JP2020089590A - Injector device and control method therefor - Google Patents

Abstract

To provide an injector device and a control method therefor, by which even an operator with little experience of membrane breaking can accurately perform desired processing with ease.SOLUTION: The injector device comprises: a cylinder; a piston which can adjust the capacity by advancing or retreating with respect to the cylinder: direct-acting means capable of driving the piston to advance or retreat; first input means capable of inputting a continuous change in value; and second input means capable of binary input. The injector device has a first operation mode in which the direct-acting means moves by an amount according to a value input to the first input means, and a second operation mode in which the direct-acting means advances rectilinearly and stops in a predetermined sequence when a predetermined signal is input to the second input means.SELECTED DRAWING: Figure 1

Description

The present invention relates to an intracytoplasmic sperm injection method (hereinafter referred to as ICSI) for directly injecting sperm into an egg in assisted reproductive medicine, and more particularly to an injector device.

Conventionally, in assisted reproductive medicine, an intracytoplasmic sperm injection method in which sperm is directly injected into an egg is manually operated under a microscopic field.

FIG. 7A shows a conventional injector device 2000. The injector device 2000 includes a cylinder 2001, a piston 2002, a screw portion 2003 provided on the cylinder 2001, a male screw portion 2004 provided on the piston 2002, and a dial provided on an end portion on the opposite side of the piston 2002. And part 2005. Since the female thread portion 2003 of the cylinder 2001 and the male thread portion 2004 provided on the piston 2002 are fitted, the piston 2002 moves forward and backward with respect to the cylinder 2001 when the dial portion 2005 is manually turned. The cylinder 2001 is connected to the injection pipette 1002 shown in FIG. 7B via a tube 2006. As a result, the injector device 2000 can operate the amount of advance/retreat of the liquid 1005 in the injection pipette 1002 via the tube 2006.

Non-Patent Document 1 discloses a method of rupturing the egg cell membrane of an egg, which is one of the steps of the intracytoplasmic sperm injection method. FIG. 7B shows a method of rupturing the egg cell membrane in the conventional example in the order of FIGS. 7B1 to 7B6. Q1 to Q6 indicate the time in each step.

A solid line L1001 indicates the position of the tip of the injection pipette 1002. A solid line L1002 shows the amount of advance/retreat of the liquid 1005 in the injection pipette 1002, and a solid line L1003 shows the amount of operation of the injector device 2000. The operation amount L1003 is, for example, the rotation angle of the dial unit 2005. At this time, the movement of the liquid in the injection pipette 1002 is referred to as the advance/retreat amount L1002 of the liquid 1005, and is the same as the movement of the sperm 1004 floating therein. The sign of the amount L1002 of advance/retreat of the liquid 1005 is defined as the plus direction when the liquid 1005 advances in the direction of the egg 1001 side of the injection pipette 1002. The sign of the operation amount L1003 of the injector device 2000 is the plus direction of the operation amount L1003 when the liquid 1005 is operated so as to move in the plus direction.

First, as shown in FIG. 7B1, the sperm 1004 is sucked into the injection pipette 1002 together with the liquid 1005 such as a polyvinylpyrrolidone (PVP) solution for facilitating the operation of the sperm. Then, the injection pipette 1002 that has sucked the sperm 1004 is brought close to the egg 1001 held by the holding pipette 1003 (Q1).

Next, the injector device 2000 is manually operated in the plus direction to move the sperm 1004 together with the liquid 1005 to the vicinity of the tip of the injection pipette 1002 as shown in FIG. 7(B2) (Q2).

Next, in FIG. 7(B3), the injection pipette 1002 is pushed into the egg cell 1001a to the extent shown in the figure using a micromanipulator (not shown) (Q3). At this time, the transparent body 1001d around the egg cell 1001a is broken by the injection pipette 1002.

Then, from FIG. 7(B3) to FIG. 7(B4), the dial portion 2005 of the injector device 2000 is manually operated so that the liquid 1005 in the injection pipette 1002 retracts (Q3 to Q4). This allows the egg cell membrane 1001b to be sucked into the injection pipette 1002 and break the egg cell membrane 1001b.

In FIG. 7 (B4), it is visually confirmed that the egg cell membrane 1001b has been torn (Q4). Immediately after visually observing the membrane rupture, the dial portion 2005 is manually inverted to allow the liquid 1005 to advance to the egg 1001 side. Then, the dial portion 2005 is continuously operated until the sperm 1004 comes out of the injection pipette 1002 and enters the egg cytoplasm 1001c (Q4 to Q5).

When it can be confirmed that the sperm 1004 has entered the egg cytoplasm 1001c as shown in FIG. 7(B5), the operation of the dial unit 2005 is stopped (Q5).

Finally, using a micromanipulator, the injection pipette 1002 is pulled out from the egg 1001 to the state of FIG. 7(B6), and the operation is completed (Q6).

In these operations, the advance/retreat amount L1002 of the liquid 1005 in the injection pipette 1002 changes in proportion to the operation amount L1003 of the dial portion 2005 of the injector device 2000.

Further, Patent Document 1 discloses that a diaphragm provided in an injection pipette is driven by using a piezoelectric element to perform suction operation of an egg cell membrane and sperm injection operation.

JP-A-8-290377

Araku Yasuhisa, "Reproductive Assistance Medical Technology Textbook", Ito Denshaku Publishing Co., Ltd., January 2015, p. 91-93

However, in the conventional technique disclosed in Non-Patent Document 1 described above, when the dial portion 2005 of the injector device 2000 is manually operated, the egg cell membrane 1001b may not be broken if the operation speed is slow. However, even if the dial portion 2005 is operated too fast, there is a problem that the movement of the egg cell membrane 1001b sucked into the injection pipette 1002 is delayed, and the suction does not stop even after the dial portion 2005 is stopped. Therefore, it was necessary to operate the dial unit 2005 at an appropriate speed. Further, whether or not the egg cell membrane 1001b has ruptured must be judged by a person visually confirming the movement of the egg cytoplasm 1001c sucked into the injection pipette 1002. Furthermore, after the egg cell membrane 1001b is ruptured, if the dial portion 2005 is not immediately manually inverted, the egg cell membrane 1001b will be sucked into the injection pipette 1002. For this reason, the torn egg cell membrane 1001b may interfere and the sperm 1004 may not be injected into the egg cytoplasm 1001c.

For these reasons, the success rate of ICSI depends on the visual judgment of a person and the speed of the manual operation, and thus requires a skilled technique.

Further, the injector device disclosed in Patent Document 1 described above can perform suction and injection operations by expanding and contracting the diaphragm provided on the injection pipette by expanding and contracting the piezoelectric element. However, the expansion and contraction of the piezoelectric element has a limit to the amount of advance/retreat of the liquid in the injection pipette, and it has been necessary to visually judge whether or not the membrane has ruptured.

Therefore, an object of the present invention is to provide an injector device and a control method therefor, which enables an operator who has little experience in membrane rupture operation to easily and accurately perform desired processing.

In order to achieve the above object, the present invention provides a cylinder, a piston whose capacity can be adjusted by advancing and retreating with respect to the cylinder, a linear motion means capable of driving the piston forward and backward, and a continuous change in value. An injector device comprising: a first input means capable of inputting a value and a second input means capable of a binary input, the injector device being provided in an amount corresponding to a value input to the first input means. It has a first operation mode in which the linear motion means moves, and a second operation mode in which the linear motion means goes straight in a predetermined sequence and stops when a predetermined signal is input to the second input means. Is characterized by.

According to the present invention, it is possible to provide an injector device and a control method thereof, which enables an operator who has little experience of membrane rupture operation to easily and accurately perform desired processing.

It is a block diagram of the manipulator system which performs ICSI which concerns on one Example of this invention. It is sectional drawing of the injector apparatus which concerns on one Example of this invention. FIG. 4 is a diagram for explaining a membrane rupture operation method in Example 1. It is sectional drawing of the injector device of another form which concerns on one Example of this invention. It is a figure for demonstrating the membrane rupture operating method in Example 2 and Example 3. FIG. 10 is a diagram for explaining a membrane rupture operation method in Example 4. It is sectional drawing of the conventional injector apparatus.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same parts are designated by the same reference numerals. Needless to say, the examples described below are not intended to limit the present invention.

(Example 1)
FIG. 1 is a block diagram of a manipulator system 1 that performs ICSI according to an embodiment of the present invention.

The manipulator system 1 includes a microscope 2, an imaging unit 3, a display 4, a controller 100, a first manipulator 200, a first injector device 300, a second manipulator 400, and a second injector device 500. Have and.

The microscope 2 has a focusing mechanism 2a for focusing on the injection pipette 203 held by the egg 1001 and the first manipulator 200 and the holding pipette 403 held by the second manipulator 400.

The imaging unit 3 can photoelectrically convert a light flux incident via the optical element of the microscope 2 and output an image of a subject, and acquires an image of the egg 1001, the injection pipette 203, the holding pipette 403, or the like. The image acquired by the imaging unit 3 is input to the image input unit 109 of the controller 100.

The controller 100 includes a display panel 101, an operation panel 102, an image input unit 109, an image analysis unit 107, an image output unit 108, a displacement detection unit 103, a calculation unit 104, a storage unit 105, and a control unit. And 106.

The operation panel 102 is provided with, for example, dials and switches (not shown) for inputting control parameters of the control unit 106.

The display panel 101 displays, for example, control parameters set on the operation panel 102 and operation modes described later.

The image sent from the image pickup unit 3 is input to the image input unit 109. The input image is sent to the image analysis unit 107 and the image output unit 108.

The image analysis unit 107 analyzes the image obtained by the imaging unit 3. The analysis result of the image analysis unit 107 is sent to the calculation unit 104 and the image output unit 108.

The displacement detection unit 103 detects displacements of the output unit 201 and the input unit 202 of the first manipulator, and the output unit 301 and the first input unit 302 of the first injector device, respectively. The displacement detection unit 103 also detects displacements of the output unit 401 and the input unit 402 of the second manipulator, and the output unit 501 and the input unit 502 of the second injector device, respectively. The displacement detection result detected by the displacement detector 103 is sent to the calculator 104.

The calculation unit 104 calculates the analysis result of the image analysis unit 107, the displacement detected by the displacement detection unit 103, and the input value of the second input unit 323 of the first injector device. The result calculated by the calculation unit 104 is sent to the control unit 106 and the storage unit 105.

The control unit 106 outputs the respective drive amounts to the output units 201, 301, 401, 501 based on the calculation result of the calculation unit 104 and the information read from the storage unit 105.

The image output unit 108 outputs the analysis result of the image analysis unit 107 and the image input from the image input unit 109 to the display 4.

The storage unit 105 stores the result calculated by the calculation unit 104 and the drive amount obtained by the control unit 106. The storage unit 105 also stores information other than the calculation unit 104 and the control unit 106. For example, the image input to the image input unit 109, the analysis result of the image analysis unit 107, the displacement amount detected by the displacement detection unit 103, the input amount input to the operation panel 102, and the like can be stored. ..

The display 4 displays the image output from the image output unit 108. Thereby, it is possible to operate while observing the display 4 instead of the microscope.

The first manipulator 200 has an output unit 201 capable of driving three axes and an input unit 202 capable of inputting a continuous change in value for each of the three axes.

The output unit 201 of the first manipulator has an injection pipette holder 204 that supports the injection pipette 203. In the drawings, the axial direction of the tip of the injection pipette is defined as the X-axis direction, the optical axis direction of the microscope is defined as the Z-axis direction, and the direction orthogonal to the X-axis direction and the Z-axis direction is defined as the Y-axis direction. The output unit 201 of the first manipulator can perform three translational drives of the X direction, the Y axis method, and the Z axis method. Then, it has a displacement measuring unit capable of measuring each displacement, and the displacement amount is detected by the displacement detecting unit 103 and used for controlling the output unit 201 of the first manipulator.

The input unit 202 of the first manipulator has, for example, a joystick corresponding to the X-axis direction, the Y-axis direction, and the Z-axis direction of the output unit 201 of the first manipulator. The input unit 202 of the first manipulator has a displacement measuring unit capable of measuring each displacement, and the displacement amount is detected by the displacement detecting unit 103. As a result, the input unit 202 of the first manipulator can input the displacement amount as a continuous change in value. In the first embodiment, the input unit 202 capable of inputting a continuous change in value is used, but as another example, a multistage input unit having a resolution that does not cause a problem in performance may be used.

The first injector device 300 has an output unit 301 for operating the advance/retreat amount L2 of the liquid 1005 in the injection pipette 203, a first input unit 302 capable of inputting a continuous value change, and a binary input. And a second input unit 323.

FIG. 2A shows a sectional view of the output portion 301 of the first injector device of the first embodiment. FIG. 2B is a cross-sectional view taken along the line AA in FIG.

The output part 301 of the first injector device includes a cylinder 304 to which the tube 303 can be connected, a piston 305 whose capacity can be adjusted by advancing and retracting in the cylinder 304, and a linear motion part 306 capable of driving the piston 305 to advance and retract. have.

One of the tubes 303 is connected to the cylinder 304, and the other is connected to the injection pipette 203 via the injection pipette holder 204 of the first manipulator 200. The cylinder 304 is supported by the fixing member 310.

The direct acting part 306 is provided on the cylinder 304, and is provided on the threaded part 308, the male threaded part 307 provided on the shaft part of the piston 305, and the end part of the male threaded part 307 opposite to the piston 305. It has a rotating member 309 and a vibration motor 317 that drives the rotating member 309.

The vibration motor 317 has a vibrator 319 having a vibration plate 311 and a piezoelectric element 312, and a friction member 313 that makes frictional contact with the vibrator 319. Further, the vibration motor 317 is arranged between the vibrator 319 and the pressure member 314, and a pressure member 314 that generates a pressure for frictionally contacting the vibrator 319 with the friction member 313. And a pressing force transmission member 315 that transmits the pressing force to the vibrator 319.

The vibration motor 317 causes the vibrator 319 and the friction member 313 to move relative to each other in the relative movement direction by the elliptical vibration generated in the vibrator 319 by applying two AC voltages 316 capable of changing the phase difference to the piezoelectric element 312. To do.

The friction member 313 is provided on the rotating member 309.

Since the female screw portion 308 and the male screw portion 307 are fitted to each other, when the rotating member 309 rotates, the piston 305 moves forward and backward with respect to the cylinder 304. At this time, the rotating member 309 rotates about the axis of the female screw portion 308, and the rotation direction is the Roll direction in the first injector device 300, and the axial direction of the female screw portion 308 is the X axis direction.

The vibration motor 317 is supported by the support member 321. The support member 321 is held by the slide member 322 so as to be guided in the X-axis direction. The rotating member 309 is rotatably connected to the vibration motor 317 by a holding member (not shown). Accordingly, even if the rotating member 309 rotates and moves forward and backward, the vibration motor 317 can move forward and backward without separating from the rotating member 309.

With these configurations, when the vibration motor 317 rotates the rotating member 309, the piston 305 can move forward and backward in the X-axis direction with respect to the cylinder 304.

In the first injector device 300 shown in FIG. 2, four vibration motors 317 are used, but the number may be one, and the number is not limited to this.

The output unit 301 of the first injector device has, for example, an encoder (not shown) as a measuring unit that detects the rotation amount of the rotating member 309. The rotation amount is detected by the displacement detection unit 103 and used for controlling the output unit 301 of the first injector device. At this time, an encoder (not shown) for measuring the amount of straight movement of the cylinder 304 instead of the amount of rotation of the rotating member 309 may be provided, and the amount of straight movement is detected by the displacement detector 103, and the first injector device is detected. May be used to control the output unit 301 of

The first input unit 302 of the first injector device has, for example, an operation unit such as the dial unit 320 and a measurement unit such as an encoder (not shown) that measures the operation amount of the dial unit 320. As a result, the first injector device 300 can have the first input unit 302 that can input a continuous change in the value.

The measured operation amount of the first input unit 302 is sent to the displacement detection unit 103. Then, the operation amount of the first input unit 302 sent to the displacement detection unit is sent to the output unit 301 of the first injector device via the calculation unit 104 and the control unit 106. Accordingly, the linear movement unit 306 can move by an amount corresponding to the operation amount input to the first input unit 302.

In the first embodiment, the first input unit 302 capable of inputting a continuous change in value is used, but as another example, a multi-stage input unit having a resolution that does not cause a problem in performance may be used. Good.

The second input unit 323 of the first injector device is, for example, a toggle switch that operates in an alternate manner, and is an input unit to which a binary signal of OFF and ON can be input. The signal of either OFF or ON is sent to the arithmetic unit 104 and used for controlling the operation mode of the first injector device 300 described later.

The second manipulator 400 has the same configuration as the first manipulator 200 and is not shown. However, the second manipulator 400 has the holding pipette 403 shown in FIG. 3 instead of the injection pipette 203.

The second injector device 500 has the same configuration as the first injector device 300 and is not shown. However, a tube (not shown) is connected to the second injector device 500 and the holding pipette 403 of the second manipulator 400 to control the internal pressure of the holding pipette 403.

Next, the operation mode of the first injector device 300 will be described.

The first injector device 300 has a first operation mode H1 in which the linear motion section 306 moves by an amount according to the value input to the first input section 302. Further, the first injector device 300 has a second operation mode H2 in which when the predetermined signal is input to the second input unit 323, the linear motion unit 306 goes straight in a predetermined sequence and stops. The predetermined signal is, for example, a signal that detects that the switch of the second input unit 323 is pressed. Details will be described with reference to FIG.

FIG. 3 shows the membrane rupture operation in Example 1. The operation process of the membrane rupture will be described in the order of FIG. 3 (S1) to (S6). T1 to T8 indicate the time in each step. The solid line L1 indicates the position of the tip of the injection pipette 203. The solid line L2 indicates the amount of advance/retreat of the liquid 1005 in the injection pipette 203 due to the movement of the linear motion section 306. A solid line L3 indicates the operation amount of the first input unit 302 of the first injector device 300. A solid line L4 indicates an off-on signal input to the switch of the second input unit 323.

The amount of advance/retreat L2 of the liquid 1005 refers to the movement of the liquid inside the injection pipette 203, and is also the same as the movement of the sperm 1004 floating therein.

The sign of the amount L2 of advance/retreat of the liquid 1005 is defined as the plus direction when the liquid 1005 advances toward the egg 1001 side. The sign of the operation amount L3 of the first injector device 300 is the plus direction of the operation amount L3 when the dial portion 320 is operated so that the liquid 1005 advances in the plus direction.

First, in FIG. 3 (S1), the sperm 1004 is sucked into the injection pipette 203 together with a liquid 1005 such as a polyvinylpyrrolidone (PVP) solution for facilitating the operation of the sperm 1004. Then, the injection pipette 203 sucking the sperm 1004 is brought close to the egg 1001 held by the holding pipette 403 (T1).

Next, as shown in FIG. 3 (S2), the dial portion 320 of the first injector device 300 is operated in the plus direction. Then, the sperm 1004 is advanced in the plus direction together with the liquid 1005 according to the operation amount L3 of the dial portion 320, and is moved to the vicinity of the tip of the injection pipette 203 (T2).

From this time T1 to T2, the first injector device 300 operates in the first operation mode H1 in which the linear motion part 306 moves and the liquid 1005 advances and retracts by an amount corresponding to the operation amount L2 of the dial part 320.

After the movement of the sperm 1004 is completed, the first manipulator 200 is operated to push the injection pipette 203 into the egg cell 1001a as shown in FIG. 3 (S3) (T2 to T3). At this time, the transparent body 1001d around the egg cell 1001a is broken by the injection pipette 203.

The second operation mode H2 will be described from time T3 in FIG. 3(S3) to time T6 in FIG. 3(S4).

When the injection pipette 203 is pushed into the egg cell 1001a, the operation of the first manipulator 200 is changed to the operation of the second input unit 323 (T3 to T4). Then, the switch of the second input unit 323 is changed from OFF to ON (T4). Then, an ON signal is sent from the second input unit 323 to the arithmetic unit 104, and is output as a drive amount to the output unit 301 via the control unit 106. The drive amount is set so that the drive unit 306 drives the liquid 1005 at a predetermined acceleration that allows the liquid 1005 to advance and retreat at an appropriate speed.

The linear motion unit 306 of the output unit 301 that has received the command of the driving amount drives at a predetermined acceleration to advance/retreat the liquid 1005 at an appropriate speed, and suck the egg cell membrane 1001b into the injection pipette 203 (T4-T5). ).

After confirming the rupture of the sucked egg cell membrane 1001b, the switch of the second input unit 323 is turned off (T5). Then, the linear motion section 306 stops, and accordingly, the advance/retreat of the liquid 1005 also stops.

As described above, when the ON signal is manually input to the second input unit 323, the linear motion unit 306 is driven at a predetermined acceleration, and when the OFF signal is manually input, the linear motion unit 306 immediately stops. This is called the second operation mode H2.

From time T4 to time T5 during suction of the egg cell membrane 1001b, the operation time is shorter than the operation time at other times. This is because the liquid 1005 must be moved back and forth at an appropriate speed so that the egg cell membrane 1001b does not easily rupture. A broken line L2a in FIG. 3 indicates the amount of advance/retreat of the liquid 1005 when the dial unit 320 of the first input unit 302 is manually operated. At the start of advancing/retreating at time T4, the linear movement speed of the liquid 1005 is low and unstable by manual operation, and at the time of stop, there is a delay in stopping the dial portion 320.

Therefore, according to the first embodiment, the linear motion section 306 moves the liquid 1005 forward and backward at an appropriate speed with stable acceleration at the start of driving. In addition, it is possible to stop suddenly at the time of stopping. Therefore, as compared with the case of manual operation, it is possible to perform a membrane rupture operation that does not require a skilled technique depending on operation skill.

Next, the injection operation of the sperm 1004 will be described with reference to FIG. 3 (S4).

When it is confirmed that the egg cell membrane 1001b has ruptured, the first input unit 302 is operated to inject the sperm 1004 into the egg 1001, and the liquid 1005 is moved back and forth (T6). The sperm 1004 is injected in the first operation mode H1 in which the sperm 1004 moves by an amount according to the value input to the first input unit 302.

Then, as shown in FIG. 3 (S5), when it is confirmed that the sperm 1004 has entered the egg cytoplasm 1001c, the operation of the first input unit 302 is stopped (T7).

Finally, in FIG. 3 (S6), the first manipulator 200 is operated to pull out the injection pipette 203 from the egg 1001 (T8).

From the above, by using the first embodiment, it is possible to provide the injector device that enables the membrane rupture operation that does not require the skilled judgment depending on the human visual judgment and the operation skill.

Next, an output unit 601 of an injector device of another form of the output unit 301 of the injector device used in the first embodiment will be described with reference to FIG. FIG. 4C shows a cross-sectional view of the output unit 601 of the injector device. FIG. 4D is a cross-sectional view taken along the line BB.

The output unit 601 of the injector device includes a cylinder 604 to which the tube 603 can be connected, a piston 605 whose capacity can be adjusted by advancing and retracting in the cylinder 604, and a linear moving unit 606 capable of driving the piston 605 to advance and retract. ing.

One of the tubes 603 is connected to the cylinder 604, and the other is connected to the injection pipette 203 via the injection pipette holder 204 of the first manipulator 200. The cylinder 604 is supported by the fixing member 609.

The linear motion section 606 includes a shaft section 607 that communicates with an opening section 608 provided in the cylinder 604, and a vibration motor 615 provided in the shaft section 607.

The vibration motor 615 has a vibrator 616 having a vibration plate 610 and a piezoelectric element 611, and a friction member 612 that makes frictional contact with the vibrator 616. Further, the vibration motor 615 is arranged between the vibrator 616 and the pressure member 613, and a pressure member 613 that generates a pressure force to bring the vibrator 616 into frictional contact with the friction member 612. And a pressing force transmission member 614 that transmits the pressing force to the vibrator 616. The vibration motor 615 is held by a housing member 618 supported by the fixed member 609.

The vibration motor 615 causes the vibrator 616 and the friction member 612 to relatively move in the relative movement direction by the elliptical vibration generated in the vibrator 616 by applying two AC voltages 617 capable of changing the phase difference to the piezoelectric element 611. To do. Details thereof are described in Japanese Patent Application Laid-Open No. 2012-16107, etc., and therefore will be omitted.

With these configurations, the piston can be moved back and forth in the X-axis direction by the linear motion section 606 including the vibration motor 615, and the amount of movement of the liquid 1005 in the injection pipette 203 connected to the tube 603 can be controlled.

In FIGS. 2 and 4 of the first embodiment, the linear motion section including the vibration motor has been described, but the linear motion section such as a stepping motor or a voice coil motor may be used instead of the vibration motor.

As described above, by using the first embodiment, it is possible to provide the injector device capable of performing the membrane rupture operation that does not require the skilled judgment depending on the human visual judgment and the operation skill. As a result, even an operator with little experience in membrane rupture can easily and accurately perform desired processing.

(Example 2)
In the first embodiment, when the ON signal is manually input to the second input unit 323, the linear motion unit 306 is driven at a predetermined acceleration, and when the OFF signal is manually input, the second operation mode H2 is stopped. explained. In Example 2, a membrane rupture operation using another mode of the second operation mode J2 will be described. FIG. 5 shows the membrane rupture operation using Example 2. In FIG. 5, description of the same parts as in FIG. 3 is omitted.

In FIG. 5 (S3), the injection pipette 203 is pushed into the egg cell 1001a (T3). Then, the switch of the second input unit 323 is operated (TS4). The switch according to the second embodiment is a tact switch that turns on only while the switch is pressed and turns off when the hand is released, for example, a tact switch that operates momentarily.

When the switch of the second input unit 323 is pressed, the linear motion unit 306 is driven at a predetermined acceleration, and the egg cell membrane 1001b is sucked at a proper speed to rupture the membrane (TS4 to TS5). After that, when the liquid 1005 reaches a predetermined amount of advance/retreat, it automatically stops (TS5). The predetermined acceleration is set in advance so that an appropriate speed that facilitates membrane rupture is obtained in advance. Further, the predetermined amount of advance/retreat is set in advance so that the amount of advance/retreat is not sucked in much after the rupture of the egg cell membrane 1001b.

When it is confirmed that the egg cell membrane 1001b has ruptured at time TS5, the first input unit 302 is operated to start the injection of sperm 1004 (TS6).

As described above, in the second operation mode J2, by pressing the switch of the second input unit 323, the linear motion unit 306 is driven at a predetermined acceleration, and a predetermined amount of the liquid 1005 moves forward and backward at an appropriate speed. After that, it means the operation mode that automatically stops.

Therefore, by using the second operation mode J2, in the first embodiment, only the start of the straight traveling is automatic and the stop is visually observed, but in the second embodiment, the straight traveling and the stopping can be performed in a predetermined sequence. Therefore, in the second embodiment, it is possible to provide the injector device capable of performing the membrane rupture operation that does not require the skilled person's visual judgment and operation skill depending on the operation skill more than the first embodiment. As a result, even an operator with little experience in membrane rupture can easily and accurately perform desired processing.

(Example 3)
In the first embodiment, when the ON signal is manually input to the second input unit 323, the linear motion unit 306 is driven at a predetermined acceleration to an appropriate speed, and when the OFF signal is manually input, the linear motion unit 306 is stopped. The second operation mode H2 has been described. In the second embodiment, when the ON signal is manually input to the second input unit 323, the linear motion unit 306 is driven with a predetermined acceleration, and automatically stops when a predetermined amount of the liquid 1005 advances and retreats at an appropriate speed. The second operation mode J2 has been described.

In the third embodiment, in the second operation mode, when the image analysis unit 107 determines that the moving speed of the predetermined portion (subject) in the image acquired by the imaging unit 3 exceeds the predetermined threshold, the linear movement unit 306 The second operation mode K2 that automatically stops will be described with reference to FIG.

In the third embodiment, as in the second embodiment, for example, a tact switch is used, which is turned on only while the switch is pressed and turned off when the hand is released.

When the switch of the second input unit 323 is pressed, the linear motion unit 306 is driven at a predetermined acceleration as in the second embodiment, and the egg cell membrane 1001b is sucked (TS4 to TS5). At this time, the image capturing unit 3 is acquiring an image, and when the image analyzing unit 107 determines that the moving speed of a predetermined portion within the acquired image exceeds a predetermined threshold value, the linear moving unit 306 automatically stops, The advance/retreat of the liquid 1005 is also stopped (TS5).

As an example of the change in the image of the predetermined portion used by the image analysis unit 107 for the determination, the change in the flow velocity of the liquid in the injection pipette 203 may be used. The liquid in the pipette is composed of egg cytoplasm 1001c, PVP solution, and the like, and the fluid such as egg cytoplasm 1001c and PVP solution changes in flow rate when the egg cell membrane 1001b is ruptured, and therefore is used for the determination of the image analysis unit 107. be able to.

Further, as an example of the change in the image of the other predetermined portion, a change in the speed of the sperm 1004 or a change in the shape of the egg cell membrane 1001b may be performed.

When it is confirmed that the egg cell membrane 1001b is ruptured at time TS5 and the advance/retreat of the liquid 1005 is stopped, the first input unit 302 is operated to start the injection operation of the sperm 1004 (TS6).

As described above, in the second operation mode K2, when the ON signal is manually input to the second input unit 323, the linear motion unit 306 drives at a predetermined acceleration, and the image analysis unit 107 changes the moving speed of the predetermined portion. An operation mode in which the operation is stopped when the threshold value is exceeded.

Therefore, in the first embodiment, the operation mode is to visually determine and stop, and in the second embodiment, the operation mode is to stop when the amount of advance/retreat reaches a predetermined amount. However, the second operation mode K2 of the third embodiment is used. As a result, the image analysis unit 107 can determine and stop the membrane rupture. Therefore, in the third embodiment, it is possible to provide the injector device capable of performing the membrane rupture operation that does not require the skilled person's visual judgment and operation skill depending on the operation skill more than the second embodiment. As a result, even an operator with little experience in membrane rupture can easily and accurately perform desired processing.

(Example 4)
In the first to third embodiments, the second input unit is provided in the first injector device 300, but the first input unit 302 may be provided with the switch of the second input unit 323, or the second input unit 323 may be provided. The section 323 may be provided on the operation panel 102. Further, a foot pedal (not shown) may be provided and operated as the second input unit 323.

However, for example, when a foot pedal is provided as the second input unit 323, it is possible to operate the foot pedal with the foot while manually operating the first input unit 302. Therefore, the operation amount of the first input unit 302 and the signal of the second input unit 323 may be simultaneously input to the controller 100. That is, the first operation mode H1 and the second operation modes H2, J2, and K2 can be operated simultaneously.

Therefore, a fourth embodiment having switching means for switching which of the first input unit 302 and the second input unit 323 receives an input will be described.

The switching unit is provided with a switch (not shown) capable of inputting two values, such as a toggle switch that operates in an alternate manner, on the operation panel 102, the first input unit 302, or the like.

The membrane rupture method using the switching means will be described with reference to FIG. In FIG. 6, description of the same parts as in FIG. 3 is omitted. The broken line portion of FIG. 6L3 indicates that the operation amount cannot be input even if the dial unit 320 of the first input unit 302 is operated. The broken line portion in FIG. 6L4 indicates that a signal cannot be input even if the switch of the second input unit 323 is pressed.

First, in FIG. 6 (S1) to (S3), the switching means is set so that the first input unit 302 can be operated. Then, the second input unit 323 becomes unable to input a signal and can be operated only in the first operation mode H1.

In FIG. 6 (S3), when the injection pipette 203 is pushed into the egg cell 1001a, the changeover switch is set so that a signal can be input to the second input unit 323 (T3). Then, the first input unit 302 cannot be operated, and only the second operation modes H2, J2, and K2 can be operated.

Therefore, an ON signal is input to the second input unit 323 (T4). Then, the linear motion section 306 is driven at a predetermined acceleration to suck the liquid 1005 at an appropriate speed to rupture the egg cell membrane 1001b.

After that, when it is confirmed that the linear motion section 306 has stopped, the switching means is operated again to bring the first input section 302 into an operable state and put the signal into the second input section 323 into a state in which it cannot be inputted. Yes (TT5). That is, the operation is made possible only in the first operation mode H1. Then, the first input unit 302 is operated to inject the sperm 1004 (T6).

Therefore, by using the switching means of the fourth embodiment, the first operation mode H1 and the second operation modes H2, J2, K2 cannot be operated simultaneously.

As described above, in the first to third embodiments, the first operation mode and the second operation mode can be input at the same time, but by using the fourth embodiment, the operations cannot be performed at the same time. Therefore, in the fourth embodiment, it is possible to provide an injector device capable of performing the membrane rupture operation that does not require a skilled person's visual judgment and operation skill depending on the operation skill more than the third embodiment. As a result, even an operator with little experience in membrane rupture can easily and accurately perform desired processing.

3 Imaging part 107 Image analysis part 300 1st injector device 302 1st input part 323 2nd input part 304 Cylinder 305 Piston 306 Linear motion part H1 1st operation mode H2 2nd operation mode

Claims (9)

A cylinder,
A piston whose capacity can be adjusted by advancing and retracting with respect to the cylinder;
A direct acting means capable of driving the piston forward and backward,
A first input means capable of inputting a continuous change in value;
An injector device comprising: a second input means capable of binary input,
The first operation mode in which the linear motion means moves by an amount corresponding to the value input to the first input means, and the linear motion means operates when a predetermined signal is input to the second input means. An injector device having a second operation mode of going straight and stopping in a predetermined sequence. The injector device according to claim 1, further comprising a switching unit that switches between which of the first input unit and the second input unit receives an input. In the second operation mode, when the moving speed of the predetermined subject in the image exceeds a predetermined threshold as a result of the analysis by the image analysis means that analyzes the image output from the image pickup means, the linear movement means is automatically operated. The injector device according to claim 1, wherein the injector device is stopped at. The injector device according to claim 3, wherein the change in the image of the predetermined subject in the image is a change in the flow velocity of the liquid in the pipette connected to the cylinder. The injector device according to claim 3 or 4, wherein the change in the image of the predetermined subject in the image is a change in the speed of sperm. The injector device according to any one of claims 3 to 5, wherein the change of the image of the predetermined subject in the image is a change of the shape of the egg cell membrane. The linear means is
A vibrator having a diaphragm and a piezoelectric element,
A friction member in frictional contact with the vibrator;
A pressure member that generates a pressing force for frictionally contacting the vibrator with the friction member;
7. The vibration motor according to claim 1, further comprising a vibration member that is disposed between the vibrator and the pressure member, and that includes a transmission member that transmits a pressure force from the pressure member to the vibrator. 2. The injector device according to item 1. In the vibration motor, the vibrator and the friction member are relatively moved in a relative movement direction by the elliptical vibration generated in the vibrator by applying two alternating voltages capable of changing the phase difference to the piezoelectric element. The injector device according to claim 7, wherein the injector device moves. A cylinder,
A piston whose capacity can be adjusted by advancing and retracting with respect to the cylinder;
A direct acting means capable of driving the piston forward and backward,
A first input means capable of inputting a continuous change in value;
A method for controlling an injector device, comprising: a second input means capable of binary input;
The first operation mode in which the linear motion means moves by an amount corresponding to the value input to the first input means, and the linear motion means operates when a predetermined signal is input to the second input means. A second operation mode in which the vehicle advances straight ahead and stops in a predetermined sequence, and a method for controlling an injector device.

Images