JP5024657B2 - manipulator - Google Patents

Description

  The present invention relates to a manipulator, and more particularly to a manipulator for operating a driving target to perform a predetermined operation on a sample.

  In the field of biotechnology, as a micromanipulator that inserts a needle into a cell under microscopic observation ((processed image processing with a microscope camera) and injects a nucleus into the cell, for example, a tertiary of the XYZ axis Proposals have been made to use piezoelectric elements as drive actuators (nanopositioner drive sources) that move in the original space (see Non-Patent Document 1) The micromanipulator moves much more than the drive of piezoelectric elements. There is a case where it is treated as indicating the whole mounted on a motor-driven XYZ axis table having a large amount but a low movement resolution.

In other words, it can be said to be a two-stage manipulator that performs coarse adjustment by driving the motor and then fine adjustment by driving the piezoelectric element.
A needle to be inserted into the cell, that is, a capillary, is detachably attached to a pipette attached to the nanopositioner.

The operation for moving the capillary is attached to the controller and realized using a joystick (see Non-Patent Document 2 as an example).
"Optical microscope, micromanipulator for bioresearch", Mitomo Corporation, published in October 2004 "Single cell manipulation support robot", Chuo Seiki Co., Ltd., issued in November 2003

  However, when a predetermined operation is performed on a sample using a capillary of a pipette, the operation cannot be performed well if the sample is stuck on the sample stage. In particular, when trying to collect a sample, it may not be collected. Alternatively, skilled techniques may be required for collection.

  For this reason, the work efficiency is lowered because the sample stage is removed and the sample is peeled off at another place, or is peeled off using another jig.

  In view of the above facts, an object of the present invention is to obtain a manipulator capable of eliminating the sticking of a sample to a sample stage and improving the working efficiency without relying on an expert. .

  In order to achieve the above-described object, a manipulator according to the present invention is connected to a driving target, and uses a piezoelectric element as a driving source to move the driving target to a three-dimensional space of X axis-Y axis-Z axis; , An input means for inputting the operation information of the drive object, and an instruction operation mode for supplying a movement drive voltage to the piezoelectric element based on the input information by the input means to move the drive object in the designated movement direction, And a control means for controlling in any one of vibration modes for supplying a vibration drive voltage to the piezoelectric element to cause the drive object to vibrate.

  According to the present invention, the control means can operate the nanopositioner, that is, the piezoelectric element in the instruction operation mode or the vibration mode based on the input information from the input means, and one drive system can be used in two different applications. It can be used properly by the operation of.

  In the above invention, the driving object is a pipette in which a capillary for performing a predetermined operation on a sample placed on a sample stage is attached to a tip portion. In the vibration mode, the capillary vibrates and feeds the sample. It is characterized by peeling from the table.

  In the vibration mode, the capillary vibrates and the sample can be peeled off from the feed table, so that an operation by an expert is not required.

  According to the present invention, it is possible to provide a manipulator capable of easily collecting a sample attached to a sample stage without depending on a skilled person and improving work efficiency.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of a manipulator showing an embodiment of the present invention.

  In FIG. 1, a manipulator system 10 includes a microscope unit 12, a manipulator 14, and a manipulator 16 as a system for performing an artificial operation on a sample under microscope observation, and manipulators 12 on both sides of the microscope unit 12. , 14 are arranged separately.

  The microscope unit 12 includes a camera 18 as an image sensor, a microscope 20, and a base 22 as a sample stage. The microscope 20 is arranged immediately above the base 22. Note that the microscope 20 and the camera 18 have an integral structure, and although not shown, a microscope is provided with a light source that emits light toward the base.

  A sample (not shown) is placed on the base 22.

  In this state, when the sample on the base 22 is irradiated with light from the microscope 20 and the light reflected by the cells on the base 22 is incident on the microscope 20, an optical image related to the cells is magnified by the microscope 20 and then the camera 18. An image is captured, and the sample can be observed based on an image captured by the camera 18.

  As shown in FIG. 1, the manipulator 14 drives a pipette 24, an XY axis table 26, a Z axis table 28, and an XY axis table 26 as a three-axis manipulator having an X axis, a Y axis, and a Z axis. And a drive device 32 for driving the Z-axis table 28. A capillary 24A, which is a capillary tip, is attached to the tip of the pipette 24.

  The pipette 24 is connected to the Z-axis table 28, the Z-axis table 28 is arranged on the XY axis table 26 so as to be movable up and down, and the drive devices 30 and 32 are connected to the controller 43.

  The XY axis table 26 is configured to move along the X axis or the Y axis by driving of the driving device 30, and the Z axis table 28 is moved along the Z axis (vertical) by driving of the driving device 32. (Along the axial direction). The pipette 24 connected to the Z-axis table 28 is configured to move in the three-dimensional space as a movement region according to the movement of the XY axis table 26 and the Z-axis table 28 and hold cells on the base 22. Yes.

  The manipulator 16 is a manipulator having an orthogonal three-axis configuration, such as a pipette 34, an XY axis table 36, a Z axis table 38, a driving device 40 for driving the XY axis table 36, and a driving device 42 for driving the Z axis table 38. The pipette 34 is connected to a Z-axis table 38, the Z-axis table 38 is arranged on the XY axis table 36 so as to be movable up and down, and the driving devices 40 and 42 are connected to a controller 43. A capillary 34A is attached to the tip of the pipette 34.

  The XY axis table 36 is configured to move along the X axis or the Y axis by driving of the driving device 40, and the Z axis table 38 is moved along the Z axis (vertical) by driving of the driving device 42. (Along the axial direction). The pipette 34 connected to the Z-axis table 38 is configured to move as a moving area in the three-dimensional space according to the movement of the XY axis table 36 and the Z-axis table 38 and to perform the artificial manipulation on the sample on the base 22. ing. Thus, the manipulators 14 and 16 have substantially the same configuration.

  Therefore, the following description will be given by taking the manipulator 16 to which the pipette 34 is connected as an example.

  The XY axis table 36 is configured to move along the X axis or the Y axis by the drive (motor) of the drive device 40, and the Z axis table 38 is moved by the drive (motor) of the drive device 42. It is configured to move along an axis (along the vertical axis direction), and a pipette 34 that is an insertion target for inserting a needle into a cell or the like on the base 22 is connected.

  That is, the XY axis table 36 and the Z axis table 38 are moved by moving the three-dimensional space including the sample on the base 22 as a moving area by driving the driving devices 40 and 42, and the pipette 34, for example, the pipette 34 is moved. This is configured as a coarse movement mechanism (three-dimensional axis movement table) that coarsely drives the sample on the base 22 from the distal end side to the insertion position for operation.

  Further, the Z-axis table 38 has a function as a nanopositioner.

  The nanopositioner is configured to support the pipette 34 so as to be freely movable in the X-axis-Y-axis-Z-axis directions, and to finely drive the pet 34 along its longitudinal direction (axial direction). .

  Specifically, the Z-axis table 38 selectively incorporates a fine movement mechanism 44 shown in FIG. 2 and a fine movement mechanism 46 shown in FIG. 3 as nanopositioners.

  Here, in the present embodiment, the fine movement mechanism 44 is applied as a drive source for finely moving the pipette 34 in the axial direction.

  On the other hand, in the present embodiment, the fine movement mechanism 46 is applied as a drive source for finely moving the pipette 34 in the X axis-Y axis-Z axis directions.

Note that the fine movement mechanism 44 and fine movement mechanism 46, to move the screw shaft 50 and the screw shaft 76 will be described later in the axial direction, the piezoelectric element 54 or is identical to a predetermined voltage is applied to the piezoelectric element 80 However, since the structures are slightly different, each structure will be described below.

(Detailed structure of fine movement mechanism 44)
As shown in FIG. 2 , the fine movement mechanism 44 includes a housing 48 that constitutes a main body of the piezoelectric actuator. A screw shaft 50 is inserted into the housing 48 formed in a substantially cylindrical shape, and the cylinder 48 A piezoelectric element 54 and a cylindrical spacer 56 are accommodated on the outer peripheral side of the screw shaft 50, and bearings 58 and 60 are secured to the screw shaft 50 by a lock nut 66 with an inner ring spacer 62 therebetween. Has been.

  The bearings 58 and 60 include inner rings 58a and 60a, outer rings 58b and 60b, and balls 58c and 60c inserted between the inner rings 58a and 60a and the outer rings 58b and 60b, respectively. The outer ring 58 is fitted to the outer circumferential surface via an inner ring spacer 62, and the outer rings 58 b and 60 b are fitted to the inner circumferential surface of the housing 48 so as to rotatably support the screw shaft 50. The bearing 58 is preloaded by tightening the lid 64 via the piezoelectric element by contact with the spacer 56 fitted to the inner peripheral surface of the housing 48. On one end side of the housing 48, holes 48a and 48b are formed for passing signal lines for applying a voltage to the piezoelectric element.

In the preload adjustment, the pressing force is adjusted by adjusting the length of the spacer 56 , and an appropriate preload is applied to the bearings 58 and 60. As a result, a predetermined preload is applied to the bearings 58, 60, and a gap 63 as an axial distance is formed between the outer rings of the bearings 58, 60.

  The piezoelectric element 54 is connected to the controller 43 via lead wires 70 and 72 inserted into the holes 48 a and 48 b, respectively, and extends and contracts along the operation direction of the pipette 34 according to the voltage from the controller 43. It is configured as one element of the actuator. For example, when a rectangular wave voltage is applied as a driving voltage from the controller 43 (see FIG. 4A), for example, the piezoelectric element 54 responds to the applied voltage from the tip end side of the pipette 34 to the base. When the fine movement voltage is applied from the controller 43, the screw shaft 50 is moved along the longitudinal direction (axial direction) in response to the applied voltage. The position of the pipette 34 is finely adjusted by fine movement.

(Detailed structure of fine movement mechanism 46)
As shown in FIG. 3 , three fine movement mechanisms 46 of the present embodiment are provided corresponding to the X-axis, Y-axis, and Z-axis, respectively. In order to realize the present invention, it is sufficient if there is a fine movement mechanism 46 for the Z axis.

  A housing 74 constituting the main body of the piezoelectric actuator is provided. In the housing 74 formed in a substantially cylindrical shape, one end side of the screw shaft 76 in the axial direction, a piezoelectric element 80, a spacer 82, and bearings 84 and 86 are provided. It is stored. The piezoelectric element 80 is disposed on the extension line of the screw shaft 76 in series with the screw shaft 76 via a spacer 82, and the spacer 82 is a lock engaged with the axial end of the screw shaft 76. It arrange | positions so that the nut 88 may be enclosed. The bearing 84 and the bearing 86 are disposed on the outer peripheral side of the screw shaft 76 with the inner ring spacer 90 therebetween.

  The bearings 84 and 86 include inner rings 84a and 86a, outer rings 84b and 86b, and balls 84c and 86c inserted between the inner rings 84a and 86a and the outer rings 84b and 86b, respectively. The outer rings 84b and 86b are fitted to the outer peripheral surface, and are fitted to the inner peripheral surface of the housing 74 so as to rotatably support the screw shaft 76.

  A lid 94 that restricts the movement of the screw shaft 76 in the axial direction with respect to the piezoelectric element 80 is fixed to one end side of the housing 74. The lid 94 has a recess 94 a and holes 94 b and 94 e, and the piezoelectric element 80 is inserted between the recess 94 a of the lid 94 and the recess 82 a of the spacer 82.

  In the preload adjustment, the pressing force is adjusted by adjusting the length of the spacer 82, and an appropriate preload is applied to the bearings 84 and 86. As a result, a predetermined preload is applied to the bearings 84 and 86, and a gap 93 is formed as an axial distance between the outer rings of the bearings 84 and 86.

  The piezoelectric element 80 is connected to the controller 43 via lead wires 96 and 102 inserted into the holes 94 b and 94 e of the lid 94, respectively, and serves as a piezoelectric actuator that displaces the pipette 34 according to the voltage from the controller 43. It is configured. In response to the driving voltage from the controller 43, the piezoelectric element 80 finely moves the screw shaft 76 to move the pipette 34 in a predetermined direction (X-axis direction, Y-axis direction, or Z-axis direction). .

  In the above configuration, when driving the manipulator 16, the controller 43 coarsely drives the XY axis table 36 and the Z axis table 38 to position the pipette 34 close to the sample on the base 22. The fine movement mechanism 44 or the fine movement mechanism 46 is used to finely drive the pipette 34.

  The movement (fine adjustment) in the X-axis-Y-axis-Z-axis directions in the fine movement mechanism 46 is executed in the instruction operation mode in the controller 43. Therefore, the controller 43 is provided with a joystick 43A as an input means, and a predetermined voltage (for example, a rectangular wave or a trapezoidal wave) is applied to the piezoelectric element based on the operation of the joystick 43A (FIG. 4 ( A)), and the pipettes 24 and 34 move accordingly (instruction operation mode).

  On the other hand, when the sample is collected by the capillaries 24 </ b> A and 34 </ b> A after the sample is placed on the base 22, the sample may not be successfully collected if the sample is attached to the base 22.

  Therefore, in the present embodiment, the vibration instruction button 43B is provided on the joystick 43A, and when the vibration instruction button 43B is operated, the controller 43 executes the vibration mode instead of the instruction operation mode. Yes.

  The vibration mode includes a vibration waveform (for example, a waveform having a higher frequency than normal, a sine wave, a rectangular wave, a piezoelectric element corresponding to any one or more of the X axis, the Y axis, and the Z axis) A triangular wave or the like) is applied.

  As a result, the capillaries 24 </ b> A and 34 </ b> A vibrate, and the vibration is transmitted to the sample, so that the sample is easily peeled off from the base 22.

  The operation of this embodiment will be described below.

  First, when the manipulator system 10 of the present embodiment is used, the pipette 24 and the pipette 34 are respectively attached to the Z-axis tables 28 and 38 of the manipulator 14 and the manipulator 16 for use.

  First, the capillary 34A is inserted into the capillary holder 34C of the pipette 34 with respect to the pipette 34. The amount of insertion differs depending on the treatment (work) on the sample at that time, but the insertion amount is approximately the reference position.

  Next, the pipette 34 to which the capillary 34A is attached is inserted into the Z-axis table 38. The amount of insertion differs depending on the treatment (work) on the sample at that time, but the insertion amount is approximately the reference position.

  When the above preparation is completed, the pipettes 24 and 34 are operated by the joystick 43A attached to the controller 43, and a predetermined operation is performed on the sample.

  In the manipulator system 10 according to the present embodiment, it is possible to configure a manipulator system that can operate from millimeter order drive (motor drive) to minute drive (piezoelectric element) less than the resolution of the motor and can be easily operated. become.

  By the way, as a predetermined operation on the sample, there is an operation of collecting the sample. At this time, the sample may stick to the base 22 in some cases.

  If the sample was affixed to the base 22, the collection was not successful and the skill of an expert had to be required.

  In contrast, in the present embodiment, a vibration instruction button 43B for operating the vibration mode is provided on the joystick 43A.

  When the vibration instruction button 43B is operated, the controller 43 switches from the normal instruction operation mode to the vibration mode, and the pipette 34 (capillary 34A) is applied by applying a high-frequency waveform voltage to the piezoelectric element (see FIG. 4B). Vibrate.

  This vibration is transmitted to the sample, and the sample is easily peeled off from the base 22 (see FIGS. 5A and 5B).

  5A shows a state in which the base 22 is viewed from above, and FIG. 5B shows a state in which the base 22 is viewed from the front. The piezoelectric elements are driven to move the pipettes 24 and 34 to the X axis-Y axis. When moved in the −Z-axis direction, the capillaries 34 </ b> A and 34 </ b> A at the tip are swung with the law of inertia (smooth movement with respect to vibration), and the sample can be peeled off from the base 22.

  As described above, in the present embodiment, a voltage having a high-frequency waveform is applied to the piezoelectric element used for the fine adjustment nanopositioner drive source of the pipettes 24 and 34 when the vibration mode is instructed (see FIG. 4B). Since it did in this way, the sticking of the sample to the base 22 can be canceled by the vibration, and the sample can be collected easily.

  In the present embodiment, the manipulator system 10 and the manipulator 14 include an XY axis table 26 and a Z axis table 28 using driving devices 30 and 32 driven by motors, and a nanopositioner on the Z axis table 28. In the manipulator 16, the XY axis table 36 and the Z axis table 38 using the drive devices 40 and 42 driven by motors, and the Z axis table 38 are further finely moved as a nanopositioner. Although the mechanisms 44 and 46 are mounted, the fine movement mechanisms 44 and 46 may be used as the driving devices 30, 32, 40, and 42 which are driving sources of the XY tables 28 and 38 and the Z-axis tables 28 and 38, respectively. Good. In this case, the manipulator system 10 is adjusted in one step (only fine adjustment).

  Further, the fine movement mechanism 44 is used for fine adjustment of the axial movement of the pipettes 24, 34, and the fine movement mechanism 46 is used for fine adjustment of the pipettes 24, 34 in the X-axis-Y-axis-Z-axis directions. The fine movement mechanism 44 may be used for fine adjustment in the X-axis-Y-axis-Z-axis directions, and the fine movement mechanism 46 may be used for fine adjustment of the axial movement of the pipettes 24 and 34. Moreover, you may apply any one.

It is a block diagram of the manipulator system which shows one Embodiment of this invention. It is sectional drawing which shows the detail of a fine movement mechanism (for pipette axis | shaft movement). It is sectional drawing which shows the detail of a fine movement mechanism (for pipette XYZ direction movement). (A) is an example of a waveform applied to the piezoelectric element in the instruction operation mode, and (B) is an example of a waveform applied to the piezoelectric element in the vibration mode. (A) is a plan view of the base 22, and (B) is a front view of the base 22.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Manipulator system 14 Manipulator 16 Manipulator 22 Base 34 Pipette 34A Capillary 36 XY axis table 38 Z axis table 40 Drive apparatus 42 Drive apparatus 43 Controller (control means)
43A Joystick (input means)
43B Vibration instruction button (input means)
44 Fine movement mechanism (nanopositioner)
46 Fine movement mechanism (nanopositioner)
80 Piezoelectric elements

Claims (2)

A nano-positioner that is connected to a driving target and moves the driving target to a three-dimensional space of X-axis-Y-axis-Z-axis using a piezoelectric element as a driving source;
Input means for inputting operation information of the drive target;
Based on input information from the input means, an instruction operation mode for supplying a movement drive voltage to the piezoelectric element to move the drive object in the designated movement direction, and a vibration drive voltage for supplying the piezoelectric element to the drive object Control means for controlling in any of vibration modes for vibrating the
I have a,
The nanopositioner is
A screw shaft coupled to the drive object;
A first bearing that rotatably supports the screw shaft with respect to the central shaft;
A spacer disposed adjacent to the first bearing along the axial direction of the screw shaft;
An inner ring spacer disposed adjacent to the first bearing on the side opposite to the side where the spacer is disposed along the axial direction of the screw shaft;
Along the axial direction of the screw shaft, the screw shaft is disposed adjacent to the inner ring spacer on the side opposite to the side where the first bearing is disposed, and supports the screw shaft so as to be rotatable with respect to its central axis. A second bearing,
The piezoelectric element moves the screw shaft in the axial direction by pushing the first bearing and the second bearing through the spacer, thereby moving the driving object. .   The drive target is a pipette having a capillary attached to the tip for performing a predetermined operation on the sample placed on the sample table. In the vibration mode, the capillary vibrates to peel the sample from the feed table. The manipulator according to claim 1.

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