounting holes 1001 and 1002 through two hexagon screws 7A and 7B, the needle holder 8 is connected with the bent injection needle 9, and the needle holder 10 is connected with the inclined support frame 6 through the positioning hole 601 and the arc-shaped groove 602, so that the rotation at a certain angle can be realized, and the position of the bent injection needle 9 can be adjusted within a certain range.
The work flow of the whole device is as follows:
the piezoelectric ceramic driver 2 generates micro displacement under the action of the control system, the generated micro displacement is amplified sequentially by the first-stage amplification unit 1031 and the second-stage amplification unit 1034 of the two-stage amplification unit 103 in the puncture membrane compliance mechanism 1 to form large-stroke displacement, and then the inclined support frame 6, the needle holder fixing frame 10, the needle holder 8 and the bending type injection needle 9 are driven to move sequentially, so that the bending type injection needle 9 has large-stroke high-speed puncture membrane movement, and the bending type injection needle 9 has lower transverse vibration due to the energy consumption effect of the piezoelectric sheet 5 attached to the guide beam 1011 in the puncture membrane compliance mechanism 1, so that the aim of improving the survival rate of cells after microinjection can be achieved. The piezoelectric sheet 5 is connected with an external shunt circuit (not shown in the figure), and the piezoelectric sheet 5 enhances the modal damping of the membrane piercing compliant mechanism 1 under the load action of the shunt circuit, so that the transverse vibration of the end bending type injection needle 9 can be effectively reduced.
The control system used in this embodiment may be a system including a PI controller or an IRC controller.
The puncturing device of the present embodiment is fixed to other platforms through the fixing holes 1021.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The membrane puncturing device based on the piezoelectric superstructure strong modal damping compliant guide mechanism is characterized by comprising a membrane puncturing compliant mechanism, a piezoelectric ceramic driver, a syringe needle fixing assembly and a syringe needle, wherein the piezoelectric ceramic driver generates displacement under the action of a control system, and the displacement is amplified by the membrane puncturing compliant mechanism and then drives the syringe fixing assembly to enable the syringe needle to have large-stroke membrane puncturing movement.
2. The lancing device according to claim 1, wherein the lancing mechanism comprises a two-stage amplification unit, a compliant guide unit and a rigid unit, wherein two sides of the rigid unit are connected with the compliant guide unit, and the two-stage amplification unit is connected with the rigid unit.
3. A lancing device according to claim 2, wherein the two stage amplification unit comprises a first stage amplification unit, a support rod, a conduction rod and a second stage amplification unit, the second stage amplification unit being disposed on the support rod and transmitting the first stage amplification unit output force or displacement to the second stage amplification unit via the conduction rod.
4. The lancing device according to any one of claims 2 or 3, wherein the compliant guide unit comprises a plurality of flexible guide beams, and piezoelectric superstructures are disposed on upper and lower surfaces of the flexible guide beams.
5. The lancing device of claim 4, wherein the piezoelectric superstructure comprises a plurality of piezoelectric patches connected to a shunt circuit.
6. A lancing device according to claim 1, further comprising a piezoelectric force sensor for measuring the force output by the piezoelectric ceramic driver.
7. A lancing device according to claim 1, further comprising ceramic plates disposed on either side of the piezoceramic driver.
8. The lancing device according to claim 2, wherein the injection needle fixing assembly comprises a diagonal support frame, a needle holder mount and a needle holder, the rigid unit is connected to the diagonal support frame, the diagonal support frame is connected to the needle holder mount, the needle holder is fixed to the needle holder mount, and the injection needle is connected to the needle holder.
9. The membrane puncturing device according to claim 8, wherein the inclined support frame comprises a positioning hole, an arc-shaped groove and an inclined support frame connecting hole, and the needle holder fixing frame is connected with the inclined support frame through the positioning hole and the arc-shaped groove to enable the injection needle to rotate at a certain angle.
10. The membrane puncturing device according to claim 4, wherein the piezoelectric superstructure realizes an effect of enhancing modal damping of a membrane puncturing compliant mechanism under the effect of an energy consumption component of the shunt circuit, and reduces the transverse vibration generated by the piezoelectric ceramic driver driving the injection needle in the process of high-speed membrane puncturing motion so as to reduce damage to cell membranes and finally realize the purpose of improving the cell survival rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111611732.0A CN114369516B (en) | 2021-12-27 | 2021-12-27 | Film puncturing device based on piezoelectric superstructure strong modal damping compliant guide mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111611732.0A CN114369516B (en) | 2021-12-27 | 2021-12-27 | Film puncturing device based on piezoelectric superstructure strong modal damping compliant guide mechanism |
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| Publication Number | Publication Date |
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| CN114369516A true CN114369516A (en) | 2022-04-19 |
| CN114369516B CN114369516B (en) | 2023-12-22 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010079580A1 (en) * | 2009-01-09 | 2010-07-15 | Ntn株式会社 | Microinjection apparatus and microinjection method |
| CN108109671A (en) * | 2018-01-11 | 2018-06-01 | 中国工程物理研究院总体工程研究所 | Two level displacement amplifying mechanism based on diamond shape compliant mechanism |
| CN109988702A (en) * | 2019-05-10 | 2019-07-09 | 苏州大学 | A kind of piezoelectric supersonic microinjection device of many types of syringe needle of adaptation of modularized design |
| CN213547392U (en) * | 2020-11-25 | 2021-06-25 | 华南理工大学 | Flexible guiding mechanism of piezoelectricity reposition of redundant personnel damping reinforcing based on gentle and agreeable mechanism |
| CN214256157U (en) * | 2020-11-25 | 2021-09-21 | 华南理工大学 | Flexible guiding mechanism for enhancing modal damping of piezoelectric superstructure |
| CN113583847A (en) * | 2021-08-30 | 2021-11-02 | 南京航空航天大学 | Cell microinjection device and robust impedance control method thereof |
-
2021
- 2021-12-27 CN CN202111611732.0A patent/CN114369516B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010079580A1 (en) * | 2009-01-09 | 2010-07-15 | Ntn株式会社 | Microinjection apparatus and microinjection method |
| CN108109671A (en) * | 2018-01-11 | 2018-06-01 | 中国工程物理研究院总体工程研究所 | Two level displacement amplifying mechanism based on diamond shape compliant mechanism |
| CN109988702A (en) * | 2019-05-10 | 2019-07-09 | 苏州大学 | A kind of piezoelectric supersonic microinjection device of many types of syringe needle of adaptation of modularized design |
| CN213547392U (en) * | 2020-11-25 | 2021-06-25 | 华南理工大学 | Flexible guiding mechanism of piezoelectricity reposition of redundant personnel damping reinforcing based on gentle and agreeable mechanism |
| CN214256157U (en) * | 2020-11-25 | 2021-09-21 | 华南理工大学 | Flexible guiding mechanism for enhancing modal damping of piezoelectric superstructure |
| CN113583847A (en) * | 2021-08-30 | 2021-11-02 | 南京航空航天大学 | Cell microinjection device and robust impedance control method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 刘俊标 北京：北京工业大学出版社: "微纳加工中的精密工件台技术" * |
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