JP2021029453A - Micro-insemination apparatus and position control method of micro-insemination surgical instrument - Google Patents

Abstract

To move a manually-operated surgical instrument to a desired position, the surgical instrument that is used in the intracytoplasmic sperm injection (ICSI) in the field of view with a microscope.SOLUTION: A manually-moving part is included for moving a tip position of a surgical instrument according to manual operation in a 3-dimensional manner, and the tip position of the surgical instrument moved by the manual operation is stored according to the predetermined operation. One of multiple positions stored in this way is selected, and the movement of the surgical instrument by the manually-moving part is overridden when the movement of the tip of the surgical instrument to the position is instructed by an instruction unit. Also, the tip of the surgical instrument is moved to the selected position by a movement control unit 200.SELECTED DRAWING: Figure 6

Description

The present disclosure relates to a technique for controlling the position of a surgical instrument such as a pipette in a microscopic field of view.

As one of the infertility treatments, an intracytoplasmic sperm injection method (ICSI) in which one sperm cell is directly injected into the egg cytoplasm to fertilize has been developed and put into practical use. In ICSI, there is a work of precisely driving an injection pipette or the like while observing a microscope field of view. Hereinafter, such a process is referred to as microinsemination. In the work of microinsemination, it is necessary to accurately position the tip of the pipette in a predetermined position. Therefore, surgical tools such as pipettes are accurately positioned using a manipulator. For this purpose, a micromanipulator that realizes extremely minute movements with high accuracy is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2001-330781

However, all of these positioning operations are performed manually by an operator such as an embryo incubator, and are not provided with a mechanism for assisting operations such as microinsemination. In work such as microinsemination, there is work such as repeatedly bringing the tip of a pipette to the same place in the field of view of a microscope, but all of this is done manually by an operator such as an embryo culture specialist. Analyzing this task, after the fertilization process performed at increased magnification, when bringing the pipette to the PVP wash position, lowering the magnification and moving the pipette significantly. After PVP washing, the tip of the pipette is moved to the next fertilization treatment position, the magnification is increased, and fertilization treatment is performed. In this way, the movement of the pipette involves changing the magnification of the field of view of the microscope, and the amount of movement of the pipette also differs greatly between the precise movement during fertilization work and the movement for a large change in the working position. The surgeon was forced to perform complicated work in the field of view of the microscope. If the work fails, the precious fertilization egg (embryo) is lost, which puts a lot of tension on the worker, and there is a strong demand for reducing the work under a microscope.

The present disclosure can be realized as the following forms or application examples.

As one aspect of the present disclosure, a position control device for a surgical instrument is provided. This position control device is a device used in the field of view of a microscope to control the position of a manually operated surgical tool. This position control device stores a manual moving unit that three-dimensionally moves the position of the tip of the surgical tool in response to a manual operation and the position of the tip of the surgical tool to be moved in response to a predetermined operation. A position storage unit, an instruction unit that selects one of the plurality of stored positions and instructs the movement of the tip of the surgical instrument to the position, and a manual movement unit when the instruction is received. It includes a movement control unit that invalidates the movement of the surgical tool and moves the tip of the surgical tool to the selected position. According to the position control device of the surgical tool, the manually operated surgical tool can be easily moved to a desired position as needed.

In such a position control device for the surgical tool, the storage unit may store the current position of the surgical tool detected by the detection unit as one of the plurality of positions. In this way, the position of the moving destination can be easily memorized.

In such a movement control device of the surgical tool, the target may be an egg, and the surgical tool may be an injection pipette that sends sperm to the egg. In microinsemination, it is necessary to move the position of the injection pipette in a short time, and by using the position control device of such a surgical tool, microinsemination can be completed in a short time.

Similarly, the subject may be an egg and the surgical instrument may be a holding pipette that holds the egg.

In such a position control device for a surgical tool, when the position control unit moves the tip of the surgical tool to one of the plurality of positions, the completion of the movement may be notified. Since this movement control device temporarily disables the manual movement of the surgical tool, it is possible to easily know the completion of the movement by performing such a notification, and it is possible to facilitate the handling of the surgical tool. ..

The present disclosure can also be carried out as an intracytoplasmic sperm injection device incorporating the above-mentioned position control device for surgical instruments. The position control device may be connected to the microinsemination device as an option, or may be incorporated from the beginning.

In addition to this, the present disclosure can also be carried out in the form of a method of controlling the movement of the surgical tool, a method of registering the moving position of the surgical tool, and the like.

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 arrangement example of the solution in a dish at the time of performing microinsemination. It is explanatory drawing which shows the outline of the microinsemination 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 control part in 1st Embodiment. It is a flowchart which shows the position learning processing routine in an embodiment. It is a flowchart which shows the pipette movement processing routine in an embodiment.

A. Overview of microinsemination device:
The microinsemination device 100 incorporating a position control mechanism that automatically controls the position of the pipette to a predetermined position will be described below. However, prior to the description of the microinsemination device 100 of the embodiment, the position control mechanism is first incorporated. A conventional microinsemination device that has not been used will be described. FIG. 1 is an explanatory diagram showing an apparatus used for a conventional 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 incubator) injects sperm into an egg using an injection pipette using a microinsemination device 20.

As shown in FIGS. 1 and 2A, 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. 2A). 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. The operator 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. Further, the operator E can freely move the stage 22 back and forth and left and right by operating an operation unit (not shown).

An injector 69 (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. Has been done. 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 dish 50 on the stage 22 of the inverted microscope 25 (FIG. 2A). At this time, the dish 50 is arranged between the manipulator 31 and the manipulator 32. As shown in FIG. 2A, the drops of culture solution 52 formed in the dish 50 are coated with mineral oil 54. An egg 10 is placed in the drop of the culture solution 52 when performing microinsemination. In FIG. 2A, the egg 10 is depicted as being arranged in the culture solution 52, but in the preparatory stage, a drop of the culture solution 52 is simply formed and covered with the mineral oil 54. As the culture solution 52, physiological saline (saline containing 0.9 w / v% of sodium chloride) is used in the present embodiment, but the culture solution 52 is not limited to this. In the dish 50, there are drops other than the drop on which the egg 10 is placed during microinsemination, the details of which will be described later.

When performing microinsemination, the operator E looks into the eyepiece 21 of the inverted microscope 25 (FIG. 1), observes the inside of the dish 50 through the objective lens, and adjusts the magnification of the inverted microscope 25 according to the work. While adjusting to the value, the manipulators 31 and 32 are operated, and the injector 79 and the other injector (not shown) are operated to perform the work. This work is roughly done
(1) Preparatory processing such as adjusting the position of each pipette:
(2) Sperm addition treatment and egg placement treatment:
(3) Intracytoplasmic sperm injection processing:
(4) Post-processing:
It can be divided into four.

An example of the arrangement of the solution in the dish 50 used in the actual microinsemination is shown in FIG. 2B. FIG. 2B is drawn corresponding to the field of view seen by the operator E using the inverted microscope 25. Actually, the magnification of the inverted microscope 25 is at least about 400 times when performing fertilization work, so that the worker E visually recognizes the inside of the dish 50 in the form of FIG. 2B in one field of view. Can't.

In the dish 50, as described above, a plurality of drops are arranged in a state of being covered with the mineral oil 54. In FIG. 2B, a drop of the holding pipette cleaning solution (hereinafter referred to as a first cleaning solution drop) 81 is arranged above the field of view of the worker E in the dish 50. Further, in the region from the left side to the center of the dish 50, a sperm addition drop 82, a PVP drop 84, and an injection pipette washing solution drop (hereinafter referred to as a second washing solution drop) 85 are arranged. On the right side of the dish 50, egg drops 86 to 89 of the culture solution 52 containing the above-mentioned egg 10 are arranged.

Of these drops, sperm is added later to the sperm addition drop 82. In addition, each of the egg drops 86 to 89 contains one egg 10 collected from the patient. The first and second cleaning solution drops 81 and 85 are drops of the cleaning solution itself. As the cleaning solution, m-HTF (modified-Human Tubal Fluid) can be used. m-HTF is a culture solution suitable for use in an air environment. Of course, other well-known cleaning solutions may be used. PVP Drop 84 is a drop of PVP solution. The PVP solution is highly viscous and is used to put sperm here to suppress sperm motility and to crush the sperm tail.

B. Overview of microinsemination process:
Next, the outline of the usual microinsemination process will be described. Of course, there may be various methods for microinsemination treatment depending on the function and capacity of the embryo incubator, the skill of the embryo incubator, and the like, so there are various variations other than the treatment described below. The following is an outline of one of the preparatory processes for the microinsemination process performed by the worker E in order to make the process in the embodiment described later easy to understand. The following processing is all performed by the worker E. The series of processes may be performed by the same worker E as the person who finally performs the microinsemination, or may be performed by another person.

(1) Preparation process:
[1] The dish 50 is placed in the center of the stage 22 of the inverted microscope 25, the stage 22 of the inverted microscope 25 is moved, and the first cleaning solution drop 81 is positioned in the center of the field of view.
[2] Worker E holds the holding micropipette 36 with his right hand and the holder 35 with his left hand, and attaches the holding micropipette 36 to the holder 35.

[3] The holder 35 is attached to the left manipulator 32, and the tip of the holding micropipette 36 is adjusted so as to be directly above the first cleaning solution drop 81 while observing the field of view of the inverted microscope 25. This adjustment is mainly done manually.
[4] The operator E operates the operation unit 38 for the left hand of the manipulator 32 with his left hand, lowers the tip of the holding micropipette 36, and positions the tip in the first cleaning solution drop 81. This position is hereinafter referred to as the first cleaning position.

[5] Worker E operates the injector 79 with his left hand to discharge the culture solution inside the holding micropipette 36. Then, the tip of the holding micropipette 36 is moved to the center of the field of view.
[6] The objective lens of the inverted microscope 25 is switched to increase the magnification of the microscope field of view, and the orientation of the tip of the holding micropipette 36 is adjusted.

[7] Worker E switches the objective lens of the inverted microscope 25 to reduce the magnification of the microscope field of view, and operates the operation unit 38 of the manipulator 32 with his left hand to raise the holding micropipette 36.
[8] With the left hand, move the stage 22 of the inverted microscope 25 to position the PVP drop 84 in the center of the field of view.

[9] After adjusting the pressure in the injection pipette 34 by operating another injector 79, the injection pipette 34 is attached to the holder 33.
[10] The holder 33 is attached to the manipulator 31 on the right side, and the tip of the injection pipette 34 is adjusted so as to be directly above the PVP drop 84 while observing the field of view of the inverted microscope 25. This adjustment is mainly done manually.
[11] Worker E operates the operation unit 37 for the right hand of the manipulator 31 with his right hand, lowers the tip of the injection pipette 34, and positions the tip in the PVP drop 84. This position is hereinafter referred to as the PVP position.

[12] The injection pipette 34 is moved to the center of the field of view, and the angle of the injection pipette 34 is adjusted.
[13] Another injector 79 is adjusted to temporarily fill the inside of the injection pipette 34 with PVP, and in that state, the injector 79 is operated to suck in and discharge the PVP.
[14] Manipulator 31 is operated to raise the injection pipette 34.

[15] The stage 22 is moved and adjusted so that one of the egg drops 86 to 89 comes to the center of the field of view. Generally, the microinsemination process is performed from the ends of a plurality of egg drops 86 to 89, so that the egg drops 86 or 89 are selected.
[16] Worker E operates the manipulator 32 with his left hand to lower the holding micropipette 36 onto the egg drop 86.
[17] The magnification of the inverted microscope 25 is increased, and the position of the injection pipette 34 is adjusted with reference to the position of the holding micropipette 36.
The positions of the holding micropipette 36 and the injection pipette 34 adjusted in this way are hereinafter referred to as egg positions.
[18] The magnification of the inverted microscope 25 is reduced, and the preparatory process is completed. If there is time before the next process, the light or the like may be turned off.

(2) Sperm addition treatment and egg placement treatment:
Prior to the microinsemination treatment, sperm is added to the sperm addition drop 82. The sperm is added by adding the sperm prepared in advance to the sperm addition drop 82 of the dish 50 using a pipette or the like different from the microinsemination apparatus 20.

On the other hand, the eggs 10 collected from the patient are placed one by one in the prepared egg drops 86 to 89. This process is performed using a pipette different from the microinsemination apparatus 20. All pretreatments for microinsemination are completed with the ovum 10 placed in the ovum drops 86-89.

(3) Intracytoplasmic sperm injection processing:
Next, microinsemination processing is performed. In the microinsemination process, the operator E uses the microinsemination device 20 to move the stage 22, put the sperm addition drop 82 in the field of view of the inverted microscope 25, operate the manipulator 31, and sperm the injection pipette 34. Move to a position above the addition drop 82. In this state, the magnification of the inverted microscope 25 is increased, the tip of the injection pipette 34 is moved and lowered, and the tip of the injection pipette 34 is positioned at the interface of the sperm addition drop 82. This position is called the sperm addition drop position. From this state, the sperm is searched for in the field of view of the microscope, and the injector 79 is operated to suck the sperm into the injection pipette 34.

Subsequently, the magnification is lowered to widen the field of view, and the manipulator 31 is operated to raise the injection pipette 34 and further move to the PVP drop 84. In this state, the magnification of the inverted microscope 25 is increased, the injection pipette 34 is lowered to the PVP drop 84, and the injector 79 is operated to discharge the sperm in the injection pipette 34 into the PVP drop 84. In the PVP drop 84, the viscosity slows the movement of sperm, so the manipulator 31 is operated to crush the sperm tail with the tip of the injection pipette 34. Then, the manipulator 31 and the injector 79 are operated to suck one of the crushed sperms into the injection pipette 34.

In this state, the field of view of the inverted microscope 25 is widened, and the manipulator 31 is operated to move the tip of the injection pipette 34 to the egg drop 86. The injection pipette 34 is lowered, the magnification of the inverted microscope 25 is increased, the manipulator 32 is operated while looking at the egg 10, and the egg 10 is held by the holding micropipette 36. In this state, the manipulator 31 is operated to bring the tip of the injection pipette 34 closer to the egg 10, pierce the egg 10, increase the internal pressure of the injection pipette 34 by the injector 79, and remove the sperm in the injection pipette 34 into the egg 10. Discharge in. While maintaining the hold of the egg 10 by the holding micropipette 36, the manipulator 31 is operated to pull out the injection pipette 34 from the egg 10, and then the holding of the egg 10 by the holding micropipette 36 is released, and the manipulator 31, 32 is sequentially operated to raise the injection pipette 34 and the hold micropipette 36 from the egg drop 86.

The above process is repeated for the number of eggs 10 to be micro-fertilized. Of course, it is possible to complete the microinsemination by microinsemination of only one egg of one patient, but it is also possible to perform the microinsemination treatment on a plurality of eggs, for example, 3 or 4 eggs at a time. Since fertilization and cleavage do not always proceed in all 10 eggs to which sperms have been sent, microinsemination treatment is usually performed on about 3 eggs. Therefore, the number of egg drops is prepared according to the number of eggs 10 to be subjected to microinsemination treatment. Therefore, there are as many egg positions as described above for the number of egg drops. Hereinafter, these will be referred to as the first egg position and the second egg position.

(4) Post-processing:
After repeating the above-mentioned microinsemination treatment for the number of 10 ova, the fertilized ova are taken out and placed in an embryo culture device (incubator). After that, the dish 50, the injection pipette 34, and the holding micropipette 36 are removed from the microinsemination apparatus 20, and the manipulators 31, 32, injector 79, and the like are cleaned and initialized to complete the post-treatment.

The general procedure of microinsemination has been described above. In the microinsemination apparatus 20 that carries out the above-mentioned general procedure, the injection pipette 34 and the holding micropipette 36 are all moved by the operator E using the manipulators 31 and 32. On the other hand, in the microinsemination apparatus 100 of the embodiment described below, in addition to the operation of the manipulators 31 and 32 by the operator E, a part of the movement of the injection pipette 34 and the holding micropipette 36 is microinjected. The mechanism performed by the device 100 is incorporated. Hereinafter, the outline and operation of the device will be described with a focus on this point.

C. First Embodiment:
FIG. 3 is a schematic configuration diagram showing an outline of the microinsemination apparatus 100 as the first embodiment. The appearance of the microinsemination device 100 is almost the same as that of the microinsemination device 20 described with reference to FIG. The microinsemination device 100 incorporates an inverted microscope 25 as in the microinsemination device 20, but FIG. 3 shows only the eyepiece 121 of the inverted microscope 25. In the microinsemination apparatus 100, in addition, the manipulators 131 and 132 as the pipette drive unit, the holders 133 and 135, the operation unit 137 and 138, the injection pipette 134, the holding micropipette 136, the tubes 141 and 142, and the pressure operation unit 169, 179, etc. are provided. Further, similarly to the microinsemination apparatus 20, a stage 22 on which the dish 50 can be placed and which can be moved back and forth and left and right is also provided.

The stage 22 is provided with a Y-direction moving mechanism 22Y that moves the stage 22 in the front-rear direction (Y direction) and an X-direction moving mechanism 22X that moves the stage 22 in the left-right direction (X direction). The Y-direction and X-direction moving mechanisms 22Y and 22X are realized by the meshing of the pinion and the gear provided on the stage 22. The stage 22 has a first pinion 111 laid in the front-rear direction and a second pinion 112 laid in the left-right direction, and the movement is a first that meshes with these first and second pinions 111 and 112. This is realized by rotating the gear 113 and the second gear 114. The first and second gears 113 and 114 can be directly rotated by the operator E using a handle (not shown), but can also be provided by the first actuator 115 and the second actuator 116 provided coaxially. Scissors gears are used for each pinion and gear to bring backlash as close to zero as possible. Further, the first and second encoders 117 and 118 that detect the amount of rotation of the first and second gears 113 and 114, that is, the amount of movement of the stage 22 in the front-rear direction and the left-right direction, are the first and second gears 113 and 114. Is provided in.

Further, a video camera 110 for imaging is provided below the stage 22. 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 an appropriate brightness. Since the dish 50 is transparent, the video camera 110 can image the area of each drop (FIG. 2B) where the dish 50 is located.

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 down below the tip of the first arm 151. An X-axis handle 161 is provided on the side of the first arm 151. Further, 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 operation unit 169 is provided on the outside of the operation unit 137. The pressure operation unit 169 outputs an operation amount for setting the pressure applied to the liquid filled in the injection pipette 134. As shown in FIG. 5, the pressure adjusting unit 168 connected to the injection pipette 134 by the tube adjusts the pressure in the injection pipette 134 according to the amount of operation of the pressure operating unit 169. A similar mechanism is provided in the pressure control unit 179 and the holding micropipette 136. In the pressure operating units 169 and 179, including the pressure operating 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 of the above are referred to as an X2 operation amount, a Y2 operation amount, a Z2 operation amount, and a 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 of 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 dish 50 containing the egg, as shown in FIGS. 3 and 5, the left-right direction as seen 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, which is upward in the drawing, is referred to as a Z direction. The axis in this direction may be referred to as 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 stage operation unit 143, a right operation unit input unit 145, a left operation unit input unit 146, an injection pipette drive signal output unit 148, a hold pipette drive signal output unit 149, and a drive signal calculation generation. A section 147 is provided.

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 stage operation unit 143 is connected to a Y-direction moving mechanism 22Y that moves the stage 22 in the front-rear direction and an X-direction moving mechanism 22X that moves the stage 22 in the left-right direction. The stage operation unit 143 is connected to the first and second actuators 115 and 116 and the first and second encoders 117 and 118 of these moving mechanisms. As described above, the stage 22 is directly moved by the operator E using a handle (not shown), and the amount of movement is detected by the first and second encoders 117 and 118 and input via the stage operation unit 143. Will be done. On the other hand, in the automatic mode described later, the stage 22 can be moved in the front-rear direction and the left-right direction by outputting drive signals to the first and second actuators 115 and 116 via the stage operation unit 143.

The drive signal calculation generation unit 147 drives the actuator based on the instruction of the operation amount of each unit, including the movement of the stage 22. The drive signal calculation generation unit 147 has a CPU inside, and precisely drives the actuator according to the received signal. Based on each operation amount input via the drive signal calculation generation unit 147, the right operation unit input unit 145, and the left operation unit input unit 146, the drive amount of each axis actuator 181 to 187 of the manipulator 131 and each actuator of the manipulator 132. The drive amount of 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 each of the handles of the operation units 137 and 138 is operated, the injection pipette 134 and the holding micropipette 136 move according to the amount of operation.

The drive signal calculation generation unit 147 is connected to the upper movement control unit 200 by an input / output port having a communication function. In the microinsemination apparatus 100 of the present embodiment, the operator E can perform all the microinsemination processing by itself, but by exchanging signals with the upper movement control unit 200, the stage 22 in the automatic mode and the like. Each pipette can be moved.

The configuration of the movement control unit 200 will be described with reference to FIG. 7. FIG. 7 is a schematic configuration diagram of the movement control unit 200. As shown in the figure, the movement control unit 200 is a learning input unit that inputs a signal from a learning instruction switch 65 to perform a learning operation in addition to a well-known CPU 201, ROM 202, RAM 203, and a hard disk (HD) 205 as a storage device. 210, instruction input unit 220 to which the first and second foot switches 61 and 62 are connected, input / output unit 230 that communicates with the drive device 144, video input unit 240 that inputs moving images from the video camera 110, video It is equipped with a digital signal processor (DSP) 250, etc. that analyzes images from the camera 110.

The instruction input unit 220 is connected to the first and second foot switches 61 and 62, and detects the operation of the first and second foot switches 61 and 62. The first and second foot switches 61 and 62 may be abbreviated as FSW1 and FSW2 as necessary. The first and second foot switches 61 and 62 are used by the operator E and are used for instructing when the injection pipette 134 and the holding micropipette 136 are moved in the automatic mode, as will be described later.

The input / output unit 230 exchanges information with the drive signal calculation generation unit 147 of the drive device 144 described above. The information exchanged between the movement control unit 200 and the drive signal calculation generation unit 147 includes information.
(A) Initial positions of stage 22, injection pipette 134 and holding micropipette 136,
(B) Movement amount of stage 22, injection pipette 134 and holding micropipette 136,
(C) Target positions of stage 22, injection pipette 134 and holding micropipette 136,
(D) Operation mode of drive device 144 (manual mode or automatic mode))
and so on. The operation mode of the drive device 144 includes a manual mode in which the drive device 144 operates the stage, each injection pipette 134, a holding micropipette 136, etc. by the operation of the operator E, and the operator according to an instruction from the movement control unit 200. There is an automatic mode in which the operation of E is invalidated and the drive device 144 automatically moves the stage 22, each injection pipette 134, and the hold micropipette 136. In the following description, when each injection pipette 134 and the hold micropipette 136 are handled without particular distinction, they may be abbreviated as "pipettes 134, 136".

The DSP 250 performs a process of recognizing the area of each drop in the dish 50 based on the image of the video camera 110 input by the image input unit 240. The information extracted from the video of the video camera 110 includes the position of the dish 50 on the stage 22 and the area (two-dimensional coordinates) of each drop shown in FIG. 2B.

The process executed by the microinsemination apparatus 100 during the microinsemination operation will be described with reference to FIG. FIG. 8 is a flowchart showing an outline of the position learning process performed before the execution of microinsemination. This process is performed during the above-mentioned (1) preparatory process. In this embodiment, the following two steps are added in addition to the preparatory treatment performed in the conventional microinsemination apparatus 20.
(A) Learning the drop position for sperm addition (I) Learning the second washing position These processes are performed as follows.

(A) Learning the drop position for sperm addition:
[19] The stage 22 is moved at a low magnification and adjusted so that the interface of the sperm addition drop 82 on the PVP drop 84 side comes to the center of the field of view.
[20] Worker E operates the manipulator 131 with his right hand, lowers the injection pipette 134 to the sperm addition drop 82, and positions the tip of the injection pipette 134 in the sperm addition drop 82. This position is hereinafter referred to as a sperm drop position.
[21] Worker E raises the injection pipette 134 and detaches it from the sperm addition drop 82.

(I) Learning the second cleaning position:
[22] The stage 22 is moved at a low magnification and adjusted so that the second cleaning solution drop 85 comes to the center of the field of view.
[23] Worker E operates the manipulator 131 with his right hand to lower the injection pipette 134 to the second cleaning solution drop 85, and the tip thereof is positioned in the second cleaning drop. This position is hereinafter referred to as a second cleaning position.
[24] Worker E raises the injection pipette 134 and separates it from the second cleaning solution drop 85.

As a result of adding these processes, the positions to be learned are in addition to the above (A) and (I).
(C) First washing position: This is the tip position of the holding micropipette 136 described in [4] of the preparatory process.
(E) PVP position: This is the tip position of the injection pipette 134 described in [11] of the preparatory process.
(E) Egg position: This is the position of the tips of both pipettes 134 and 136 described in [17] of the preparatory process, and is the position corresponding to the egg drop 86.

In the position learning process shown in FIG. 8, among the above positions, (a) sperm addition drop position and (e) PVP position are learned. When the position learning process is started, the movement control unit 200 first executes the initial process (step S300). In the initial process, the movement control unit 200 uses the video camera 110 to image the dish 50, and sets the initial position of the tip of the injection pipette 134 and the holding micropipette 136. The initial position of the tip of each pipette is the X, Y, Z coordinates of the tip position of the pipette when the holding micropipette is attached to the holder in the preparatory process [2], and the injection pipette in the preparatory process [9]. These are the X, Y, and Z coordinates of the tip position of the pipette when the pipette is attached to the holder. These coordinates are the absolute position from the mechanical origin of the current stage 22, the absolute position from the mechanical origin of the manipulators 131 and 132 that hold and drive each pipette, and the mounting position of each pipette (from the holder to the tip). It can be obtained from the distance). The absolute position of the stage 22 from the mechanical origin is determined by moving the stage 22 to the origin once, setting the coordinates (X, Y, Z) of the position to (0, 0, 0), and then setting the actuator for driving. It can be obtained by detecting the operating amounts of 115 and 116 with the encoders 117 and 118. However, in the case of the stage 22, since it does not move in the vertical direction, the Z coordinate is always a value of 0.

Similarly, the absolute coordinates of the tip when each pipette 134, 136 is attached to the manipulator 131 or 132 are also set to (0, 0, 0) at the mechanical origin of the manipulator 131, 132, and then the manipulator 131. , 132 can be obtained by tracing the movement of the pipettes 134 and 132 using the signal from the encoder and measuring the distance from the holder to the tip of the pipette when the pipettes 134 and 136 are attached. Further, since the mechanical positional relationship between the stage 22 and the manipulators 131 and 132 is uniquely determined, these are integrated and the initial position of each pipette is viewed from the origin defined for the microinsemination apparatus 100. Obtained as absolute coordinates (X, Y, Z).

Subsequently, a process of recognizing the position of each drop (FIG. 2B) in the dish 50 from the image of the dish 50 captured in the initial process is performed (step S310). This process is performed by the DSP 250. By this process, the positions and regions of the drops 81, 82, 84 to 89 shown in FIG. 2B are recognized.

After that, the movement control unit 200 repeatedly recognizes the positions of the tips of the pipettes 134 and 136 (step S320). Each time the manipulators 131 and 132 and the stage 22 are operated by the operator E, the X, Y and Z coordinates of the tips of the pipettes 134 and 136 whose positions are changed as a result are updated. While repeating the recognition of the tip position of each pipette, it is determined whether or not the learning instruction switch 65 and the first and second foot switches 61 and 62 have been operated (step S330). If it has not been operated, the process returns to step S320, and the recognition of the position of the tip of each pipette 134, 136 is repeated. In the preparatory work [20], the operator E operates the learning instruction switch 65 at the same time as pressing the first foot switch 61 with the tip of the injection pipette 134 positioned at the interface of the sperm addition drop 82.

At this time, the movement control unit 200 stores the first foot switch 61 and the tip position of the injection pipette 134 in the table as (a) sperm addition drop positions. After that, it is determined whether the learning of all the positions has been completed, and if not, the process returns to step S320 and the above-described processing is repeated.

In the position learning processing routine, in addition to the above-mentioned (a) sperm addition drop position, (i) the second washing position is learned. By operating the second foot switch 62 and the learning instruction switch with the tip of the injection pipette 134 positioned at the second cleaning position in the preparatory work [23], the position of the tip of the injection pipette 134 at this time and Learning is performed in association with the second foot switch 62. A large number of foot switches may be provided to store other positions such as (c) first washing position, (e) PVP position, and (o) egg position in the table. Of course, voice recognition may be used to associate and store voice commands with each position. When the learning of all the planned positions is completed, the process exits to "END" and the position learning processing routine ends.

The position learning processing routine described above is executed by the movement control unit 200 in the preparatory processing in the microinsemination apparatus 100. By this preparatory treatment and the subsequent sperm addition treatment / egg placement treatment, sperm is added to the sperm addition drop 82, the egg is placed in the egg drop 86 to 89, and when the microinsemination treatment is started, the sperm moves. The control unit 200 executes the pipette movement processing routine shown in FIG. At this time, in the microinsemination device 100, the drive device 144 operates the stage 22 and the manipulators 131 and 132 in response to the instruction of the operator E. This state is called manual mode.

When the pipette movement processing routine shown in FIG. 9 is started, the movement control unit 200 first confirms the initial positions of the stage 22 and the pipettes 134 and 136 (step S400). The initial position is these absolute coordinates (X, Y, Z) at the start of microinsemination. Subsequently, the tip positions of the current pipettes 134 and 136 are calculated (step S405). The calculation of the tip position can be performed by exchanging the movement amount of the stage 22 and the pipettes 134 and 136 with the drive signal calculation generation unit 147 of the drive device 144.

Next, the states of the first and second foot switches 61 and 62 are read (step S410), and the state of the foot switches is determined (step S420). If neither of the first and second foot switches 61 and 62 is turned on, the process returns to step S405 and the process is repeated from the calculation of the current position. In the process of microinsemination, there occurs a scene in which the operator E wants to move the injection pipette 134 to the sperm addition drop 82 in order to suck the sperm into the injection pipette 134. Such a scene occurs multiple times when fertilizing a plurality of eggs. In such a situation, the worker E steps on the first foot switch 61 to turn it on. When the first foot switch 61 is turned on, the movement control unit 200 instructs the drive signal calculation generation unit 147 to switch the mode and sets the automatic mode (step S430). The automatic mode is a mode in which the pipette 134 or 136 is automatically moved. When the automatic mode is switched, all the operations of the operation units 137 and 138 of the manipulators 131 and 132 are invalidated. Although not shown in FIG. 9, at this time, an announcement such as "moving the tip of the pipette in the automatic mode" may be made by voice. Alternatively, the same display may be performed in the microscope field of view of the inverted microscope 25.

Subsequently, the drive signal calculation generation unit 147 is instructed to move the tip of the injection pipette 134 to the sperm addition drop position, that is, the interface of the sperm addition drop 82 (step S440). The instruction is given by passing the tip position of the injection pipette 134 stored in the table in step S340 of FIG. 8 to the drive signal calculation generation unit 147 as a target position. Upon receiving the instruction to move to the target position, the drive signal calculation generation unit 147 drives the X-direction movement mechanism 22X and the Y-direction movement mechanism 22Y to move the stage 22, and the actuators 181 to each axis of the manipulators 131 and 132. By driving 187, 191 to 197, etc., the tip of the injection pipette 134 is moved to the target position.

When the movement is completed, the movement control unit 200 instructs the drive signal calculation generation unit 147 to switch to the manual mode (step S470). At this time, it is preferable to notify the worker E that the movement is completed. By the above treatment, the tip of the injection pipette 134 is located at the interface of the sperm addition drop 82, so that the worker E can immediately start the sperm suction operation.

After that, the movement control unit 200 determines whether or not all the microinsemination processes have been completed. If the process of microinsemination is not completed, the process returns to step S405, and the above process is repeated from the calculation of the current positions of the pipettes 134 and 136.

If the second foot switch 62 is turned on when the state of the foot switch is read (step S410), the movement control unit 200 instructs the drive signal calculation generation unit 147 to switch to the automatic mode. (Step S450), all operations of the operation units 137 and 138 such as the manipulators 131 and 132 are invalidated. At this time, it is the same as in step S430 that an announcement such as "moving the tip of the pipette in the automatic mode" may be made by voice.

Subsequently, the drive signal calculation generation unit 147 is instructed to move the tip of the injection pipette 134 to the second cleaning position, that is, the second cleaning solution drop 85 (step S460). The instruction is given by passing the tip position of the injection pipette 134 stored in the table in step S340 of FIG. 8 to the drive signal calculation generation unit 147 as a target position. Upon receiving the instruction to move to the target position, the drive signal calculation generation unit 147 drives the X-direction movement mechanism 22X and the Y-direction movement mechanism 22Y to move the stage 22, and the actuators 181 to each axis of the manipulators 131 and 132. By driving 187, 191 to 197, etc., the tip of the injection pipette 134 is moved to the second washing position, which is the target position.

When the movement is completed, the movement control unit 200 instructs the drive signal calculation generation unit 147 to switch to the manual mode (step S470). By the above processing, the tip of the injection pipette 134 is located at the second cleaning position, that is, the second cleaning solution drop 85. Therefore, the operator E immediately operates the injector 79 to wash the inside of the injection pipette 134. The inside of the injection pipette 134 can be cleaned by performing a process such as sucking and discharging the injection pipette 134.

After that, the movement control unit 200 determines whether or not all the microinsemination processes have been completed, and if not, returns to step S405 and repeats the above-described processing from the calculation of the current positions of the pipettes 134 and 136. .. When all the microinsemination processes are completed, the process exits to "END" and the present process routine ends.

According to the microinsemination apparatus 100 of the first embodiment described above, the place where each pipette 134 or 136 is to be moved is registered in advance for some of the plurality of drops on the dish 50. By operating the first and second foot switches 61 and 62 during microinsemination, the tip of the corresponding pipette can be moved to the desired registration position at any time. Therefore, in the above example, it is possible to quickly perform operations such as sperm suction operation and cleaning of the injection pipette 134. Therefore, the work of microinsemination can be completed in a short time, and the egg 10 can be stored in the incubator in a short time. Since it is desirable for the fertilization and the growth of the fertilized egg to shorten the time from the collection of the egg 10 from the patient to the fertilization process and the time from the fertilization process to the storage in the incubator as much as possible, it is desirable. Automation of such routine tasks is useful. In particular, inexperienced embryo culture specialists greatly contribute to shortening the working time.

D. Other embodiments:
(1) As another embodiment, for example, the position of the holding micropipette 136 may be moved in the automatic mode. There is a scene in which the holding micropipette 136 is desired to be positioned at the first washing position, that is, the first washing solution drop 81, or the egg position, that is, the egg drops 86 to 89. In such a situation, the holding micropipette 136 may be moved in the automatic mode by using another foot switch, voice recognition, or the like.

Also, by reducing the number of footswitches, recognizing the current stage of microinsemination processing, and determining the required pipette movement even if the same footswitch operation is performed, which pipette is which. You may decide whether to move to a place. As described above, the stage of the micro-fertilization process in which the movement to each position occurs is usually determined, and therefore, for example, immediately after the start of the micro-fertilization or immediately after the fertilization process with the egg drop 86 is completed. If so, it is possible to take measures such as determining that the injection pipette 134 is instructed to move to the sperm addition drop position by operating the foot switch.

Alternatively, a list of positions learned in step 340 of FIG. 8 may be displayed in a field of view of a microscope or the like, and a position to be moved may be selected from the list.

(2) In the above embodiment, the tip positions of the injection pipette 134 and the holding micropipette 136 are moved in the automatic mode, but other surgical tools may be moved.

(3) In the above embodiment, the current position of the moving object is obtained by cumulative calculation of the amount of movement from the origin, but a stereo camera or the like capable of three-dimensionally grasping the tip position of the injection pipette 134 or the like is used. It may be provided and the current tip position may be obtained by image analysis.

(4) In each of the above embodiments, a part of the configuration realized by the hardware may be replaced with software. At least a part of the configuration realized by software can also be realized by a discrete circuit configuration. Further, when a part or all of the functions of the present disclosure are realized by software, the software (computer program) can be provided in a form stored in a computer-readable recording medium. "Computer readable recording medium" is not limited to portable recording media such as flexible disks and CD-ROMs, but is fixed to internal storage devices in computers such as various RAMs and ROMs, and computers such as hard disks. It also includes external storage devices that have been installed. That is, the "computer-readable recording medium" has a broad meaning including any recording medium in which data packets can be fixed rather than temporarily.

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

10 ... Egg, 20 ... Microscopic fertilizer, 21 ... Eyepiece, 22 ... Stage, 22X ... X direction movement mechanism, 22Y ... Y direction movement mechanism, 25 ... Inverted microscope, 31, 32 ... Manipulator, 33, 35 ... Holder, 34 ... injection pipette, 36 ... holding microscope, 37, 38 ... operating unit, 41, 42 ... tube, 50 ... dish, 52 ... culture solution, 54 ... mineral oil, 61 ... first foot switch, 62 ... second Foot switch, 65 ... Learning instruction switch, 79 ... Injector, 81 ... First wash solution drop, 82 ... Sperm addition drop, 84 ... PVP drop, 85 ... Second wash solution drop, 86-69 ... Egg drop , 100 ... Microscopic insemination device, 110 ... Video camera, 111 ... 1st pinion, 112 ... 2nd pinion, 113 ... 1st gear, 114 ... 2nd gear, 115 ... 1st actuator, 116 ... 2nd actuator, 117 ... 2nd encoder, 121 ... eyepiece, 131, 132 ... manipulator, 133, 135 ... holder, 134 ... injection pipette, 136 ... holding microscope, 137, 138 ... operation unit, 141 ... tube, 143 ... stage operation unit, 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 unit , 151 ... 1st arm, 152 ... 2nd arm, 161 ... X-axis handle, 163 ... Y-axis handle, 165 ... Z-axis handle, 167 ... T-axis movement handle, 168 ... Pressure regulator, 169, 179 ... Pressure operation unit, 171 ... Handle, 181 ... X-axis actuator, 183 ... Y-axis actuator, 185 ... Z-axis actuator, 187 ... T-axis actuator, 191 ... Actuator, 200 ... Movement control unit, 201 ... CPU, 202 ... ROM, 203 ... RAM, 210 ... learning input unit, 220 ... instruction input unit, 230 ... input / output unit, 240 ... video input unit

The present disclosure can be realized as the following forms or application examples. For example, as a first aspect of the present disclosure, an intracytoplasmic sperm injection device is provided. This device for microinsemination includes a microscope whose magnification can be changed and a stage provided in the field of view of the microscope on which a dish on which eggs and sperms to be operated by microinsemination are placed is placed. , A moving mechanism that moves two-dimensionally according to a manual operation, a manual moving part that moves the position of the tip of the surgical tool for microinsemination three-dimensionally according to a manual operation, and the moved microinsemination. A position storage unit that stores the position of the tip of the surgical tool for use and the position of the stage on which the dish is placed according to a predetermined operation, and one of the plurality of stored positions are selected to perform the operation. An instruction unit that instructs the tip of the surgical tool for microinsemination to a position and the stage on which the dish is placed, and the surgical tool for microinsemination by the manual movement unit when the instruction is received. The movement of the stage on which the dish is placed by the manual operation is invalidated, and the tip of the surgical tool for microinsemination and the stage on which the dish is placed are moved to the selected position. It includes a control unit. In this microinsemination device, one of the memorized positions is the position inside the liquid drop placed in the dish. As another aspect of the present disclosure, a method of controlling the position of the microinsemination surgical tool corresponding to the above-mentioned microinsemination device can also be implemented.

Claims (7)

A manually operated position control device for surgical instruments used in the field of view of a microscope.
A manual moving part that moves the position of the tip of the surgical tool three-dimensionally according to a manual operation,
A position storage unit that stores the position of the tip of the surgical tool to be moved according to a predetermined operation, and
An instruction unit that selects one of the plurality of memorized positions and instructs the movement of the tip of the surgical instrument to the position, and
When the instruction is received, the movement of the surgical tool by the manual moving unit is invalidated, and the position control of the surgical tool provided with the movement control unit that moves the tip of the surgical tool to the selected position. apparatus. The position control device for the surgical instrument according to claim 1.
The storage unit is a position control device that stores the current position of the surgical instrument detected by the detection unit as one of the plurality of positions. The subject is an egg
The position control device for a surgical tool according to claim 1 or 2, wherein the surgical tool is an injection pipette that feeds sperm into the egg. The subject is an egg
The position control device for a surgical tool according to claim 1 or 2, wherein the surgical tool is a holding pipette that holds the egg. The surgical tool according to any one of claims 1 to 4, wherein when the position control unit moves the tip of the surgical tool on the back to one of the plurality of positions, the completion of the movement is notified. Position control device. An intracytoplasmic sperm injection device incorporating the position control device for the surgical instrument according to any one of claims 1 to 5. A method of controlling the position of a surgical instrument that is used in the field of view of a microscope and is manually operated.
The position of the tip of the surgical tool is moved three-dimensionally according to the manual operation,
The position of the tip of the surgical tool to be moved is memorized according to a predetermined operation, and the position is memorized.
Select one of the memorized positions to instruct the tip of the surgical instrument to move to that position.
A method for controlling the position of a surgical tool that invalidates the manual movement of the surgical tool and moves the tip of the surgical tool to the selected position when the instruction is received.

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