JP2020185007A - Intracytoplasmic sperm injection training device - Google Patents

Abstract

To solve a problem of difficulty to improve an intracytoplasmic sperm injection skill because training of intracytoplasmic sperm injection requires a real ovum.SOLUTION: An intracytoplasmic sperm injection training device comprises: at least a two-dimensional display device; an ovum position calculation part which calculates a virtual three-dimensional position of an ovum immersed in solution; an operation processing receiving part which receives operation processing of operating the position of a tip of a manipulator capable of attaching a pipette; and a calculation display part which, based on the operation processing, calculates a three-dimensional position of at least the tip of the pipette, and when determination is made that the position of the tip is in a proximity relationship with respect to a virtual ovum further than a predetermined positional relationship, creates video including the ovum immersed in solution and at least the tip of the pipette, and displays the video on the display device. The device makes it possible to simulate a work under a microscope using an ovum and perform training of intracytoplasmic sperm injection.SELECTED DRAWING: Figure 3

Description

The present invention relates to an apparatus for training microinsemination.

Infertility is diagnosed if a person who wishes to become pregnant cannot reach pregnancy within 1-2 years without contraception. One of the treatments for infertility (hereinafter referred to as infertility treatment) is in vitro fertilization (conventional in vitro fertilization, microinsemination).

In in vitro fertilization, embryos obtained by culturing fertilized eggs for several days (usually about 1 to 7 days) may be cryopreserved, thawed at appropriate times, and transplanted into the uterus. In addition, at the request of patients and the like, the collected eggs (before fertilization) may be cryopreserved. It is known that when human eggs (including eggs and embryos) are cryopreserved, freezing by the ultra-rapid vitrification preservation method causes less (almost no) damage to the eggs than the slow freezing method. There is. The ultra-rapid vitrification storage method is a method in which an egg and a small amount of cryoprotectant solution are placed on a special freezing sheet, and one egg is instantly frozen in liquid nitrogen while being contained in a minute amount of the cryoprotective solution. .. Since human eggs are very small, about 150 to 200 μm, the work of placing eggs and embryos on a freezing sheet is performed under a microscope.

In intracytoplasmic sperm injection (ICSI), sperm are injected into an egg using a micromanipulator for cell manipulation while observing the egg using a microscope to fertilize the egg.

As described above, the above-mentioned work associated with in vitro fertilization is a precise work performed using a microscope or a manipulator, and therefore requires skill. Conventionally, in order to acquire these techniques, eggs that are not suitable for embryo transfer, such as immature eggs and unfertilized eggs collected from patients, have been used. As a manipulator, a micromanipulator that accurately realizes extremely minute movements for microinsemination is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2001-330781

However, when eggs collected from patients are used, in hospitals with a small number of patients, there are few opportunities for training and it is difficult to improve the technique. Therefore, there is a possibility that the proficiency level of the above-mentioned techniques, which are important for the success or failure of in vitro fertilization, may differ between hospitals depending on the number of patients. Others find ethical issues in practicing with eggs collected from patients. Since the proficiency level of egg freezing and microinsemination techniques by the ultra-rapid vitrification preservation method has a great influence on the success or failure of in vitro fertilization, it is desired to develop human resources who are proficient in these techniques. In addition, micromanipulators that operate injection pipettes and the like precisely are extremely expensive, and it is difficult to prepare them for the purpose of practice.

The present invention has been made to solve at least a part of the above-mentioned problems, and can be realized as the following forms or application examples.

(1) As a first aspect of the present invention, there is provided an intracytoplasmic sperm injection training device that simulates an operation under a microscope using an egg. This microinsemination training device operates at least a two-dimensional display device, an egg position calculation unit that calculates a virtual three-dimensional position of an egg immersed in a solution, and the position of the tip of a manipulator to which a pipette can be attached. Based on the operation processing receiving unit that receives the operation processing to be performed and the operation processing received by the operation processing receiving unit, the three-dimensional position of at least the tip of the pipette is calculated, and the position of the tip is calculated. When it is determined that the virtual egg is closer than the predetermined positional relationship, an image including the egg immersed in the solution and at least the tip of the pipette is generated and displayed on the display device. It is provided with an arithmetic display unit for displaying.

This microinsemination training device calculates the virtual three-dimensional position of the egg soaked in the solution, and from the positional relationship of the pipette with respect to this, it is more than the predetermined positional relationship with respect to the calculated virtual egg. When it is determined that the relationship is close to that of the pipette, an image including the egg soaked in the solution and at least the tip of the pipette is generated and displayed on the display device. Therefore, microinsemination can be trained without using an actual egg. Here, as the pipette, various pipettes such as an injection pipette that pierces an egg and feeds a solution containing sperm, a holding micropipette for holding the egg, and the like can be used. It should be noted that such a pipette may be actually attached to a manipulator, or the pipette may be created as a virtual one to create an image thereof. In the latter case, the position of the pipette may be calculated as the position of the tip of a virtual pipette.

(2) In such an intracytoplasmic sperm injection training device, a pipette driving unit for moving the pipette and at least the tip of the pipette to be moved can exist by the operation process received by the operation process reception unit. It may be provided with a pipette image unit that captures an image of the position of the pipette as a pipette image. In addition, the arithmetic display unit includes an egg image generation unit that generates an egg image which is an image of an egg immersed in the solution, synthesizes the pipette image and the egg image, and displays them on the display device. It may be a thing. In such an intracytoplasmic sperm injection training device, an actual pipette is used, and an image obtained by imaging the pipette and an egg image of a virtual egg are combined and displayed, so that the trainee is required for actual microinsemination. You can become familiar with the handling of actual pipettes. The pipette image unit and the egg image generation unit may generate an image of the pipette or an egg as a still image or a moving image. In this specification, a still image and a moving image are collectively referred to as a moving image. If you look at the video in detail, it is a series of still images, and the fineness to be presented on the time axis may be determined by the ability of the microinsemination training device and the skill of the trainer. It goes without saying that images that are as close to the actual movement of an egg or pipette as possible are more suitable for training, but since it costs money to increase the capacity of the device, for example, a picture-story show for elementary training Even when presenting a typical still image, a certain effect can be expected. Therefore, the ability to display images may be determined in consideration of the purpose of training, the skill of the trainee, cost effectiveness, and the like.

(3) In such an intracytoplasmic sperm injection training device, the pipette is a virtual pipette, and the pipette movement position calculation unit that calculates the movement position of the virtual pipette by the operation processing received by the operation processing reception unit. A pipette image unit that generates a pipette image that is an image of the pipette at the calculated movement position when at least the tip of the calculated pipette is in a region defined as a virtual three-dimensional arrangement of the egg. The calculation display unit includes an egg image generation unit that generates an egg image that is an image of an egg immersed in the solution, and synthesizes the pipette image and the egg image to display the display device. It may be displayed in. According to this microinsemination training device, since the pipette is also a virtual one, it is only necessary to have an operation processing reception unit for receiving the operation processing of the trainee and hardware necessary for display, and the device configuration can be simplified.

(4) In such a microfertilization training device, the egg image generation unit (A) calculates the behavior of the egg when the tip of the pipette is close to the egg as a movement through the solution, and produces an image. The image output unit and (B) the behavior of the egg when the tip of the pipette comes into contact with the egg are calculated from the shape of the tip of the pipette, the properties of the membrane on the surface of the egg, and the contact position of the tip of the pipe with the egg, and the image of the egg is obtained. The second video output unit to be created and (C) the behavior of the egg after the tip of the pipe breaks the membrane on the surface of the egg and invades the inside, with respect to the shape of the pipe including the tip of the pipe, the properties of the cytoplasm inside the egg, and the egg. The positional relationship between the tip of the pipette and the egg is calculated by the operation process received by the third image output unit that creates an image by calculating from the contact position of the tip of the pipette and (D) the operation processing reception unit, and the corresponding said. An egg image output unit that outputs an image from the first to third image output units as the egg image may be provided. In this way, the microinsemination training device can output an appropriate image according to the positional relationship between the tip of the pipette and the egg, and the microinsemination training can be appropriately performed.

(5) In the above-mentioned microinsemination training device, the operation processing reception unit receives operation processing for instructing the movement of the pipette in two directions orthogonal to the gravity direction for each direction, the X-direction reception unit and the Y-direction reception unit. A unit and an advance / retreat instruction receiving unit for instructing the advance / retreat of the pipette in the axial direction may be provided. In this way, the pipette can be freely moved in two directions orthogonal to the direction of gravity and in the advancing / retreating direction of the pipette. The pipette to be moved may be an actual pipette or a virtual one.

(6) In the above-mentioned microinsemination training device, the pipettes are provided at positions symmetrical with respect to the position where the egg is considered to be present, and the operation processing reception unit performs the operation processing for each pipette. May be provided to accept. In this way, each of the two pipettes provided symmetrically with respect to the egg can be operated, and the skills required for actual microinsemination can be trained. Of course, in the early stages of training, it is possible to use one pipette that can be handled and gradually improve skills.

(7) The pipette may have a passage inside. In this way, it is possible to perform training such as sending a solution containing sperm using the internal passage and holding the egg by making the internal passage negative pressure.

(8) In the above-mentioned microinsemination training device, the operation processing reception unit includes a pressurization amount operation reception unit that receives an operation process for increasing or decreasing the pressurization amount of the liquid existing in the passage of the pipette, and the calculation display. When at least the tip of the pipette is located inside the egg, the unit calculates the behavior of the liquid inside the pipette from the amount of pressure, the properties of the cytoplasm inside the egg, and the properties of the liquid. It may generate an image of the liquid in the liquid passage. With this microinsemination training device, the behavior of the liquid inside the pipette can be displayed, and training for feeding a solution containing sperm can be performed.

(9) In such an intracytoplasmic sperm injection training device, the display device may be provided so as to display an image as a microscope field of view. The display device does not necessarily have to display a composite image or the like as a microscope field of view, but if it is displayed as a microscope field of view and this is visually recognized through an eyepiece, a situation close to actual microinsemination can be created. , The effectiveness of training can be enhanced.

(10) In such an intracytoplasmic sperm injection training device, the calculation display unit may include the image displayed on the display device and a two-dimensional display device that displays the image separately from the display device. In this way, another person can easily see how one trainer is training, and the instructor can give advice and comment. Alternatively, the video of the trainee during training can be used as a reference for other trainees.

The present invention is not limited to such an intracytoplasmic sperm injection training device, but can also be realized as a microinsemination training method, a control method of the microinsemination training device, a training image generation method, a simulation device, and the like. Further, at least a part of the three-dimensional position calculation and the image generation may be realized by software, or at least a part may be realized by hardware. When realized by software, the configuration for performing calculations and the like may be built into a device operated by the trainee, or the calculated coordinate positions and generated in a specific server or so-called cloud connected via a network. The video may be received via a network and displayed.

It is explanatory drawing which shows the apparatus used for microinsemination and the state of microinsemination. It is explanatory drawing which shows the main part of microinsemination. It is explanatory drawing which shows the outline of the microinsemination training apparatus as an embodiment. It is a front view which shows the structure of the operation part. It is explanatory drawing which shows the structural example of a manipulator. It is explanatory drawing which shows how the pipette operates by the operation of the operation part. It is a schematic block diagram of the simulation control part in 1st Embodiment. It is a flowchart which shows the simulation processing routine in 1st Embodiment. It is explanatory drawing which shows typically the structure of an egg. It is explanatory drawing which illustrates the positional relationship between an egg, an injection pipette and a holding micropipette. It is a schematic block diagram which shows the structure of the simulation control part in 2nd Embodiment. It is a flowchart which shows the simulation processing routine in 2nd Embodiment.

A. Overview of microinsemination:
The microinsemination training device as the first embodiment of the present invention will be described below, but prior to the description of the microinsemination training device, the device for performing microinsemination and the work performed using the device will be described. FIG. 1 is an explanatory diagram showing an apparatus used for the operation of microinsemination and a process of microinsemination. FIG. 2 is an explanatory diagram showing a main part of microinsemination. FIG. 2 is a schematic diagram, and the size and film thickness of the egg 10 described later do not correlate with each actual size of the egg. In microinsemination, worker E (for example, an embryo cultivator) injects sperm into an egg using an injection pipette using a microinsemination apparatus 20.

As shown in FIGS. 1 and 2, the microinsemination apparatus 20 includes an inverted microscope 25, a pair of pipettes 31 and 32 for cell manipulation, and a pair of injectors 79 (the injector on the right hand side of the worker E is not present). (Shown), an injection pipette 34, and a holding micropipette 36. The inverted microscope 25 includes an eyepiece 21, a stage 22, and an objective lens. A pair of left and right manipulators 31 and 32 are arranged on both left and right sides above the stage 22. An injection pipette 34 is supported on the manipulator 31 via a holder 33 (FIG. 2). A holding micropipette 36 is supported on the manipulator 32 via a holder 35. The manipulators 31 and 32 (FIG. 1) can precisely move the injection pipette 34 and the holding micropipette 36 back and forth, left and right, and up and down, respectively, according to the operation of the operator E. Worker E can freely operate the manipulators 31 and 32 by operating the operation units 37 and 38 arranged on the left and right sides of the microinsemination device 20. An injector (not shown) is connected to the other end of the holder 33 via a flexible tube 41, and an injector 79 is connected to the other end of the holder 35 via a flexible tube 42. ing. The pair of injectors adjusts the pressure in the tubes 41, 42 and the holders 33, 35 according to the operation of the operator E.

When performing microinsemination, the worker E places the petri dish 50 on the stage 22 of the inverted microscope 25 (FIG. 2). At this time, the petri dish 50 is arranged between the manipulator 31 and the manipulator 32. As shown in FIG. 2, the culture solution drop 52 formed in the petri dish 50 is covered with mineral oil 54, and the egg 10 for performing microinsemination is arranged in the culture solution drop 52. Since the density of the egg 10 is higher than the density of the culture solution, the egg 10 is sunk in the culture solution drop 52. Worker E looks into the eyepiece 21 of the inverted microscope 25 (FIG. 1), operates the manipulators 31 and 32 while observing the inside of the petri dish 50 through the objective lens, and also operates the injector 79 and the other injector (not shown). The egg 10 is sucked and fixed to the tip of the holding micropipette 36 (FIG. 5), and the tip of the injection pipette 34 is pierced into the egg 10. When the injection pipette 34 is punctured into the egg 10, the injection pipette 34 elastically deforms by about 10 μm to 15 μm before invading the egg 10. In the present embodiment, physiological saline (saline containing 0.9 w / v% of sodium chloride) is used as the culture solution, but the culture solution is not limited to this. A palette may be used instead of the petri dish 50 as a dish for arranging the egg 10 in the field of view of the inverted microscope 25.

B. First Embodiment:
FIG. 3 is a schematic configuration diagram showing an outline of the microinsemination training device 100 as the first embodiment. The appearance of the microinsemination training device 100 is almost the same as that of the microinsemination device 20 described with reference to FIG. The microinsemination training device 100 includes an eyepiece 121, manipulators 131 and 132 as a pipette drive unit, holders 133 and 135, an operation unit 137 and 138, an injection pipette 134, a hold micropipette 136, tubes 141 and 142, and pressure. The setting units 169, 179, etc. are provided.

In the microinsemination training device 100, a video camera 110 and a high-definition display 120 are provided in place of the microinsemination device 20. The high-definition display 120 is provided directly under the eyepiece 121, and a trainee who trains microinsemination using the microinsemination training device 100 can use the eyepiece 121 to display the screen of the high-definition display 120. I see. The eyepiece lens 121 is provided so that the display of the high-definition display 120 can be seen as if it were the field of view of the microinsemination apparatus 20. As will be described later, the high-definition display 120 displays an egg or the like in an enlarged manner, so that the magnification of the eyepiece lens 121 is lower than that of the eyepiece of the actual microinsemination device 20.

The video camera 110 employs a lens system having a relatively shallow depth of focus, and is provided with auto iris (automatic aperture) and autofocus (autofocus) functions. Therefore, the video camera 110 always focuses the image on the object with appropriate brightness. The video camera 110 is provided at the position of the objective lens in the microinsemination device 20, and if the microinsemination device 20 is used, the area in which the petri dish 50 is arranged is imaged. In FIG. 3, an oil or the like, which is a solution in which a petri dish and an egg are soaked, is drawn with a virtual line, but since the actual petri dish is not provided in the microinsemination training device 100, the video camera 110 is the injection pipette 134. The area where the tip and the tip of the holding micropipette 136 are normally located is imaged. The autofocus function of the video camera 110 detects and focuses on the vicinity of the tips of both pipettes 134 and 136. Both pipettes 134 and 136 are moved by the manipulators 131 and 132 by operating the operation units 137 and 138. The moving mechanism will be described later.

Next, the operation units 137 and 138 will be described. FIG. 4 is an explanatory view showing an outline of the operation unit 137 provided on the right hand side of the trainee. The operation unit 138 on the left hand side has the same hardware configuration except that each unit is provided symmetrically. Hereinafter, the description will be made using the operation unit 137, but the signals and the like obtained from the operation unit are the same in the operation unit 138.

In the operation unit 137, the first arm 151 protrudes from the front side of the upper end of the main body 150, and the second arm 152 hangs below the tip of the first arm 151. An X-axis handle 161 is provided on the side of the first arm 151. A Y-axis handle 163 is provided on the front side of the tip of the first arm 151. A Z-axis handle 165 is provided at the tip of the second arm 152. Further, a T-axis moving handle 167 is provided on the right side of the main body 150. The pressure setting unit 169 is provided on the outside of the operation unit 137. The pressure setting unit 169 outputs an operation amount for setting the pressure applied to the liquid filled inside the injection pipette 134. In the pressure setting units 169 and 179, including the pressure setting unit 179 for the holding micropipette 136, not only the positive pressure but also the negative pressure can be set.

Handles 161, 163, 165, 167 for each axis are coupled to encoders (not shown). Therefore, when each handle is rotated, a signal corresponding to the amount of rotation is output. The actual operation units 137 and 138 are separately provided with a coarse movement handle that largely moves both pipettes 134 and 136, but there is no essential difference in the sense that both pipettes 134 and 136 are moved, so the rough movement is performed. The illustration and description of the moving handle will be omitted. Further, as described above, the actual signal is output by the encoder provided for each handle, but in order to avoid complicated explanation, in the following explanation, the operation unit 137 for the right hand is used. It is assumed that a signal corresponding to each operation amount is output by operating each of the handles 161, 163, 165, 167 and each handle 171, 173, 175, 177 of the operation unit 138 for the left hand. As will be described in detail later, the signals output from the handles 161, 163, 165, and 167 of the right-hand operation unit 137 are called X1 operation amount, Y1 operation amount, Z1 operation amount, and T1 operation amount, respectively, and are for the left hand. The signals output from the handles 171, 173, 175, and 177 of the operation unit 138 are referred to as X2 operation amount, Y2 operation amount, Z2 operation amount, and T2 operation amount, respectively. The "1" of the safix indicates that it is a signal for operating the right hand side, that is, the injection pipette 134, and the "2" of the safix is a signal for operating the left hand side, that is, the holding micropipette 136. Show that.

Next, the moving mechanism of the injection pipette 134 and the holding micropipette 136 in the manipulators 131 and 132 will be described with reference to FIG. FIG. 5 shows a moving mechanism for the injection pipette 134, and the same applies to the moving mechanism for the holding micropipette 136.

As shown in the figure, an injection pipette 134 is attached to the holder 133 of the manipulator 131, and the holder 133 is an X-axis actuator 181 and Y for moving the holder 133 in the X direction, the Y direction, and the Z direction. A shaft actuator 183 and a Z-axis actuator 185 are provided. Further, the injection pipette 134 is provided with a T-axis actuator 187 that moves the injection pipette 134 in the T direction, which is the axial direction thereof.

Here, the X-axis, the Y-axis, the Z-axis, and the T-axis will be described. Assuming the relationship between the worker (here, the trainer) E shown in FIG. 1 and the petri dish 50 in which the egg is housed, as shown in FIGS. 3 and 5, the left-right direction when viewed from the worker E, That is, the direction from the injection pipette 134 to the holding micropipette 136 is the X direction, and the axis in this direction may be called the X axis. When the X-axis actuator 181 operates, the holder 133 moves in the left-right direction shown in the drawing, that is, in the X direction. On the other hand, the direction orthogonal to the X direction and directed from the injection pipette 134 toward the trainee is called the Y direction. The axis in this direction is sometimes called the Y axis. When the Y-axis actuator 183 operates, the holder 133 moves in the front-rear direction of the paper surface in FIG. 5, that is, in the Y direction. Further, a direction orthogonal to the X direction and the Y direction and upward in the drawing is referred to as a Z direction. The axis in this direction is sometimes called the Z axis. When the Z-axis actuator 185 operates, the holder 133 moves in the vertical direction of FIG. 5, that is, in the Z direction. The Z direction is a direction parallel to the direction of gravity.

The X, Y, and Z-axis actuators 181, 183, and 185 described above all move the holder 133, whereas the T-axis actuator 187 places the injection pipette 134 on the holder 133 in the axial direction thereof. It is a moving actuator. The axial direction of the pipette is called the T direction. The axial direction of the injection pipette 134 and the axial direction of the holding micropipette 136 are at intersecting or twisted positions, but both pipette axial directions are referred to as the T direction.

In FIG. 5, each shaft actuator 181, 183, 185, 187 is drawn by simulating a rotating motor, but usually, there is a play called backlash in the engagement between the gear rotated by the motor and the pinion. Therefore, when the rotation direction of the gear is reversed, there is a slight region where the pinion remains stopped, which causes an operational error. Such backlash is usually unacceptable because the injection pipette 134 operates on micron-order eggs. Therefore, each actual shaft actuator is realized as a hydraulic actuator using flood control. Of course, if a mechanism that completely removes backlash by using a scissors gear or the like is used, it is possible to realize each actuator by an electric system such as a motor.

The axis handles of the operation units 137 and 138 and the axis actuators of the manipulators 131 and 132 described above are connected to the drive device 144, and the axis actuators are operated by operating the axis handles of the operation units 137 and 138. Then, the injection pipette 134 and the holding micropipette 136 are moved. The connection centered on the drive device 144 is shown in FIG. As shown in the figure, the drive device 144 includes a right operation unit input unit 145, a left operation unit input unit 146, a drive signal calculation generation unit 147, an injection pipette drive signal output unit 148, and a hold pipette drive signal output unit 149. ing.

Each encoder of each handle 161 to 167 of the operation unit 137 is connected to the right operation unit input unit 145 of the drive device 144. The signals input from each encoder are shown as X1 operation amount, Y1 operation amount, Z1 operation amount, and T1 operation amount, respectively. Each encoder of each handle 171 to 177 of the operation unit 138 is connected to the left operation unit input unit 146 of the drive device 144. The signals input from each encoder are shown as X2 operation amount, Y2 operation amount, Z2 operation amount, and T2 operation amount, respectively.

The drive signal calculation generation unit 147 is based on each operation amount input via the right operation unit input unit 145 and the left operation unit input unit 146, and the drive amount of each axis actuator 181 to 187 of the manipulator 131 and each of the manipulator 132. The drive amount of the actuators 191 to 197 is calculated. The signal calculated and output by the drive signal calculation generation unit 147 is converted into a signal for each actuator by the injection pipette drive signal output unit 148 and the hold pipette drive signal output unit 149, and is output to each actuator. As a result, when the handles of the operation units 137 and 138 are operated, the injection pipette 134 and the holding micropipette 136 move according to the amount of operation.

Next, the configuration of the simulation control unit 200 will be described with reference to FIG. 7. FIG. 7 is a schematic configuration diagram of the simulation control unit 200. As shown in the figure, the simulation control unit 200 inputs the pressure setting operation amounts P1 and P2 from the pressure setting units 169 and 179 in addition to the well-known CPU 201, ROM 202, RAM 203, and hard disk (HD) 205 as a storage device. Operation input unit 210, egg information storage unit 220 that stores egg information, egg image generation unit 230 that generates images of eggs immersed in a solution, video input unit 240 that inputs moving images from a video camera 110. , A digital signal processor (DSP) 250 that analyzes an image from a video camera 110, an image composition output unit 260 that synthesizes an image and outputs a synthesized image to a high-definition display 120, and the like.

The egg information storage unit 220 stores various information about the egg. The various information related to the egg is information on the size, film thickness, specific gravity of cytoplasm, viscosity, size and position of the polar body, and the like. The microinsemination training device 100 uses the image of the egg produced by the simulation control unit 200 for training, but the actual egg differs in size, shape, and properties to some extent. Therefore, various information obtained by measuring from an actual egg is stored in the egg information storage unit 220 and used for the simulation so that the egg of the same size, shape, and property is not simulated every time. Of course, such information may be stored in the hard disk 205. Alternatively, it is assumed that standard egg size, shape, and property information and its statistical deviation amount are stored, and statistical processing is performed to generate egg information of different sizes, shapes, and properties each time. May be good.

The egg image generation unit 230 uses the above information stored in the egg information storage unit 220 to generate a virtual egg image assuming a state of being immersed in a solution (drop of culture solution). In the image of the egg, for example, as illustrated in FIG. 9, the shape of the egg 10 including the main body portion 12, the membrane portion 14, and the polar body portion 16 is determined, and for example, the main body portion 12 excluding the outer diameter DB1 and the membrane portion 14 The diameter DB2 of the egg, the diameter DB3 of the polar body 16 and the like are determined, and the egg is generated based on these information and other properties expected of the egg, such as specific gravity and viscosity. To be precise, it produces an image of an egg 10 when immersed in a drop of culture medium. The egg image generation unit 230 not only generates an image of the above-mentioned outer shape of the egg, but also randomly determines the existence position and rotation position (rotation position of the polar body 16) of the egg using random numbers, and the position thereof. Generates a video corresponding to. Therefore, the image of the generated egg 10 does not always exist in the center of the entire generated image, and the polar body portion 16 does not always exist at the apex position. However, the position of the egg 10 is not a completely random arrangement, but the egg 10 is arranged with a probability of following a standard normal distribution in the X and Y planes around the center position of the entire image. Therefore, the entire image of the egg 10 is included in the screen (the field of view for the trainee). Therefore, the egg image generation unit 230 also serves as an egg arrangement calculation unit and a calculation display unit.

On the other hand, the DSP 250 performs a process in which the injection pipette 134 and the holding micropipette 136 extract necessary information based on the image of the video camera 110 input by the image input unit 240. The information extracted from the image of the video camera 110 includes the outer shapes of both pipettes 134 and 136, particularly the outer shape of the tip, and the coordinates of the tip position. Of the coordinates of the tip position, the coordinates in the X direction and the coordinates in the Y direction can be easily obtained from the video. As described, the coordinates in the Z direction are determined based on the focal position (focal length) of both pipettes 134 and 136 because they are focused on the tips of both pipettes 134 and 136 by the automatic focus of the video camera 110. A plurality of video cameras 110 may be provided to obtain the distances (Z coordinates) to the tips of both pipettes 134 and 136 by so-called binocular vision.

The DSP250 obtains the coordinates (X, Y, Z) of the tips of both pipettes 134 and 136 from the image captured by the video camera 110, so that the injection pipette 134 and the like approach and contact the virtual egg 10. , It is possible to know that there is a positional relationship that exerts actions such as puncture. Therefore, the egg image generation unit 230 receives the action based on the coordinates (X, Y, Z) of the tips of both pipettes 134 and 136 received from the DSP 250, assuming that the egg receives the action of both pipettes 134 and 136. The image of the egg is calculated and generated with reference to the egg information stored in the egg information storage unit 220. A specific example of the generation method will be described later.

The video composition output unit 260 synthesizes the image of the egg generated by the egg image generation unit 230 as described above and the image captured by the video camera 110 and input to the image input unit 240, and displays this in high definition. Output to 120. The trainee gazes at this composite image through the eyepiece 121 and operates the operation units 137 and 138 to position the tips of the manipulators 131 and 132, more specifically, the injection pipette 134 and the holding micropipette 136. And train micropipette work.

The process executed by the microinsemination training apparatus 100 during the training of the microinsemination work will be described with reference to FIG. FIG. 8 is a flowchart showing a simulation processing routine executed by the simulation control unit 200 of the microinsemination training device 100. When the microinsemination training device 100 is activated, the setup process is first performed (step S300). In this process, the trainee first turns on the microinsemination training device 100, then fixes the injection pipette 134 to the holder 133, fixes the holding micropipette 136 to the holder 135, and then microinseminates. It is executed by operating a specific switch (not shown) provided in the training device 100. When fixing both pipettes 134 and 136 to the holders 133 and 135, the trainee should be aware that the axes of both pipettes 134 and 136 coincide with the T-axis described above.

When the setup switch is pressed, the simulation control unit 200 performs a process of displaying the images of both pipettes 134 and 136 on the high-definition display 120. The trainee confirms this image through the eyepiece 121. In this state, the trainee confirms that the positions of both pipettes 134 and 136 can be moved by moving the handles of the left and right operating units 137 and 138. Of particular importance is the determination of whether the pipette is moving in line with the T-axis when the T-axis movement handles 167,177 are moved. If the axial centers of both pipettes 134 and 136 do not coincide with the T-axis, it is difficult to puncture the injection pipette 134 into the egg 10. While watching the image of the video camera 110 displayed on the high-definition display 120, the trainee adjusts the fixing state to the holders 133 and 135 so that the axes of both pipettes 134 and 136 and the T-axis direction coincide with each other. To do.

After completing such a setup process, the trainee then operates a “start” switch (not shown) to cause the simulation control unit 200 to execute the egg information generation process (step S310). The egg information generation process is a process of generating egg information to be simulated from now on based on the egg information stored in the egg information storage unit 220. This process is performed to produce eggs of different shapes, properties, and arrangements each time. By randomly extracting the egg information stored in the egg information storage unit 220, the simulation control unit 200 randomly extracts information on the shape of the egg such as the size and membrane pressure of the egg, information on properties such as specific gravity and viscosity, and a polar body. Generates information about the three-dimensional arrangement of the body part 16. It also generates the position of the virtual egg 10 in the virtual petri dish 50. The position of the virtual egg is randomly determined within a predetermined range from the center of the field of view of the video camera 110. Then, using this generated information, a basic image for displaying the image of the egg 10 together with the images of both pipettes 134 and 136 is generated thereafter. Information such as the position and size of the virtual egg 10 is output to the CPU 201 in preparation for a later calculation, and the CPU 201 converts these information into parameters for the calculation in preparation for the later calculation. After that, it is stored in the RAM 203 or the register for calculation.

On the other hand, a process of calculating the tip positions of both pipettes 134 and 136 from the image captured by the video camera 110 and input via the image input unit 240 is performed (step S320). This process is performed by the DSP 250 as described above. The DSP 250 analyzes the image from the video camera 110, and if the images at the tips of both pipettes 134 and 136 are not in the in-focus position and are in a blurred state, the tip position is not calculated and "position cannot be specified". Is output to the CPU 201. Upon receiving this signal, the CPU 201 supports the egg image generation unit 230 to output the egg image previously generated based on the upper part of the egg 10 to the image synthesis output unit 260 as it is.

On the other hand, when the operation units 137 and 138 operate the actuators 181 to 187 and 191 to 197 for each axis and the tips of both pipettes 134 and 136 approach the focal position of the video camera 110, the DSP 250 displays the image. From, the tip positions of both pipettes 134 and 136 are calculated. The tip position can be specified by detecting the edge by differentiating the images obtained in time series in the X and Y directions. Search for a minute section where one edge exists in the X direction and two edges exist in the Y direction, and from the edge direction in the X direction, determine whether the minute area is the tip of the injection pipette 134 or the holding micropipette 136. It is easy to distinguish.

In this way, while the DSP 250 is calculating the tip positions of both pipettes 134 and 136 based on the image captured by the video camera 110, the trainee can use the handles 161 to 167 of the operation units 137 and 138. Both pipettes 134 and 136 are moved by operating 171 to 177 (step S325). Therefore, along with this movement, the coordinates of the tip positions of both pipettes 134 and 136 calculated by the DSP 250 also change.

Therefore, next, a process of calculating the positional relationship between the coordinates of the tip positions of both pipettes 134 and 136 and the virtual egg 10 generated by the egg image generation unit 230 is performed (step S330). The positional relationship between the tip positions of both pipettes 134 and 136 and the virtual egg can be roughly divided as follows.
[1] Arrangement in which the tip positions of both pipettes 134 and 136 are outside the external external position of the virtual egg 10 (hereinafter referred to as positional relationship A1).
[2] An arrangement in which the tips of either of the pipettes 134 and 136 are present in contact with the external position of the virtual egg 10 (hereinafter referred to as the positional relationship A2).
[3] An arrangement in which the tip of the injection pipette 134 penetrates inward from the external position of the virtual egg 10 by a predetermined distance (hereinafter referred to as the positional relationship A3).
[4] An arrangement in which the tip of the injection pipette 134 exists beyond a predetermined distance inside from the external position of the virtual egg 10 (hereinafter, referred to as a positional relationship A4).
Since the holding micropipette 136 does not enter the inside of the egg, the positional relationships A3 and A4 are the positional relationships of only the injection pipette 134.

When the CPU 201 receives the position information of the DSP 250 and determines which of the above-mentioned positional relationships A1 to A4 is the positional relationship between the two (step S330), the CPU 201 then calculates the state of the virtual egg 10. Then, the egg image generation unit 230 is made to perform a process of generating an image corresponding to the state (step S340). Since this process is the core process of the microinsemination training device 100, it will be described in a little more detail below.

[1] Positional relationship A1: In this case, since both pipettes 134 and 136 basically do not affect the virtual egg 10, the egg image generation unit 230 synthesizes the image of the generated virtual egg 10. Output to the output unit 260, and the video composition output unit 260 synthesizes the image of the virtual egg 10 and the image of the video camera 110. In a state where the tips of both pipettes 134 and 136 are extremely close to the outer surface of the egg 10, if the tips of both pipettes 134 and 136 move at a certain speed or higher, the egg 10 moves slightly via the drop 52. That is actually possible. Therefore, the positional relationship A1 is divided into the case where the tip positions of both pipettes 134 and 136 are close to the outer surface of the egg 10 and the case where the tip positions of both pipettes 134 and 136 are further separated from each other, and the tips of both pipettes 134 and 136 are separated from the outer surface of the egg 10. It is also possible to generate an image so that the egg sways when the tips of both pipettes 134 and 136 move at a predetermined speed or more when they are extremely close to each other (for example, several hundred microns or less). ..

[2] Positional relationship A2: When the tips of both pipettes 134 and 136 are in contact with the outer surface of the virtual egg 10, the egg image generation unit 230 is further operated by the trainee to generate the egg as follows. Generate a video of. When the tip of the injection pipette 134 is in contact with the tip of the egg 10, the CPU 201 further analyzes the movement of the tip of the injection pipette 134. When the tip of the injection pipette 134 is in contact with the outer surface of the egg 10 and the tip moves, the egg 10 causes a rotational movement according to the moving distance, speed, and direction of the tip of the injection pipette 134. The trainee rotates the egg to an appropriate position for microinsemination by operating the handle of the operation unit 137 while viewing the image displayed on the high-definition display 120 through the eyepiece 121. As shown in FIG. 9, the position of the egg 10 in the rotation direction can be visually recognized from the position of the polar body portion 16 existing in the egg. The CPU 201 analyzes the movement of the tip of the injection pipette 134 and transmits information on how much and in what direction the egg 10 rotates to the egg image generation unit 230, and the egg image generation unit 230 follows the instruction from the CPU 201. The image of the rotation of the virtual egg 10 is output to the image composition output unit 260.

On the other hand, when it is determined that the holding micropipette 136 is in contact with the outer surface of the egg 10, the operation amount of the pressure setting unit 179 is further detected, and the signal P2 obtained by operating the pressure setting unit 179 is input to the pressure operation. Input is performed via unit 210. If this signal P2 indicates a negative pressure, the tip of the holding micropipette 136 becomes a negative pressure, and the egg 10 is attracted and adsorbed, and the egg image generation unit 230 determines the outer surface of the egg 10. Is calculated as the shape in the suction state. This situation is shown in FIG. The holding micropipette 136 on the left side of the drawing is assumed to have a negative pressure inside, and the surface of the virtual egg 10 is recessed so as to be adsorbed on the tip of the holding micropipette 136. If the virtual egg 10 is adsorbed by the holding micropipette 136, the egg 10 will rotate even if the tip of the injection pipette 134 moves in contact with the outer surface of the virtual egg 10. Judging that no movement occurs, the egg is output as an adsorbed state.

[3] Positional relationship A3: When the tip of the injection pipette 134 enters inward from the virtual external position of the egg 10, the egg 10 has a membrane portion 14 having a certain strength, so that the injection pipette 134 With the insertion of the pipette into the egg, the membrane portion 14 is deformed. This situation is shown in FIG. Since the strength of the membrane unit 14 is set for each virtual egg 10 using the information stored in the egg information storage unit 220, the membrane unit 14 is deformed up to a distance L corresponding to the strength. .. Therefore, the CPU 201 calculates the position of the tip of the injection pipette 134, and until the position is a distance L from the outer surface of the virtual egg 10 toward the inside, the image in which the film portion 14 is deformed is displayed in the egg image generation unit 230. To generate.

[4] Positional relationship A4: When the tip of the injection pipette 134 exceeds the inner distance L from the external position of the virtual egg 10, it is determined that the membrane portion 14 has been torn, and the CPU 201 determines that the membrane portion 14 has been torn. The egg image generation unit 230 is made to generate an egg shape in a state where the membrane unit 14 is not deformed. In this state, the trainee operates the pressure setting unit 169. Since the signal P1 from the pressure setting unit 169 increases or decreases the amount of pressure applied to the liquid existing in the passage of the injection pipette 134, the simulation control unit 200 receives this signal P1 via the pressure operation input unit 210. It is output to the egg image generation unit 230. The egg image generation unit 230 is a liquid based on the size of this signal P1 (including positive and negative signs), the properties of the cytoplasm inside the egg stored in the egg information storage unit 220, the properties of the liquid inside the injection pipette 134, and the like. The behavior of the egg is calculated to generate an image of the liquid in the liquid passage and an image when the liquid is injected into the egg.

In the positional relationship A3 and A4, the virtual egg 10 is in a state of being adsorbed by the holding micropipette 136, but if the trainee touches the pressure setting unit 179, the signal P2 changes. Then, if it is determined that the suction pressure has decreased, the suction by the holding micropipette 136 is released, and the image on the side of the holding micropipette 136 of the virtual egg 10 is returned to the one without deformation. If the injection pipette 134 is puncturing the egg 10 and the holding micropipette 136 is released from adsorption, a warning is issued as a serious error has occurred in the training, and the training is terminated there. You may try to do it.

After generating such an egg image (step S340), the CPU 201 causes the image synthesis output unit 260 to output the image generated by the egg image generation unit 230 (step S350). The combined image output by the image composition output unit 260 is displayed on the high-definition display 120, and is visually recognized by the trainee who is displaying the image on the high-definition display 120 via the eyepiece 121.

By using the microinsemination training device 100 having such a configuration and function, the trainee simulates the actual microinsemination work, and the injection pipette 134 using the manipulator is used before the actual practice using the egg. You can become familiar with the handling of the holding micropipette 136. In this microinsemination training device 100, the injection pipette 134 and the holding micropipette 136 move by actually operating the operation units 137 and 138, so that the operating principle of the device can be intuitively learned by looking at the actual product. it can. On the other hand, since the egg 10 is treated as a completely virtual egg, it is not necessary to use an egg such as an immature egg or an unfertilized egg that has not been used for embryo transfer. Therefore, even in an environment where such immature eggs and unfertilized eggs are difficult to obtain, basic training for microinsemination can be performed. Since the operation of the manipulator or the like moves the pipette 134 or the like under a microscope, training using an egg is meaningless or inefficient unless a certain skill is acquired. It is not necessary to use valuable immature eggs for such inefficient training.

C. Second Embodiment Next, a second embodiment of the present invention will be described. The microinsemination training device 100 in the second embodiment is similar in schematic configuration to the first embodiment, but the microinsemination training device 100 in the second embodiment is used for the injection pipette 134 and the hold in the first embodiment. There is no equivalent to the micropipette 136, and therefore the axial actuators 181-187 and 191-197 are also absent. The operation units 137 and 138 exist, and the handles for each axis also exist. In the second embodiment, there is no video camera 110 and no pipette image is used. That is, in the microinsemination training device 100 of the second embodiment, not only the egg 10 is virtual, but both the injection pipette and the holding micropipette are treated as virtual. Hereinafter, when it is necessary to refer to both virtual pipettes with a reference, they may be referred to as an injection pipette 134 and a holding micropipette 136, respectively, for convenience of understanding, although they are not shown.

Further, the microinsemination training device 100 of the second embodiment includes the simulation control unit 200A shown in FIG. 11 instead of the simulation control unit 200. As shown in the figure, the simulation control unit 200A has the same configuration as that of the first embodiment up to the CPU 2011 to the egg information storage unit 220, but the others are different. Specifically, the simulation control unit 200A includes an input interface 270, a DSP 280, a video generation unit 290, and a video output unit 295. First, each part characteristic of the second embodiment will be described.

The input interface 270 of the simulation control unit 200A corresponds to the right operation unit input unit 145 and the left operation unit input unit 146 as the operation processing reception unit in the drive device 144 of the first embodiment, and each of the operation units 137 and 138. Input the signal from each encoder according to the operation of the handle. In this simulation control unit 200A, the operation amount (signal from the encoder) of the handles of the operation units 137 and 138 is the signal X1, Y1, Z1, T1 of the movement amount of each axis for the virtual injection pipette 134, virtual. The signals X2, Y2, Z2, T2 of the movement amount of each axis for the holding micropipette 136 are input via the input interface 270. These input signals are input to the DSP 280 in real time. The DSP 250 of the first embodiment processes the digital signal extracted from the video signal to extract the position information of the tips of both pipettes 134 and 136, but in the second embodiment, the DSP 280 is used to input in real time. The position information of the tips of both pipettes 134 and 136 is taken out from the signal of each axis. The details will be described later.

The calculation result by the DSP 280, that is, the virtual position information of the tips of both pipettes 134 and 136 is output to the image generation unit 290. The image generation unit 290 generates a virtual image of the egg 10 and both pipettes 134 and 136 from the egg information stored in the egg information storage unit 220 and the position information of the tips of both pipettes 134 and 136 received from the DSP 280. .. The generated video is output to the high-definition display 120 via the video output unit 295. The trainee performs the work (specifically, the operation of the operation units 137 and 138) while visually recognizing the image of the high-definition display 120 through the low-magnification eyepiece 121 as in the first embodiment. ..

In the microinsemination training device 100 having the above hardware configuration, the operation of the microinsemination training device 100 will be described with reference to FIG. 12, focusing on the processing executed by the simulation control unit 200A during the training of the microinsemination work. To do. FIG. 12 is a flowchart showing a simulation processing routine executed by the simulation control unit 200A of the microinsemination training device 100. When the microinsemination training device 100 is activated, the setup process is first performed (step S300). This process is started by the trainee turning on the power of the microinsemination training device 100 as in the first embodiment. In this embodiment, the injection pipette 134 is fixed to the holder 133 and the holding micro There is no need to fix the pipette 136 to the holder 135. The microinsemination training device 100 of the second embodiment is intended for trainers who have already learned such pipette attachment work.

Instead of the pipette attachment work of the first embodiment, the setup process 300 of the second embodiment performs a process of aligning the origins of both the virtual pipettes 134 and 136. The specific arithmetic processing is as follows. The tip positions of both pipettes 134 and 136 are virtually moved by adjusting the handles of the operation units 137 and 138. Therefore, once the virtual spatial coordinates (X, Y, Z) of the tip positions of both pipettes 134 and 136 are determined as the origin, after that, based on the signal from the encoding obtained by adjusting the handle, The position can be calculated. Therefore, first, the spatial coordinates (X, Y, Z) of the tips of both pipettes 134 and 136 are determined. First, the simulation control unit 200A determines the spatial positions (X, Y, Z) of the tips of both pipettes 134 and 136 by random numbers. However, at this time, the coordinates such that the tip is located below the stage 22 are not adopted. This position is the origin position of the tips of both pipettes 134 and 136. The origin position does not necessarily have to be a specific position, but is generally determined as a range that is assumed to be captured by a virtual video camera 110.

When the origin position is determined in this way, the image generation unit 290 uses this origin position to generate an initial image, outputs the initial image to the image output unit 295, and displays the initial image on the high-definition display 120. The initial image is an image that would have been captured by the virtual video camera 110 if the tips of both pipettes 134 and 136 were present at their origin positions. The image generation unit 290 generates an image from the tip positions of both pipettes 134 and 136. Since the origin position of the tips of both pipettes 134 and 136 is not necessarily the focus position for the virtual video camera 110, the focus is usually out of focus. The image generation unit 290 therefore generates a blurred image according to the tip positions of both pipettes 134 and 136. The above corresponds to the setup process in the second embodiment.

After completing the setup process described above, the trainee then operates a “start” switch (not shown) to cause the simulation control unit 200 to execute the egg information generation process (step S310). The egg information generation process is a process of generating egg information to be simulated from now on based on the egg information stored in the egg information storage unit 220. Since this process is the same as that of the first embodiment, detailed description thereof will be omitted. In the second embodiment, when the egg information generation process is executed (step S310), the image generation unit 290 displays the egg image together with the images of both pipettes 134 and 136 generated in the setup process (step S300) according to the generated information. It is generated and displayed on the high-definition display 120 via the video output unit 295.

Subsequently, the trainee operates the operation units 137 and 138 while watching this video (step S410). The trainee moves the tip positions of both pipettes 134 and 136 to the positions necessary for performing microinsemination. When the operation units 137 and 138 are operated, the DSP 280 calculates the tip positions of both pipettes 134 and 136 from the operation amounts (X1, Y1, Z1, T1) and (X2, Y2, Z2, T2) (step S420). ). Of course, the calculation of the tip positions of both pipettes 134 and 136 is performed individually by the injection pipette 134 and the holding micropipette 136.

By operating the operation units 137 and 138, the tip positions of both pipettes 134 and 136 are moved, so that the coordinates of the tip positions of both pipettes 134 and 136 and the virtual egg 10 generated by the egg image generation unit 230 are used. Performs a process of calculating the positional relationship of (step S430). The positional relationship between the tip positions of both pipettes 134 and 136 and the virtual egg can be roughly divided as follows.
<1> Arrangement in which the tip positions of both virtual pipettes 134 and 136 are outside the external position of the virtual egg 10 (hereinafter referred to as positional relationship B1).
<2> Arrangement in which the tip of either of the virtual pipettes 134 and 136 exists in contact with the external position of the virtual egg 10 (hereinafter referred to as positional relationship B2).
<3> Arrangement in which the tip of the virtual injection pipette 134 penetrates inward from the external position of the virtual egg 10 by a predetermined distance (hereinafter referred to as positional relationship B3).
<4> An arrangement in which the tip of the virtual injection pipette 134 exists beyond a predetermined distance inside from the external position of the virtual egg 10 (hereinafter, referred to as the positional relationship B4).
Since the virtual holding micropipette 136 does not enter the inside of the egg, the positional relationships B3 and B4 are the positional relationships of only the injection pipette 134.

When the CPU 201 receives the position information of the DSP 250 and determines which of the above-mentioned positional relationships B1 to B4 is the positional relationship between the two (step S430), the CPU 201 then calculates the state of the virtual egg 10. Then, the image generation unit 290 is made to perform the process of generating the image corresponding to the state (step S440). The generated video is output to the high-definition display 120 via the video output unit 295 and displayed (step S450). From the calculation of the positional relationship with the egg (step S430) to the video output processing (step S450), except that the positions and images of both pipettes 134 and 136 are virtual, the first embodiment Since it is the same, the detailed description thereof will be omitted.

The simulation control unit 200A repeats the above process until the power is turned off (step S460). Since the image output by the image generation unit 290 is displayed on the high-definition display 120, the trainee performs the work of microinsemination while visually recognizing this image through the eyepiece lens 121.

By using the microinsemination training device 100 having such a configuration and function, the trainee simulates the actual microinsemination work, and the injection pipette 134 using the manipulator is used before the actual practice using the egg. You can become familiar with the handling of the holding micropipette 136. In this microinsemination training device 100, the actual injection pipette 134 and the holding micropipette 136 do not move by actually operating the operation units 137 and 138, so that the microinsemination training device 100 functions as a so-called manipulator. You don't have to prepare. Manipulators that use hydraulic pressure are extremely expensive and difficult to maintain, but since they are virtual except for the operation units 137 and 138, the device configuration of the microinsemination training device 100 can be simplified and the cost of the device is low. Can be a thing. Further, since the egg 10 is also treated as a virtual egg, it is not necessary to use an egg such as an immature egg or an unfertilized egg that has not been used for embryo transfer. Therefore, even in an environment where such immature eggs and unfertilized eggs are difficult to obtain, basic training for microinsemination can be performed. Since the operation of the manipulator and the like is performed under a microscope, training using an egg is meaningless or inefficient unless a certain skill is acquired. It is not necessary to use valuable immature eggs for such inefficient training.

Further, since the microinsemination training device 100 of the second embodiment does not use an actual pipette, the tip of the pipette is not accidentally pressed against the petri dish 50 or the stage 22 to damage the tip. Furthermore, since both pipettes 134, 136, the egg 10, and the like are virtual, even if the training is interrupted, it can be resumed at any time. In some cases, information necessary for training, for example, egg information generated in step S310, the amount of operation of the operation units 137, 138, etc., is stored, and the process from the start to the middle of the work is reproduced on the high-definition display 120. Is also possible. In this case, the video of the work is not simply saved, but the video is reproduced from the information, so the trainee temporarily stops the video when the operation is mistaken and tries to redo the operation at that time. It's also easy. Therefore, the trainee can repeatedly try the operations that he / she is not good at, and can improve the efficiency of the training. Also, at this time, it is easy for the leader to show it.

The display on the high-definition display 120, including the configuration of the first embodiment, may allow the trainee to visually recognize the image on the high-definition display without using the eyepiece 121. If the high-definition display 120 is enlarged or the display magnification is increased, the image of microinsemination can be visually recognized without using the eyepiece 121. For trainees who are not accustomed to the field of view of the microscope, training with a normal display may be an efficient training in the early stage of training. It is also desirable to add a high-definition display 120 so that a person other than the trainee can see the same image as the trainee. The additional high-definition display allows one trainee to easily see the training, and the instructor can give advice and comment. Alternatively, the video of the trainee during training can be used as a reference for other trainees.

<Other training>
When the trainee operates the pressure setting unit 169 in the positional relationship A4 and B4, an image in which a liquid containing sperm flows in the flow path in the injection pipette 134 based on the signal P1 according to the operation amount. May be synthesized. Further, after the injection pipette 134 is punctured into the egg, an image of the liquid in the injection pipette 134 flowing into the egg may be generated and displayed. In this case, the behavior of the liquid inside the pipette and the behavior inside the egg may be calculated from the properties of the cytoplasm and the liquid inside the egg to generate an image of the liquid. For the hold micropipette 136, when the pressure setting unit 179 is operated, the adsorption amount (deformation amount due to adsorption) of the egg 10 is changed based on the signal P2 according to the operation amount to generate an egg image. It may be the one to do.

Further, the training for the crushing of the sperm tail, which is performed prior to the microinsemination, may be performed using the above-mentioned microinsemination training device 100. Also at this time, a virtual sperm image can be generated and used instead of the actual sperm.

Alternatively, training in ultra-rapid vitrification preservation methods may be performed. In this case, an egg and a small amount of cryoprotectant solution are placed on a special freezing sheet, and the operation of instantly freezing one egg with liquid nitrogen while being contained in a minute amount of the cryoprotective solution is simulated. It may be displayed on the high-definition display 120.

The present invention is not limited to the above-described embodiments, examples, and modifications, and can be realized with various configurations within a range not deviating from the gist thereof. For example, the technical features in the embodiments, examples, and modifications corresponding to the technical features in each embodiment described in the column of the outline of the invention may be used to solve some or all of the above-mentioned problems. , It is possible to replace or combine as appropriate in order to achieve a part or all of the above-mentioned effects. Further, if the technical feature is not described as essential in the present specification, it can be appropriately deleted.

10 ... Egg 12 ... Body part 14 ... Membrane part 16 ... Polar part 20 ... Microscopic insemination device 21 ... Eyepiece lens 22 ... Stage 25 ... Inverted microscope 31, 32 ... Manipulator 33 ... Holder 34 ... Injection pipette 35 ... Holder 36 ... Hold Micropipette 37 ... Operation unit 41, 42 ... Tube 50 ... Share 52 ... Drop 54 ... Mineral oil 79 ... Injector 100 ... Microscopic insemination training device 110 ... Video camera 120 ... High-definition display 121 ... Eyepiece 131, 132 ... Manipulator 133 , 135 ... Holder 134 ... Injection pipette 136 ... Holding micropipette 137 ... Operation unit 141 ... Tube 144 ... Drive device 145 ... Right operation unit input unit 146 ... Left operation unit input unit 147 ... Drive signal calculation generation unit 148 ... Injection pipette drive signal output unit 149 ... Hold pipette drive signal output unit 150 ... Main body 151 ... 1st arm 152 ... 2nd arm 161, 171 ... X-axis handle 163, 173 ... Y-axis handle 165, 175 ... Z-axis Handle 167, 177 ... T-axis movement handle 169, 179 ... Pressure setting unit 181, 191 ... X-axis actuator 183, 193 ... Y-axis actuator 185, 195 ... Z-axis actuator 187, 197 ... T-axis actuator 200, 200A ... Simulation Control unit 201 ... CPU
202 ... ROM
203 ... RAM
205 ... Hard disk 210 ... Pressure operation input unit 220 ... Egg information storage unit 230 ... Egg image generation unit 240 ... Video input unit 250, 280 ... DSP
260 ... Video composition output unit 270 ... Input interface 290 ... Video generation unit 295 ... Video output unit

Claims (10)

An intracytoplasmic sperm injection training device that simulates the work under a microscope using an egg.
At least a two-dimensional display and
An egg placement calculation unit that calculates a virtual three-dimensional placement of an egg immersed in a solution,
An operation processing reception unit that accepts operation processing to operate the position of the tip of a manipulator on which a pipette can be attached,
Based on the operation process received by the operation process reception unit, at least the three-dimensional position of the tip of the pipette is calculated, and the position of the tip is predetermined with respect to the calculated virtual egg. When it is determined that the relationship is closer than the positional relationship, microinsemination is provided with an arithmetic display unit that generates an image including the egg immersed in the solution and at least the tip of the pipette and displays it on the display device. Training device. The microinsemination training device according to claim 1.
A pipette drive unit that moves the pipette by the operation process received by the operation process reception unit,
A pipette image unit that captures an image of a predetermined three-dimensional position as a pipette image assuming that at least the tip of the pipette to be moved may exist.
With
The calculation display unit
It is provided with an egg image generation unit that generates an egg image which is an image of an egg immersed in the solution.
An intracytoplasmic sperm injection training device that synthesizes the pipette image and the egg image and displays them on the display device. The microinsemination training device according to claim 1.
The pipette is a virtual pipette
A pipette movement position calculation unit that calculates the movement position of the virtual pipette by the operation processing received by the operation processing reception unit.
A pipette image unit that generates a pipette image that is an image of the pipette at the calculated movement position when at least the tip of the calculated pipette is in a region defined as a virtual three-dimensional arrangement of the egg. When,
With
The calculation display unit
It is provided with an egg image generation unit that generates an egg image which is an image of an egg immersed in the solution.
An intracytoplasmic sperm injection training device that synthesizes the pipette image and the egg image and displays them on the display device. The microinsemination training device according to claim 2 or 3.
The egg image generation unit
The first video output unit that creates an image by calculating the behavior of the egg when the tip of the pipette is close to the egg as the movement through the solution.
A second image output unit that creates an image of the egg by calculating the behavior of the egg when the tip of the pipette comes into contact with the egg from the shape of the tip of the pipette, the properties of the membrane on the surface of the egg, and the contact position of the tip of the pipette with respect to the egg.
The behavior of the egg after the tip of the pipette breaks the membrane on the surface of the egg and invades the inside is calculated from the shape of the pipette including the tip of the pipette, the properties of the cytoplasm inside the egg, and the contact position of the tip of the pipette with respect to the egg. The third video output unit to be created and
The egg image output that calculates the positional relationship between the pipette tip and the egg by the operation process received by the operation processing reception unit and outputs the image from the corresponding first to third image output units as the egg image. Intracytoplasmic sperm injection training device equipped with a part. The microinsemination training device according to any one of claims 1 to 4.
The operation processing reception unit
An X-direction reception unit and a Y-direction reception unit that receive operation processing for instructing the movement of the pipette in two directions orthogonal to the gravity direction for each direction.
An intracytoplasmic sperm injection training device including an advancing / retreating instruction receiving unit for instructing the advancing / retreating of the pipette in the axial direction. The microinsemination training device according to any one of claims 1 to 5.
The pipette is provided at each position symmetrical to the position where the egg is supposed to be present.
The operation processing reception unit is a microinsemination training device provided for receiving the operation processing for each pipette. The microinsemination training device according to any one of claims 1 to 6, wherein the pipette has a passage inside. The microinsemination training device according to claim 7.
The operation processing reception unit includes a pressure amount operation reception unit that receives an operation process for increasing or decreasing the pressure amount on the liquid existing in the passage of the pipette.
The calculation display unit calculates the behavior of the liquid inside the pipette from the pressure amount, the cytoplasmic properties inside the egg, and the liquid properties when at least the tip of the pipette is located inside the egg. An intracytoplasmic sperm injection training device that generates an image of the liquid in the passage. The microinsemination training device according to any one of claims 1 to 8, wherein the display device is provided so as to display an image as a microscope field of view. The microinsemination training device according to claim 9, further comprising a two-dimensional display device for displaying the image displayed on the display device by the calculation display unit separately from the display device.

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