CN208917193U - For realizing the light directing arrangement of the robotization motion control of alga cells - Google Patents
For realizing the light directing arrangement of the robotization motion control of alga cells Download PDFInfo
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- CN208917193U CN208917193U CN201821613101.6U CN201821613101U CN208917193U CN 208917193 U CN208917193 U CN 208917193U CN 201821613101 U CN201821613101 U CN 201821613101U CN 208917193 U CN208917193 U CN 208917193U
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Abstract
For realizing the light directing arrangement of the robotization motion control of alga cells, including motion control device, image obtain and processing system, micro-fluidic chip, example platform, guidance light source, release light source, light source clamping device and optical platform；Computer is connect by light source controller with release light source, computer is connect with rotatable platform, horizontal displacement platform, vertical displacement platform and oscillating platform respectively by four axis controllers, and computer is connect by the three-axis controller with three-dimensional manometer platform.The phototaxis of the utility model combination alga cells, control alga cells are moved as microrobot along arbitrary trajectory.It is coated with using cargo of the specific proteins to processing and fabricating, in conjunction with the light directing arrangement of exploitation, draws alga cells robot motion, completed alga cells machine people and goods and controllably assemble.
Description
Technical field
The utility model belongs to robotic technology field more particularly to a kind of robotization for realizing alga cells is transported
The light directing arrangement of dynamic control.
Background technique
Cell is the most basic unit for constituting biology, however can but be driven by the biology driving of slight cell composition small
It is big to up to a hundred tons of heavy whales (150 tons of weights of blue whale) to insect.Compared to existing electromechanical driving method, biology driving display
Big advantage: energy conversion efficiency is high, and size is small, self energizing.If biological cell is used to drive lifeless function
Component will be expected to combine the superiority development of biology driving to go out class life machinery.Therefore new drive is constructed with living body biological cell
Flowing mode becomes recent study hot spot.
The biological cell for being presently available for biology driving mainly includes two classes: muscle cell and microorganism.Muscle cell is logical
It crosses natural shrinking or electro photoluminescence is shunk to drive some structures.Microorganism can flexibly move about in a liquid, can be used to push
The micro-structures such as grain are moved in Small-scale Space.However in existing biology driving, how to realize that biological cell and micro-structure are effectively viscous
Echoing release is still a challenge.How to control effectively to biological cell and micro-structure integrated equipment is all to be captured ask
Topic.
Alga cells are a kind of important microorganisms, have perception and driving capability, energy can be obtained from ambient enviroment
Amount, and efficiently convert chemical energy to the mechanical energy of flagellum, corresponding sports can be generated according to extraneous stimulation, if it is possible to real
The robotization campaign of existing alga cells realizes that the effective of alga cells and non-vital functions component adheres to and discharge and right
The controllable driving of lifeless functional component will show wide application prospect in drug delivery, targeted therapy etc..
Utility model content
The utility model provides a kind of machine for realizing alga cells to solve shortcoming in the prior art
The light directing arrangement of peopleization motion control, the phototaxis of the device combination alga cells realize alga cells robotization campaign
Control.By carrying out specific proteins coating to cargo, in conjunction with light guidance mode, alga cells robot and goods to be transmitted are realized
Effective assembly of object.Alga cells robot motion is drawn using light directing arrangement, realizes the controllable transmission to cargo.To cargo
It is transmitted to destination, using photochemical way, alga cells robot and micro-structure integrated equipment are irradiated by release light source, it will
Cargo is discharged to target point, recycles and utilize again alga cells robot.
In order to solve the above technical problems, the utility model adopts the following technical solution: for realizing the machine of alga cells
The light directing arrangement of peopleization motion control, including motion control device, image obtain and processing system, micro-fluidic chip 3, sample
Platform, guidance light source 18, release light source 19, light source clamping device 20 and optical platform 13；
Motion control device includes rotatable platform 10, horizontal displacement platform 9, vertical displacement platform 7, oscillating platform 8, switching
Plate 11, support rod 12 and four axis controllers 15, pinboard 11 are fixed on optical platform 13 by support rod 12 described in four,
Rotatable platform 10 is horizontally set on pinboard 11, and horizontal displacement platform 9 is arranged on rotatable platform 10, vertical displacement platform 7
It is arranged on horizontal displacement platform 9, oscillating platform 8 is located at the side of vertical displacement platform 7；
Light source clamping device 20 is arranged on oscillating platform 8, and light source clamping device 20 is disc-shaped structure, light source clamping dress
Setting setting on 20, there are two centrosymmetric holding holes, guidance light source 18 and release light sources 19 to be clamped in two holding holes respectively
It is interior；
The center of rotatable platform 10, pinboard 11 and light source clamping device 20 is transparent hollow structure；
Image obtains and processing system includes CCD camera 1, just setting microscope 2 and computer 17, and CCD camera 1 is installed on
The top of microscope 2 is just being set, microscope 2 is just being set and is being fixed on optical platform 13 by horizontal brace rod and vertical pillars；CCD
It camera 1 and just sets microscope 2 and is connect with computer 17 by data line；
Example platform includes three-dimensional manometer platform 6, switching rod piece 5, sample carrier 4 and three-axis controller 16.Three-dimensional manometer is flat
Platform 6 is placed in the lower section of rotatable platform 10 and is fixed on optical platform 13, and switching rod piece 5 is cylindrical, hollow pipe, transfer rod piece 5 to
On across pinboard 11, rotatable platform 10 and light source clamping device 20 hollow structure, switching 5 lower end of rod piece pass through bolt arrangement
It is fixedly connected on three-dimensional manometer platform 6, sample carrier 4 is fixedly attached to the upper end of switching rod piece 5, and sample carrier 4 is aobvious positioned at just setting
Between 20 top of 2 lower section of micro mirror and light source clamping device, square indentations are provided at the top of sample carrier 4, micro-fluidic chip 3 is put
It sets in square indentations；
Computer 17 is connect by light source controller 14 with release light source 19, and computer 17 passes through four axis controllers
15 connect with rotatable platform 10, horizontal displacement platform 9, vertical displacement platform 7 and oscillating platform 8 respectively, and computer 17 passes through institute
The three-axis controller 16 stated is connect with three-dimensional manometer platform 6.
Micro-fluidic chip 3 includes three-decker, and three-decker is from top to bottom successively are as follows: dimethyl silicone polymer micro-structure
Layer, PDMS middle layer and substrate of glass；The depth of the square indentations is less than or equal to the thickness of substrate of glass.
Guiding light source 18 is the LED light source of 500 nm of wavelength, operating voltage and operating current be respectively 3 V and
0.3 A；Discharge the ultraviolet source that light source 19 is wavelength 365nm.
By adopting the above technical scheme, the cargo that the utility model can be used to implement alga cells robot, which controllably transmits, to be released
Put, the cargo based on alga cells robot controllably transmit method for releasing the following steps are included:
(1) biological characteristics of alga cells 21 are combined, design one end can be adhered to alga cells 21, and the other end can be with
The specific proteins 22 connected with micro-structure 24；
(2) amido modified micro-structure 24 is coated with using the specific proteins of design 22；
(3) the coated micro-structure 24 of specific proteins 22 is injected to the micro-fluidic core in light directing arrangement with alga cells 21
In piece 3；
(4) phototaxis for combining alga cells 21, the robotization campaign of alga cells 21 is realized using light directing arrangement
Control, then effectively assembles alga cells 21 and micro-structure 24；
(5) light directing arrangement traction alga cells 21 move, and then realize the controllable transmission to cargo, and cargo is to pass through biography
The micro-structure 24 of system MEMS technology processing and fabricating；
(6) to cargo transfer to destination, using photochemical way, control instruction is passed to light source control by computer 17
Device 14 is opened release light source 19, irradiation alga cells 21 and 24 integrated equipment of micro-structure, is designed in specific proteins 22 photosensitive
Group 23 opens corresponding chemical bond, realizes release of the alga cells 21 to cargo.
Specific proteins 22 are a kind of 4- hydroxy-proline glycopeptide in step (1), and one end of the specific proteins 22 is with non-
The mode of covalent bond is connected with the cell wall of alga cells 21, the other end and the connection of amido modified micro-structure 24, by special
Property the coated micro-structure 24 of 4 protein 22 be easy to and alga cells 21 adhere to.
The robotization motion control process of alga cells 21 is in step (4),
Operator can apply control command to light directing arrangement by computer 17, the motion control in light directing arrangement
Device is after receiving the instruction of operator, and control guidance light source 18 is moved to specified position, and the algae in micro-fluidic chip 3 is thin
Born of the same parents 21 can quickly respond after detecting that guidance light source 18 stimulates, along guidance 18 direction of light source or against guidance light source
The movement of 18 directions, while the feedback based on image is supplied to computer 17, further adjustment guides light to operator as needed
The position in source 18,21 moment of alga cells detect continually changing light signal, adjust the direction of motion of oneself.It thus can be with
Realize the accurate control moved to alga cells 21；After alga cells 21 complete the movement of path A, by manipulating motion control
The position of device adjustment guidance light source 18, guidance alga cells 21 are moved according to path B, and gradually control alga cells 21 are complete in this way
It is moved at A-B-C-D rectangular path；Alga cells robot be can control in the same way in two-dimensional surface along prior
The arbitrary trajectory movement planned, that is, realize the robotization motion control of alga cells 21.
Rotatable platform 10, horizontal displacement platform 9, vertical displacement platform 7, oscillating platform 8 in motion control device can be same
When work independently, and then guarantee that guidance light source 18 is directed toward any direction of any horizontal plane, control instruction is passed by computer 17
Four axis controllers 15 are passed, may further accurately realize the different forms of motion of motion control device.
Alga cells 21 and the detailed process of micro-structure 24 effectively assembled are in step (4),
Operator applies control command to light directing arrangement by computer 17, and it is mobile that light directing arrangement controls alga cells
24 position of micro-structure after being coated with to specific proteins 22, the micro-structure 24 after being coated with specific proteins 22 are collided, hair
Raw effectively adherency, completes alga cells 21 and micro-structure 24 is assembled.
Photochemical way in step (6) is that certain special photosensitive groups can be added in 4- hydroxy-proline glycopeptide
23, photosensitive group 23 can open corresponding chemical bond under the light source irradiation of extraneous specific wavelength, both may be implemented so micro-
Structure 24 and alga cells 21 adhere to, while being able to achieve alga cells 21 again to the controlled release of micro-structure 24.
The process of the release of cargo in step (6) are as follows: light directing arrangement draws the robot motion of alga cells 21, in turn
Realize that control instruction is passed to light source control using computer 17 to cargo transfer to destination by the controllable transmission to cargo
Device 14 opens release light source 19, irradiation alga cells 21 and 24 integrated equipment of micro-structure, realizes that alga cells 24 release cargo
It puts.
The image for just setting microscope acquisition alga cells is transmitted to computer by USB and is handled and analyzed.CCD
The sample rate of camera can achieve 30 fps, and just setting microscopical amplification factor can achieve 400 times.
Micro-fluidic chip PDMS microstructured layers topological structure can carry out Design of digital by commercialized software, and process is hydrophilic
The PDMS middle layer of processing plays the role of that cell is prevented to be adhered with micro-fluidic chip, and micro-fluidic chip may be designed as opening type
Or encapsulated type, alga cells solution can be injected into micro-fluidic chip by the entrance of micro-fluidic chip.
Control command is passed to three-axis controller by computer, further realizes the controllable precise movement of example platform, sample
Product platform, which can guarantee to be observed object (alga cells) and delicately be moved to, is just setting microscopical visual field center.
The material of cargo mostly uses some bio-compatible materials, is relatively beneficial to for the utility model technology to be applied to biology doctor
The fields such as treatment.
In conclusion the utility model has following technical effect that
The phototaxis of the utility model combination alga cells, the light directing arrangement of exploitation, control alga cells as
Microrobot is the same to be moved along arbitrary trajectory.It is coated with, is tied using cargo of the specific proteins to processing and fabricating
It runs the light directing arrangement of hair jointly, draws alga cells robot motion, complete alga cells machine people and goods and controllably assemble.Into
One step controls alga cells robotic transfer cargo to target point, passes through release using photochemical way to cargo to target point
Light source irradiates alga cells robot and micro-structure integrated equipment, realizes the controlled release of cargo, recycles and utilize again algae
Cellular machineries people.This method can realize alga cells robotization campaign and alga cells robot to the assembly of cargo,
Transmission, release integrated function, the recycling again of alga cells robot.
The utility model provides a kind of alga cells robotization new method, and is carried out using alga cells robot
The new tool of micro-nano operation, send in micro-nano assembly, drug, micro-scale environments in terms of show it is wide before
Scape.
Detailed description of the invention
Fig. 1 is light directing arrangement schematic diagram in the utility model；
Fig. 2 is that light directing arrangement controls alga cells by rectangular path movement schematic diagram；
Fig. 3 is the structure chart of specific proteins；
Fig. 4 is that alga cells pass through photochemical way release cargo schematic diagram.
Specific embodiment
As Figure 1-Figure 4, the method for controllably transmitting release for realizing the cargo of alga cells robot, including it is following
Step:
(1) biological characteristics of alga cells 21 are combined, design one end can be adhered to alga cells 21, and the other end can be with
The specific proteins 22 connected with micro-structure 24；
(2) amido modified micro-structure 24 is coated with using the specific proteins of design 22；
(3) the coated micro-structure 24 of specific proteins 22 is injected to the micro-fluidic core in light directing arrangement with alga cells 21
In piece 3；
(4) phototaxis for combining alga cells 21, the robotization campaign of alga cells 21 is realized using light directing arrangement
Control, then effectively assembles alga cells 21 and micro-structure 24；
(5) light directing arrangement traction alga cells 21 move, and then realize the controllable transmission to cargo, and cargo is to pass through biography
The micro-structure 24 of system MEMS technology processing and fabricating；
(6) to cargo transfer to destination, using photochemical way, control instruction is passed to light source control by computer 17
Device 14 is opened release light source 19, irradiation alga cells 21 and 24 integrated equipment of micro-structure, is designed in specific proteins 22 photosensitive
Group 23 opens corresponding chemical bond, realizes release of the alga cells 21 to cargo.
The light directing arrangement of the utility model includes motion control device, image obtains and processing system, micro-fluidic chip
3, example platform, guidance light source 18, release light source 19, light source clamping device 20 and optical platform 13；
Motion control device includes rotatable platform 10, horizontal displacement platform 9, vertical displacement platform 7, oscillating platform 8, switching
Plate 11, support rod 12 and four axis controllers 15, pinboard 11 are fixed on optical platform 13 by support rod 12 described in four,
Rotatable platform 10 is horizontally set on pinboard 11, and horizontal displacement platform 9 is arranged on rotatable platform 10, vertical displacement platform 7
It is arranged on horizontal displacement platform 9, oscillating platform 8 is located at the side of vertical displacement platform 7；
Light source clamping device 20 is arranged on oscillating platform 8, and light source clamping device 20 is disc-shaped structure, light source clamping dress
Setting setting on 20, there are two centrosymmetric holding holes, guidance light source 18 and release light sources 19 to be clamped in two holding holes respectively
It is interior；
The center of rotatable platform 10, pinboard 11 and light source clamping device 20 is transparent hollow structure；
Image obtains and processing system includes CCD camera 1, just setting microscope 2 and computer 17, and CCD camera 1 is installed on
The top of microscope 2 is just being set, microscope 2 is just being set and is being fixed on optical platform 13 by horizontal brace rod and vertical pillars；CCD
It camera 1 and just sets microscope 2 and is connect with computer 17 by data line；
Example platform includes three-dimensional manometer platform 6, switching rod piece 5, sample carrier 4 and three-axis controller 16.Three-dimensional manometer is flat
Platform 6 is placed in the lower section of rotatable platform 10 and is fixed on optical platform 13, and switching rod piece 5 is cylindrical, hollow pipe, transfer rod piece 5 to
On across pinboard 11, rotatable platform 10 and light source clamping device 20 hollow structure, switching 5 lower end of rod piece pass through bolt arrangement
It is fixedly connected on three-dimensional manometer platform 6, sample carrier 4 is fixedly attached to the upper end of switching rod piece 5, and sample carrier 4 is aobvious positioned at just setting
Between 20 top of 2 lower section of micro mirror and light source clamping device, square indentations are provided at the top of sample carrier 4, micro-fluidic chip 3 is put
It sets in square indentations；
Computer 17 is connect by light source controller 14 with release light source 19, and computer 17 passes through four axis controllers
15 connect with rotatable platform 10, horizontal displacement platform 9, vertical displacement platform 7 and oscillating platform 8 respectively, and computer 17 passes through institute
The three-axis controller 16 stated is connect with three-dimensional manometer platform 6.
Micro-fluidic chip 3 includes three-decker, and three-decker is from top to bottom successively are as follows: dimethyl silicone polymer micro-structure
Layer, PDMS middle layer and substrate of glass；The depth of the square indentations is less than or equal to the thickness of substrate of glass.
Guiding light source 18 is the LED light source of 500 nm of wavelength, operating voltage and operating current be respectively 3 V and
0.3 A；Discharge the ultraviolet source that light source 19 is wavelength 365nm.
Specific proteins 22 are a kind of 4- hydroxy-proline glycopeptide in step (1), and one end of the specific proteins 22 is with non-
The mode of covalent bond is connected with the cell wall of alga cells 21, the other end and the connection of amido modified micro-structure 24, by special
Property the coated micro-structure 24 of 4 protein 22 be easy to and alga cells 21 adhere to.
The robotization motion control process of alga cells 21 is in step (4),
Operator can apply control command to light directing arrangement by computer 17, the motion control in light directing arrangement
Device is after receiving the instruction of operator, and control guidance light source 18 is moved to specified position, and the algae in micro-fluidic chip 3 is thin
Born of the same parents 21 can quickly respond after detecting that guidance light source 18 stimulates, along guidance 18 direction of light source or against guidance light source
The movement of 18 directions, while the feedback based on image is supplied to computer 17, further adjustment guides light to operator as needed
The position in source 18,21 moment of alga cells detect continually changing light signal, adjust the direction of motion of oneself.It thus can be with
Realize the accurate control moved to alga cells 21；After alga cells 21 complete the movement of path A, by manipulating motion control
The position of device adjustment guidance light source 18, guidance alga cells 21 are moved according to path B, and gradually control alga cells 21 are complete in this way
It is moved at A-B-C-D rectangular path；Alga cells robot be can control in the same way in two-dimensional surface along prior
The arbitrary trajectory movement planned, that is, realize the robotization motion control of alga cells 21.
Rotatable platform 10, horizontal displacement platform 9, vertical displacement platform 7, oscillating platform 8 in motion control device can be same
When work independently, and then guarantee that guidance light source 18 is directed toward any direction of any horizontal plane, control instruction is passed by computer 17
Four axis controllers 15 are passed, may further accurately realize the different forms of motion of motion control device.
Alga cells 21 and the detailed process of micro-structure 24 effectively assembled are in step (4),
Operator applies control command to light directing arrangement by computer 17, and it is mobile that light directing arrangement controls alga cells
24 position of micro-structure after being coated with to specific proteins 22, the micro-structure 24 after being coated with specific proteins 22 are collided, hair
Raw effectively adherency, completes alga cells 21 and micro-structure 24 is assembled.
Photochemical way in step (6) is that certain special photosensitive groups can be added in 4- hydroxy-proline glycopeptide
23, photosensitive group 23 can open corresponding chemical bond under the light source irradiation of extraneous specific wavelength, both may be implemented so micro-
Structure 24 and alga cells 21 adhere to, while being able to achieve alga cells 21 again to the controlled release of micro-structure 24.
The process of the release of cargo in step (6) are as follows: light directing arrangement draws the robot motion of alga cells 21, in turn
Realize that control instruction is passed to light source control using computer 17 to cargo transfer to destination by the controllable transmission to cargo
Device 14 opens release light source 19, irradiation alga cells 21 and 24 integrated equipment of micro-structure, realizes that alga cells 24 release cargo
It puts.
The present embodiment not makes any form of restriction the shape of the utility model, material, structure etc., all foundations
The technical essence of the utility model any simple modification, equivalent change and modification to the above embodiments, belong to this reality
With the protection scope of new technique scheme.
Claims (3)
1. the light directing arrangement of the robotization motion control for realizing alga cells, it is characterised in that: including motion control
Device, image obtains and processing system, micro-fluidic chip (3), example platform, guidance light source (18), release light source (19), light source
Clamping device (20) and optical platform (13)；
Motion control device include rotatable platform (10), horizontal displacement platform (9), vertical displacement platform (7), oscillating platform (8),
Pinboard (11), support rod (12) and four axis controllers (15), pinboard (11) are fixed by support rod (12) described in four
In on optical platform (13), rotatable platform (10) is horizontally set on pinboard (11), and horizontal displacement platform (9) setting is rotating
On platform (10), vertical displacement platform (7) is arranged on horizontal displacement platform (9), and oscillating platform (8) is located at vertical displacement platform
(7) side；
Light source clamping device (20) is arranged on oscillating platform (8), and light source clamping device (20) is disc-shaped structure, light source clamping
There are two centrosymmetric holding holes for setting on device (20), and light source (18) and release light source (19) is guided to be clamped in two respectively
In holding holes；
The center of rotatable platform (10), pinboard (11) and light source clamping device (20) is transparent hollow structure；
Image obtains and processing system includes CCD camera (1), just setting microscope (2) and computer (17), CCD camera (1) peace
Loaded on the top for just setting microscope (2), microscope (2) is just being set by horizontal brace rod and vertical pillars and is being fixed on optical platform
(13) on；It CCD camera (1) and just sets microscope (2) and is connect with computer (17) by data line；
Example platform includes three-dimensional manometer platform (6), switching rod piece (5), sample carrier (4) and three-axis controller (16)；Three wieners
Meter Ping Tai (6) is placed in below rotatable platform (10) and is fixed on optical platform (13), and switching rod piece (5) is cylindrical, hollow
Pipe, switching rod piece (5) are upward through the hollow structure of pinboard (11), rotatable platform (10) and light source clamping device (20), turn
Extension bar part (5) lower end is fixedly connected on three-dimensional manometer platform (6) by bolt arrangement, and sample carrier (4) is fixedly attached to switching
The upper end of rod piece (5), sample carrier (4), which is located at, just to be set between below microscope (2) and above light source clamping device (20), in sample
Square indentations are provided at the top of support (4), micro-fluidic chip (3) is placed into square indentations；
Computer (17) is connect by light source controller (14) with release light source (19), and computer (17) passes through the four axis controls
Device (15) processed connect with rotatable platform (10), horizontal displacement platform (9), vertical displacement platform (7) and oscillating platform (8) respectively,
Computer (17) is connect by the three-axis controller (16) with three-dimensional manometer platform (6).
2. the light directing arrangement of the robotization motion control according to claim 1 for realizing alga cells, special
Sign is: micro-fluidic chip (3) includes three-decker, and three-decker is from top to bottom successively are as follows: dimethyl silicone polymer micro-structure
Layer, PDMS middle layer and substrate of glass；The depth of the square indentations is less than or equal to the thickness of substrate of glass.
3. the light directing arrangement of the robotization motion control according to claim 1 or 2 for realizing alga cells,
Be characterized in that: guidance light source (18) is the LED light source of 500 nm of wavelength, and operating voltage and operating current are respectively 3 V
With 0.3 A；Discharge the ultraviolet source that light source (19) are wavelength 365nm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821613101.6U CN208917193U (en) | 2018-09-30 | 2018-09-30 | For realizing the light directing arrangement of the robotization motion control of alga cells |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821613101.6U CN208917193U (en) | 2018-09-30 | 2018-09-30 | For realizing the light directing arrangement of the robotization motion control of alga cells |
Publications (1)
| Publication Number | Publication Date |
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| CN208917193U true CN208917193U (en) | 2019-05-31 |
Family
ID=66708091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201821613101.6U Active CN208917193U (en) | 2018-09-30 | 2018-09-30 | For realizing the light directing arrangement of the robotization motion control of alga cells |
Country Status (1)
| Country | Link |
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| CN (1) | CN208917193U (en) |
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2018
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