CN203077272U - Piezoelectric actuator, control gear and control system - Google Patents
Piezoelectric actuator, control gear and control system Download PDFInfo
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- CN203077272U CN203077272U CN 201220426995 CN201220426995U CN203077272U CN 203077272 U CN203077272 U CN 203077272U CN 201220426995 CN201220426995 CN 201220426995 CN 201220426995 U CN201220426995 U CN 201220426995U CN 203077272 U CN203077272 U CN 203077272U
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- capillary
- retaining member
- suction pipe
- piezo
- pipe retaining
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Abstract
This utility model provides a piezoelectric actuator, a control gear and a control system which can obtain high response and inhibit vibration beyond an axial direction of a driving axle. The piezoelectric actuator performs micro driving on a capillary tube (35) operating micro objects. The piezoelectric actuator comprises a straw-retaining member (34) which fixed the capillary tube (35) and the outside of which is performed with thread processing, a housing which has an inner surface which is coaxial with the straw-retaining member (34), at least two antifriction bearings used for supporting the straw-retaining member in a manner of rotation on the housing, a piezoelectric element which is in coaxially configured with the straw-retaining member, a cover which is fixed on the housing, a housing which fixes the piezoelectric element in an axial direction and an inner ring isolation member which is configured between the two antifriction bearings.
Description
Technical field
The utility model relates to piezo-activator, manipulation device (マ ニ ピ ュ レ one タ, manipulator) and the operator system that small objects such as pair cell are operated.
Background technology
Known have in the biotechnology field as sperm, dna solution being injected on one side the manipulation device (for example, with reference to patent documentation 1) that small objects such as pair cell ovum, the cell etc. are operated on one side with microscopic examination.Patent documentation 2 discloses a kind of microscopie unit, in order easily the needle point of operation pins such as capillary glass tube to be arranged near the target location of sample, this microscopie unit uses the electric power steering with operation pin and focuses in electronic mode, interlock, the non-interlock of switching between the driving of focusing and manipulation device drive the operation pin, thus the setting operation pin.
In patent documentation 3,4, record manipulation device, in order to carry out the stable minute movement of capillary glass tube etc., this manipulation device uses the piezo-activator with piezoelectric element to come this capillary glass tube etc. is applied shock loading, and egg cell etc. is bored a hole.
Technical literature formerly
Patent documentation
Patent documentation 1: TOHKEMY 2004-325836 communique
Patent documentation 2: TOHKEMY 2006-23487 communique
Patent documentation 3: the special fair 06-98582 communique of Japan
Patent documentation 4: TOHKEMY 2003-1574 communique
In the manipulation device that patent documentation 3 is put down in writing, piezo-activator only is fixed on the suction pipe retaining member that is used to install capillary glass tube etc., is not fixed in manipulation device.In such formation, the suction pipe retaining member might come off etc. when driving manipulation device.In addition, in the manipulation device of patent documentation 3, there are the following problems: above-mentioned suction pipe retaining member is by utilizing frictional force to keep the abutting member of the small part in the suction pipe retaining member integral body to fix, the performance of manipulation device, response by the size of this frictional force about.
In the manipulation device that patent documentation 4 is put down in writing, suction pipe retaining member and piezo-activator be configuration coaxially, the axle of suction pipe retaining member and the relation that spool becomes distortion of piezo-activator.In addition, the driving shaft of piezo-activator separates with the suction pipe retaining member.Therefore, capillary glass tube also causes vibration easily in the axial direction in addition of above-mentioned driving shaft.And, with extension spring piezoelectric element is applied precompressed, therefore, adjust this point from precompressed and be difficult to obtain higher response.
The utility model content
In view of the foregoing, the purpose of this utility model is to provide piezo-activator, manipulation device, the operator system with higher response.In addition, the purpose of this utility model be to provide the driving shaft that suppressed piezo-activator axially beyond piezo-activator, manipulation device, the operator system of vibration of direction.
In order to achieve the above object, piezo-activator of the present utility model utilizes piezoelectric element that the capillary that is used to operate small object is carried out fine motion and drives, and it is characterized in that this piezo-activator comprises: the suction pipe retaining member, it is used to install described capillary, and periphery has been implemented screw thread processing; Shell, it has and the coaxial inner peripheral surface of described suction pipe retaining member; At least two rolling bearings, it is supported on described shell with described suction pipe retaining member in the mode that can rotate; Piezoelectric element, itself and described suction pipe retaining member dispose coaxially; Lid, it is fixed in described shell, along the described piezoelectric element of axial restraint; With the inner ring isolated part, it is configured between the inner ring of described two rolling bearings.
In addition, another piezo-activator of the present utility model utilizes piezoelectric element that the capillary that is used to operate small object is carried out fine motion and drives, and it is characterized in that this piezo-activator comprises: the suction pipe retaining member, and it is equipped with described capillary; Shell, it has and the coaxial inner peripheral surface of described suction pipe retaining member; At least two rolling bearings, it is supported on described shell with described suction pipe retaining member; Piezoelectric element, itself and described suction pipe retaining member dispose coaxially; Lid, it is fixed in described shell, along the described piezoelectric element of axial restraint; With the inner ring isolated part, it is configured between the inner ring of described two rolling bearings.
In addition, preferably has hollow unit between the outer peripheral face of the inner ring of two rolling bearings and described suction pipe retaining member.
Adopt above-mentioned formation, dispose coaxially as the suction pipe retaining member and the piezoelectric element of driving shaft, therefore, can suppress piezo-activator driving shaft axially beyond the vibration of direction.
In addition, the periphery of preferred described suction pipe retaining member is implemented screw thread processing, and two lock nut that described two rolling bearings are threaded with the periphery of described suction pipe retaining member are along axial restraint.
In addition, the outer peripheral face of an end of preferred described hollow unit is implemented screw thread processing, and lock nut is threaded with this screw thread processing part and fixing rolling bearing in the axial direction.
In addition, preferably also have fixed component, this fixed component is located at the other end of described hollow unit and described suction pipe retaining member is fixed in described hollow unit.
In addition, preferred described piezoelectric element is applied with precompressed by described rolling bearing.In this case, use rolling bearing, can obtain higher response as spring members with higher rigidity.
In addition, preferably between described rolling bearing and described piezoelectric element, has the separator that disposes coaxially with described suction pipe retaining member.
In addition, preferred described capillary is supported with a plurality of points by a plurality of supporting members.
Manipulation device of the present utility model is characterized in that, this manipulation device has above-mentioned piezo-activator.
In addition, another manipulation device of the present utility model, it has the capillary that small object is operated, above-mentioned piezo-activator, this manipulation device controlled device motorized motions, it is characterized in that, described capillary is connected with the syringe that is used to attract or discharge the fluid in the described capillary, and this manipulation device is configured to utilize an operation signal that is sent by described controller that described syringe is moved back and forth with certain stroke.
In addition, preferably in the reciprocating motion of said syringe, the translational speed the when translational speed during the fluid in discharging described capillary of syringe is set greater than the fluid in attracting described capillary of syringe.
In addition, preferably in the reciprocating motion of said syringe, in the reciprocating motion of carrying out based on described operation signal of described syringe, the carrying out earlier of described syringe with corresponding the moving of described attraction.
In addition, preferably in the reciprocating motion of described syringe, with attract action corresponding move and with discharging operation corresponding move respectively carried out once after, attract before the action syringe to be stopped next time.
The manipulation device of small object of the present utility model, it is characterized in that, use above-mentioned manipulation device, with described capillary the ovum as described object is carried out oolemma (transparent Bands) perforation, afterwards, described capillary moves with after the sampling operation that carries out at least one sperm, turns back to the position of described oolemma perforation, while utilize the reciprocating motion of described syringe to make sperm move the injection operation that carries out sperm in capillary.
In addition, the preferred control lever that is connected in described controller that utilizes sends described operation signal.
In addition, the preferred button of being located at described control lever that utilizes sends described operation signal.
Operator system of the present utility model is characterized in that, it comprises: above-mentioned manipulation device, and it utilizes piezoelectric element that above-mentioned capillary is carried out fine motion and drives; Controller, its according to be installed on above-mentioned manipulation device above-mentioned front end capillaceous size and the voltage that puts on above-mentioned piezoelectric element is controlled.
In addition, preferably also comprise: the video camera that can take the front end described capillaceous that is installed on described manipulation device; With the measurement mark that is used on the shooting picture that is configured in by described video camera shooting the size of described front end capillaceous is measured, under the size of the described front end of being measured with mark by described measurement capillaceous is situation more than the predefined critical field, the normal voltage that described controller applies when making the voltage that puts on described piezoelectric element be in the described critical field less than the size at described front end capillaceous, under the size of the described front end of being measured with mark by described measurement capillaceous was situation below the described critical field, described controller made the voltage that puts on described piezoelectric element greater than described normal voltage.
The effect of utility model
Adopt piezo-activator of the present utility model, manipulation device, operator system, can obtain higher response.In addition, can suppress piezo-activator driving shaft axially beyond the vibration of direction.
Description of drawings
Fig. 1 is the figure of formation that roughly represents the operator system of the 1st embodiment.
Fig. 2 is the cutaway view of the micromotion mechanism (piezo-activator) that can use in the operator system of Fig. 1.
Fig. 3 is the block diagram of major part of the control system of being controlled by controller of presentation graphs 1.
Fig. 4 is the figure that is illustrated in picture displayed example on the display part of Fig. 3.
Fig. 5 is the stereogram of the concrete example of presentation graphs 1, control lever shown in Figure 3.
(a)～(d) of Fig. 6 is that the capillary 35 of the injection of presentation graphs 1 roughly is in operation with respect to the figure of the relative position of the bottom surface of ware.
Fig. 7 is the figure of variation of the magnitude of voltage of the piezoelectric element of expression when capillary contacts with the bottom surface of ware as Fig. 6 (c).
Fig. 8 is the figure that is illustrated in the example of the two pictures that show on the display part of Fig. 3.
Fig. 9 is the cutaway view of the micromotion mechanism (piezo-activator) that can use in the operator system of the 2nd embodiment.
Figure 10 is the cutaway view of expression fixing means capillaceous.
Figure 11 is the stereogram of the micromotion mechanism (piezo-activator) that can use in the operator system of the 3rd embodiment.
Figure 12 is the cutaway view of the micromotion mechanism (piezo-activator) that can use in the operator system of the 3rd embodiment.
Figure 13 is the stereogram of the micromotion mechanism (piezo-activator) of the variation of the 3rd embodiment.
Figure 14 is the cutaway view of the micromotion mechanism (piezo-activator) of the variation of the 3rd embodiment.
Figure 15 is the figure of formation that roughly represents the operator system of the 4th embodiment.
Figure 16 is the figure of formation that roughly represents the manipulation device of Figure 15.
Figure 17 is the block diagram of the major part of the control system controlled by the controller of Figure 16 of expression.
Figure 18 is the stereogram of the concrete example of expression control lever shown in Figure 17.
(a)～(h) of Figure 19 is the figure that expression is installed in each the position relation between each capillary of manipulation device and the small operand thing (ovum, sperm).
(a)～(d) of Figure 20 is the figure of each state after the sperm sampling of expression Figure 19 is finished.
(a)～(b) of Figure 21 is the expression operation of control lever and syringe (the イ Application ジ ェ Network タ) figure with respect to an example of the change in location of the operation of control lever.
Figure 22 represents the operation of control lever and the syringe figure with respect to an example of the change in location of the operation of control lever.
Figure 23 is the figure that is illustrated in an example of picture displayed on the display part of operator system of the 5th embodiment.
Figure 24 is the figure that is illustrated in an example of picture displayed on the display part of operator system of the 5th embodiment.
Figure 25 is the figure that is illustrated in an example of picture displayed on the display part of operator system of the 5th embodiment.
Figure 26 is the relevant flow chart of control with the operator system of the 5th embodiment.
The specific embodiment
Below use description of drawings to be used to implement best mode of the present utility model.In addition, the utility model is not limited by this embodiment.In addition, comprise component parts or the identical in fact component parts that those skilled in the art can and replace easily in the component parts in the following embodiment.
［ the 1st embodiment ］
(formation of operator system)
Fig. 1 is the figure of formation that roughly represents the operator system of the 1st embodiment.Operator system 10 is that to be used under microscopic examination small object be that sample (cell, ovum, sperm etc.) is implemented manually-operated system.In Fig. 1, operator system 10 has microscope unit 12, manipulation device 14, manipulation device 16, and manipulation device 14,16 is configured in the both sides of microscope unit 12 dividually.In addition, operator system 10 has the controller 43 that be used to adjust the telescope to one's eyes unit 12 and a pair of manipulation device 14,16 are controlled.
Microscope unit 12 comprises video camera 18, microscope 20, the sample bench as imaging apparatus, and ware 22 is configured on the sample bench.Microscope unit 12 is for disposing the structure of microscope 20 directly over this ware 22.That is, microscope 20 is made of the handstand microscope.In addition, microscope 20 and video camera 18 are Construction integration, though the diagram of omission has the light source towards ware 22 irradiates lights.
In ware 22, contain the solution that for example comprises sample (not shown).Under this state, from the sample irradiates light of microscope 20 in ware 22, when inciding microscope 20 by the light of the reflection of the samples (for example cell, ovum) in the ware 22, after the optical image relevant with cell, ovum amplified by microscope 20, taken by video camera 18, can observe sample based on the image that video camera 18 is taken.
(formation of manipulation device)
As shown in Figure 1, the manipulation device 14 of one side (diagram left side) has the drive unit 32 of suction pipe 24, X-Y axle workbench 26, Z axle workbench 28, the drive unit 30 that drives X-Y axle workbench 26, driving Z axle workbench 28 as the manipulation device of 3 formations of quadrature of X-axis-Y-axis-Z axle.At the front end of suction pipe 24 capillary 25 as capillary top (チ ッ プ) is installed.
The manipulation device 16 of opposite side (diagram right side) has the drive unit 42 of suction pipe (injection suction pipe) retaining member 34, X-Y axle workbench 36, Z axle workbench 38, the drive unit 40 that drives X-Y axle workbench 36, driving Z axle workbench 38 as the manipulation device of 3 formations of quadrature.Suction pipe retaining member 34 is linked to Z axle workbench 38, and Z axle workbench 38 is configured on the X-Y axle workbench 36 in the mode that moves up and down freely, and drive unit 40,42 is connected in controller 43.The capillary 35 of glass system is installed at the front end of suction pipe retaining member 34.
Like this, manipulation device the 14, the 16th, roughly the same structure, the manipulation device 16 that is linked with suction pipe retaining member 34 is that example describes below.
That is, will comprise cell in the ware 22 etc. at interior three dimensions as moving area, X-Y axle workbench 36 and Z axle workbench 38 move under the driving of drive unit 40,42.And, X-Y axle workbench 36 and Z axle workbench 38 for example make suction pipe retaining member 34 from the front of suction pipe retaining member 34 with respect to the sample coarse motion in the ware 22 to the insertion position of inserting capillary 35.X-Y axle workbench 36 and Z axle workbench 38 constitute such coarse motion mechanism (three-dimensional axle travelling table).
In addition, the linking part of Z axle workbench 38 and suction pipe retaining member 34 has the function as nanometer positioning instrument (Na ノ Port ジ シ ョ Na).The nanometer positioning instrument constitutes supporting suction pipe retaining member 34 along the mode that the direction that is provided with suction pipe retaining member 34 (length direction) moves freely, and also the length direction (axis direction) along suction pipe retaining member 34 carries out the fine motion driving to suction pipe retaining member 34.
Particularly, the linking part of Z axle workbench 38 and suction pipe retaining member 34 has micromotion mechanism 44 as the nanometer positioning instrument.Then, with reference to Fig. 2 this micromotion mechanism 44 is described.
(formation of micromotion mechanism)
Fig. 2 is the cutaway view of the micromotion mechanism (piezo-activator) that can use in the operator system of Fig. 1.As shown in Figure 2, micromotion mechanism 44 comprises the piezo-activator 44a with suction pipe retaining member 34.Piezo-activator 44a has the shell 48 that constitutes its main body, and the suction pipe retaining member 34 that periphery has been implemented screw thread processing is applied in interior forming in week in the shell 48 of tubular.Capillary 35 is installed and be fixed with to suction pipe retaining member 34 in its front (left side of Fig. 2, following same), and side (right side of Fig. 2, following same) is connected with the not shown pipe that is used to carry to the solution (nutrient solution etc.) of the injection (injection) of ovum, cell etc. in its back-end.In addition, be connected with the pump of flow adjustment usefulness at the other end of this pipe.
Suction pipe retaining member 34 is supported on shell 48 by rolling bearing 80,82.Rolling bearing 80,82 has ball 80c, the 82c between inner ring 80a, 82a, outer ring 80b, 82b, insertion inner ring 80a, 82a and outer ring 80b, the 82b respectively.Rolling bearing 80,82 constitutes, each inner ring 80a, 82a are embedded in the outer peripheral face of suction pipe retaining member 34 by hollow unit 84, each outer ring 80b, 82b are embedded in the inner peripheral surface of shell 48, support suction pipe retaining member 34 in suction pipe retaining member 34 rotations mode freely.
In addition, hollow unit 84 is provided with radius vector to the outstanding flange part 84a as the inner ring isolated part of foreign side in its axial substantial middle portion, and inner ring 80a, the 82a of rolling bearing 80,82 is configured in the axial both sides of this flange part 84a.At this moment, hollow unit 84 becomes one with flange part 84a.Afterwards, from the rear end side of the front of inner ring 80a and inner ring 82a lock nut 86,86 being threadedly connected to suction pipe retaining member 34 fixes the axial location of rolling bearing 80,82.In addition, the axial dimension of hollow unit 84 is less than the axial dimension sum of the flange part 84a of the axial dimension of inner ring 80a, the 82a of rolling bearing 80,82 and hollow unit 84.Therefore, the axial rearward end side of the axial forward end side of inner ring 80a and inner ring 82a is compared hollow unit 84 to axially outstanding.Its result, inner ring 80a, 82a directly utilize lock nut 86,86 along axial restraint, therefore can limit moving axially of inner ring 80a, 82a.
In addition, in the 1st embodiment, by being provided with hollow unit 84, the internal diameter of the suction pipe retaining member 34 of use also can be inequality with the internal diameter of rolling bearing 80,82.On the other hand, also can be the structure of under the situation of identical internal diameter, omitting hollow unit 84.In addition, hollow unit 84 constitutes one with flange part 84a, but also can form independently of each other.And, also hollow unit 84 and the flange part 84a that becomes one can be used as the inner ring isolated part.
And, and rolling bearing 80,82 disposes coaxially and and the inner peripheral surface of shell 48 between be configured in the axial rearward end side of outer ring 82b with the chimeric circular separator 90 of the mode with positive gap.Circular piezoelectric element 92 and separator 90 roughly are configured in the axial rearward end side of separator 90 coaxially, also dispose the lid 88 of shell 48 in its axial rearward end side.Lid 88 is used for piezoelectric element 92 along axial restraint, therefore, has the hole portion of running through for suction pipe retaining member 34.This lid 88 utilizes not shown bolt to be linked to the side of shell 48.In addition, also can be by to the inner peripheral surface of shell 48 axial rearward end sides and cover that 88 outer peripheral face is implemented screw thread processing and both are threaded to fix and cover 88, piezoelectric element 92 might produce moment of torsion.Therefore, preferably covering 88, to utilize bolt etc. to link fixing.
Rolling bearing 80,82, piezoelectric element 92 by regulating separator 90 length and tighten and cover 88 and apply precompressed.Particularly, adjust the length of separator 90 and tighten and cover at 88 o'clock, along axial pressing force the outer ring 82b of rolling bearing 82 and the outer ring 80b of rolling bearing 80 are applied precompressed with the corresponding binding strength conduct in this position, and, also piezoelectric element 92 is applied precompressed simultaneously.Thus, rolling bearing 80,82 and piezoelectric element 92 are applied the precompressed of regulation, in the gap 94 that is formed with between outer ring 80b, the 82b of rolling bearing 80,82 as the distance between axially.
Like this, can be used as rolling bearing 80, the 82 carrying precompressed of the spring members of high rigidity, therefore, can easily carry out the precompressed adjustment piezoelectric element 92, and, can reach higher response.
In addition, piezoelectric element 92 contacts with rolling bearing 82 across separator 90, therefore, do not need to use the diameter identical with outer ring 82b piezoelectric element, can apply the piezoelectric element of the so special shape of the piezoelectric element of size of precompressed of regulation.Promptly, in the example of Fig. 2, also can will be that circular piezoelectric element 92 forms bar-shaped or prism-shaped and, also can form square tube being circular piezoelectric element 92 with the hole portion of running through for suction pipe retaining member 34 along circumferentially roughly equally spaced the arranging of separator 90.In addition, as long as form the shape of separator 90 accurately, because the inner peripheral surface of shell 48 forms with the precision with the chimeric degree of rolling bearing 80,82, therefore, even exist at piezoelectric element 92 under the situation of individual difference, also can push rolling bearing 82 equably.In addition, below so-called " piezoelectric element (roughly) is coaxial " not merely represent the situation of circular piezoelectric element and the total central axis of axis (certain axis) arbitrarily, also comprise piezoelectric element equally spaced be arranged in axis (certain axis) arbitrarily be on the circumference at center situation, axis (certain axis) passes through the situation at center of the piezoelectric element of square tube arbitrarily.
Can use conducts such as sine wave, square wave, triangular wave to put on the voltage waveform of the voltage of piezoelectric element 92.In addition, as piezoelectric element 92 is applied voltage method, both can be at the button 43B of operator to the button (for example aftermentioned control lever 47(Fig. 5) that is connected in controller 43) etc. push during continuously signal output waveform carry out method of driving, also can be to use the method for train of pulse waveform.
In the 1st embodiment, the inner ring 80a of the rolling bearing 80 in the rolling bearing 80,82 and the addendum modification of outer ring 80b are that half of stroke (addendum modification) of piezoelectric element 92 is set at the addendum modification of capillary 35, therefore, piezoelectric element 92 is applied fine motion voltage, and this fine motion voltage draws the control voltage and the addition of initial setting voltage of displacement that is used to apply the twice of fine motion addendum modification.
For example, when piezoelectric element 92 produces the elongation of 2x, add the prefabricating load that carries out before the fine motion control and the outer ring 82b of rolling bearing 82 is pushed based on the pressing force of this elongation, the outer ring 80b that makes rolling bearing 80 is along moving axially, and the gap 94 between each outer ring 80b, 82b of rolling bearing 80,82 correspondingly further narrows down and the axial elongation of absorption pressure electric device 92 with 2x.
Respectively along axial each displacement x, the outer ring 80b of rolling bearing 80 is displacement 2x in the axial direction, thereby produces the displacement in this gap 94 along with strain for rolling bearing 80,82.
On the contrary, when piezoelectric element 92 shrank 2x, pressing force reduced, and the strain of rolling bearing 80,82 respectively reduces x respectively, and on the big direction of gap 94 changes, the outer ring 80b of rolling bearing 80 is displacement 2x in the axial direction, the amount that absorption pressure electric device 92 shrinks.
Like this, each absorbs x to the displacement x in gap 94 dividually by rolling bearing 80,82, therefore, during dynamic balance that rolling bearing 80,82 is pushed mutually, inner ring 80a, the 80b of rolling bearing 80,82 with suction pipe retaining member 34 along variation of axial position x.For example, when injecting the action of injection of sperm in that ovum is bored a hole, half of the stroke 2x of piezoelectric element 92 becomes the fine motion addendum modification of capillary 35 and capillary 35 is positioned the insertion position.After capillary 35 was positioned the insertion position, when piezoelectric element 92 was applied injection voltage, capillary 35 carried out action of injection.
Adopt above-mentioned formation, capillary 35 and piezoelectric element 92 be configured in coaxial on, therefore, when driving piezoelectric element 92, can alleviate unnecessary vibration, promptly suction pipe retaining member 34 axially beyond the vibration that produces of direction.In addition, the piezo-activator 44a of Fig. 2 is directly fixed on manipulation device 16 and suction pipe retaining member 34, therefore, and the parts that do not need fore-and-aft motion 16, suction pipe retaining member 34 to fix.Therefore, can realize that component number reduces the raising and the cost reduction of the assembleability that is brought.And, piezo-activator 44a and suction pipe retaining member is directly fixing, therefore, can shorten the distance between piezoelectric element 92 and the capillary 35.Its result, when action of injection, the action of can boring a hole more accurately can realize the raising of the perforation effect of piezoelectric element 92.
In addition, above-mentioned micromotion mechanism 44 is located at the manipulation device 16 that cell manipulation is used, but can certainly be located at the manipulation device 14 that cell keeps usefulness, also may omit.
(control of operator system)
The control of being undertaken by controller 43 of above-mentioned operator system 10 then, is described with reference to Fig. 3～Fig. 5.Fig. 3 is the block diagram of major part of the control system of being controlled by controller of presentation graphs 1.Fig. 4 is the figure that is illustrated in picture displayed example on the display part of Fig. 3.Fig. 5 is the stereogram of the concrete example of presentation graphs 1, control lever shown in Figure 3.
The controller 43 of Fig. 1, Fig. 3 has the arithmetic processing apparatus as the CPU(of arithmetic unit central authorities) and as hard disk, the hardware resources such as RAM, ROM of memory unit, carry out various computings based on regulated procedure, drive instruction according to operation result output, so that carry out various controls.That is, the drive unit 30,32 of 43 pairs of manipulation devices 14 of controller, the drive unit 40,42 of manipulation device 16, the piezoelectric element 92 of micromotion mechanism 44 etc. are controlled, and drive instruction via the driver that is provided with as required, amplifier etc. to each output.For example, make signal generator 95 produce signals, by amplifier 96(ア Application プ by controller 43 control) this signal is amplified the voltage signal that obtains drive piezoelectric element 92.
In addition, except keyboard, controller 43 also with control lever 47, mouse 43A, button 43B(Fig. 1 as information input part) be connected, also be connected, show that on display part 45 MIcrosope image of being obtained by video camera 18, various control are with picture etc. with the display part 45 that constitutes by CRT, liquid crystal panel.
In addition, controller 43 automatically drives manipulation device 14,16 with the sequence of regulation.It is to drive instruction by the operation result that controller 43 carries out based on CPU program according to the rules successively to each output to carry out that this sequence drives (シ one ケ Application ス drives Move).
For the operator system 10 of application drawing 1, as Fig. 1, Fig. 3, shown in Figure 5, can mainly use the control lever 47 that is connected to controller 43, respectively prepare a control lever 47 at manipulation device 14,16.As shown in Figure 5, control lever 47 has a plurality of button 47a～47g and handle 47h.By making handle 47h drive the drive unit 30,40 of Fig. 1 to L inclination (toppling over) to right R, left, can drive manipulation device 14,16 along X-direction, Y direction, by making handle 47h rotation (reversing), can driver 32,42 and drive along Z-direction.In addition, each function operations can be distributed to each button 47a～47g, for example, with the piezo-activator 44a(micromotion mechanism 44 of Fig. 2) the operated allocated of piezoelectric element 92 give button 47.
In the above-described configuration, when driving injection manipulation device 16, handle 47h to control lever 47 operates, X-Y axle workbench 36 and Z axle workbench 38 are carried out the coarse motion driving, make suction pipe retaining member 34 after locating, can use micromotion mechanism 44 to come that suction pipe retaining member 34 is carried out fine motion and drive near the cell in the ware 22.
Particularly, in the time of the capillary 35 of glass system being installed on suction pipe retaining member 34, drive manipulation device 14,16, so that become the state that suction pipe retaining member 34 is kept out of the way from the ware 22 that is configured in microscope operation position.Thus, when capillary 35 is installed on suction pipe retaining member 34, can obtain sufficient working space.
After capillary 35 is installed on suction pipe retaining member 34, utilize the instruction that comes self-controller 43 to drive manipulation device 14 based on the operation of control lever 47 etc., the suction pipe retaining member 34 that capillary 35 is installed is that ware 22 moves towards microscope operation position.
Make capillary 35 when the displacement of microscope homework department is moving, under the situation of the operation of the 1st time (first), the switching push button 45c of application drawing 4, the microscopic fields of view multiplying power that makes the image that shows on image displaying part 45a is a low range, by driving drive unit 40,42, the micromotion mechanism 44 of manipulation device 16, one can confirm capillary 35 in the visual field of microscope 20, just stop the driving of drive unit 40,42, micromotion mechanism 44.
Subsequently, handle also driver 40,42, micromotion mechanism 44, in the visual field of microscope 20, make capillary 35 move to the optimum position, stop the driving of drive unit 40,42, micromotion mechanism 44 by the image that utilizes controller 43.At this moment, each workbench 36,38 that drives when the 1st operation, the amount of movement that micromotion mechanism 44 is realized are stored in the controller 43.In addition, above-mentioned capillary to moving of optimum position suitably use in the drive system (X-Y axle workbench 36, Z axle workbench 38) of the XYZ that drives by drive unit 40,42 and the micromotion mechanism 44 the two or one.
Then, manipulation device 16 is operated, changed at needs under the situation of ware 22 or replacing capillary 35, drive unit 40,42, micromotion mechanism 44 are driven, be used to the operation that capillary 35 is kept out of the way from microscope operation position.At this moment, utilize the operation of control lever 47, capillary 35 is driven into the position is set.In addition, also can use button 43B and make capillary 35 keep out of the way position arbitrarily.
On the other hand, make capillary 35 once more under the moving situation of microscope homework department displacement, because controller 43 has been stored the position when being provided with for the 1st time, therefore the enough manipulation devices 16 of energy are easily adjusted the position of capillary 35.
As capillary 35, using under all identical situation capillaceous of its shape, by the manipulation device 16 that uses the 1st embodiment, can be than raising the efficiency under the situation in the past.In addition,, also can utilize the driving of piezo-activator 44a and make 34 straight reciprocating motions of suction pipe retaining member, therefore can adjust the position of capillary 35 imperceptibly even exist under the situation of deviation in the shape of capillary 35.
In addition, when capillary 35 is positioned the insertion position of cell, control lever 47 is operated and piezoelectric element 92 is applied the voltage of injection, micromotion mechanism 44 is carried out fine motion drive, thereby can carry out the action of injection of suction pipe retaining member 34.At this moment, the spring members that utilizes high rigidity is that 80,82 pairs of piezoelectric elements 92 of rolling bearing are applied with precompressed, therefore can reach higher response.
In addition, Fig. 6, Fig. 7 illustrate the action of capillary 35 when the optimum position is moved and is provided with that makes above-mentioned injection before carrying out injection operation.Fig. 6 is that the capillary of the injection of presentation graphs 1 roughly is in operation with respect to the figure of the relative position (a)～(d) of the bottom surface of ware.Fig. 7 is the figure of variation of the magnitude of voltage of the piezoelectric element of expression when capillary contacts with the bottom surface of ware as Fig. 6 (c).
［ the 2nd embodiment ］
The operator system 120 of the 2nd embodiment then, is described with reference to Fig. 9 and Figure 10.In addition, in the 2nd embodiment,, the part different with the 1st embodiment only is described for fear of repeating record with the 1st embodiment.The 2nd embodiment is its micromotion mechanism 144(piezo-activator 144a) with the micromotion mechanism 44(piezo-activator 44a of the 1st embodiment) local different formation.Fig. 9 is the cutaway view of the micromotion mechanism (piezo-activator) that can use in the operator system of the 2nd embodiment.
In the micromotion mechanism 144 of the 2nd embodiment, periphery at suction pipe retaining member 134 is provided with hollow unit 135, hollow unit 135 and piezo-activator 144a are formed as one, therefore, suction pipe retaining member 134 and piezo-activator 144a are separately handled independently of each other.In Fig. 9,, omit its detailed description with the equal identical Reference numeral of part mark of Fig. 2.
Suction pipe retaining member 134 installs and fixes capillary 35 in its front (left side of Fig. 9, following same).In addition, side (right side of Fig. 9, following same) utilization is threaded to wait and is fixed with ozzle (ノ ズ Le) in its back-end, and this ozzle is used for being used for being connected to the not shown pipe of the solution of injections such as ovum, cell with conveying.The other end of this pipe is connected with the pump of flow adjustment usefulness.Then, the piezo-activator 144a that is installed on suction pipe retaining member 134 is described.
Rolling bearing 80,82 is embedded in the outer peripheral face of the hollow unit 135 of the central shaft that constitutes piezo-activator 144a.The inner ring 80a of this rolling bearing 80 positions by the locating surface 135b butt with the outer peripheral face that is formed on hollow unit 135.Between inner ring 80a, the 82a of rolling bearing 80,82, has inner ring isolated part 184.Inner ring isolated part 184 is embedded in the outer peripheral face of hollow unit 135.Rolling bearing 80,82( inner ring 80a, 82a) lock nut 86 is threadedly connected to hollow unit 135 and by along axial restraint by rear end side from inner ring 82a.
Other parts and Fig. 2 of piezo-activator 144a are same.That is, in rolling bearing 80,82, with Fig. 2 similarly shell 48 be embedded in the outer peripheral face of its outer ring 80b, 82b.With the order of separator 90, piezoelectric element 92 separator 90, piezoelectric element 92 are configured in the inner peripheral surface of shell 48 in the axial rearward end side of outer ring 82b, tighten and cover 88, thereby they are fixed.So, constitute the piezo-activator 144a that becomes one with hollow unit 135.
For suction pipe retaining member 134 is fixed in piezo-activator 144a, the outer peripheral face that hollow unit 135 is embedded in suction pipe retaining member 134 is fixed.The outer peripheral face of suction pipe retaining member 134 is by locally expanded and be provided with stage portion 134a.Hollow unit 135 has the corresponding stage portion 135a with this stage portion 134a at internal side diameter, by making two stage portion relative, along axially positioning.Hollow unit 135 along axial location utilizes positioning threads part (not shown) to be fixed in suction pipe retaining member 134.More specifically, in the axial forward end portion of hollow unit 135 (Fig. 9 left side), be provided with a plurality of along axially outstanding protuberance 135c along the screwed hole (not shown) that radially connects from shell 48.By a plurality of positioning threads parts (not shown) are threaded with these a plurality of screwed holes, a plurality of positioning threads parts (not shown) are contacted with suction pipe retaining member 134.Thus, suction pipe retaining member 134 is fixed.
By making micromotion mechanism 144 be such formation, suction pipe retaining member 134 and piezo-activator 144a can be separate.Its result can improve the maintainability of micromotion mechanism 144.In addition, with positioning threads part fixation hollow member 135, therefore, can carry out inching to axiality, the relative position of hollow unit 135 and suction pipe retaining member 134.Such positioning threads part is located at the protuberance 135c of hollow unit 135, therefore, positions installation, the dismounting of screw element easily, therefore can further improve the maintainability of micromotion mechanism 144.
In addition, under the situation of the micromotion mechanism 44 of Fig. 2, need implement large-scale screw thread processing to the rear end from the front end of suction pipe retaining member 34, therefore, suction pipe retaining member 34 might be out of shape.With respect to this, in the micromotion mechanism 144 of Fig. 3, do not need suction pipe retaining member 134 is carried out screw thread processing.Therefore, can suppress the distortion that suction pipe retaining member 134 and hollow unit 135 produce because of processing.
In addition, in above-mentioned example, utilize positioning threads part fixation hollow member 135 and suction pipe retaining member 134, but be not limited to this, also can use be adhesively fixed, be pressed into fixing, be threaded fixing.In addition, in above-mentioned example, utilize stage portion 134a, 135a to carry out axial location, but be not limited to this, also can not be provided with stage portion 134a, 135a and only locate axial location, also can form and utilize mark to represent the structure of position substantially with the positioning threads part.And, in above-mentioned example, behind assembling piezo-activator 144a, make the hollow unit 135 of a part that constitutes piezo-activator 144a chimeric fixing, but be not limited to this with suction pipe retaining member 134.That is, also can with hollow unit 135 chimeric be fixed in suction pipe retaining member 134 after, other component parts of assembling piezo-activator 144a, above-mentioned effect does not depend on assembling sequence.But, under the situation of having considered assembleability, preferably behind assembling piezo-activator 144a, again that hollow unit 135 and suction pipe retaining member 134 is fixing.
Other formations and action effect are identical with the micromotion mechanism 44 of Fig. 2.
Then, with reference to Figure 10 the method for the front end of the micromotion mechanism 144 of the micromotion mechanism 44 that capillary 35 is fixed in the 1st embodiment shown in Figure 2 and the 2nd embodiment shown in Figure 9 is described.Figure 10 is the cutaway view of expression fixing means capillaceous.
As shown in figure 10, at suction pipe retaining member 34(134, following identical) front end be formed with the wide diameter portion 34a that is used to insert capillary 35.The internal diameter of wide diameter portion 34a is set greater than the external diameter of capillary 35.Chimeric cross section arrow shaped and internal side diameter are arranged is the retaining member 136 of hollow cylinder type in the periphery of the leading section of suction pipe retaining member 34.The rear end side of capillary 35 is built in the wide diameter portion 34a of retaining member 136 and suction pipe retaining member 34.
The inner peripheral surface of retaining member 136 is made of the minor diameter part 136a of front and the large-diameter portion 136b of rear end side.Minor diameter part 136a has the internal diameter bigger slightly than the external diameter of capillary 35.This minor diameter part 136a is used for diametrically capillary 35 being directed to the approximate location that is used for fixing capillary 35 when fixed capillary 35.Large-diameter portion 136b has the internal diameter bigger slightly than the outer peripheral face of suction pipe retaining member 34.The inner peripheral surface of large-diameter portion 136b is by two groups of supporting members, 130 supporting capillaries 35.This supporting member 130 is made of two O shapes ring 138, two packing rings 137 clipping two O shapes rings 138.This supporting member 130 is configured on the outer peripheral face (inner peripheral surface of large-diameter portion 136b) of capillary 35 on two positions that axially separate, between two positions, dispose separator 141.Front in the outer peripheral face of retaining member 136 is the cone-shaped from the distolateral forward undergauge gradually of rear end side.Thus, for example, piezo-activator 44a(144a) when working, retaining member 136 is difficult to contact with ware 22.In addition, the rear end side in the outer peripheral face of retaining member 136 is carried out external screw thread processing.
Rear end side at retaining member 136 is equipped with nut member 139 cylindraceous.Front inner peripheral surface to nut member 139 carries out internal thread machining, is threaded with the external screw thread of retaining member 136.In addition, the rear end side at nut member 139 is provided with reducing diameter part 139a.The internal diameter of this reducing diameter part 139a is a bit larger tham suction pipe retaining member 34.Be provided with circumferential slot on suction pipe retaining member 34, embedding in this circumferential slot has back-up ring 140.The front end face of reducing diameter part 139a and this back-up ring 140 butts and anticreep.Another example as this back-up ring 140 can list the raised line with suction pipe retaining member 34 one.In this case, suction pipe retaining member 34 is being assembled in piezo-activator 44a(144a) preceding, in advance nut member 139 is gone into from the rear end side cover (inserting) of suction pipe retaining member 34.
Utilize such retaining member 136, nut member 139, capillary 35 is supported fixing.The erection sequence of capillary 35 is as described below.At first, capillary 35 is run through the retaining member 136 that supporting member 130 and separator 141 are assembled.Under this state, capillary 35 only is configured the O shape ring 138 of two groups of supporting members 130 along radial support.On the other hand, nut member 139 is installed on suction pipe retaining member 34 after, back-up ring 140 is installed on suction pipe retaining member 34.Afterwards, the supporting member 130 of the rear end side of retaining member 136 is contacted with the leading section of suction pipe retaining member 34.Under this state, nut member 139 is threaded with retaining member 136.Thus, in the threaded joints of retaining member 136, work along the power of radial contraction, the O shape ring 138 of the supporting member 130 of rear end side is to be out of shape along the mode of radially conquassation.Thus, capillary 35 quilts are finished the supporting of capillary 35 and are fixed along axially and radially fixing.In addition, by being threaded of retaining member 136 and nut member 139, can guarantee the air-tightness in the connecting portion between suction pipe retaining member 34 and the capillary 35.Therefore, by carrying out the flow adjustment of the liquid in the capillary 35 with pump with the aforesaid flow adjustment of suction pipe retaining member 34 bindings.
In the past, adopt the supporting member that only uses an O shape ring to support formation capillaceous (for example, " エ Star ペ Application De Le Off マ イ Network ロ イ Application ジ エ Network タ one (microsyringe) FemtoJet (login merchant Standard (registration mark)) expre ss operation instruction Books (operation instructions) ").In such formation, only with position supporting capillary, therefore, for example, when egg cell is bored a hole, might make the capillary generation not give the vibration of phase, damaging cells or lower efficiency owing to the driving of piezo-activator.With respect to this, adopt formation shown in Figure 10, use two supporting members 130 with O shape ring 138, with 2 supporting capillaries 35, therefore, the mobile of capillary 35 is suppressed in the driving of piezo-activator 44a, 144a.Its result, the low vibrationization of the capillary 35 in the time of can realizing cell manipulation compared with the pastly can improve punching quality, efficient.
In addition, in the above-described configuration, use two supporting members 130, but be not limited to this, also can use more than three.And the quantity that constitutes the O shape ring 138 of a supporting member 130 is not limited to two, and both can be one also can be more than two, also can omit packing ring 137.In addition, the member of formation of supporting member 130 also is not limited to packing ring 137 and O shape ring 138, so long as can support the formation of capillary 35, can both use.
［ the 3rd embodiment ］
The operator system 200 of the 3rd embodiment then, is described with reference to Figure 11 and Figure 12.In addition, in the 3rd embodiment,, the part different with the 2nd embodiment only is described for fear of repeating record with the 2nd embodiment.In the 2nd embodiment, utilize the positioning threads part that suction pipe retaining member 134 is fixed in hollow unit 135, but in the 3rd embodiment, use substitute other fixed components of positioning threads part and suction pipe retaining member 234 is fixed in hollow unit 235.Figure 11 is the stereogram of the micromotion mechanism (piezo-activator) that can use in the operator system of the 3rd embodiment.Figure 12 is the cutaway view of the micromotion mechanism (piezo-activator) that can use in the operator system of the 3rd embodiment.
In the micromotion mechanism 244 of the 3rd embodiment, periphery at suction pipe retaining member 234 is provided with hollow unit 235, hollow unit 235 and piezo-activator 244a are formed as one, therefore, can make suction pipe retaining member 234 and piezo-activator 244a separate.In Figure 12, to the identical Reference numeral of the equal part of Fig. 9 mark, omit its detailed description.
Suction pipe retaining member 234 installs and fixes capillary 35 in its front (left side of Figure 12, following same).In addition, side (right side of Figure 12, following same) utilization is threaded to wait and is fixed with ozzle in its back-end, and this ozzle is used for being used for being connected to the not shown pipe of the solution of injections such as ovum, cell with conveying.The other end of this pipe is connected with the pump of flow adjustment usefulness.Then, the piezo-activator 244a that is installed on suction pipe retaining member 234 is described.
Rolling bearing 80,82 is embedded in the outer peripheral face of the hollow unit 235 of the central shaft that constitutes piezo-activator 244a.The front (left side of Figure 12, following same) that hollow unit 235 encloses 80a within it has radius vector to the outstanding protuberance 235a of foreign side, is formed with the face that the touches 235b that lock nut 236 is touched on protuberance 235a.The inner ring 80a of rolling bearing 80 is positioned by lock nut 236 butts with the outer peripheral face that is located at hollow unit 235.
Between inner ring 80a, the 82a of rolling bearing 80,82, has inner ring isolated part 184.Inner ring isolated part 184 is embedded in the outer peripheral face of hollow unit 235.Rolling bearing 80,82( inner ring 80a, 82a) lock nut 237 is threadedly connected to hollow unit 235 and by along axial restraint by rear end side from inner ring 82a.
Other parts and Fig. 9 of piezo-activator 144a are same.That is, on rolling bearing 80,82, shell 48 and Fig. 9 similarly are embedded in the outer peripheral face of its outer ring 80b, 82b.According to the order of separator 90, piezoelectric element 92 separator 90, piezoelectric element 92 are configured in the inner peripheral surface of shell 48 in the axial rearward end side of outer ring 82b, cover 88 and they are fixed by tightening.So, constitute the piezo-activator 144a that becomes one with hollow unit 235.
For suction pipe retaining member 234 is fixed in piezo-activator 244a, be provided with clamping element 240 as fixed component in the front of hollow unit 235.Hollow unit 234 is made as one with clamping element 240.Clamping element 240 separates the relative cross section C type shape of predetermined gap for both ends of the surface.Clamping element 240 has the screw element 241 of binding, and clamping element 240 makes both ends of the surface move to close direction by tightening binding screw element 241, thereby the inner peripheral surface that runs through for suction pipe retaining member 234 is narrowed down.On the other hand, clamping element 240 makes both ends of the surface move to becoming direction far away by unclamping binding screw element 241, thereby the inner peripheral surface that runs through for suction pipe retaining member 234 is broadened.Thus, the suction pipe retaining member 234 that runs through hollow unit 235 remains in the inner peripheral surface of clamping element 240 by the binding screw element 241 of tightening the clamping element 240 that links to each other with hollow unit 235, is fixed in hollow unit 235 by clamping element 240.
By making micromotion mechanism 244 form such formation, can make suction pipe retaining member 234 and piezo-activator 244a separate.Its result can improve the maintainability of micromotion mechanism 244.In addition, suction pipe retaining member 234 is fixed in hollow unit 235, therefore, can carries out inching the axiality between hollow unit 235 and the suction pipe retaining member 234, relative position with clamping element 240.In addition, piezo-activator 244a can be fixed on suction pipe retaining member 234 axially on the position of regulation.Therefore, can piezo-activator 244a be fixed in suction pipe retaining member 234 in capillary 35 and piezoelectric element 92 approaching modes.Like this, by making capillary 35 and piezoelectric element 92 approaching, can improve the perforation effect that piezoelectric element 92 is produced more.
In addition, in the micromotion mechanism 244 of the 3rd embodiment, do not need suction pipe retaining member 234 is carried out screw thread processing yet, therefore, can suppress the distortion that suction pipe retaining member 234 and hollow unit 235 produce because of processing.The micromotion mechanism 144 of other formations and action effect and Fig. 9 is same.
In addition, in the 3rd embodiment,, used the clamping element of cross section C type shape, but be not limited to this structure, for example, also can use the clamping element of Figure 13 and variation shown in Figure 14 as clamping element 240.At this, the clamping element 250 of variation is described with reference to Figure 13 and Figure 14.Figure 13 is the stereogram of the micromotion mechanism (piezo-activator) of the variation of the 3rd embodiment.Figure 14 is the cutaway view of the micromotion mechanism (piezo-activator) of the variation of the 3rd embodiment.
Be located at clamping element front, that as the clamping element 250 of fixed component be coupled mode that toroidal is divided into two of hollow unit 235.That is to say, clamping element 250 has a split component 250a, another split component 250b, above-mentioned split component 250a, 250b are linked two link screw elements 251.Split component 250a and hollow unit 234 are made as one, and another split component 250b is provided with along moving freely with a split component 250a direction approaching, that separate.Suction pipe retaining member 234 is configured between a split component 250a and another split component 250b.When tightening two binding screw elements 251, another split component 250b is moved to the direction near a split component 250a, thus clamping element 250 clamping suction pipe retaining members 234.On the other hand, unclamp two when linking screw elements 251, another split component 250b is moved to the direction of separating with a split component 250a, thereby clamping element 250 unclamps suction pipe retaining member 234.Thus, by tightening the binding screw element 251 of the clamping element 250 that links to each other with hollow unit 235, the suction pipe retaining member 234 that runs through hollow unit 235 is held in clamping element 250, is fixed in hollow unit 235 by clamping element 250.
Even such clamping element 250 also can make suction pipe retaining member 234 and piezo-activator 244a separate as mentioned above.Its result can improve the maintainability of micromotion mechanism 244.In addition, suction pipe retaining member 234 is fixed in hollow unit 235, therefore, can carries out inching the axiality between hollow unit 235 and the suction pipe retaining member 234, relative position with clamping element 250.In addition, piezo-activator 244a can be fixed on suction pipe retaining member 234 axially on the position of regulation.Therefore, can piezo-activator 244a be fixed in suction pipe retaining member 234 in capillary 35 and piezoelectric element 92 approaching modes.Like this, by making capillary 35 and piezoelectric element 92 approaching, can improve the perforation effect that piezoelectric element 92 is produced more.
［ the 4th embodiment ］
The operator system 300 of the 4th embodiment then, is described with reference to Figure 15～Figure 21.In the 4th embodiment, explain the action of the manipulation device in the operator system 1,120,200 of the 1st embodiment～the 3rd embodiment.In addition, in the 4th embodiment, be applied to the 1st embodiment and describe, and the explanation part different with the 1st embodiment only.Figure 15 is the figure of formation that roughly represents the operator system of the 4th embodiment.
The controller 343 that the operator system 300 of the 4th embodiment has above-mentioned a pair of manipulation device 14,16, sample bench 321, microscope unit 325, light source portion 326, they are controlled.
In addition, light source portion 326 be positioned at ware 22 on the sample bench 321 directly over the mode of position dispose the sample irradiates light in ware 22.
Sample irradiates light in the ware 22 of light source portion 326 on sample bench 321, when the light that has seen through the sample in the ware 22 incides microscope 322, the optical image relevant with small object amplified the regulation multiplying power by microscope 322 and taken by video camera 323, can be based on the image viewing sample of video camera 323 shootings.At this moment, along the in-plane driving sample bench 321 of XY axle, thereby sample or the small objects in the ware 22 can be arranged on the position that is suitable for observing.
(formation of manipulation device)
Figure 16 is the figure of formation that roughly represents the manipulation device of Figure 15.
As shown in figure 16, manipulation device 14 is the formation roughly same with the 1st embodiment, therefore omits part explanation.In addition, be equipped with in the end of the side opposite of suction pipe 24 with capillary 25 be used to link syringe pump 329(Figure 17) and the not shown pipe of suction pipe 24 etc.
Suction pipe retaining member 34 is linked to Z axle workbench 38, and Z axle workbench 38 is configured on the X-Y axle workbench 36 in the mode that moves up and down freely, and drive unit 40,42 is connected in controller 43.Suction pipe retaining member 34 constitutes along with X-Y axle workbench 36 moves as moving area with three dimensions with moving of Z axle workbench 38, operate capillary 35 by injection pump 339, piezoelectric element 92 being operated etc., thereby sample or the small objects in the sample (cell, ovum, sperm etc.) in the ware 22 are carried out manually-operated.
Like this, keeping with manipulation device 14 and injection manipulation device 16 is roughly the same formation.In addition, micromotion mechanism 44,144,244 of manipulation device 14,16 etc. detailed constitutes the formation shown in the 1st embodiment～the 3rd embodiment.
(control of operator system)
Then, with reference to Figure 17 illustrate in the above-mentioned operator system 300 by controller (personal computer (PC)) 343 controls of carrying out.Figure 17 is the block diagram of the major part of the control system controlled by the controller of Figure 16 of expression.
The controller 343 of Figure 17 has the arithmetic processing apparatus as the CPU(of arithmetic unit central authorities) and as hard disk, the hardware resources such as RAM, ROM of memory unit, carry out various computings based on regulated procedure, drive instruction according to operation result output, so that control part 346 carries out various controls.Promptly, the piezoelectric element 92 of the drive unit 40,42 of the Focusing mechanism 324 of the microscope unit 325 of 346 couples of Figure 15 of control part, the drive unit of manipulation device 14 30,32, syringe pump 329 and manipulation device 16, injection pump 339, micromotion mechanism 44 is controlled, and drives instruction via the driver that is provided with as required, amplifier etc. to each output.
In addition, except keyboard, controller 343 also with as the control lever 347 of information input part, mouse 349, button (not shown), tablet (not shown) etc. is connected, and, be connected with the display part 345 that constitutes by CRT, liquid crystal panel, on display part 345, show MIcrosope image, the various control picture of obtaining by video camera 323.
In addition, control part 346 automatically drives manipulation device 14,16 with the sequence of regulation.This sequence driving is that control part 346 carries out the result of computing and drive instruction to each output successively carrying out based on CPU program according to the rules, for example, under the situation of in ware 22 a plurality of ovum being operated, manipulation device 14,16 is used to distinguish the operation of the ovum and the preoperative ovum of end of operation.
In addition, controller 343 comprises: the image input part 382 of the picture signal input of the microscopic fields of view of being taken by video camera 323 for passing through microscope 322; Carry out the image processing part 383 handled from the image of the picture signal of image input part 382; Image is handled the image efferent 384 of the image information of front and back to display part 345 outputs; The position detection part 385 that image information after being used for handling based on image detects the position of the nuclear of the ovum of the operand thing taken by video camera 123 etc., the position of capillary 25,35 etc., 382～385 controlled 346 controls of each.
In addition, show that on display part 345 image that comprises capillary 25,35 taken by video camera 323 is in the MIcrosope image of interior small object, the information relevant with operation result etc.
In addition, each position of capillary 25,35 is that sample bench 321 moves along the in-plane of XY axle by making mounting ware 22 thereon, and capillary 25,35 is relatively moved between each position with respect to the relative position of the ad-hoc location in the ware 22.
In addition, shown in the dotted line among Figure 17, sample bench 321 also can have the position sensor 321c that is made of encoder that each position of the X-direction of this X-Y axle workbench and Y direction is detected etc.343 pairs of controllers utilize position sensor 321c to detect each position of above-mentioned capillary 25,35 and the XY coordinate information that obtains is stored, utilize the control of controller 343 based on this XY coordinate information, capillary 25,35 is moved to the 1st position, the 2nd position, the 3rd position by sample bench 321.
The operator system 300 of the 4th embodiment is confirmed the image by video camera 323 shootings on one side on the display part 345 of controller 343, Yi Bian utilize the operation of control lever 347 grades to drive manipulation device 14,16 and the sample bench 321 that is installed in microscope 322.
When utilizing operator system 300 to carry out injection operation, under the state that ware 22 is arranged on the sample bench 321, drive sample bench 321, carry out other the positional information of culture medium is stored in the operation of controller 343.This position storage operation also can be carried out in injection operation, also can all change the memory location at every turn.
(formation of control lever and operational example)
Then, with reference to Figure 18 the control lever 347 and the operational example thereof as functional unit of the controller that is connected in Figure 17 are described.Figure 18 is the stereogram of the concrete example of expression control lever shown in Figure 17.In addition, the control lever 347 of Figure 18 is corresponding with the formation of operator system 300, and a part constitutes different with the control lever 47 of Fig. 5.
Figure 15,17 microscope unit 325, each action of manipulation device 14,16 are controlled by the control part 346 of Figure 17 based on the information of being imported by the operation of control lever 347.In the 4th embodiment, to control lever 347 is illustrated at keeping respectively preparing one example with manipulation device 14 and injection manipulation device 16, but also can carry out the operation of microscope unit 325, manipulation device 14,16 with a control lever, also can operate, perhaps also can use (the following control lever 347 that will comprise are called operating portion at these interior members) such as the mouse 349 that is connected with controller 343, keyboard, tablets simultaneously with the control lever more than 3.
As shown in figure 18, control lever 347 comprises: main part (handle) 347e, and it is upright from pedestal, can the person of being operated hold and operate with the mode of R, left side L inclination to the right or the mode of reversing; The 1st press button 347a, the 2nd press button 347b and the 3rd press button 347c, it is arranged in ground, the top configuration of main part (handle) 347e; Be configured in the multi-direction cap switch 347d (Ha Star ト ス イ Star チ) such as 4 directions, 8 directions on the more top of main part (handle) 347e; Be configured in the trigger switch 347g of a side opposite with press button 347a～347c; Bar 347h.
The Focusing mechanism 324 of microscope unit 325, each manipulation device 14,16 X-Y axle workbench 26,36, Z axle workbench 28,38 drive unit 30,32,40,42, syringe pump 329, the plunger of injection pump 339d (giving as security) is (not shown, hereinafter referred to as syringe), piezoelectric element 92, the drive unit 321a of sample bench 321, the operating function that each of 321b drives is distributed to the press button 347a～347c of the control lever 347 of Figure 18 respectively, multi-direction cap switch 347d, main part 347e, trigger switch 347g, bar 347h.For example, on one side tractive trigger switch 347g make on one side main part 347e to the right R, left side L tilt, the XY that can carry out manipulation device 14,16 drives, and can carry out Z and drives by reversing main part 347e.
In addition, about keeping with manipulation device 14, when pushing the last direction of multi-direction cap switch 347d, following direction button, drive Focusing mechanism 324, microscope 322 can be focused, push right, left when button, can carry out the rotation of XY plane, the rotation of YZ plane with respect to operand things such as ovum, in addition, press button 347b, 347c are used for the driving adjustment of syringe pump 329, when pushing switch among press button 347b, the 347c, the suction pressure (negative pressure) of the maintenance capillary 25 that can carry out syringe pump 329 is regulated.In addition, for example, use press button 347a, can automatically carry out sequence to manipulation device 14,16 and drive.In addition, the positional information at controller 343 each position that also focusing with microscope 322 can be associated is stored as amount of movement or coordinate etc. in advance.
In addition, about injection manipulation device 16, use multi-direction cap switch 347d to control to the fine motion that motor drives on the XY plane that is produced, press button 347b, 347c are corresponding with attraction, the discharging operation (pushing, extract plunger (syringe)) of injection pump 339 respectively, and press button 347a is used for the reciprocating switch of syringe.
The direction A that bar 347h can be in figure, the direction B opposite with direction A rotate, the lower end position that switches to the upper end position that rotated to direction A, rotated to direction B, the centre position of upper and lower side position.The change-over switch of bar 347h is corresponding with the reciprocating amplitude of syringe.In addition, the switching of bar 347h was not limited to for 3 stages, also can be for two stages, more than 4 stages, stepless.
Utilize the operation of above-mentioned press button in the control lever 347 of Figure 18 etc., drive manipulation device 14, the small object (ovum etc.) on 25 pairs of wares 22 of this capillary keeps, and also the suction pressure (negative pressure) of this maintenance is controlled.
In addition, utilize the operation of above-mentioned press button in the control lever 347 etc., drive piezo- activator 44a, 144a, the 244a of manipulation device 16, the front end edge of this capillary 35 displacement of injection direction straight line, utilizes the driving of syringe from the capillary 35 that inserts small object (ovum etc.) solution (comprising the outstanding turbid nutrient solution of sperm etc.) of regulation to be injected to small object (ovum etc.).Need if also have, then put on piezoelectric element 92 with voltage will boring a hole during the driving of this capillary 35 or after driving, piezoelectric element 92 is driven, carry out moving of small quantity by the position of or butt approaching with small object at capillary 35, to the ovum action of boring a hole, the driving of the soln using syringe of afore mentioned rules is injected (injection) to small object from the capillary 35 that inserts.Afterwards, drive in the mode that capillary 35 is extracted from the position in the small object.In addition, under the situation about in capillary 35, exist stopping up or might produce obstruction situation under push press button 347a, thereby syringe is moved back and forth, the solution in the capillary 35 periodically can be attracted, discharge.
(action of manipulation device)
One example of the action of above-mentioned operator system 300 then, is described with reference to Figure 19, Figure 20.Figure 19 is the figure that expression is installed in each the position relation (a)～(h) between each capillary of manipulation device and the small operand thing (ovum, sperm).The state (b) of the state (a) of the ovum D that the capillary 35 that Figure 19 represents injection is kept near the capillary 25 that keeps usefulness, the oolemma T perforation of 35 couples of ovum D of capillary, state (c), the state (d) that changes to the sperm sampling configuration, the operation capillary 35 that capillary 35 is extracted from ovum D in oolemma perforation back come the state (e) that sperm U is sampled, the state (f) of finishing the sampling of sperm U.In addition, with respect to (e), (f) of the Figure 19 that does not drive sample bench 321, (g) of Figure 19, (h) expression when the sampling of sperm U, drive respectively state (g) that moving in the situation of sample bench 321 be easy to position that sperm U is sampled with and move after finish the state (h) of sampling.
Figure 20 is the figure that each state (a)～(d) after the sperm sampling of Figure 19 is finished in expression.
Figure 20 is that the figure that makes capillary 35 turn back to the oolemma punch position after the sampling of sperm U of Figure 19 and change to the state (a) of injection pattern, capillary 35 thrust state (b) in the cytoplasm S of ovum D from the oolemma punch position, sperm U is injected into the state (c) in the cytoplasm S and extracts the state (d) of capillary 35 from ovum D is finished in expression.
At first, shown in Figure 19 (a), use control lever 347 operations to keep side manipulation device 14, utilize capillary 25 to keep ovum D with negative pressure.In addition, in (a) of Figure 19, the position of representing with thick line is Z axle (up and down) position of focusing, in following figure too.
Then, shown in Figure 19 (b), use control lever 347 manipulation devices 16, capillary 35 is moved to injection position, drive the piezoelectric element 92 of Fig. 2 and after the oolemma T of ovum D bored a hole, shown in Figure 19 (c), capillary 35 is temporarily extracted from ovum D.At this moment, be formed with hole T1 on the oolemma T that is located in ovum D.
Then, utilize operating portion operation control 343, shown in Figure 19 (d), change to the sperm sampling configuration, beginning sperm sampling operation, at this moment, store the position of the XY axle of the position of the XYZ axle of each manipulation device 14,16 of the position of 343 pairs of Focusing mechanisms 324 of controller, injection side, maintenance side, sample bench 321.This storage for example utilizes the operation of the control lever 347 of Figure 18 to carry out.
Afterwards, shown in Figure 19 (d), automatically the Z axle of Focusing mechanism 324 and manipulation device 16 is driven focus up to microscope 322 to being positioned at the position of sperm U.Height constant from the bottom surface 22a of ware 22 to oolemma punch position (position of hole T1), therefore, the position of according to focus the position that is positioned at ovum D being calculated by controller 343 can be used in this position.
Then, shown in Figure 19 (e), the XYZ direction of principal axis by injection side manipulation device 16 moves operates capillary 35, and U samples to sperm.And, shown in Figure 19 (f), the sperm U of sampling is remained near the front end of capillary 35, finish the sampling of sperm.
In addition, when the sampling of this sperm, shown in Figure 19 (g), also can when driving sample bench 321, keep side manipulation device 14 to drive maintenance side manipulation device 14 along the mode of XY direction of principal axis mobile phase amount of movement together synchronously also to make therewith.In this case, after sample bench 321 and manipulation device 14 move, carry out sampling operation and finish sperm U sampling (Figure 19 (h)).
Then, like that sperm U is sampled as mentioned above and after remaining in the capillary 35, utilize control lever 347 operation controls 343, shown in Figure 20 (a), change to the sperm injection pattern.And, operation control 343, injection side manipulation device 16 is automatically driven along the XYZ direction of principal axis, thereby capillary 35 turns back to the oolemma punch position of being stored in (d) of Figure 19, simultaneously the position of Focusing mechanism 324 to storage similarly driven.
At this moment, shown in Figure 19 (g),, then make to keep side manipulation device 14 and sample bench 321 to move to previously stored position if also drive sample bench 321.Like this, in the sperm sampling operation, sample bench 321 is synchronously driven, therefore after the sperm sampling with identical amount of movement with the XY axle that keeps side manipulation device 14, capillary 35 turns back under the situation of oolemma punch position, can prevent with respect to the hole T1 skew that is worn.
Then, shown in Figure 20 (b), drive piezoelectric element 92, bore a hole from the hole T1 cell membrane that forms of boring a hole, capillary 35 is thrust in the cytoplasm S with capillary 35.Then, shown in Figure 20 (c), sperm U is injected (injection) in cytoplasm S from capillary 35.Then, shown in Figure 20 (d), capillary 35 is extracted from ovum D.
State from the state of this Figure 20 (b) to Figure 20 (c) as described above by pushing the button 347a of control lever 347, moves back and forth syringe.Thus, by attracting, discharging the solution in the capillary 35, shown in the arrow in Figure 20 (b), sperm U is moved in capillary.Its result can prevent, eliminate sperm U card simply and be hung on the interior situation of capillary.Under the situation of in the past manipulation device, can only alternately push such actions such as button 347b, 347c,, the card that prevents, eliminates sperm U needs operator's skilled operation for hanging.With respect to this, can only syringe be moved back and forth with a button, therefore,, unskilled person hangs even also can easily preventing, eliminate the card of sperm U.
In addition, the reciprocating stroke (amplitude) of syringe can be changed in the position of the bar 347h by changing control lever 347.On the other hand, preestablish reciprocating time interval T(oscillation cycle).The translational speed of the syringe in the time of preferably will moving back and forth in addition, be set at than with sperm U injection (injection) to the situation of ovum D, utilize button 347b(or 347c) translational speed of syringe of situation of syringe being carried out discharging operation is fast.
Figure 21 is the figure of an example of relation of change in location with respect to this of expression operation of control lever and syringe.(a) of Figure 21 is the curve map of expression based on the syringe positional information of the switch of the position (stroke size) of bar 347h and button 347a, and (b) of Figure 21 is the figure of change in location of the corresponding sperm U of change in location of expression and syringe.
In this embodiment, at first, bar 347h is operated and sets the amplitude (stroke) of syringe less, push button 347a.Thus, syringe moves to discharging side (the last direction of Figure 21 (a)) after attraction side (the following direction of Figure 21 (a)) moves.As long as pushing button 347a, then this attraction, the action (reciprocating motion of syringe) of discharging are proceeded.Be shorter than in the time of pushing button 347a under the situation of above-mentioned pre-set time interval T, syringe only carries out each continuously and once attracts action and discharging operation.
In the operation second time of the button 347a of Figure 21 (a), change the position of bar 347h and set the size of amplitude bigger, push button 347a with the time longer significantly than pre-set time interval T.Thus, the action that attracts repeatedly, discharges.What as shown in the figure, pre-set time interval T was syringe is in certain position in the initial attraction action (perhaps discharging operation) time with the time that attracts for the 2nd time the middle syringe of action (perhaps discharging operation) to be in same position is poor.Therefore, be not limited to the continuous situation of reciprocating motion of syringe, also exist respectively once attract to move, after the discharging operation and in the situation that attracts before the action syringe to be stopped next time.Can certainly attract continuously repeatedly, discharging operation.
In the operation for the third time of button 347a in (a) of Figure 21, change the position of bar 347h and set the size of amplitude less, push button 347a with the time shorter than pre-set time interval.Thus, carry out the action that each once attracts, discharges continuously.
Figure 21 (b) expression is corresponding with this operation of button 347a for the third time, the position of the sperm U in the capillary 35.1～3 1～3 corresponding with the band circle numeral of Figure 21 (a) of the band circle numeral among the figure.Shown in Figure 21 (a), for the translational speed of the syringe in moving back and forth, big (slope of the curve map of syringe positional information is big) when the translational speed ratio of the syringe during discharge attracts.Therefore, shown in Figure 21 (b) like that, even attract repeatedly and discharge with identical amplitude, the amount of movement of the sperm of the amount of movement of the sperm during discharge during also greater than attraction.Its result attracts repeatedly and discharges, and injects (injection) and arrives in the cytoplasm S of ovum D while can prevent that the card of sperm from hanging.
The action of syringe is not limited to above-mentioned action.For example, as shown in figure 22, also can be combined as by button 47b, 47c attraction that carry out, that relatively releive, discharging operation.Figure 22 is the expression operation of control lever and the syringe figure with respect to an example of this change in location.Perhaps also can be with attraction, discharging operation, be that the numerical value of the combination of any or they in the translational speed of reciprocating amplitude, the time interval, syringe of syringe is input to controller 343, the sequence of movement of also can attract, discharging and Figure 21,22 example are opposite.And, also can preestablish whole actions of syringe, by pushing button 347a, make syringe action, also can preestablish explicitly with the action that the action of syringe also will put on the size of the injection voltage of piezoelectric element 92, the opportunity that applies etc. and syringe.
［ the 5th embodiment ］
The operator system 400 of the 5th embodiment then, is described with reference to Figure 23～Figure 26.In the 5th embodiment, come the voltage that applies that puts on piezoelectric element 92 is set according to the thickness of the capillary 35 of the injection side manipulation device 16 that is adopted in the 1st embodiment～the 4th embodiment.Its reason is, according to the thickness of the front of capillary 35 or the state difference of employed various sample running stores such as (for example, the culture medium in the ware 22), even the drive condition of piezoelectric element 92 is identical, also has the different situation of perforation effect.In this case, because the difference of small perforation effect exerts an influence to the sample after the action of injection sometimes.In addition, in the 5th embodiment, be applied to the 1st embodiment and describe, and the explanation part different with the 1st embodiment only.Figure 23～Figure 25 is the figure that is illustrated in an example of picture displayed on the display part of operator system of the 5th embodiment.
The measurement that also shows the thickness (size) that is used to measure capillary 35 outside the capillary 35 of picture displayed on the display part 45 of the 5th embodiment, the screen displayed injection side manipulation device 16 promptly taken by video camera 18 is with mark 410(イ Application ジ ケ ー タ).That is to say, store in the controller 43 and measure that controller 43 makes based on the demonstration information that is stored in controller 43 and shows on the picture of display part 45 and measure with mark 410 with the relevant demonstration information of mark 410.
Measure and on picture, to form oblong-shaped, have as the 2nd area E 2 in the zone in the outside with as the 1st area E 1 of area inside with mark 410.The 2nd area E 2 is the length identical with the 1st area E 1 on long side direction, is longer than the 1st area E 1 on short side direction.The 1st area E 1 is located at the central authorities of the 2nd area E 2 on short side direction.The 1st area E 1 forms to such an extent that be shorter than the 2nd area E 2 on short side direction.
The 1st area E 1 is whether the thickness that is used for capillary 35 is the zone of judging below the critical field.That is to say, be under the situation below the length on the short side direction of the 1st area E 1 in the thickness of capillary 35, is judged to be capillary 35(thickness) for below the critical field.The 2nd area E 2 is whether the thickness that is used for capillary 35 is the zone of judging more than the critical field.That is to say, be under the situation more than the length on the short side direction of the 2nd area E 2 in the thickness of capillary 35, is judged to be capillary 35 for more than the critical field.In addition, the thickness of capillary 35 greater than length on the short side direction of the 1st area E 1 and situation less than the length on the short side direction of the 2nd area E 2 under, be judged to be capillary 35 and be in the critical field.
In addition, as long as measure the thickness that to measure the front end of capillary 35 with mark 410, just be not limited to above-mentioned formation.For example, measuring with mark 410 also can be the rule of band scale.
By capillary 35 is overlapped with mark 410 with above-mentioned measurement, measure the thickness of capillary 35.Measuring, overlap with the axial consistent mode of capillary 35 with the long side direction of measurement with mark 410 with under mark 410 and the situation that capillary 35 overlaps.In addition, overlap with the center of the short side direction of mark 410 mode consistent with measurement with the axle center of capillary 35.
In addition, also can to will measure, utilize X-Y axle workbench 36 to make capillary 35 suitably mobile and overlap with mark 410 with measurement with under mark 410 and the situation that capillary 35 overlaps.Perhaps, also can measure with under mark 410 and the situation that capillary 35 overlaps will making, utilize controller 43 that the display position of measuring with mark 410 is changed, thereby make measurement use mark 410 suitably mobile and overlap with capillary 35.
In addition, as shown in figure 24, in the result that measurement is overlapped with capillary 35 with mark 410 is under capillary 35 to the 1 area E 1 big situation about being housed in the 2nd area E 2, controller 43 is judged to be the length of external diameter of capillary 35 greater than the length on the short side direction of the 1st area E 1 and less than the length on the short side direction of the 2nd area E 2, and the thickness that is judged to be capillary 35 is in the critical field.
In addition, as shown in figure 25, in the result that measurement is overlapped with capillary 35 with mark 410 is under the situation of capillary 35 greater than the 2nd area E 2, the length that controller 43 is judged to be the external diameter of capillary 35 is that the thickness that is judged to be capillary 35 is more than the critical field more than the length on the short side direction of the 2nd area E 2.
And controller 43 is according to using the thickness of measuring the capillary of judging with mark 410 35 to come the voltage that applies that puts on piezoelectric element 92 is suitably set.Particularly, under capillary 35 was in situation in the critical field, controller 43 will put on piezoelectric element 92 and drive micromotion mechanism 44 as the voltage (below, be called standard (applying) voltage) that applies of standard.In addition, under capillary 35 was situation below the critical field, controller 43 applied voltage application voltage with overgauge and puts on piezoelectric element 92 and drive micromotion mechanism 44.At this moment, controller 43 forms overgauge and applies voltage application voltage by the 1st gain that standard is applied voltage and multiply by greater than 1.In addition, under capillary 35 is situation more than the critical field, controller 43 will apply voltage application voltage less than standard and put on piezoelectric element 92 and drive micromotion mechanism 44.At this moment, 43 pairs of standards of controller apply voltage and multiply by less than 1 the 2nd gain and be made as less than standard and apply voltage application voltage.
Then, the control with reference to Figure 26 pair of controller 43 relevant with the setting that applies voltage that puts on piezoelectric element 92 describes.Figure 26 is the relevant flow chart of control with the operator system 400 of the 5th embodiment.In addition, applying being set in of voltage carried out sperm U injection (injection) before ovum D.
At first, (for example, whether Figure 23～Figure 25) carry out image to handle is to judge (step S1) below the critical field to capillary 35 to the picture of the display part 45 after 43 pairs of measurements of controller are used mark 410 and capillary 35 is overlapped.When controller 43 is judged to be capillary 35 for (step S1: be) below the critical field, set to standard apply voltage multiply by the 1st gain and obtain apply voltage (step S2), finish the processing relevant with the setting that applies voltage.And the voltage that applies after controller 43 will be set puts on piezoelectric element 92 and drives micromotion mechanism 44.At this moment, the voltage overgauge that applies that puts on piezoelectric element 92 applies voltage, and therefore, the elongation of piezoelectric element 92 applies voltage condition with the standard of applying and compares change greatly.Thus, controller 43 can make the operation quantitative change of the capillary 35 that is undertaken by micromotion mechanism 44 big.
In step S1, controller 43 is judged to be capillary 35 and is not following (the step S1: in the time of not), whether be to judge (step S3) more than the critical field to capillary 35 of critical field.When controller 43 is judged to be capillary 35 for critical field above (step S3: be), set to standard apply voltage multiply by the 2nd gain and obtain apply voltage (step S4), finish the processing relevant with the setting that applies voltage.At this moment, the voltage that applies that puts on piezoelectric element 92 applies voltage less than standard, and therefore, the elongation of piezoelectric element 92 and the standard of applying apply voltage condition and compare and diminish.Thus, controller 43 can make the operational ton of the capillary 35 that is undertaken by micromotion mechanism 44 diminish.
In step S3, controller 43 is judged to be capillary 35, and (step S3: in the time of not), be judged to be capillary 35 to be in the critical field, established standards does not apply voltage (step S5) for critical field is above.At this moment, the voltage that applies that puts on piezoelectric element 92 becomes standard and applies voltage, and therefore, the elongation of piezoelectric element 92 becomes the elongation of predefined standard, and the operational ton of the capillary 35 that is undertaken by micromotion mechanism 44 is the operational ton of standard.
More than, adopt the 5th embodiment, be best according to the thickness of capillary 35 with the drive condition setting of micromotion mechanism 44, the operational ton of the capillary 35 that undertaken by micromotion mechanism 44 can be changed to the optimal operations amount.Therefore, in operator system 400, can carry out the injection operation of sperm U accurately to ovum D.
In addition, in the 5th embodiment, use to measure with mark 410 and measure after the thickness of front end of capillary 35, the voltage that applies that puts on piezoelectric element 92 is set.But, under the situation of the thickness of the front end of knowing capillary 35 in advance, also can not measure with the measurement of the front end of 410 pairs of capillaries 35 of mark and just the voltage that applies that puts on piezoelectric element 92 be set.That is, under the situation of the thickness of the front end of knowing capillary 35 in advance, to the information of the thickness of controller 43 input capillaries 35.And controller 43 is to be in more than the critical field, still to be in below the critical field, still to be in the critical field and to judge based on the information of the thickness of the capillary 35 of input to the thickness of capillary 35.
In addition, the formation that also can combine mutually for operator system 1,120,200,300,400 with the 1st embodiment～the 5th embodiment.
In the above embodiment, the manipulation device of injection has been described, purposes of the present utility model is not limited to this.
That is, also can be applied to capillary be applied the manipulation device (for example, TOHKEMY 2008-229776 number) of vibration for the sample that is attached at ware is gathered.
In this case, by making the distance between capillary and the piezo-activator bigger than the situation change of above-mentioned embodiment, applying from piezo-activator under the situation of vibration, also be accompanied by the rule (with respect to action blunt of vibration) of inertia and shake, sample can peeled off from matrix.
Adopt the utility model, utilize exfoliation operation direct acting devices such as not needing ball-screw, motor, that the parts number tails off and simply the piezo-activator of formation just can carry out injection operation as described above, sample.In addition, the periphery of suction pipe retaining member is carried out screw thread processing, utilize corresponding internal thread that each one is installed, therefore, the situation that is pressed into each one of installation with utilization is compared, install easily, also carry out the inching of the distance between capillary (suction pipe retaining member front) and the piezo-activator easily.
In addition, adopt the utility model, do not need skillfully just can prevent simply to be attached to, to block and be hung in the capillary as the nuclear of injecting object.Therefore, the operator can be absorbed in positioning action capillaceous, can realize operating more accurately.
In addition, in the above description,, also can be applied to inject the situation of ES cell only at sperm injection has been illustrated the utility model to the situation in the ovum.Particularly, under the situation in the capillary that a plurality of cells must be remained in injection, when being arranged in the cell that keeps in the capillary, syringe being moved back and forth drive, thereby can make cell in capillary, shake and arrange.
In addition, also the utility model suitably can be combined in other utility models and/or invention, as other utility models and/or invention, for example there are TOHKEMY 2009-208220 number, TOHKEMY 2009-211030 number, TOHKEMY 2009-211027 number, TOHKEMY 2010-148460 number and TOHKEMY 2011-013416 number etc.
The Reference numeral translation
10, operator system; 14, manipulation device (マ ニ ピ ュ レ ー タ); 16, manipulation device; 18, video camera (カ メ ラ, camera); 22, ware; 24, suction pipe (ピ ペ ッ ト); 25, capillary (キ ャ ピ ラ リ); 26, X-Y axle workbench; 28, Z axle workbench; 30, drive unit; 32, drive unit; 34, suction pipe retaining member; 35, capillary; 36, X-Y axle workbench; 38, Z axle workbench; 40, drive unit; 42, drive unit; 43, controller; 44, micromotion mechanism; 44a, piezo-activator; 45, display part; 47, control lever; 48, shell; 80,82, rolling bearing; 80a, 82a, inner ring; 80b, 82b, outer ring; 80c, 82c, ball; 84, hollow unit; 84a, flange part; 86, lock nut; 88, lid; 90, separator (liner, ス ペ ー サ); 92, piezoelectric element; 94, gap; 120, operator system (the 2nd embodiment); 130, supporting member; 134, suction pipe retaining member (the 2nd embodiment); 135, hollow unit; 136, retaining member; 137, packing ring; 138, O shape ring; 139, nut member; 140, back-up ring; 141, separator; 144, micromotion mechanism (the 2nd embodiment); 144a, piezo-activator (the 2nd embodiment); 184, inner ring isolated part (the 2nd embodiment); 200, operator system (the 3rd embodiment); 234, suction pipe retaining member (the 3rd embodiment); 235, hollow unit (the 3rd embodiment); 236, lock nut; 237, lock nut; 240, clamping element; 241, link screw element; 244, micromotion mechanism (the 3rd embodiment); 244a, piezo-activator (the 3rd embodiment); 250a, split component; 250b, split component; 251, link screw element; 300, operator system (the 4th embodiment); 321, sample bench; 322, microscope; 323, video camera; 324, Focusing mechanism; 325, microscope unit; 326, light source portion; 329, syringe pump; 339, injection pump; 343, controller (the 4th embodiment); 345, display part; 346, control part; 347, control lever; 382, image input part; 383, image processing part; 384, image efferent; 385, position detection part; 400, operator system (the 5th embodiment); 410, measurement mark; E1, the 1st zone; E the 2, the 2nd zone; D, ovum; U, sperm.
Claims (26)
1. piezo-activator, it utilizes piezoelectric element that the capillary that is used to operate small object is carried out fine motion and drives, and it is characterized in that, comprising:
The suction pipe retaining member, it is used to install described capillary, and this suction pipe retaining member periphery has been implemented screw thread processing;
Shell, it has and the coaxial inner peripheral surface of described suction pipe retaining member;
At least two rolling bearings, it is supported on described shell with described suction pipe retaining member in the mode that can rotate;
Piezoelectric element, itself and described suction pipe retaining member dispose coaxially;
Lid, it is fixed in described shell, along the described piezoelectric element of axial restraint; With
The inner ring isolated part, it is configured between the inner ring of described two rolling bearings.
2. piezo-activator according to claim 1 is characterized in that,
This piezo-activator also has the hollow unit between the outer peripheral face of the inner ring of described two rolling bearings and described suction pipe retaining member.
3. piezo-activator according to claim 1 and 2 is characterized in that,
The periphery of described suction pipe retaining member is implemented screw thread processing,
Two lock nut that described two rolling bearings are threaded with the periphery of described suction pipe retaining member are along axial restraint.
4. piezo-activator according to claim 2 is characterized in that,
The outer peripheral face of one end of described hollow unit is implemented screw thread processing, and lock nut is threaded with this screw thread processing part and fixing rolling bearing in the axial direction.
5. piezo-activator according to claim 2 is characterized in that,
This piezo-activator also has fixed component, and this fixed component is located at the other end of described hollow unit and described suction pipe retaining member is fixed in described hollow unit.
6. piezo-activator according to claim 1 and 2 is characterized in that,
Described piezoelectric element is applied precompressed by described rolling bearing.
7. piezo-activator according to claim 1 and 2 is characterized in that,
Between described rolling bearing and described piezoelectric element, has the separator that disposes coaxially with described suction pipe retaining member.
8. piezo-activator according to claim 1 and 2 is characterized in that,
Described capillary is supported with a plurality of points by a plurality of supporting members.
9. piezo-activator, it utilizes piezoelectric element that the capillary that is used to operate small object is carried out fine motion and drives, and it is characterized in that, comprising:
The suction pipe retaining member, it is equipped with described capillary;
Shell, it has and the coaxial inner peripheral surface of described suction pipe retaining member;
At least two rolling bearings, it is supported on described shell with described suction pipe retaining member;
Piezoelectric element, itself and described suction pipe retaining member dispose coaxially;
Lid, it is fixed in described shell, along the described piezoelectric element of axial restraint; With
The inner ring isolated part, it is configured between the inner ring of described two rolling bearings.
10. piezo-activator according to claim 9 is characterized in that,
This piezo-activator also has the hollow unit between the outer peripheral face of the inner ring of described two rolling bearings and described suction pipe retaining member.
11. according to claim 9 or 10 described piezo-activators, it is characterized in that,
The periphery of described suction pipe retaining member is implemented screw thread processing,
Two lock nut that described two rolling bearings are threaded with the periphery of described suction pipe retaining member are along axial restraint.
12. piezo-activator according to claim 10 is characterized in that,
The outer peripheral face of one end of described hollow unit is implemented screw thread processing, and lock nut is threaded with this screw thread processing part and fixing rolling bearing in the axial direction.
13. piezo-activator according to claim 10 is characterized in that,
This piezo-activator also has fixed component, and this fixed component is located at the other end of described hollow unit and described suction pipe retaining member is fixed in described hollow unit.
14. according to claim 9 or 10 described piezo-activators, it is characterized in that,
Described piezoelectric element is applied precompressed by described rolling bearing.
15. according to claim 9 or 10 described piezo-activators, it is characterized in that,
Between described rolling bearing and described piezoelectric element, has the separator that disposes coaxially with described suction pipe retaining member.
16. according to claim 9 or 10 described piezo-activators, it is characterized in that,
Described capillary is supported with a plurality of points by a plurality of supporting members.
17. a manipulation device is characterized in that,
This manipulation device has each described piezo-activator in the claim 1～16.
18. a manipulation device, it has each described piezo-activator in capillary that small object is operated, the claim 1～16, and this manipulation device controlled device motorized motions is characterized in that,
Described capillary is connected with the syringe that is used to attract or discharge the fluid in the described capillary,
This manipulation device is configured to utilize an operation signal that is sent by described controller that described syringe is moved back and forth with certain stroke.
19. manipulation device according to claim 18 is characterized in that,
In the reciprocating motion of described syringe, the translational speed the when translational speed during the fluid in discharging described capillary of syringe is set greater than the fluid in attracting described capillary of syringe.
20. according to claim 18 or 19 described manipulation devices, it is characterized in that,
In the reciprocating motion of described syringe, in the reciprocating motion of carrying out based on described operation signal of described syringe, the carrying out earlier of described syringe with corresponding move of described attraction.
21. according to claim 18 or 19 described manipulation devices, it is characterized in that,
In the reciprocating motion of described syringe, with attract action corresponding move and with discharging operation corresponding move respectively carried out once after, attract before the action syringe to be stopped next time.
22. according to claim 18 or 19 described manipulation devices, it is characterized in that,
The control lever that utilization is connected in described controller sends described operation signal.
23. according to claim 18 or 19 described manipulation devices, it is characterized in that,
The button that described control lever is located in utilization sends described operation signal.
24. according to claim 18 or 19 described manipulation devices, it is characterized in that,
With described capillary the ovum as described object is carried out the oolemma perforation,
Afterwards, described capillary moves with after the sampling operation that carries out at least one sperm, turns back to the position of described oolemma perforation,
The reciprocating motion that utilizes described syringe is while making sperm move the injection operation that carries out sperm in capillary.
25. an operator system is characterized in that, comprising:
Each described manipulation device in the claim 17～24, it utilizes piezoelectric element that described capillary is carried out fine motion and drives; With
Controller, its size according to the described front end capillaceous that is installed on described manipulation device is controlled the voltage that puts on described piezoelectric element.
26. operator system according to claim 25 is characterized in that, also comprises:
The video camera that can take the front end described capillaceous that is installed on described manipulation device; With
Be configured in and be used for measurement mark that the size of described front end capillaceous is measured on the shooting picture of taking by described video camera,
Under the size of the described front end of being measured with mark by described measurement capillaceous is situation more than the predefined critical field, the normal voltage that described controller applies when making the voltage that puts on described piezoelectric element be in the described critical field less than the size at described front end capillaceous
Under the size of the described front end of being measured with mark by described measurement capillaceous was situation below the described critical field, described controller made the voltage that puts on described piezoelectric element greater than described normal voltage.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
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| JP2011-289102 | 2011-12-28 | ||
| JP2011289102 | 2011-12-28 | ||
| JP2012099981 | 2012-04-25 | ||
| JP2012-099981 | 2012-04-25 | ||
| JP2012166234A JP6035948B2 (en) | 2011-08-04 | 2012-07-26 | Piezoelectric actuator and manipulator |
| JP2012-166234 | 2012-07-26 |
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| Publication Number | Publication Date |
|---|---|
| CN203077272U true CN203077272U (en) | 2013-07-24 |
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| CN 201220426995 Expired - Fee Related CN203077272U (en) | 2011-12-28 | 2012-08-24 | Piezoelectric actuator, control gear and control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108779428A (en) * | 2016-12-23 | 2018-11-09 | 埃佩多夫股份公司 | Manually syringe for cell manipulation |
| CN108931661A (en) * | 2018-06-06 | 2018-12-04 | 杭州电子科技大学 | A kind of fluid sample sampling apparatus and its method of sampling |
| CN111712561A (en) * | 2018-03-16 | 2020-09-25 | 株式会社岛津制作所 | Cell picking device |
| CN112476407A (en) * | 2020-12-15 | 2021-03-12 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device and method based on 3D printing micro-channel |
| CN112746012A (en) * | 2020-01-31 | 2021-05-04 | 天津大学 | Single cell manipulation system and method, monoclonal cell line construction method, single cell droplet generation system and method |
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2012
- 2012-08-24 CN CN 201220426995 patent/CN203077272U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108779428A (en) * | 2016-12-23 | 2018-11-09 | 埃佩多夫股份公司 | Manually syringe for cell manipulation |
| CN108779428B (en) * | 2016-12-23 | 2022-03-15 | 埃佩多夫股份公司 | Manual syringe for cell manipulation |
| CN111712561A (en) * | 2018-03-16 | 2020-09-25 | 株式会社岛津制作所 | Cell picking device |
| CN108931661A (en) * | 2018-06-06 | 2018-12-04 | 杭州电子科技大学 | A kind of fluid sample sampling apparatus and its method of sampling |
| CN108931661B (en) * | 2018-06-06 | 2022-03-01 | 杭州电子科技大学 | Fluid sample sampling device and sampling method thereof |
| CN112746012A (en) * | 2020-01-31 | 2021-05-04 | 天津大学 | Single cell manipulation system and method, monoclonal cell line construction method, single cell droplet generation system and method |
| CN112746012B (en) * | 2020-01-31 | 2023-01-03 | 天津大学 | Single cell manipulation system and method, monoclonal cell line construction method, single cell droplet generation system and method |
| CN112476407A (en) * | 2020-12-15 | 2021-03-12 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device and method based on 3D printing micro-channel |
| CN112476407B (en) * | 2020-12-15 | 2024-04-19 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro-operation device and method based on 3D printing micro-channel |
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