CN114369516B - Film puncturing device based on piezoelectric superstructure strong modal damping compliant guide mechanism - Google Patents
Film puncturing device based on piezoelectric superstructure strong modal damping compliant guide mechanism Download PDFInfo
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- CN114369516B CN114369516B CN202111611732.0A CN202111611732A CN114369516B CN 114369516 B CN114369516 B CN 114369516B CN 202111611732 A CN202111611732 A CN 202111611732A CN 114369516 B CN114369516 B CN 114369516B
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- needle holder
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 238000013016 damping Methods 0.000 title claims abstract description 16
- 238000002347 injection Methods 0.000 claims abstract description 36
- 239000007924 injection Substances 0.000 claims abstract description 36
- 239000000919 ceramic Substances 0.000 claims abstract description 26
- 238000006073 displacement reaction Methods 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000004083 survival effect Effects 0.000 claims abstract description 8
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000006378 damage Effects 0.000 claims abstract description 7
- 238000005265 energy consumption Methods 0.000 claims abstract description 5
- 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
- 230000000694 effects Effects 0.000 abstract description 3
- 239000012528 membrane Substances 0.000 description 6
- 230000003321 amplification Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 5
- 238000003199 nucleic acid amplification method Methods 0.000 description 5
- 239000003990 capacitor Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000000520 microinjection Methods 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
- 238000005516 engineering process Methods 0.000 description 2
- 108090000623 proteins and genes Proteins 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 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
- 230000010354 integration Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 231100000563 toxic property Toxicity 0.000 description 1
- 230000009261 transgenic effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Abstract
The invention discloses a film puncturing device based on a piezoelectric superstructural strong modal damping flexible guide mechanism, which comprises a film puncturing flexible mechanism, a piezoelectric ceramic driver, a piezoelectric superstructural, an injection needle fixing assembly and an injection needle, wherein the piezoelectric ceramic driver generates tiny displacement under the action of a control system, and the tiny displacement forms large-stroke displacement after being amplified by the film puncturing flexible mechanism to drive the injection needle fixing assembly to enable the injection needle to move with the film puncturing with large stroke. The piezoelectric superstructure is composed of a plurality of piezoelectric sheets, the piezoelectric sheets are connected with a shunt circuit, and the mode damping enhancement effect of the film-puncturing compliant mechanism is realized through the energy consumption effect of the shunt circuit. The invention has the characteristics of simple structure, low cost and large travel operation range, can effectively reduce transverse vibration in the film puncturing process so as to improve the survival rate of cells, and can also reduce the harm to cell operators.
Description
Technical Field
The invention relates to the technical field of cell puncture, in particular to a film puncturing device based on a piezoelectric superstructure strong modal damping flexible guiding mechanism.
Background
In cell engineering, the mode of introducing the exogenous material into the cell includes gene gun, electrofusion, electroporation, cell injection and other modes, and the experimental means of introducing the exogenous material into the cell through cell injection is the mode of obtaining transgenic animal first, and has the advantages of high integration efficiency, no DNA fragment in the introduced exogenous material, no limitation of the length of the introduced exogenous gene and the like. The cell injection process comprises the procedures of cell holding, film puncturing, injection and the like, wherein the film puncturing process plays a key role in improving the survival rate of cells after exogenous substances are injected. In the past, the cell puncture link is realized by manual operation through a micro manipulator, and the operation efficiency is very low. Later researchers designed a piezoelectric type micro-injection needle feeding device, which realizes the operation flow of fast puncturing a membrane through a piezoelectric ceramic driver and has high control positioning precision, but the whole stroke of the device is very small, and the transverse vibration generated by the micro-injection needle in the feeding process causes larger damage to a cell membrane, so that the cell membrane is difficult to heal after the injection operation, thereby reducing the survival rate of the cell. For this problem of lateral vibration, a piezoelectric vibration type puncturing device has been proposed, which fills a section of mercury in a micro-injection needle in order to mitigate the damage of the cell membrane by the lateral vibration. Although the device increases the film piercing speed and reduces transverse vibration, the mercury used has extremely toxic property, is harmful to cells and operators, and is very tedious to operate.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides a film puncturing device based on a piezoelectric superstructure strong modal damping flexible guide mechanism.
The invention adopts the following technical scheme:
the utility model provides a thorn membrane device based on flexible guiding mechanism of strong modal damping of piezoelectricity super structure, includes thorn membrane flexible mechanism, piezoceramics driver, injection needle fixed subassembly and injection needle, piezoceramics driver produces small displacement under control system's effect, and this small displacement forms big stroke displacement after the flexible mechanism of thorn membrane is enlargied, drives the fixed subassembly of syringe and makes the injection needle have the thorn membrane motion of big stroke.
Further, the thorn membrane compliant mechanism comprises a two-stage amplifying unit, a compliant guide unit and a rigid unit, wherein two sides of the rigid unit are connected with the compliant guide unit, the two-stage amplifying unit comprises a first-stage amplifying unit, a supporting rod, a conductive rod and a second-stage amplifying unit, and the second-stage amplifying unit is arranged on the supporting rod and transmits the output force or displacement of the first-stage amplifying unit to the second-stage amplifying unit through the conductive rod.
Further, the flexible guide unit comprises a plurality of flexible guide beams, and piezoelectric superstructures are arranged on the upper surface and the lower surface of each flexible guide beam.
Further, the piezoelectric superstructure comprises a plurality of piezoelectric patches, and the piezoelectric patches are connected with a shunt circuit. The shunt circuit comprises but is not limited to a series-parallel circuit of energy-consuming components such as a resistor, an inductor, a capacitor, a negative capacitor and the like.
Further, a piezoelectric force sensor is included for measuring the force output by the piezoceramic actuator.
Further, the piezoelectric ceramic driving device further comprises ceramic plates which are arranged on two sides of the piezoelectric ceramic driving device and used for isolating the influence of heat generated by the piezoelectric ceramic driving device due to high-frequency motion on other components.
Further, the injection needle fixing component 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.
Further, 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 two, and are respectively arranged at two sides of the piezoelectric ceramic driver.
Furthermore, the piezoelectric superstructure realizes the function of enhancing the modal damping of the film-piercing compliant mechanism under the action of the energy consumption components of the shunt circuit, and the piezoelectric ceramic driver drives the injection needle to generate transverse vibration in the high-speed film-piercing motion process to reduce the damage to cell membranes, so that the aim of improving the cell survival rate is finally realized.
The invention has the beneficial effects that:
the invention uses the passive damping technology of piezoelectric shunt reinforced modal damping, and has the characteristics of simple structure and low cost.
The invention realizes the aim of high amplification ratio through the compact double-stage amplification mechanism, thereby leading the film puncturing mechanism to have the characteristic of large stroke operation range.
The invention can effectively reduce transverse vibration in the film puncturing process by the piezoelectric shunt strengthening mode damping technology, thereby effectively improving the survival rate of cells.
The invention avoids the use of mercury and other harmful materials, thereby reducing the harm to life and health brought by cell operators in the process of experiments.
Drawings
FIG. 1 is a schematic three-dimensional structure of the whole device according to an embodiment of the present invention;
FIG. 2 is a schematic top view of key parts of an embodiment of the present invention;
FIG. 3 is a schematic top view of a film-piercing compliant mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic three-dimensional schematic view of an inclined strut 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 embodiments of the present invention are not limited thereto.
Examples
As shown in fig. 1, 2 and 3, the film puncturing device based on the piezoelectric super-structure strong-mode damping compliant guide mechanism comprises a film puncturing compliant mechanism 1, a piezoelectric ceramic driver 4, an injection needle fixing assembly and a bending injection needle 9.
The film-puncturing compliant mechanism 1 comprises a fixed base 102, a two-stage amplifying unit 103, a compliant guiding unit 101 and a rigid unit 104, wherein the two-stage amplifying unit 103 comprises a first-stage amplifying unit 1031, a supporting rod 1032, a conducting rod 1033 and a second-stage amplifying unit 1034, the supporting rod 1032 plays a supporting role on the second-stage amplifying unit 1034, the conducting rod 1033 plays a conducting role of transmitting output force or displacement of the first-stage amplifying unit 1031 to the second-stage amplifying unit 1034, and a piezoelectric sensor 2, a ceramic chip 3A, a piezoelectric ceramic driver 4 and a ceramic chip 3B are sequentially embedded between the fixed base 102 and the first-stage amplifying unit 1031 of the two-stage amplifying unit 103, and the second-stage amplifying unit 1034 of the two-stage amplifying 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 bending injection needle 9, wherein 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 hexagonal screw 7C and a hexagonal screw 7B, the needle holder 8 is fixed on the needle holder fixing frame 10 through a hexagonal screw 7A and a hexagonal screw 7D, and the bending 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 plates is two, and the ceramic plates 3A and 3B are used for isolating the influence of heat generated by the piezoelectric ceramic driver 4 during high-speed operation on the piezoelectric force sensor 2 and the film-puncturing compliant mechanism 1.
The rigid unit 104 is specifically a rigid structure, i.e. ignoring elastic deformation of the structure, the left side and the right side of the rigid unit are respectively connected with the flexible guiding unit 101, the flexible guiding unit 101 is composed of a plurality of groups of flexible guiding beams 1011, and the upper surface and the lower surface of the flexible guiding beams 1011 are respectively stuck with a plurality of piezoelectric sheets 5 to be used as a piezoelectric super structure.
The two-stage amplification unit 103 can amplify the micro displacement input by the piezoceramic actuator 4 twice by the first-stage amplification unit 1031 and the second-stage amplification unit 1034 to generate a large-stroke output displacement, thereby having a large-stroke cell operation range.
Further, the first stage amplifying unit and the second stage amplifying unit in this embodiment have a structure half that of the conventional bridge amplifying mechanism.
Further, the minute displacement means a displacement of the order of micrometers, and the large stroke means a displacement amplified several times or ten times on the basis of the minute displacement.
The piezoelectric sheet 5 is externally connected with a shunt circuit (not shown in the drawing), and the shunt circuit comprises 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 function of enhancing the modal damping of the film puncturing compliance mechanism 1 under the action of energy consumption components of the shunt circuit, so that transverse vibration generated by the piezoelectric ceramic driver 4 driving the bending injection needle 9 in the high-speed film puncturing movement process can be reduced, the damage to cell membranes is reduced, and the aim of improving the cell survival rate is finally realized.
As shown in fig. 4, the diagonal bracing frame 6 includes a positioning hole 601, an arc-shaped groove 602 and a diagonal bracing frame connecting hole 603, the diagonal bracing frame 6 fixes the diagonal bracing frame connecting hole 603 on the rigid unit connecting hole 1041 of the rigid unit 104 through a screw, and the diagonal bracing frame 6 connects the positioning hole 601 and the arc-shaped groove 602 with two fixing frame fixing holes 1003 of the needle holder fixing frame 10 by using two hexagonal screws 7C and 7B respectively.
As shown in fig. 5, the needle holder fixing frame 10 fixes the needle holder 8 on the needle holder mounting holes 1001 and 1002 by two hexagon screws 7A and 7B, the needle holder 8 is connected with the curved injection needle 9, and the needle holder fixing frame 10 and the inclined support frame 6 are connected in a form of a positioning hole 601 and an arc groove 602 to realize a rotation of a certain angle, so that the position of the curved injection needle 9 can be adjusted within a certain range.
The working flow of the whole device is as follows:
the piezoelectric ceramic driver 2 generates tiny displacement under the action of a control system, the generated tiny displacement forms large-stroke displacement after being amplified by the first-stage amplifying unit 1031 and the second-stage amplifying unit 1034 of the two-stage amplifying unit 103 in the film puncturing compliance mechanism 1 in sequence, and then drives the inclined support frame 6, the needle holder fixing frame 10, the needle holder 8 and the curved injection needle 9 to move in sequence, so that the curved injection needle 9 has large-stroke high-speed film puncturing movement, and the energy consumption of the piezoelectric sheet 5 attached to the flexible guide beam 1011 in the film puncturing compliance mechanism 1 causes the curved injection needle 9 to have lower transverse vibration, so that the aim of improving the survival rate of cells after microinjection can be realized. 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 film-puncturing 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 adopted in the present embodiment may refer to a system composed of a PI controller, an IRC controller, or the like.
The film puncturing device of the embodiment is fixed on other platforms through fixing holes 1021.
The embodiments described above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the embodiments described above, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made in the equivalent manner, and are included in the scope of the present invention.
Claims (4)
1. The film puncturing device based on the piezoelectric super-structure strong modal damping flexible guide mechanism is characterized by comprising a film puncturing flexible mechanism, a piezoelectric ceramic driver, an injection needle fixing assembly and an injection needle, wherein the piezoelectric ceramic driver generates displacement under the action of a control system, and the displacement drives the injection needle fixing assembly to enable the injection needle to have large-stroke film puncturing movement after being amplified by the film puncturing flexible mechanism;
the film puncturing and softening mechanism comprises a two-stage amplifying unit, a softening and guiding unit and a rigid unit, wherein two sides of the rigid unit are connected with the softening and guiding unit, and the two-stage amplifying unit is connected with the rigid unit;
the structure of the two-stage amplifying unit is half of that of a traditional bridge type amplifying mechanism;
the injection needle fixing assembly comprises an inclined supporting frame, a needle holder fixing frame and a needle holder, the rigid unit is connected with the inclined supporting frame, the inclined supporting frame is connected with the needle holder fixing frame, the needle holder fixing frame fixes the needle holder on a needle holder mounting hole through two hexagonal screws, the needle holder fixing frame is connected with the inclined supporting frame in a mode of a positioning hole and an arc groove, the position of a bent injection needle is adjusted in a certain range, the needle holder is fixed on the needle holder fixing frame, and the injection needle is connected with the needle holder;
the two-stage amplifying unit comprises a first-stage amplifying unit, a supporting rod, a conducting rod and a second-stage amplifying unit, wherein the second-stage amplifying unit is arranged on the supporting rod and transmits the output force or displacement of the first-stage amplifying unit to the second-stage amplifying unit through the conducting rod;
the flexible guide unit comprises a plurality of flexible guide beams, and piezoelectric superstructures are arranged on the upper surface and the lower surface of each flexible guide beam;
the piezoelectric superstructure comprises a plurality of piezoelectric sheets, and the piezoelectric sheets are connected with a shunt circuit.
2. The lancing device of claim 1, further comprising a piezoelectric force sensor for measuring the force output by the piezoelectric ceramic actuator.
3. The film puncturing device of claim 1, further comprising ceramic plates disposed on either side of the piezoelectric ceramic actuator.
4. The film puncturing device according to claim 1, wherein the piezoelectric superstructure realizes the function of enhancing the modal damping of the film puncturing compliant mechanism under the action of the energy consumption components of the shunt circuit, and the piezoelectric ceramic driver drives the injection needle to generate transverse vibration in the high-speed film puncturing movement process to reduce the damage to cell membranes, so as to 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 |
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| 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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| CN114369516A CN114369516A (en) | 2022-04-19 |
| CN114369516B true 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 |
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