JP2007030136A - Minute object handling system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a minute object handling system continuing an operation without a cease even when a driving command in X-axis and Y-axis directions to a micromanipulator is wrong. <P>SOLUTION: A screen center O of a monitor is set to an initial position of a tip of an end effector. An actual distance (Xmax, Ymax) is computed from a correlation table expressing a relationship between a magnification of a microscope and an actual distance from an initial position in a X-direction and a Y-direction corresponding to the distance from the screen center O to horizontal and vertical screen ends. A driving allowable pulse number (PXmax, PYmax) for driving from the initial position to the actual distances (Xmax, Ymax) is computed, so as to restrain output of pulses to X-direction and Y-direction stepping motors exceeding the driving allowable pulse number (PXmax, PYmax). The tip of the end effector is not driven beyond an image displaying range of the screen. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a minute object handling system, and more particularly to a minute object handling system including a micromanipulator capable of driving an operation finger operating a minute object at a tip portion in at least two XY directions.

  Conventionally, for example, a micromanipulator is used for the operation (handling) of a minute object such as assembly of a minute part or cell operation. This type of micromanipulator includes a mechanism capable of driving an operation finger having an end effector that performs processing such as drilling, cutting, and gripping a minute object at a tip portion in three axial directions of XYZ (for example, Patent Document 1). reference).

  In general, it is difficult to observe microscopic objects with the micromanipulator. In addition to micromanipulators, a microscope that is fixed in position and expands microscopic objects, a camera that is attached to a microscope and has an image sensor, and images from the camera Is displayed on the display as a minute object handling system, and the operator refers to the enlarged image displayed on the display and operates the end effector for the minute object (for example, Patent Document 2). Therefore, for example, as shown in FIG. 13A, the operator considers the end effectors 505a and 507a that operate the minute object 10 to move in the X-axis and Y-axis directions in the display screen 7a. The manipulator is operated.

Japanese Patent Laid-Open No. 2003-19679 JP-A-4-303810

  However, the end effectors 505a and 507a may move out of the display screen 7a without intentionally inadvertently driving the micromanipulator in the X-axis and Y-axis directions (see FIG. 13B). When it is not visible from the screen 7a, it is impossible to determine in which direction of the X-axis direction and the Y-axis direction constituting the plane the end effector 505a, 507a will return (display) in the screen 7a. After reducing the magnification of the microscope (see FIG. 13C), the end effectors 505a and 507a must be returned to the vicinity of the center of the display screen, and then returned to the original magnification. It has become.

  In addition to an upright microscope, an inverted microscope is used as a microscope for enlarging a micro object and an end effector. When an inverted microscope is used, observation is performed from vertically below (Z-axis minus direction). Therefore, an unfamiliar operator may mistakenly operate the end effector's Z-axis drive direction and possibly damage a minute object.

  Further, the positional relationship between the minute object and the end effector is determined by the mechanism arrangement, and the image of the minute object and the end effector is displayed on the display. However, an operator who is used to conventional manual work is different from, for example, the dominant arm. Operation from the direction and the operating finger is composed of two gripping fingers with end factors installed, and if one of the gripping fingers is a movable finger, it is uncomfortable with the differences from how to use your own chopsticks. You may have to operate while holding

  In view of the above circumstances, the present invention has a first object to provide a minute object handling system capable of continuing an operation without interruption even if the drive commands in the X-axis and Y-axis directions to the micromanipulator are erroneous. . A second object is to provide a minute object handling system that does not give the operator a sense of incongruity. Furthermore, a third object is to provide a minute object handling system capable of notifying an operator of the Z-axis drive direction of the end effector.

  In order to solve the first problem, a first aspect of the present invention is mounted on a microscope, a micromanipulator that can drive an operation finger that operates a minute object at the tip in at least two XY directions. A display unit for imaging the tip of the operating finger with an imaging device and displaying the image on a display; magnification information of the microscope; drive command for at least the XY axes to the micromanipulator; and the tip of the operating finger at a predetermined position An input unit for inputting information indicating that the micromanipulator is positioned, a drive control unit that performs drive control on each axis of the micromanipulator based on at least a drive command in the XY directions input from the input unit, A display drive control unit that controls the display unit and the drive control unit, wherein the display drive control unit displays a screen center on the display. Display control means for controlling the display unit as described above, and after being displayed on the display so that the tip of the operation finger is positioned at the center of the screen by the drive control of the drive control unit, from the input unit An initial position setting means for setting the position of the tip of the operation finger as an initial position when information indicating that the tip of the operation finger is positioned at the center of the screen is input, and a microscope input from the input unit The drive control is performed so that the tip of the operating finger does not drive beyond the image display range of the display based on the magnification information of the display and the initial position of the tip of the operating finger set by the initial position setting means. Drive range limiting means for limiting the drive control range in the XY axis direction of the unit.

  In the first aspect, the tip of the operation finger is picked up by the image pickup device mounted on the microscope by the display unit and displayed on the display, but the display control unit controls the display unit so that the center of the screen is displayed on the display. Therefore, the tip of the gripping finger and the screen center of the display are displayed on the display. First, the operator inputs at least an XY-axis direction drive command to the micromanipulator so that the tip of the operation finger is positioned at the center of the display screen. Based on this drive command, the drive control unit performs drive control on each axis of the micromanipulator, so that the tip of the operating finger is positioned at the center of the display screen. The operator visually recognizes that the tip of the operating finger is positioned at the center of the screen of the display, and inputs information indicating that the tip of the operating finger is positioned at the center of the screen from the input unit. Thereby, the initial position setting means sets the position of the tip of the operation finger as the initial position. The operator inputs the magnification information of the microscope from the input unit at an arbitrary time up to this point, and updates the magnification information when the magnification of the microscope is changed. Thereafter, the operator inputs at least an XY-axis direction drive command for the micromanipulator from the input unit, and the drive control unit performs drive control for each axis of the micromanipulator based on the input drive command. Based on the microscope magnification information input from the input unit by the limiting unit and the initial position of the tip of the operating finger set by the initial position setting unit, the tip of the operating finger exceeds the image display range of the display. The drive control range in the XY axis direction of the drive control unit is limited so as not to drive. According to this aspect, the tip of the operating finger is moved based on the magnification information of the microscope input from the input unit and the initial position of the tip of the operating finger set by the initial position setting unit by the driving range limiting unit. Since the drive control range in the XY axis direction of the drive control unit is limited so as not to drive beyond the image display range of the display, operation is possible even if the X and Y axis drive commands from the input unit to the micromanipulator are incorrect. Since the image of the tip of the finger is displayed on the display, the operation can be continued without interruption. If the display drive control unit further includes drive range restriction release means for releasing the drive control range restriction in the XY axes of the drive control unit by the drive range restriction means, the drive can be performed according to the operator's request. It is possible to select whether or not to limit the drive restriction range of the drive control unit by the range restriction means.

  In the first aspect, the drive range limiting means prestores a correlation between the magnification of the microscope and the actual distance from the screen center displayed on the display to the horizontal and vertical screen edges, and the correlation From the magnification information of the microscope, the actual distance from the initial position in the X-axis and Y-axis directions of the tip of the operation finger corresponding to the horizontal and vertical screen edges from the screen center is calculated, and the calculated actual distance is calculated. It is preferable to limit the drive control range in the XY axis direction of the drive control unit that exceeds. At this time, the micromanipulator has stepping motors that drive the operation fingers in at least two directions of XY, and the drive control unit executes drive control by sending drive pulses to each stepping motor, and the drive range. The limiting means calculates the number of driving pulses in the X-axis and Y-axis directions from the actual distance from the initial position in the X-axis and Y-axis directions of the tip of the operating finger, and the X-axis and Y-axis exceeding the calculated driving pulse number The output of drive pulses to the shaft drive stepping motor may be limited.

  In order to ease the operation of positioning the tip of the operation finger at the center of the screen, the display control unit controls the display unit to display a central region including the screen center on the display, and the initial position setting unit includes the drive control unit. When the information indicating that the tip of the operating finger is located in the central region is input from the input unit after the tip of the operating finger is displayed in the central region by the drive control of The tip of the operating finger is assumed to be at the center of the screen, and the position of the tip is set as the initial position. The driving range limiting means is configured to display the horizontal and vertical directions from the magnification of the microscope and the center of the screen displayed on the display. The actual distance to the edge and the correlation of the actual distance from the center of the screen to the center area edge in the horizontal and vertical directions are stored in advance, and the horizontal and vertical screen edges from the screen center are stored in advance. X1 and Y1, respectively, and x and y from the center of the screen to the horizontal and vertical center region ends, respectively, from the center of the screen (distance X1- The actual distance in the X-axis direction of the tip of the operating finger corresponding to the distance up to x) and the Y-axis direction of the tip of the operating finger corresponding to the distance from the center of the screen to (distance Y1-distance y). The actual distance may be calculated, and the drive control range in the X and Y directions of the drive control unit exceeding the calculated actual distance may be limited. At this time, the micromanipulator has stepping motors that drive the operation fingers in at least two directions of XY, and the drive control unit executes drive control by sending drive pulses to each stepping motor, and the drive range. The limiting means calculates the number of drive pulses in the X-axis and Y-axis directions from the actual distances in the X-axis and Y-axis directions of the tip of the operation finger, and the X-axis and Y-axis drive stepping exceeding the calculated drive pulse number You may make it restrict | limit the output of the drive pulse to a motor. Furthermore, in order to solve the second problem, in the first aspect, the operation finger is a gripping finger having a fixed finger and a movable finger, and the display unit captures images according to input information from the input unit. If rotation / reversal display means for rotating and reversing the image of the tip of the operating finger imaged by the element and displaying the image on the display is provided, the image is rotated or reversed in accordance with the operator's dominant arm or chopstick usage. Can be displayed on the display, so that it is possible to obtain a minute object handling system that does not feel uncomfortable in operation.

  Further, the second aspect of the present invention provides a micromanipulator that can drive an operation finger that operates a minute object at the tip in the three-axis directions of XYZ, and an image sensor attached to a microscope to move the tip of the operation finger. To input a display unit for imaging and displaying an image on a display, magnification information of the microscope, driving commands in the XYZ-axis directions for the micromanipulator, and information indicating that the tip of the operating finger is positioned at a predetermined position An input unit, a drive control unit that performs drive control on each axis of the micromanipulator based on a drive command in the XYZ axis direction input from the input unit, and the display unit and the drive control unit A display drive control unit, wherein the display drive control unit includes a display control unit that controls the display unit to display a screen center on the display; Information indicating that the tip of the operation finger is positioned at the center of the screen from the input unit after being displayed on the display so that the tip of the operation finger is positioned at the center of the screen by drive control of the drive control unit Is input, the initial position setting means for setting the position of the tip of the operation finger as an initial position, the magnification information of the microscope input from the input section and the operation set by the initial position setting means Based on the initial position of the tip of the finger, a drive range restriction that limits the drive control range in the XY axis direction of the drive control unit so that the tip of the operation finger does not drive beyond the image display range of the display And means. Also in the second aspect, the same effect as in the first aspect can be obtained.

  Furthermore, in order to solve the third problem, in the second aspect, the audio control unit further includes an audio output unit that outputs audio, and the drive control unit operates when performing drive control on the Z axis of the micromanipulator. If the sound output unit is controlled to output sound of different frequencies according to the raising and lowering of the finger, the Z-axis drive direction of the end effector is erroneously operated regardless of whether the microscope is upright or inverted. Can be prevented.

  According to the present invention, based on the magnification information of the microscope input from the input unit and the initial position of the tip of the operating finger set by the initial position setting unit by the driving range limiting unit, the tip of the operating finger is Since the drive control range in the XY axis direction of the drive control unit is limited so as not to drive beyond the image display range of the display, operation is possible even if the X and Y axis drive commands from the input unit to the micromanipulator are incorrect. Since the tip of the finger is displayed as an image on the display, it is possible to obtain an effect that the operation can be continued without interruption.

  Hereinafter, embodiments of a minute object handling system according to the present invention will be described with reference to the drawings.

(Constitution)
<Overall configuration>
As shown in FIG. 1, a minute object handling system 200 according to this embodiment includes a micromanipulator 100 that is fixed to a surface plate 1 via a gantry 4 and handles a minute object, and a micromanipulator 100 that is fixed to the surface plate 1. A stage 3 for placing a minute object to be handled, a microscope 2 with a column fixed to the surface plate 1 and a CCD camera 5 having a CCD as an imaging device, and a part of a display unit and an audio output unit Control as a drive control unit and a display drive control unit incorporating a personal computer (hereinafter abbreviated as PC) 6 and a programmable logic controller (hereinafter abbreviated as PLC) that controls the micromanipulator 100. And a box 8.

  An input / output cable to / from the control box 8, an output cable to the monitor 7 as a display such as a liquid crystal display device, and an input cable from the CCD camera 5 are connected to the PC 6. Therefore, the operator of the minute object handling system 200 can visually observe the minute object 10 placed on the stage 3 via the monitor 7. The monitor 7 has a built-in speaker 11 as a part of the sound output unit, and the speaker 11 is a sound amplified by a sound generation circuit composed of hardware of the PC 6 according to sound data composed of software. Can be output.

  The control box 8 is connected to the micromanipulator 100 by a connection cable 8a, and has a joystick, a cross button, a ◯, x, △, □ button, etc., and a command such as a drive command (described later) on the PLC of the control box 8. Is connected to a controller (input device) 9 as an input unit for inputting a command.

  The PLC built in the control box 8 is configured to include a D / A converter, an A / D converter, etc. in addition to the CPU, ROM, and RAM, and the PC 6 according to the program and program data stored in the ROM. The operation command is transmitted to the micromanipulator 100 through the connection cable 8a by converting the drive command input from the controller 9 into each actuator control signal. Note that an actuator control unit (not shown) is connected to the external bus of the PLC, and a drive pulse is sent from this actuator control unit to each actuator.

<Micromanipulator>
As shown in FIGS. 2 and 3, the micromanipulator 100 is roughly divided into a handling unit 104 having a gripping finger (a fixed finger 505 and a movable finger 507 described later) as an operation finger and handling a minute object, and a handling unit 104. XY driving unit 101 that moves the X direction in the X and Y directions, and the handling unit 104 is rotated about the tip of the gripping finger of the handling unit 104 (the end of the end effector 505a described later, see FIG. 6). A θz driving unit 102 that changes the posture direction of the tip of the gripping finger of the handling unit 104 with respect to the placed minute object 10 (see FIG. 1), and a Z driving unit 103 that moves the handling unit 104 in the Z direction. I have.

  The micromanipulator 100 has a base 201 fixed to the gantry 4 described above. An X direction actuator 202 and a Y direction actuator 203 that are driving sources for driving the handling unit 104 in the X and Y directions are fixed to the base 201 in directions intersecting each other.

  The X direction actuator 202 includes a stepping motor 202a having an encoder that can be rotated forward and backward, a slider 202c that is engaged with a ball screw 202b that is an output shaft of the stepping motor 202a and is formed on the opposite side of the encoder, and a slider 202c that slides. The Y direction actuator 203 is also an output shaft of the stepping motor 203a and a stepping motor 203a that has a encoder and can be rotated forward and backward. The slider 203c engages with a ball screw 203b formed on the opposite side of the encoder, and a linear guide rail (not shown) on which the slider 203c can slide.

  The slider 202c of the X direction actuator 202 and the slider 203c of the Y direction actuator 203 are fixed to the X direction input node (link) 204a and the Y direction input node (link) 204b of the pantograph mechanism 204, respectively. For this reason, the X direction actuator 202 and the Y direction actuator 203 can give the pantograph mechanism 204 a linear displacement in the X direction and the Y direction.

  As shown in FIG. 4, in addition to the X-direction input node 204a and the Y-direction input node 204b described above, the pantograph mechanism 204 is directly connected to the X-direction and Y-direction input from the X-direction actuator 202 and the Y-direction actuator 203, respectively. It has nodes (links) 204c to 204i and rotating pairs 204k to 204s for synthesizing and enlarging the dynamic displacement and outputting them to the XY direction output node (link) 204j. Note that the rotating pair 204k that connects the Y-direction input node 204b and the node 204d, the rotating pair 204p that connects the X-direction input node 204a and the nodes 204c and 204e, and the X-direction input node 204a and the node 204h are connected. The rotating pairs 204q are fixed respectively.

  As shown in FIG. 5, the pantograph mechanism 204 is disposed above these actuators so as not to interfere with the X-direction actuator 202 and the Y-direction actuator 203. The XY direction output node 204j is fixed to a flat base 205a. The base 205a has three leg portions 205b to 205d. A sphere that can rotate in any direction is fitted at the tip of the legs 205b to 205d (see also FIG. 2). The sphere fitted in the leg portions 205b to 205d is in contact with the receiving surface 206 which is wider than the base 205 and has a substantially horizontal plane. The receiving surface 206 is fixed to the base 201 described above with four legs so as to straddle the X-direction actuator 202. In addition, two fitting holes for fitting and fixing the θz driving unit 102 are formed in the approximate center of the XY direction output node 204j.

  The θz driving unit 102 has a base 301. Two connecting members 306 are extended downward from the base 301 in a rod shape. These connecting members 306 are fitted and press-fitted into fitting holes formed in the XY direction output node 204j. For this reason, the XY drive unit 101 and the θz drive unit 102 are connected. An arc-shaped guide rail 302 is fixed to the base 301, and a slider 303 that can slide on the guide rail 302 is engaged with the guide rail 302. The arc center of the guide rail 302 coincides with the tip of the gripping finger of the handling unit 104 (the tip of the end effector 505a).

  Fixed to the slider 303 are a stepping motor 304 that can be rotated forward and backward, and a gear box 305 that includes a first reduction gear train (not shown) that decelerates the rotational drive from the stepping motor 304. Further, an arcuate wall surface 301a is formed concentrically with the guide rail 302 on the Z drive unit 103 (handling unit 104) side of the base 301, and an upper side of the arcuate wall surface 301a of the base 301 is from the arcuate wall surface 301a. An internal gear 301b protruding toward the Z drive unit 103 (handling unit 104) is integrally formed. Further, a pinion (not shown) is disposed at the output end of the first reduction gear train of the gear box 305, and this pinion meshes with the internal gear 301b. For this reason, the rotational driving force (rotational torque) from the stepping motor 304 decelerated by the first reduction gear train is transmitted to the internal gear 301b through the pinion of the first reduction gear train.

  The Z drive unit 103 includes a stepping motor 401 capable of forward and reverse rotation, a gear box 402 including a second reduction gear train (not shown) that reduces the rotational driving force from the stepping motor 401, a ball screw 403a, a nut 403b, a slider 403c, A Z-direction linear motion mechanism 403 having a guide rail 403d and a holder 403e.

  The gear box 402 is configured integrally with the gear box 305 of the θz driving unit 102, and the stepping motor 401 is fixed to the gear box 402. A ball screw 403 a extending downward is disposed at the output end of the second reduction gear train of the gear box 402. The tip end side of the ball screw 403a is rotatably supported by a holder 403e fixed to the gear box 402. A nut 403b is screwed to the ball screw 403a, and a slider 403c is fixed to the nut 403b. Further, a linear guide rail 403d is disposed from the gear box 402 so as to be parallel to the ball screw 403a, and the tip end side of the guide rail 403d is fixed to the holder 403e. The slider 403c is in contact with the guide rail 403 so as to be slidable on the guide rail 403.

  As shown in FIG. 2, a connecting member 404 having a through-hole formed at the tip on the handling portion 104 side is fixed to the nut 403 b of the Z-direction linear movement mechanism 403. The handling unit 104 includes a connecting pin 508 that passes through two through-holes 510 (see also FIG. 6) formed in the lower portion of the base 501 and a through-hole formed in the tip of the connecting member 404 on the handling unit 104 side. The Z drive unit 103 is fixed.

  As shown in FIG. 6, the handling unit 104 has two gripping fingers, a fixed finger 505 and a movable finger 507, for gripping a minute object. End effectors 505a and 507a that are in contact with a minute object are attached to the fixed finger 505 and the movable finger 507, respectively.

  An actuator 502 such as a meter is fixed to the base 501 of the handling unit 104 with a bracket 503, and a fixed finger 505 is assembled (fixed) to the plate 504. The plate 504 is fixed to the base 501 by forming a fixed gap with the base 501 in a state where the fixed finger 505 is assembled. A long plate-like lever 506 is interposed in the gap. A movable finger 507 is fixed to one side of the tip of the lever 506 (opposite side of the Z drive unit 103), and a fulcrum shaft 506a projects in the vertical direction at the center of the tip. The gap described above is defined by the fulcrum shaft 506a being pivotally supported by the bearing 504a of the plate 504 and the bearing 501a of the base 501.

  A substantially U-shaped slit (notch) 506 b is formed at the rear end of the lever 506. The output pin 502a of the actuator 502 is engaged with the slit 506b. Therefore, when the actuator 502 is driven, the lever 506 rotates about the fulcrum shaft 506b, so that the end effector 507a of the movable finger 507 approaches or separates from the end effector 505a of the fixed finger 505, and a minute object is not gripped. The grasped minute object can be opened. Note that the end effector 505a and the end effector 507a can be adjusted with screws provided on the fixed finger 505 and the movable finger 507 so that the tips come into contact with each other.

(Operation)
Next, the operation of the minute object handling system 200 of the present embodiment will be described with a CPU of the control box 8 (hereinafter simply referred to as “CPU”) as a subject. When the control box 8 is powered on, the CPU executes a minute object processing routine.

  As shown in FIG. 1, the operator connects the micro object 10 placed on the stage 3 and the end effectors 505 a and 507 a of the handling unit 104 to the screen 7 a of the monitor 7 through the microscope 2, the camera 5, and the PC 6. Capture in. At this time, as required, the magnification of the microscope 2 (magnification of the objective lens) may be changed in order to capture the minute object 10 and the tip of the end effector 505a on the screen 7a. In this state, the operator operates the joystick or the like of the controller 9 to the micromanipulator 100 via the control box 8 (PLC), in the X-axis direction (hereinafter abbreviated as the X direction) and the Y-axis direction. (Hereinafter abbreviated as the Y direction), the θz direction (the rotation direction of the handling unit 104 around the tip of the end effector 505a, that is, the posture direction of the end effectors 505a and 507a), the Z-axis direction (hereinafter referred to as “the direction of rotation”). A drive command for the Z direction) and a handling (open / close) drive command for the gripping finger are given to control the relative relationship between the minute object 10 and the end effectors 505a and 507a.

  As shown in FIG. 7, in the minute object processing routine, first, in step 600, an initial position setting process for setting the end effector 505a to an initial position is executed by calling an initial position setting process subroutine. As shown in FIG. 8, in the initial position setting processing subroutine, in step 602, an operation command is sent to the PC 6 so as to display a cross line passing through the center of the screen of the monitor 7. Thereby, the crosshair C passing through the screen center O is displayed on the screen 7a of the monitor 7 (see FIG. 10A).

  In order to set the initial position of the end effector 505a, the operator operates the controller 9 so that the tip of the end effector 505a is positioned at the screen center O as shown in FIG. That is, the CPU waits until a drive command is input from the controller 9 in step 604. When the drive command is input, the CPU receives the drive command input in step 606, and drives the micromanipulator 100 in the next step 608. Execute control.

  As described above, the drive command includes an X direction drive command, a Y direction drive command, a Z direction drive command, a θz direction drive command, a grip drive command, and the like for the gripping finger of the handling unit 104. Are also entered. For example, when the input of the X direction drive command and the Y direction drive command is assigned to the joystick of the controller 9, the input from the joystick is the X direction drive command and the Y direction drive command, and the angle of the tilt angle of the joystick is The X direction component can be the X direction drive amount, and the Y direction component can be the Y direction drive amount. The CPU determines which of the drive commands is input, converts the input drive amount into the number of pulses of the stepping motor corresponding to the drive command, and converts the converted number of pulses (digital signal). The data is sent to the actuator control unit (not shown). The actuator control unit converts the digital signal into an analog signal, and sends a drive pulse to the stepping motor that is the target of the drive command.

<X direction drive>
As shown in FIGS. 2 to 4, when a drive pulse is sent from the actuator control unit to the X direction actuator 202, the stepping motor 202 a rotates the ball screw 202 b and the X direction of the pantograph mechanism 204 via the slider 202 c. The input node 204a is moved in the horizontal direction (X direction) in FIG. Here, since the rotation pair 204k is fixed as described above, the displacement of the rotation pair 204p is Δklp when the positions of the rotation pairs 204k to 204s are taken as k to s by taking the alphabet at the end of each. : Enlarged to a similarity ratio of Δkmo and output to the rotation pair 204o to displace (move) the rotation pair 204o. The nodes 204g, 204h, and 204i are added to add two parallelogram loops □ pqrn and □ osrn when the positions of the nodes 204c to 204i are taken as c to i, respectively. The link has a function of keeping the posture of the XY direction output node 204j constant.

<Y direction drive>
When a drive pulse is sent from the actuator control unit to the Y-direction actuator 203, the stepping motor 203a rotates the ball screw 203b, and the Y-direction input node 204b of the pantograph mechanism 204 is moved in the vertical direction of FIG. (Y direction). Here, since the rotating pair 204p is fixed as described above, the displacement of the rotating pair 204k is similar to the above when the positions of the rotating pairs 204k to 204s are taken as k to s by taking the alphabet at the end of each. , Δklp: Δonp, and is output to the rotation pair 204o to displace (move) the rotation pair 204o.

  As described above, when the XY direction output node 204j of the pantograph mechanism 204 is displaced (moved) by the input of drive commands in the X direction and Y direction, the θz drive unit 102, Z is connected to the XY direction output node 204j via the connecting member 306. Although the weights of the drive unit 103 and the handling unit 104 act in the Z direction, the receiving surface 206 receives the load via the legs 205b to 205d of the base 205. Since the sphere that can rotate in any direction is fitted at the tip of the legs 205b to 205d, the sphere rolls and moves on the receiving surface 206, so that a load in the Z direction is not applied to the pantograph mechanism 204 and low friction is achieved. The load can be moved.

<Θz direction drive>
As shown in FIG. 5, when a drive pulse is sent from the actuator controller to the stepping motor 304, torque is transmitted to a pinion (not shown) arranged at the output end of the first reduction gear train of the gear box 305. Thus, the slider 303 engages with the internal gear 301b of the base 301 and rotates along the guide rail 302 like a planetary gear. The gear box 305 and the slider 303 are integrated, and the gear box 305 and the gear box 402 are integrated. A holder 403e (Z-direction linear movement mechanism 403) is fixed to the gear box 402, and the Z-direction. Since the connecting member 404 is fixed to the nut 403b of the linear motion mechanism 403 and the handling unit 104 is fixed to the Z direction driving mechanism 403 (Z driving unit 103) by the connecting pin 508, when the stepping motor 304 is driven, the θz driving unit Along with the rotation operation of 102, the Z driving unit 103 and the handling unit 104 integrally rotate around the tip of the gripping finger of the handling unit 104 (the tip that contacts the end effectors 505 a and 507 a). .

<Z direction drive>
As shown in FIG. 5, when a driving pulse is sent from the actuator control unit to the stepping motor 401, the stepping motor 401 rotates the ball screw 403 a via the second reduction gear train disposed in the gear box 402, The handling part 104 integral with the nut 403b is moved in the vertical direction (Z direction) in FIG. 5 along the guide rail 403d. In addition, when a Z direction drive command is input from the controller 9, the CPU issues a drive command in a direction to raise the handling unit 104 (forward rotation direction of the stepping motor 401) or a direction to lower the handling unit 104 (stepping motor 401. And the voice generation circuit of the PC 6 is activated. As a result, when the handling unit 104 rises in synchronization with the driving of the stepping motor 401 (strictly speaking, the output of the driving pulse of the actuator control unit described above), a high-pitched sound is output from the speaker 11 and descends. Produces a low-pitched sound.

<Gripping drive>
As shown in FIG. 6, when an analog predetermined voltage is applied to the actuator 502 from the actuator controller, the output pin 502a is rotationally displaced, and the displacement is transmitted to the slit 506b of the lever 506, and the lever 506 is supported by the fulcrum shaft 506a. Rotate around the center. As a result, the end effector 507a of the movable finger 507 moves toward or away from the end effector 505a of the fixed finger 505. Therefore, the two gripping fingers of the fixed finger 505 and the movable finger 507 can grip the minute object 10 or release the grasped minute object 10.

  In step 608, the above-described drive control can be performed. However, in order to set the initial position of the end effector 505a, the operator moves at least the controller 9 from the controller 9 so that the tip of the end effector 505a is positioned at the screen center O. It is necessary to input an X direction drive command and a Y direction drive command. The operator can visually recognize from the screen 7a that the tip of the end effector 505a is located at the screen center O (see FIG. 10B).

  Next, in step 610 of FIG. 8, it is determined whether or not information (initial position information) indicating that the tip of the end effector 505a is located at the screen center O is input from the controller 9. Such an input can be performed, for example, by determining whether or not the ○ button of the controller 9 is pressed. If a negative determination is made, the process returns to step 604 to continue the operation of positioning the tip of the end effector 505a at the screen center O. If an affirmative determination is made, in step 612, the position of the tip of the end effector 505a is initialized. Set as position. In other words, the CPU sets the total number of pulses to the stepping motors 202a and 203a to (total number of pulses to the stepping motor 202a and total number of pulses to the stepping motor 203a) = (0, 0), respectively.

  Next, in step 614, in order to prompt the operator to input magnification information of the microscope 2, a command is sent to the PC 6 so that a message box and an input box are displayed on the screen 7a of the monitor 7. Thus, for example, a message box “Please input microscope magnification information” and an input box for the operator to input magnification information are displayed on the screen 7a. In the next step 618, it is determined whether or not the magnification information of the microscope 2 has been received from the PC 6, thereby determining whether or not the magnification information has been input to the input box by the operator. If the determination is affirmative, step 620 captures magnification information.

  In the next step 622, the actual magnification from the initial position in the X and Y directions corresponding to the magnification of the microscope (for example, 1) and the distance from the screen center O of the screen 7a to the horizontal and vertical screen edges. A correlation table stored in advance in the PLC ROM is read. Next, in step 624, the X-direction and Y-direction initial values corresponding to the distances (X1, Y1) from the screen center O of the screen 7a to the horizontal and vertical screen edges are calculated based on the magnification information and the correlation table acquired in step 620. The actual distance (Xmax, Ymax) from the position is calculated (see FIG. 10A). Next, at step 626, the number of allowable driving pulses (PXmax, PYmax) for driving the tip of the end effector 505a between the initial position and the actual distance (Xmax, Ymax) is calculated by the stepping motors 202a, 203a. The result is stored in the RAM, the initial position setting processing subroutine is terminated, and the process proceeds to step 700 in FIG.

  In step 700, drive control restriction processing for always capturing the tip of the end effector 505a in the screen 7a is executed by calling a drive control restriction processing subroutine. As shown in FIG. 9, in the drive control restriction processing subroutine, in step 702, a display indicating that the tip of the end effector 505 a can be captured and displayed is displayed on the screen 7 a of the monitor 7. Then, it is determined whether or not a command for ending the drive control restriction processing subroutine is input from the controller 9. If the determination is affirmative, the drive control restriction processing subroutine and the minute object processing routine are terminated. If the determination is negative, it is determined in step 706 whether or not a drive command is input from the controller 9. If the determination in step 706 is negative, the process returns to step 702. If the determination is positive, a drive command is fetched in step 708, and whether or not the drive command fetched in the next step 710 is a drive command in the X direction and / or Y direction. Judging.

  If the determination in step 710 is affirmative, the driving distance based on the driving command is calculated in step 712, and the number of driving pulses (PXa, PYa) is calculated from the calculated driving distance. Next, in step 714, the previous cumulative pulse number (PXt, PYt) stored in the RAM is read (see also step 724). In step 716, the cumulative pulse number (PXt, PYt) read in step 716 and step The total number of pulses (PXt + PXa, PYt + PYa) obtained by adding the number of drive pulses (PXa, PYa) calculated in 712 is calculated. The total number of pulses is obtained by accumulating the number of pulses sent to the stepping motors 202a and 203a in the X and Y directions, with the number of pulses at the initial position of the tip of the end effector 505a being (0, 0).

  When the crosshair C shown in FIG. 10A is taken as the XY coordinate system and the initial position O is regarded as the origin, the position of the tip of the end effector 505a is positive in the total number of pulses (PXt + PXa) in the X direction. In addition, when the total number of pulses in the Y direction (PYt + PYa) is positive, the first quadrant is negative, when the total number of pulses in the X direction (PXt + PXa) is negative and the total number of pulses in the Y direction (PYt + PYa) is positive. In the second quadrant, when the total number of pulses in the X direction (PXt + PXa) is negative and the total number of pulses in the Y direction (PYt + PYa) is negative, the total number of pulses in the X direction (PXt + PXa) is If the total number of pulses in the Y direction (PYt + PYa) is negative, it exists in the fourth quadrant.

  Next, at step 718, it is determined for each of the X direction and the Y direction whether the total pulse number {absolute value of (PXt + PXa, PYt + PYa)} is equal to or smaller than the drive allowable pulse number (PXmax, PYmax) calculated at step 626. In step 720, the number of drive pulses calculated in step 712 is output. In the case of negative determination, in step 722, the output of the number of pulses exceeding the allowable drive pulse number (PXmax, PYmax) is limited, and {PXmax− (PXt + PXa ), PYmax− (PYt + PYa)} is output.

  Here, if all the aspects that are the premise of the determination in step 718 are summarized, (1) {the absolute value of the total number of pulses in the X direction (PXt + PXa)} ≦ the number of allowable driving pulses PXmax in the X direction, and { Absolute value of total number of pulses in Y direction (PYt + PYa)} ≦ number of allowable drive pulses in Y direction PYmax, (2) {Absolute value of total number of pulses in X direction (PXt + PXa)}> Number of allowable drive pulses in the X direction PXmax, And {the absolute value of the total number of pulses in the Y direction (PYt + PYa)} ≦ the allowable number of driving pulses PYmax in the Y direction, (3) {the absolute value of the total number of pulses in the X direction (PXt + PXa)} ≦ the allowable driving pulses in the X direction PXmax and {the absolute value of the total number of pulses in the Y direction (PYt + PYa)}> the allowable number of drive pulses PYmax in the Y direction, (4) {the total number of pulses in the X direction ( Xt + PXa) of the absolute value}> X direction of the driving allowable pulse number pxmax, and a {Y direction total pulse number (PYt + PYa) of the absolute value}> Y direction fourth aspect of the driving allowable pulse number pymax.

  In the case of (1) above, both the X direction and the Y direction are within the range of allowable drive pulses calculated in step 626, so the determination in step 718 is affirmative in both the X direction and the Y direction, and the drive command from the controller 9 Even if the driving pulse is output and the tip of the end effector 505a is moved, the tip of the end effector 505a does not come off the screen 7a (out of the range of the screen 7a). Therefore, in step 720, the number of drive pulses calculated in step 712 is output. The end effector 505a shown by the solid line in FIG. 10C represents this mode. More specifically, the total number of pulses in the X direction (PXt + PXa) is positive and the total number of pulses in the Y direction (PYt + PYa). Represents the negative case.

  In the case of (2) above, the X direction exceeds the drive allowable pulse number range calculated in step 626, so the determination in step 718 is negative, and in step 722 the drive allowable pulse number PXmax in the X direction is exceeded. The output of the number of pulses is limited, and the number of drive pulses of PXmax− (PXt + PXa) is output. On the other hand, since the Y direction is within the range of the allowable drive pulses calculated in step 626, the determination in step 718 is affirmative, and the Y direction drive pulse is output according to the drive command from the controller 9 to output the end effector 505a. The tip of the end effector a is not detached from the screen 7a even if the tip of the tip is moved. For this reason, in step 720, the number of drive pulses in the Y direction calculated in step 712 is output. The end effector 505a indicated by a broken line in FIG. 10C represents this mode. More specifically, the total number of pulses in the X direction (PXt + PXa) is positive and the total number of pulses in the Y direction (PYt + PYa). Represents a positive case.

  In the case of (3) above, since the X direction is within the range of the allowable drive pulse number calculated in step 626, the determination in step 718 is affirmative, and the drive pulse in the X direction is driven according to the drive command from the controller 9. And the tip of the end effector 505a is not moved off the screen 7a. For this reason, in step 720, the number of drive pulses in the X direction calculated in step 712 is output. On the other hand, in the Y direction, since the range of the allowable drive pulse number calculated in step 626 is exceeded, the determination in step 718 is negative, and in step 722, the output of the pulse number exceeding the allowable drive number PYmax in the Y direction is limited. Then, the number of drive pulses PYmax− (PYt + PYa) is output.

  In the case of (4) above, since the range of the allowable drive pulse number calculated in step 626 is exceeded in the X direction, the determination in step 718 is negative, and in step 722, the allowable drive number of pulses PXmax in the X direction is exceeded. The output of the number of pulses is limited, and the number of drive pulses of PXmax− (PXt + PXa is output. On the other hand, since the range of the allowable drive pulse number calculated in step 626 is also exceeded in the Y direction, the determination in step 718 is negative. In step 722, the output of the number of pulses exceeding the allowable drive number PYmax in the Y direction is limited, and the number of drive pulses PYmax− (PYt + PYa) is output.

  In the next step 724, in preparation for the next drive command (see step 714), the output cumulative pulse number is stored, and the process returns to step 702.

  On the other hand, if the determination in step 710 is negative, in step 726, another process such as the θz direction drive, the Z direction drive, and the grip drive described in step 608 is executed, and the process returns to step 702.

(Action etc.)
Next, the operation and the like of the minute object handling system 200 of the present embodiment will be described.

  In the minute object handling system 200 of the present embodiment, the screen center O of the screen 7a of the monitor 7 is set to the initial position of the tip of the end effector 505a (step 612), and the magnification of the microscope 2 is set horizontally and from the screen center O. The actual distance (Xmax, Ymax) is calculated from the correlation table representing the relationship with the actual distance from the initial position in the X direction and the Y direction corresponding to the distance to the vertical screen end, and the actual distance (Xmax, Ymax) from the initial position. ) To calculate the allowable drive pulse number (PXmax, PYmax) for driving between (steps 622 to 626), and limit the output of pulses to the stepping motors 202a and 203a exceeding the allowable drive pulse number (PXmax, PYmax) (Step 722), the tip of the end effector 505a exceeds the image display range of the screen 7a. Not driven Te. For this reason, even if the operator mistakes the X and Y direction drive commands from the controller 9 to the micromanipulator 100, the tip of the end effector 505a is always displayed in the screen 7a. Therefore, the operator can avoid the operation of reducing the magnification of the microscope 2 and returning the end effector 505a to the vicinity of the screen center O and then returning the microscope 2 to the original magnification after stopping the operation. The stress that accompanies can be eliminated.

  Further, in the minute object handling system 200 of the present embodiment, in the Z direction driving, when the handling unit 104 rises in synchronization with the driving of the stepping motor 401, a high-pitched sound is output from the speaker 11, and the descending Outputs bass sound. For this reason, the operator can prevent the controller 9 from erroneously inputting a Z-direction drive command to the end effectors 505a and 507a regardless of whether the microscope 2 is upright or inverted, and avoids damage to the minute object 10. be able to.

  In the present embodiment, an example is shown in which the end effector 505a is positioned at the screen center O in the initial position setting process, but the present invention is not limited to this. For example, in the initial position setting process, a rectangular center area A including the screen center is displayed on the screen 7a as shown in FIG. 11A, and the end effector is displayed from the controller 9 as shown in FIG. When information indicating that the tip end portion of the end effector 505a is located in the center area A is input, the tip end portion of the end effector 505a is regarded as being at the center of the screen, and the position of the tip end portion of the end effector 505a is set as the initial position. The relationship between the magnification of the microscope, the actual distance from the screen center to the horizontal and vertical screen edges, and the actual distance from the screen center to the horizontal and vertical center areas in the drive control restriction process. The correlation table stored in advance in the ROM of the PLC is read, and the distances from the screen center to the horizontal and vertical screen edges are respectively represented by X1, Y1. Corresponding to the distance from the center of the screen to (distance X1−distance x) from the correlation table and the magnification information of the microscope 2 when the distance from the center of the screen to the horizontal and vertical center region ends is x and y, respectively. The actual distance in the X direction of the distal end portion of the end effector 505a to be calculated and the actual distance in the Y direction of the distal end portion of the end effector 505a corresponding to the distance from the screen center to (distance Y1-distance y) are calculated. The driving range in the X direction and the Y direction that exceed the actual distance may be limited. Specifically, the limitation of the driving range can be performed by limiting the number of pulses as in the above embodiment. In this way, since the stress of the operation of making the tip of the end effector 505a coincide with the center of the screen is alleviated, a user-friendly (high operability) minute object handling system can be configured. Needless to say, the central region is not limited to a rectangular shape, and may be, for example, a circular shape.

  Further, in the present embodiment, an example in which an image captured by the CCD of the camera 5 is displayed on the monitor 7 via the PC 6 (see FIG. 12A) is shown, but the present invention is not limited to this, and FIG. 12 (B) to 12 (D), the image of the end effector 505a may be rotated or reversed and displayed. In such an embodiment, the operator may input a rotation or reversal command with the button of the controller 9 and the PLC of the controller box 8 may be configured to send the rotation or reversal command to the PC 6. In this way, it is possible to match the operator's dominant arm and chopstick usage, so that it is possible to reduce a sense of incongruity and a sense of incongruity with respect to the minute object handling system 200 in which the arrangement of the mechanism is determined.

  Furthermore, in the present embodiment, in the drive control restriction process, an example in which the control range is restricted so that the tip of the end effector 505a does not always deviate from the screen 7a has been shown. In some cases, it is preferable. In such a configuration, for example, it is determined whether or not the predetermined button of the controller 9 is pressed in step 704 in FIG. 9, and the restriction is released when the determination is affirmative, or the driving is performed before step 600 in FIG. It is determined whether or not a button for limiting the control has been pressed, and the process proceeds to step 600 when the determination is affirmative, and the process that does not limit the drive control when the determination is negative (excluding steps 718 and 722 in FIG. 9). May be performed.

  In the present embodiment, the handling unit 104 having two gripping fingers is shown. However, the present invention is not limited to this, and the shape, number and end of the gripping fingers are determined according to the shape of the minute object. Needless to say, the shape of the effector can be changed. In the present embodiment, the movable finger 507 is brought close to the fixed finger 505. However, both gripping fingers may be made close to each other.

  Furthermore, in the present embodiment, an example is shown in which the correlation table is stored in advance in the ROM of the PLC, but instead of the correlation table, the magnification of the microscope and the distance from the screen center O of the screen 7a to the horizontal and vertical screen edges. Equations such as the relationship with the actual distance from the initial position in the X direction and the Y direction corresponding to may be stored. Further, the processing of steps 614 to 620 may be in any of the initial position setting subroutines (in this example, it may be performed before the drive control restriction processing subroutine is executed).

  In the present embodiment, the example in which the audio output unit is arranged in the PC 6 and the monitor 7 is shown, but the audio output unit may be arranged in the control box 8.

  An object of the present invention is to provide a minute object handling system that can continue operation without interruption even if the drive commands in the X-axis and Y-axis directions to the micromanipulator are incorrect. Since it contributes to sales, it has industrial applicability.

1 is a schematic configuration diagram of a minute object handling system according to an embodiment to which the present invention is applicable. It is a front view of the micromanipulator of the minute object handling system of an embodiment. It is a top view of a micromanipulator. It is a top view of the XY drive part of the micromanipulator before attaching the θz drive part. It is the perspective view which decomposed | disassembled and showed a part of micromanipulator. It is a disassembled perspective view of the handling part of a micromanipulator. It is a flowchart of the minute object processing routine which CPU of PLC of a control box performs. It is a flowchart of the initial position setting process subroutine called by the initial position setting process of the minute object processing routine. It is a flowchart of a drive control restriction process subroutine called in the drive control restriction process of the minute object process routine. It is explanatory drawing which shows the drive range of the front-end | tip part of an end effector, (A) is the state where the crosshair was displayed on the screen of a monitor, (B) is the state where the front-end | tip part of the end effector is located in the screen center, C) shows the relationship between the screen and the number of pulses. It is explanatory drawing of other embodiment which shows the drive range of the front-end | tip part of an end effector, (A) is the state in which the center area | region was displayed on the screen of a monitor, (B) has positioned the front-end | tip part of an end effector in the center area | region. The state that has been displayed. It is explanatory drawing which shows the state by which the micro object and the front-end | tip part of the end effector were image-displayed on the screen of a monitor, (A) is the state by which the micro-object and the front-end | tip part of the end effector were image-displayed in embodiment, (B) shows a state in which (A) is rotated by 180 °, (C) shows a state in which (A) is inverted in the vertical direction, and (D) shows a state in which (A) is inverted in the horizontal and vertical directions. It is explanatory drawing which shows the state by which the micro object and the front-end | tip part of an end effector were displayed on the screen of the monitor in the conventional micro-object handling system, (A) captures the micro object and the front-end | tip part of an end effector. (B) shows a state in which the minute object and the tip of the end effector are outside the monitor, and (C) shows a state in which the magnification of the microscope is lowered and the minute object and the tip of the end effector are captured.

Explanation of symbols

2 Microscope 6 Personal computer (part of display, part of audio output)
7 Monitor (display)
8 Control box (drive control unit, display drive control unit)
9 Controller (input part)
10 Minute object 11 Speaker (part of audio output unit)
100 Micromanipulator 202a Stepping motor (X-axis driving stepping motor)
203a Stepping motor (Y-axis drive stepping motor)
401 Stepping motor 505 Fixed finger 505a End effector (tip portion)
507 Movable finger 507a End effector (tip)

Claims (9)

A micromanipulator that can drive an operating finger that operates a minute object at the tip in at least two XY directions;
A display unit for imaging the tip of the operation finger with an image sensor mounted on a microscope and displaying the image on a display;
An input unit for inputting magnification information of the microscope, at least a drive command for the micromanipulator in the XY axis direction, and information indicating that the tip of the operation finger is positioned at a predetermined position;
A drive control unit that performs drive control on each axis of the micromanipulator based on at least a drive command in the XY-axis direction input from the input unit;
A display drive control unit for controlling the display unit and the drive control unit;
The display drive control unit includes:
Display control means for controlling the display unit to display the center of the screen on the display;
After the tip of the operation finger is displayed on the display so as to be positioned at the center of the screen by the drive control of the drive control unit, it represents that the tip of the operation finger is positioned at the center of the screen from the input unit. Initial position setting means for setting the position of the tip of the operation finger as an initial position when information is input;
Based on the magnification information of the microscope input from the input unit and the initial position of the tip of the operation finger set by the initial position setting unit, the tip of the operation finger exceeds the image display range of the display. Drive range limiting means for limiting the drive control range in the XY-axis direction of the drive control unit so as not to drive,
A micro object handling system characterized by comprising:   The driving range limiting means stores in advance a correlation between the magnification of the microscope and the actual distance from the screen center displayed on the display to the horizontal and vertical screen edges, and the correlation and the magnification of the microscope From the information, the actual distance from the initial position in the X-axis and Y-axis directions of the tip of the operation finger corresponding to the horizontal and vertical screen edges from the screen center is calculated, and the calculated actual distance is calculated. 2. The minute object handling system according to claim 1, wherein a drive control range in the X and Y axis directions of the drive control unit is limited.   The micromanipulator includes stepping motors that drive the operation fingers in at least two directions of XY, and the drive control unit executes drive control by sending drive pulses to the stepping motors, The driving range limiting means calculates the number of driving pulses in the X-axis and Y-axis directions from the actual distance from the initial position in the X-axis and Y-axis directions of the tip of the operating finger, and exceeds the calculated number of driving pulses. The minute object handling system according to claim 2, wherein output of drive pulses to the X-axis and Y-axis drive stepping motors is limited. The display control means controls the display unit to display a center region including the screen center on the display,
The initial position setting means displays the tip of the operation finger on the display so that the tip of the operation finger is positioned in the central region by the drive control of the drive control unit, and then the tip of the operation finger from the input unit. When information indicating that it is located in the center area is input, the tip of the operating finger is regarded as being at the center of the screen, and the position of the tip is set as an initial position.
The drive range limiting means includes a magnification of the microscope, an actual distance from the screen center displayed on the display to the horizontal and vertical screen edges, and an actual distance from the screen center to the horizontal and vertical central region edges. Distance correlations are stored in advance, the distances from the screen center to the horizontal and vertical screen edges are X1 and Y1, respectively, and the distances from the screen center to the horizontal and vertical center areas are respectively x and y. , From the correlation and the magnification information of the microscope, the actual distance in the X-axis direction of the tip of the operating finger corresponding to the distance from the center of the screen to (distance X1-distance x), and The actual distance in the Y-axis direction of the tip of the operating finger corresponding to the distance from the center of the screen to (distance Y1-distance y) is calculated, and the XY-axis direction of the drive control unit exceeds the calculated actual distance. Limiting the driving control range,
The minute object handling system according to claim 1.   The micromanipulator includes stepping motors that drive the operation fingers in at least two directions of XY, and the drive control unit executes drive control by sending drive pulses to the stepping motors, The drive range limiting means calculates the number of drive pulses in the X-axis and Y-axis directions from the actual distances in the X-axis and Y-axis directions of the tip of the operating finger, and the X-axis and The minute object handling system according to claim 4, wherein output of drive pulses to the Y-axis drive stepping motor is limited.   6. The display drive control unit further includes drive range restriction release means for releasing the restriction of the drive control range in the XY axis direction of the drive control unit by the drive range restriction means. The micro object handling system according to any one of the above.   The operation finger is a gripping finger having a fixed finger and a movable finger, and the display unit rotates or inverts the image of the tip of the operation finger imaged by the imaging device in accordance with input information from the input unit. The minute object handling system according to claim 1, further comprising a rotation / inversion display means for displaying an image on the display. A micromanipulator that can drive an operation finger that operates a minute object at the tip in three axial directions of XYZ;
A display unit for imaging the tip of the operation finger with an image sensor mounted on a microscope and displaying the image on a display;
An input unit for inputting the magnification information of the microscope, the drive command in the XYZ axial directions for the micromanipulator, and information indicating that the tip of the operation finger is located at a predetermined position;
A drive control unit that performs drive control on each axis of the micromanipulator based on a drive command in the XYZ axis direction input from the input unit;
A display drive control unit for controlling the display unit and the drive control unit;
The display drive control unit includes:
Display control means for controlling the display unit to display the center of the screen on the display;
After the tip of the operation finger is displayed on the display so as to be positioned at the center of the screen by the drive control of the drive control unit, it represents that the tip of the operation finger is positioned at the center of the screen from the input unit. Initial position setting means for setting the position of the tip of the operation finger as an initial position when information is input;
Based on the magnification information of the microscope input from the input unit and the initial position of the tip of the operation finger set by the initial position setting unit, the tip of the operation finger exceeds the image display range of the display. Drive range limiting means for limiting the drive control range in the XY-axis direction of the drive control unit so as not to drive,
A micro object handling system characterized by comprising:   An audio output unit that outputs audio; and when the drive control unit executes drive control on the Z-axis of the micromanipulator, the drive control unit outputs audio of different frequencies according to the raising and lowering of the operation finger. 9. The minute object handling system according to claim 8, wherein the sound output unit is controlled.

Images