JP3099462U - Fine movement position adjustment device for micromanipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a micromanipulator fine movement position adjusting device capable of securely holding a tip position of an end effector even when a temperature change occurs during use without inadvertently transmitting vibration of a hand to a micromanipulator. thing.
A feed mechanism (2) connected to a flexible wire (4) is driven by operating a manual operation handle (6) to rotate a flexible wire (4), and a movable member (5) is moved linearly so that an end effector (109) is moved. Adjust the amount of protrusion. Since the vibration of the hand is absorbed by the flexible wire 4, the vibration is not transmitted to the end effector mounting attachment 1, and the position of the movable member 5 is uniquely specified only by the rotation position of the feed screw 7. Therefore, the initial position of the end effector 109 is guaranteed even if the total length of the flexible wire 4 fluctuates due to a change in temperature.
[Selection diagram] Fig. 1

Description

The present invention relates to a micromanipulator fine movement position adjusting device for finely adjusting the amount of protrusion of an end effector mounted on the tip of a micromanipulator.

(4) A micromanipulator is known in which a tip of an end effector such as a probe, an injection needle, and an electrode is precisely positioned on a target object in combination with a microscope.

FIG. 3 is a view schematically showing the structure of a general micromanipulator. The micromanipulator 100 is mounted on a stage 102 of a microscope 101 via a mounting bracket 103, and the position and position of each part can be freely adjusted by adjusting some adjustment screws 104 to 108.

The adjusting screw 108 is used to adjust the amount of protrusion of the holder 110 holding the end effector 109.

Generally, the positioning of the end effector 109 with respect to the target 111 placed on the stage 103 is performed first so that the tip of the end effector 109 does not interfere with the target 111. , A certain working distance is secured between them, the adjusting screws 104 to 107 are adjusted to determine the posture and orientation of the holder 110, and finally, the adjusting screw 108 is adjusted while looking into the microscope 101, and the holder 110 is adjusted. Are projected to position the tip of the end effector 109 with respect to the object 111.

However, in the case of a micromanipulator integrated with an operation unit as shown in FIG. 3, when operating the adjustment screw 108, hand vibration is transmitted to the main body of the micromanipulator 100 via the adjustment screw 108, and the end effector 109 There may be a problem that the aim of the tip goes wrong.

As a technique for solving such a problem, there has been proposed a hydraulic micromanipulator fine movement position adjusting device as shown in FIG.

The micromanipulator fine movement position adjusting device 112 shown in FIG. 4 includes an end effector mounting attachment 113 formed of a hydraulic cylinder, a remote control mechanism 117 including a Teklon tube 114, an operating hydraulic cylinder 115, and a manual operating handle 116. .

The end effector mounting attachment 113 is attached to the micromanipulator 100 of FIG. 3 instead of the holder 110 shown in FIG. 3, and a probe at the tip of the end effector mounting attachment 113 has a probe, An end effector 109 such as an injection needle or an electrode is detachably mounted.

The micromanipulator fine movement position adjusting device 112 adjusts the amount of oil sent from the operating hydraulic cylinder 115 to the Teklon tube 114 by the rotation of the manual operation handle 116, and adjusts the piston portion at the tip of the end effector mounting attachment 113. The end position of the end effector 109 is adjusted by controlling the amount of protrusion of the end effector 109.

The structure for sending a small amount of oil from the operating hydraulic cylinder using the rotation of the manual operation handle is described in detail in, for example, Patent Document 1.

By applying the configuration as shown in FIG. 4, the problem that hand vibration is transmitted to the main body of the micromanipulator 100 when adjusting the amount of protrusion of the end effector 109 can be surely solved.

However, since the volume of the oil fluctuates due to the temperature change, it is difficult to accurately maintain the tip position of the end effector 109 for a long time even if the rotational position of the manual operation handle 116 is securely fixed. . Further, since viscous resistance acts between the inner peripheral surface of the Teklon tube 114 and the oil, a long waiting time (for example, a long waiting time until the amount of the delivered oil is stabilized and the protruding amount of the end effector 109 is specified) 30 minutes), and there remains a problem in terms of workability.

As a technique for eliminating the positional deviation due to the temperature drift, a tip of a wire passed through a copper tube is connected to a movable member for mounting an end effector, and the other end of the wire is connected to a remote operation mechanism, and a remote control mechanism is connected. Patent Document 2 proposes, for example, Patent Document 2 in which a protrusion of an end effector is adjusted by moving a movable member for mounting the end effector by directly moving a wire by operating a handle of an operation mechanism.

Wires made of non-stretchable wire have a lower coefficient of thermal expansion than liquids such as oil, and therefore, it is better to feed the movable member for mounting the end effector by direct movement of the wire to reduce the misalignment due to temperature drift. The gist of the invention disclosed in Patent Document 2 is that the influence is small.

However, the structure disclosed in Patent Literature 2 uses a high-rigidity copper tube to connect the remote control mechanism and the main body of the micromanipulator, so that the remote control mechanism cannot be installed at an arbitrary position. There are drawbacks. Further, even if the remote control mechanism is installed at a distance from the main body of the micromanipulator, there is a possibility that hand vibration is transmitted to the main body of the micromanipulator via the copper tube.

It is conceivable to divert such a technique to replace the tube covering the wire with a flexible one to help prevent vibration transmission, but in such a case, the tube always bends along the center of the tube when the tube is bent. However, there is no guarantee that the wire is positioned, and there is a problem that the bending amount and the posture of the tube change the relative amount of protrusion of the wire tip with respect to the tube, and eventually the amount of protrusion of the end effector.

In addition, even though the coefficient of thermal expansion of the wire is low, the coefficient of thermal expansion of the copper tube and the coefficient of thermal expansion of the wire are not completely the same. In particular, the distance between the main body of the micromanipulator and the remote control mechanism When the temperature changes during use of the micromanipulator, the change in the relative protrusion amount of the wire due to the difference in the coefficient of thermal expansion between the copper tube and the wire in proportion to the distance between them, that is, In addition, there is a problem that the positional shift of the end effector easily occurs.

Japanese Utility Model Application No. 1-91234 (FIG. 6) JP-A-11-151688 (FIG. 2)

Therefore, an object of the present invention is to solve the disadvantages of the prior art, and to prevent the hand vibration from being inadvertently transmitted to the micromanipulator when adjusting the amount of protrusion of the end effector. Micromanipulator fine movement position adjustment that can stabilize the protrusion amount of the micromanipulator and securely maintain the tip position of the end effector at the final adjustment position even if the temperature changes during use of the micromanipulator It is to provide a device.

The present invention is a micromanipulator fine movement position adjustment device for finely adjusting the amount of protrusion of an end effector attached to the tip of a micromanipulator, and in order to achieve the above-described subject,
A movable member to which the end effector is mounted, a linear movement restricting means for restricting a moving direction of the movable member, and an end effector mounting attachment having a feed mechanism for converting a rotational motion into a linear motion and feeding the movable member,
A remote control mechanism having a flexible wire connected to the feed mechanism for transmitting a rotational force and a manual operation handle for driving the flexible wire to rotate is provided.

In the above configuration, when the flexible wire is rotated by operating the manual operation handle of the remote control mechanism, the feed mechanism of the end effector mounting attachment connected to the flexible wire is driven, and the end effector mounting attachment is driven. The movable member moves along the direction regulated by the linear movement regulating means, and the amount of protrusion of the end effector mounted on the movable member is adjusted.
Since the manual operation handle of the remote operation mechanism and the feed mechanism of the attachment for attaching the end effector are connected by a flexible wire, the hand operation may be transmitted to the manual operation handle during operation of the manual operation handle. However, this vibration is attenuated by the flexible wire, and is not substantially transmitted to the attachment for mounting the end effector or the micromanipulator. Therefore, the problem that the end of the end effector is misaligned during the final adjustment of the protrusion amount of the end effector is surely solved.
Further, the flexible wire only connects to the feed mechanism and transmits the rotational force, and the moving position of the movable member is specified only by the operation state of the feed mechanism provided on the end effector mounting attachment side. Therefore, even if the flexible wire expands and contracts due to a temperature change, the rotation mechanism of the flexible wire, that is, the rotation mechanism of the manual operation handle may be operated carelessly unless the rotation position is changed. Therefore, the end position of the end effector can be securely held at the final adjustment position regardless of the change in the expansion / contraction state of the flexible wire.
In addition, since a liquid such as oil is not used as a means for transmitting power, there is no problem of viscous resistance, and the protrusion amount of the end effector can be stabilized in a short time.

More specifically, the feed mechanism of the attachment for mounting the end effector can be constituted by a feed screw which penetrates the movable member and is screwed to the movable member, and the linear movement restricting means penetrates the movable member. It can be constituted by three or more guide rods.

In particular, by disposing at least one of the three or more guide rods at a position that is not on the same plane as the other guide rods, it is possible to prevent the movable member from falling down and twisting with respect to the guide rods, The effector can be accurately and linearly moved while maintaining the posture of the effector.

The fine movement position adjusting device for the micromanipulator of the present invention drives the feed mechanism of the attachment for mounting the end effector connected to the flexible wire by rotating the flexible wire by operating the manual operation handle of the remote operation mechanism. However, since the movable member of the attachment for mounting the end effector is linearly moved to adjust the protrusion amount of the end effector, the vibration of the hand is transmitted to the manual operation handle during the operation of the manual operation handle. However, this vibration is not transmitted to the attachment for mounting the end effector or the micromanipulator via the flexible wire, and the aim of the tip of the end effector goes out of control in the process of adjusting the projection amount of the end effector. It can be surely eliminated.
Further, since the moving position of the movable member to which the end effector is attached is specified only by the operation state of the feed mechanism provided in the attachment for attaching the end effector, there is a case where the flexible wire expands and contracts due to a temperature change. Even if the rotational position of the flexible wire, that is, the rotational position of the manual operation handle is not changed, the feed mechanism does not operate carelessly, and changes in the expansion and contraction state of the flexible wire due to temperature change and the like. Regardless, the tip position of the end effector can be reliably held at the final adjustment position.
Further, since a liquid such as oil is not used as a means for transmitting power, there is no problem of viscous resistance, and the protrusion amount of the end effector can be stabilized in a short time.

In addition, since the feed mechanism of the attachment for mounting the end effector has a simple structure using the feed screw, it can be manufactured at low cost. Further, since the linear movement restricting means is constituted by three or more guide rods including one which is not on the same plane as the other guide rods, it is possible to prevent the movable member from falling down or twisting with respect to the guide rods, thereby preventing the end effector. In this state, the positioning of the tip of the end effector can be performed accurately.

Basically, as shown in FIG. 1, the present invention applies a rotational force to a feed mechanism 2 provided on an end effector attachment 1 from a remote operation mechanism 3 side via a flexible wire 4. This is a micromanipulator fine movement position adjusting device that linearly moves the movable member 5 of the end effector mounting attachment 1 and finely adjusts the amount of protrusion of the end effector 109 mounted on the movable member 5.

The gist is that the transmission of the vibration generated on the side of the manual operation handle 6 of the remote operation mechanism 3 is prevented by the flexibility of the flexible wire 4, and the directionality and posture of the end effector 109 are disturbed. The feed mechanism 2 is configured to operate in response to only rotation of the flexible wire 4 and to prevent the expansion and contraction of the flexible wire 4 caused by a temperature change or the like. It is to prevent an adverse effect on the end, that is, to prevent a displacement of the tip of the end effector 109 due to an inadvertent operation of the feed mechanism 2 due to expansion and contraction of the flexible wire 4.

The feed mechanism 2 which is not affected by the expansion and contraction of the flexible wire 4 and operates in response to only the rotation of the flexible wire 4 is realized by using a feed screw 7 or the like which converts a rotary motion into a linear motion. You.

Further, the linear movement restricting means 8 for restricting the moving direction of the movable member 5 is constituted by three or more parallel guide rods 9a, 9b, 9c penetrating the movable member 5, and at least one of the other guide rods 9a, 9b, 9c. By disposing the movable member 5 with respect to the guide rods 9a, 9b, 9c, it is possible to prevent the movable member 5 from falling down and twisting by realizing the end effector 109 while maintaining the posture thereof. ing.

Next, the best mode for carrying out the present invention will be specifically described with reference to examples.

FIG. 1 is a perspective view showing the entire structure of a fine movement position adjusting device 10 for a micromanipulator according to an embodiment to which the present invention is applied. FIG. 2 is an enlarged view of an end effector mounting attachment 1 which is a part thereof. It is the perspective view shown.

This micromanipulator fine movement position adjusting device 10 is composed of an end effector mounting attachment 1 and a remote control mechanism 3 as shown in FIG.

The end effector mounting attachment 1 is mounted on a known micromanipulator 100 instead of the end effector mounting holder 110 as shown in FIG.

Specifically, the column-shaped mounting bracket 11 constituting a part of the attachment 1 for mounting the end effector is machined according to substantially the same standard as the holder 110 shown in FIG. Instead, by attaching the mounting bracket 11 of the end effector mounting attachment 1 to the micromanipulator 100, the end effector mounting attachment 1 is mounted on the micromanipulator 100.

Of course, the micromanipulator 100 of FIG. 3 is an example, and the attachment 1 for mounting the end effector can be mounted on another type of micromanipulator. The shape and dimensions of the mounting bracket 11 are a matter of design, and the end effector mounting attachment 1 may be freely designed so that it can be mounted on an existing micromanipulator.

FIG. 2 shows the details of the structure of the attachment 1 for mounting the end effector. The main part of the attachment 1 for mounting an end effector includes a movable member 5 for mounting an end effector 109 such as a probe, an injection needle, and an electrode, and a linear movement restricting means 8 for restricting a moving direction of the movable member 5. And a feed mechanism 2 that converts the rotational motion into a linear motion and feeds the movable member 5.

The feed mechanism 2 includes a feed screw 7 that penetrates the movable member 5 and is screwed to the movable member 5, and a female screw portion 12 that is provided through the movable member 5 so as to fit the feed screw 7. It is constituted by.

The linear movement restricting means 8 is constituted by three guide rods 9a, 9b, 9c which are provided in parallel through the movable member 5, at least one of which is in the same plane as the other guide rods. It is deployed in a position that is not above.

For example, in the example of FIG. 2, when considering a plane including the guide rod 9a and the guide rod 9c as a reference, the guide rod 9b is a guide rod that is not located on the same plane as the other guide rods 9a and 9c. In this embodiment, a straight line connecting the guide rods 9a and 9c in the radial direction is set as the base, and the guide rod 9b is positioned at the apex of an overturned equilateral triangle or an isosceles triangle. 9a, 9b and 9c are arranged.

Although the fitting of the guide rods 9a, 9b, 9c and the through holes 13a, 13b, 13c on the movable member 5 side is tight, the sliding of the movable member 5 with respect to the guide rods 9a, 9b, 9c is limited. is not.

Both ends of the guide rods 9a, 9b, 9c are integrally fixed to fixed plates 14, 15 formed in a substantially rectangular shape, and one fixed plate 15 is attached via a substantially rectangular stay 23. It is fixed to the tip of the metal fitting 11. Both ends of the feed screw 7 are rotatably supported by holes 16 with slits formed in the fixed platen 14 and holes 17 formed in the fixed platen 15 and are not movable in the axial direction. Supported.

One end of the feed screw 7 penetrates through a hole 16 with a slit formed in the fixed plate 14 and protrudes to the rear surface side of the fixed plate 14, and forms a stepped cylindrical body 19 forming a part of the chuck mechanism 18. 2 and is fixed to the stepped cylindrical body 19 by the tip of a hexagon socket set screw 20 buried in the radial direction of the stepped cylindrical body 19 from the right side in FIG. Is done.

Further, a set screw 21 with a hexagonal hole is embedded in the reduced diameter portion 19a of the stepped cylindrical body 19, and can be inserted from the left side in FIG. 2 into a hole formed along the central axis of the reduced diameter portion 19a. The core 4a of the flexible wire 4 is fixed.

Further, a tapered tapered surface is formed at the tip of the reduced diameter portion 19a of the stepped cylindrical body 19, and a male screw portion formed on a straight portion of the reduced diameter portion 19a forms a part of the chuck mechanism 18. The cap member 22 is screwed.

The cap member 22 has a through hole extending along the central axis, and the inner diameter of the left end opening of the through hole is substantially equal to the outer diameter of the tube 4 b of the flexible wire 4, and further communicates with this opening. 2, an inner peripheral tapered surface whose inner diameter increases from left to right in FIG. 2 is formed on the right end side of the inner peripheral surface of this through hole. The female screw part which is compatible with the male screw part is formed.

The distal end of the resin tube 4b that covers the core 4a of the flexible wire 4 protrudes into the through hole of the cap member 22 from the left side in FIG. 2, and the inside and the outside thereof are tapered at the reduced diameter portion 19a of the stepped cylindrical body 19. It is pressed by the surface and the inner peripheral tapered surface of the cap member 22 and is fixed to the chuck mechanism 18.

Accordingly, the set screw 21 having a hexagonal hole is loosened to release the engagement between the core member 4a and the stepped cylindrical body 19, and at the same time, the screwing of the cap member 22 to the male screw portion formed in the stepped cylindrical body 19 is performed. If the flexible wire 4 is pulled in a state where the tube 4b is unlocked by loosening the gap between the inner peripheral tapered surface of the cap member 22 and the tapered surface of the stepped cylindrical body 19 to release the chuck mechanism, It is possible to remove the flexible wire 4 from 18.

On the other hand, as shown in FIG. 1, a remote control mechanism 3 for driving the feed mechanism 2 has a handle holding member 25 formed substantially in an L shape, and is rotatably attached to the handle holding member 25. The manual operation handle 6, a chuck mechanism 26 provided at the distal end of the manual operation handle 6 through the handle holding member 25, and the flexible wire 4 connected to the chuck mechanism 26. A magnet stand 27 having an ON / OFF switch 28 is fixed to the lower surface of the handle holding member 25 with a bolt, and the remote operation mechanism 3 can be freely set at an arbitrary position such as a microscope stage or a peripheral metal table. Can be installed in

The structure of the chuck mechanism 26 is the same as the structure of the chuck mechanism 18 described above, and the flexible wire 4 can be freely attached to and detached from the chuck mechanism 26. Therefore, the flexible wire 4 having an appropriate length is selected as needed, and the flexible wire 4 connects the chuck mechanism 26 of the remote operation mechanism 3 to the chuck mechanism 18 of the attachment 1 for mounting the end effector. be able to.

目 A scale 29 obtained by dividing one turn into 50 equal parts is engraved on the outer periphery of the manual operation handle 6. Since the lead of the feed screw 7 (the amount of movement by one rotation) is 0.2 mm, the amount of movement of the movable member 5 corresponding to one step of the scale 29 is 0.2 mm / 50, that is, 4 μm.

In the above configuration, when the operator rotates the manual operation handle 6 of the remote operation mechanism 3, the rotation is transmitted to the feed screw 7 of the feed mechanism 2 via the chuck mechanism 26, the flexible wire 4, and the chuck mechanism 18. You.

When the feed screw 7 is rotationally driven in this manner, the movable member 5 screwed to the feed screw 7 via the female screw portion 12 is fed by the rotation of the feed screw 7, and the guide rods 9a, 9b, The end effector 109 such as a probe, an injection needle, and an electrode is linearly moved in a state where the moving direction is regulated by 9c, and is fitted into a substantially U-shaped fitting recess 24 formed on the upper surface of the movable member 5. It moves linearly with the movable member 5.

At this time, vibration or the like may occur in the hand of the operator who rotates the manual operation handle 6, but the connection between the chuck mechanism 26 on the remote operation mechanism 3 side and the chuck mechanism 18 on the end effector mounting attachment 1 side. This vibration is not transmitted to the end effector mounting attachment 1 side because the flexible wire 4 is used.

Therefore, the problem that vibration is transmitted to the attachment 1 for mounting the end effector or the micromanipulator, and the aim of the end of the end effector 109 is misaligned or the posture is changed is surely solved.

In addition, the movable member 5 and the end effector 109 move immediately in response to the rotation of the manual operation handle 6, and the movement is linear, so that the protrusion amount of the end effector 109 can be stabilized in a short time. Work efficiency is good.

Further, in the case where the work is performed for a long time with the cells or the like fixed by the end effector 109 such as a probe, thermal expansion or contraction occurs due to temperature change during the work, and the total length of the flexible wire 4 is delicate. However, the position of the movable member 5 on the end effector attachment 1 is uniquely specified only by the rotation position of the feed screw 7 screwed to the movable member 5, As long as the flexible wire 4 itself does not rotate for some reason, no displacement occurs due to a change in the overall length of the flexible wire 4.

Accordingly, it is possible to reliably maintain the end position of the end effector 109 at the final adjustment position regardless of a change in the environmental temperature.

However, when the remote control mechanism 3 is installed, it is desirable to allow the flexible wire 4 to have some slack. If the flexible wire 4 is linearly extended, the end effector mounting attachment 1 may be pulled backward when the flexible wire 4 contracts. When the flexible wire 4 is extended, the flexible wire 4 bends and a temporary pressing force acts in the axial direction before the internal stress is released, and the pressing force can push the end effector mounting attachment 1 forward. Because there is a nature.

If the flexible wire 4 is given a certain amount of slack from the beginning, the curvature of the slack portion changes only slightly due to the expansion and contraction of the flexible wire 4, and the tensile force and the compressive force in the axial direction are reduced. It is never transmitted to the end effector mounting attachment 1.

Although the embodiment has been described above, the structure of the fitting concave portion 24 in the movable member 5 is merely a design matter that can be arbitrarily selected according to the shape of the end effector 109 to be mounted. . The end effector 109 may be attached to the movable member 5 using a set screw or the like, or the end effector 109 may be integrated with the movable member 5. Similarly, the structure of the mounting bracket 11 for mounting the end effector mounting attachment 1 on the micromanipulator should be determined according to the structure of the micromanipulator to be mounted.
When a feed screw 7 is screwed into the center of the movable member 5 and a plurality of guide rods 9a, 9b, 9c,... Is advantageous.

This device is basically for finely adjusting the amount of protrusion of the end effector. A feed mechanism for feeding the movable member is provided in two or more axes so that the tip position of the end effector can be two-dimensionally adjusted. Alternatively, it is also possible to develop a structure that adjusts in three dimensions.

1 is a perspective view showing the entire structure of a micromanipulator fine movement position adjusting device according to an embodiment of the present invention. It is the perspective view which expanded and showed the attachment for mounting an end effector which comprises a part of fine movement position adjustment apparatus for micromanipulators of the embodiment. It is a figure showing the outline of the structure of the general micromanipulator. It is the figure which showed an example of the fine movement position adjustment apparatus for hydraulic type micromanipulators.

Explanation of reference numerals

DESCRIPTION OF SYMBOLS 1 Attachment for mounting an end effector 2 Feeding mechanism 3 Remote control mechanism 4 Flexible wire 4a Core 4b Tube 5 Movable member 6 Manual operation handle 7 Feed screw 8 Linear movement restricting means 9 Guide rod 10 Micromanipulator fine movement position adjusting device 11 Metal fittings 12 Female screw portions 13a, 13b, 13c Through holes 14, 15 Fixing plate 16 Slit hole 17 Hole 18 Chuck mechanism 19 Stepped cylindrical body 19a Reduced diameter portion 20, 21 Hexagon socket set screw 22 Cap member 23 Stay 24 Fitting recess 25 Handle holding member 26 Chuck mechanism 27 Magnet stand 28 ON / OFF switch 29 Scale 100 Micromanipulator 101 Microscope 102 Stage 103 Mounting bracket 104 to 108 Adjustment screw 109 End effector (probing needle, injection needle, Etc.)
110 Holder 111 Object 112 Fine movement position adjustment device 113 for micromanipulator 113 Attachment for mounting end effector 114 Tecron tube 115 Hydraulic cylinder 116 for operation Operation handle 117 Remote operation mechanism

Claims (2)

A micromanipulator fine movement position adjustment device for finely adjusting the protrusion amount of an end effector attached to the tip of the micromanipulator,
A movable member for mounting the end effector, a linear movement restricting means for restricting a moving direction of the movable member, and a feed mechanism for converting a rotary motion into a linear motion and feeding the movable member; Attachment,
A fine movement position for a micromanipulator, comprising: a flexible wire connected to the feed mechanism for transmitting a rotational force; and a remote control mechanism having a manual operation handle for rotating and driving the flexible wire. Adjustment device. The feed mechanism is constituted by a feed screw which penetrates the movable member and is screwed to the movable member, and the linear movement restricting means is constituted by three or more guide rods penetrating the movable member, and at least 2. The fine movement position adjusting device for a micromanipulator according to claim 1, wherein one of the guide rods is disposed at a position not to be flush with another guide rod.

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