JP5126675B2 - Manipulator system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a manipulator system enabling an operator to perform the attaching operation of a capillary or the like without moving even if a microscope to which a manipulator is attached and a controller are installed remotely, and configured to prevent microscopic observation from being adversely influenced by vibration caused by manipulator operation by the operator. <P>SOLUTION: The manipulator system is equipped with a microscope 120 through which a minute object to be operated is observed, a camera 437 which photographs a microscopic image by the microscope, manipulators 140 and 160 which are attached to the microscope and operate the minute object to be operated, a controller 430 which controls drive of the manipulator, an operation part which is operated to drive the manipulator through the controller, and a display part on which the microscopic image by the camera is displayed, wherein the plurality of display parts 433 and 533 and the plurality of operation parts 571 and 572 are installed, and the display part 533 and the operation part 572 out of them are arranged near the microscope 120. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a manipulator system that performs a minute operation on a minute object such as a cell or an egg using a manipulator.

  In the field of biotechnology, a micromanipulation system that performs minute operations on a minute object such as an egg, such as injecting a sperm or DNA solution into an egg or cell under a microscope (for example, is known) Patent Document 1). By operating a microneedle (capillary) using a micromanipulator within the field of view of the microscope, a fine operation such as a genetic recombination operation or a micro-fertilization operation is performed on the subject.

Patent Document 2 discloses a system in which an electric manipulator is installed in a microscope and drive control is performed on a micromanipulator microtool based on a drive command for the micromanipulator microtool input from a mouse.
JP 2005-258413 A Japanese Patent No. 3888429 (see [0012])

  Conventionally, an electric manipulator attached to a microscope is provided with a display in the vicinity of an interface such as a joystick for controlling the electric manipulator. In this case, when the glass capillary is attached to the manipulator, the controller, display, and interface are installed away from the work place where the manipulator is installed. It was efficient.

  Further, when a controller display and an interface for operation are installed on the side of the microscope, vibrations transmitted from the operator to the microscope (manipulator) during actual operation may be an obstacle to the operation.

  In view of the above-described problems of the prior art, the present invention can perform mounting work of capillaries and the like without moving by an operator even when a microscope with a manipulator and a controller are installed apart from each other. It is another object of the present invention to provide a manipulator system in which vibration caused by an operator's manipulator operation does not adversely affect microscopic observation.

In order to achieve the above object, the manipulator system according to the present embodiment includes a microscope for observing a minute manipulation object, a camera for capturing a microscope image by the microscope, and the minute manipulation object attached to the microscope. A manipulator that controls the manipulator, a controller that controls the driving of the manipulator, an operating unit that is operated to drive the manipulator via the controller, and a display unit that displays a microscope image from the camera,
The manipulator has a capillary for manipulating the minute manipulation object at the tip, a rotating shaft on which the capillary is attached to the tip, and two bearings that rotatably support the rotating shaft, An inner ring spacer disposed between the inner rings of the two bearings, a preload by a pressing force along the axial direction of the rotating shaft together with the two bearings, and expansion and contraction in one of the two bearings. And a piezoelectric element that finely adjusts the position of the capillary by finely moving the rotating shaft in the axial direction via the inner ring spacer and the other of the two bearings,
A plurality of the display units and the operation units are installed, and at least one of each is arranged near the microscope.

  According to this manipulator system, a plurality of display units and a plurality of operation units are installed, and at least one display unit and one operation unit are arranged near the microscope such as the side of the microscope. In the case of mounting a capillary or the like, it is possible to perform operations such as mounting of a capillary using a display unit and an operation unit installed near the microscope. For this reason, even if the microscope to which the manipulator is attached and the controller are installed apart from each other, it is possible to perform the capillary mounting operation and the like without the operator moving.

  In addition, when an operator operates a minute operation object such as a cell or egg with a manipulator attached to the microscope, the operator operates the minute display using another display unit and an operation unit installed near the controller far from the microscope. Since the operation target can be operated, vibration caused by the manipulator operation of the operator does not adversely affect the microscope and the manipulator.

  In the manipulator system, the same controller screen can be displayed on the plurality of display units, and the controller can be controlled by the plurality of operation units. A controller screen is also displayed on the display unit installed near the microscope. Capillary attachment and other operations can be performed while viewing the microscope image displayed in the display, eliminating the need to operate while looking through the eyepiece. Work such as mounting becomes easy, and the burden on the operator can be reduced.

  The operation unit is a mouse, and the controller screen displayed on the display unit can be operated with the mouse.

  Moreover, it is preferable to divide | segment the screen of the said display part and to display the said microscope image on each divided | segmented screen. In this case, it is preferable that the display magnifications of the microscopic images divided and displayed on the display unit are different.

  Further, the manipulator is used with a capillary for operating the minute operation object at the tip. When a pair of manipulators are provided, an injector is provided in one manipulator, an injection capillary is attached to the tip of the manipulator, and a holding capillary for holding a minute operation target is attached to the other manipulator. Further, the injection manipulator preferably has a drive mechanism including a motor and a piezoelectric element in order to drive the injector in a linear reciprocating manner.

  According to the manipulator system of the present invention, even when the microscope and the controller to which the manipulator is attached are installed apart from each other, the mounting operation of the capillary or the like can be performed without the operator moving, and the manipulator operation of the operator is performed. It is possible to prevent the vibration caused by this from adversely affecting the microscopic observation.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view schematically showing a main configuration of a manipulator system according to the present embodiment. FIG. 2 is a perspective view showing a schematic configuration of the electric triaxial manipulator for injection shown in FIG.

  As shown in FIG. 1, the manipulator system 500 according to the present embodiment includes an electric triaxial (XYZ) manipulator 140 for holding, an electric triaxial (XYZ) manipulator 160 for injection, an inverted microscope 120, and an electric sample stage. 110, and the electric triaxial manipulators 140 and 160 are attached to the inverted microscope 120 so as to be integrated. Note that the electric triaxial manipulators 140 and 160 may be attached so as to be integrated with the sample stage 110, which makes it less susceptible to external vibration and the like.

  The electric triaxial manipulator 160 for injection is provided with a nut rotary actuator 170 capable of driving a motor and a piezoelectric element so as to reciprocate an injector 340 capable of adjusting pressure by electric power in the direction of the installation axis. A similar nut rotary actuator 191 is also attached to the electric triaxial manipulator 140 for holding.

  The inverted microscope 120 includes an electric focusing actuator, a revolver unit for switching an objective lens, and a light source for irradiating light to an observation object.

  In addition, legs 149 and 169 for supporting the electric triaxial manipulators 140 and 160 in the direction of gravity are installed in order to improve the stability when the electric triaxial manipulators 140 and 160 are installed. In FIG. 1, each leg 149, 169 is arranged only at one place for each electric triaxial manipulator 140, 160, but may be plural.

  As shown in FIG. 2, the electric triaxial manipulator 160 is configured by combining three uniaxial actuators 161, 162, and 163 in the triaxial (XYZ) direction. Each of the single-axis actuators 161 to 163 includes a stepping motor, a coupling, a BS (ball screw), a guide element, and a slider, and limit switches are installed at both ends in the drive axis direction to prevent an overstroke. . Further, by turning off the excitation of the stepping motors of the single-axis actuators 161 to 163, the manipulator 160 can be manually operated in the respective axial directions by the manual knobs 161a, 162a, and 163a of the single-axis actuators 161 to 163. It has a configuration. The electric triaxial manipulator 140 is configured in the same manner.

  The single-axis actuator 163 is used for driving in the Z-axis direction, a θ stage 164 is disposed on the Z-axis slider 163b, and a nut rotary actuator 170 is disposed on the θ stage 164. The θ stage 164 is for adjusting the installation angle of the nut rotary actuator 170 and is a manual type, but may be an electric type. The installation angle of the θ stage 164 is set so as to coincide with the bending angle or the injection angle of the glass injection capillary 341 mounted on the injector 340.

Next, the nut rotary actuator 170 shown in FIGS. 1 and 2 will be described with reference to FIGS. 4 is a cross-sectional view of the nut rotary actuator 170 of FIG. 2 cut in a direction parallel to the plane of the θ stage 164. FIG. FIG. 3 is a perspective view of the nut rotary actuator 170 of FIG.

  As shown in FIGS. 3 and 4, the nut rotary actuator 170 includes a housing 480 that constitutes a main body as a piezoelectric actuator, and a pipette injector 340 is provided in a substantially cylindrical housing 480. Is a screw shaft 520 having a threaded portion on the outer peripheral side, and a hollow rotating shaft 540 surrounding the screw shaft 520 is inserted. The bottom of the housing 480 is fixed to the base 560 and is configured as a fine movement mechanism and a nanopositioner.

  The root side of the pipette-like injector 340 is connected to the tip side of the screw shaft 520 via a jig 580, and a screw that is screw-coupled with a screw portion on the outer periphery of the screw shaft 520 in the middle of the screw shaft 520. A ball screw nut (BS nut) 600 as an element is mounted, and a slider 620 is connected between the jig 580 and the screw shaft 520. The slider 620 is disposed in a direction substantially perpendicular to the base 560 and is connected to the linear guide 660 with a notch 640 therebetween. The linear guide 660 is disposed on the bottom side of the base 560 and is coupled to the base 560 via a bearing 680 so as to be movable along the axial direction of the screw shaft 520.

  That is, the linear guide 660 is configured to reciprocate the slider 620 supporting the tip end side of the screw shaft 520 along the base 560 in accordance with the axial movement of the screw shaft 520. At this time, the portion of the screw shaft 520 closer to the injector 340 than the ball screw nut 600 is slidably supported by the linear guide 660 via the slider 620, so that the linear motion of the screw shaft 520 is transmitted to the injector 340. be able to.

  The ball screw nut 600 is fixed to a step portion 540a on one end side (tip side) in the axial direction of the rotary shaft 540 and is screwed to a screw portion on the outer periphery of the screw shaft 520, so that the screw shaft 520 extends along the axial direction. Thus, it can freely support reciprocating motion (linear motion). That is, the ball screw nut 600 is configured as an element for converting the rotary motion of the rotary shaft 540 into the linear motion of the screw shaft 520.

  The other axial end of the rotating shaft 540 is connected to a rotating portion in the hollow motor 700. Bolts 780 are fixed to the base 560 of the housing 740 of the hollow motor 700 via a rubber washer 760 as an elastic body. When the hollow motor 700 is driven, the rotary shaft 540 rotates, and the rotary motion of the rotary shaft 540 is transmitted to the screw shaft 520 via the ball screw nut 600 so that the screw shaft 520 moves linearly along the axial direction. It has become.

  On the other hand, the bearings 800 and 820 are accommodated with the inner ring spacer 840 therebetween, adjacent to the step portion 540 a of the rotating shaft 540. The bearings 800 and 820 include inner rings 800a and 820a, outer rings 800b and 820b, and balls 800c and 820c inserted between the inner ring and the outer ring, and the inner rings 800a and 820a are fitted to the outer peripheral surface of the rotating shaft 540. The outer rings 800b and 820b are fitted to the inner peripheral surface of the housing 480 so as to rotatably support the rotating shaft 540. The bearings 800 and 820 are fixed to the rotary shaft 540 by a lock nut 860 with the inner ring spacer 840 therebetween. The bearing 800 is configured to be restricted from moving in the axial direction of the rotating shaft 540 by contacting the stepped portion 540 a in the housing 480 and the annular spacer 900. An annular piezoelectric element 920 and an annular spacer 900 are press-fitted between the outer ring 820 b of the bearing 820 and the lid 880 of the housing 480.

  The bearings 800 and 820 and the piezoelectric element 920 are preloaded by adjusting the length of the spacer 900 and closing the lid 880. Specifically, when the length of the spacer 900 is adjusted and the cover 880 is closed, a preload is applied as a pressing force along the axial direction to the bearings 820 and the outer rings 820b and 800b of the bearing 800 by the fastening force according to the position. At the same time, a preload is also applied to the piezoelectric element 920. As a result, a predetermined preload is applied to the bearings 800 and 820 and the piezoelectric element 920, and a gap 940 is formed between the outer rings of the bearings 800 and 820 as a distance between the axial directions.

  The piezoelectric element 920 is connected to a personal computer (PC) 430 (see FIG. 6) as a controller via a lead wire (not shown), and the longitudinal direction (axis) of the rotating shaft 540 according to the voltage from the personal computer 430. It is configured as one element of a piezoelectric actuator that expands and contracts along the direction). That is, the piezoelectric element 920 expands and contracts along the axial direction of the rotating shaft 540 in response to an applied voltage from the personal computer 430 and finely moves the rotating shaft 540 along the axial direction. When the rotating shaft 540 is finely moved along the axial direction, this fine movement is transmitted to the injector 340 via the screw shaft 520, and the position of the injector 340 is finely adjusted.

As described above, the injector nut rotary actuator 170, but the screw shaft 520 to convert the rotational motion of the ball screw nut 600 into linear motion of the screw shaft 520 by a hollow motor 700 to linear motion, which is attached to the screw shaft 520 340 does not rotate by the linear guide 660 when the hollow motor 700 is driven, and has a function of preventing rotation. For this reason, the injector 340 can reciprocate linearly by driving the hollow motor 700.

  3 and 4 has a function of driving the hollow motor 700 to drive the injector 340 to set it at the center of the microscope visual field, and to retract from the central part of the microscope visual field. By driving 920, the perforating operation on the cell (egg) by the injection capillary 341 (FIG. 2) attached to the tip of the injector 340 can be assisted.

  Next, the sample stage 110 of FIG. 1 will be described with reference to FIG. FIG. 5 is a perspective view showing the sample stage 110 of FIG. As shown in FIG. 5, the sample stage 110 is configured such that two uniaxial actuators 111 and 112 are arranged in the biaxial direction and the sample stage 113 is moved in the biaxial direction, and is attached to the inverted microscope 120 in FIG. It has been. Manual knobs 111a and 112a are respectively attached to the shaft ends of the motors of the actuators 111 and 112 that drive the sample stage 110, and manual operation is also possible by turning off the excitation of the motors.

  Next, a control system by a personal computer as a controller for controlling the manipulator system 500 of FIG. 1 will be described with reference to FIG. FIG. 6 is a principal block diagram for explaining a control system by a personal computer for the manipulator system 500 of FIGS.

  The personal computer (personal computer) 430 in FIG. 6 includes a CPU (Central Processing Unit) 431 that performs various controls, a program 432 that is stored in a storage device and that is read when the manipulator system 500 is used, and a recording such as a hard disk or an optical disk. A storage unit 430a capable of storing a microscope image or the like on a medium, a first display unit 433 including a liquid crystal panel or a CRT is connected as a display unit of the personal computer 430, and a joystick 470 operated by an operator A first mouse 571 is connected as input means (interface) to the personal computer 430. The personal computer 430 controls each part of the manipulator system 500 based on the operation of the program 432 and each operation of the joystick 470 and the mouse 571 by the CPU 431.

  The personal computer 430 is further connected with a second display unit 533 comprising a liquid crystal panel, a CRT or the like as a display means of the personal computer 430, and a second mouse 572 operated by the operator is an input means (interface) to the personal computer 430. ) Is connected as. The second display unit 533 and the second mouse 572 are arranged near the microscope 120 of FIG.

  Further, the personal computer 430 drives the signal generator 438 and drives the piezoelectric element 920 formed of the piezoelectric element of the nut rotary actuator 170 via the piezoelectric amplifier 434 according to the signal. Further, the personal computer 430 is electrically connected to the nut rotary actuator 170, the electric triaxial manipulators 140 and 160, the sample stage 110, and the focusing actuator 436 for electrically rotating the handle of the microscope 120 via the terminal block box 435, respectively. The hollow motor 700 of the nut rotary actuator 170, the uniaxial actuators 161 to 163 of the electric triaxial manipulator 160, the uniaxial actuators 111 and 112 of the sample stage 110, and the focusing actuator 436 are respectively connected. It is like that. Further, regarding the microscope 120, the revolver unit of the objective lens and the light amount adjustment of the light source may be electrically driven.

  Further, the manipulator 160 includes a syringe motor that adjusts the pressure of the injector 340, and the pressure of the syringe can be adjusted by driving and controlling the motor similarly. The microscope 120 is provided with a camera 437 composed of an image sensor made up of a CCD, a CMOS, or the like. Microscope images captured by the camera 437 are displayed on the first display unit 433 and the second display unit 533 of the personal computer 430. Is displayed.

  The holding manipulator 140 is also driven in the same manner, but the manipulator 140 includes a syringe motor that adjusts the pressure (negative pressure) of the holding capillary. (Negative pressure) can be adjusted.

  Next, the joystick in FIG. 6 will be described with reference to FIG. FIG. 7 is a perspective view showing an example of the joystick of FIG.

  The manipulator system 500 described above is operated using at least two joysticks 470. As an example, a joystick 470 having a handle 479 and a plurality of buttons 471 to 477 as shown in FIG. 7 is used.

  The operation shown in the following Table 1 can be executed in the manipulator system 500 by the handle 479 and the plurality of buttons 471 to 477 of the joystick 470 shown in FIG. The handle 479 can be driven in the X-axis direction and the Y-axis direction by tilting (tilting) in the right direction R and the left direction L, and can be driven in the Z-axis direction by rotating (twisting). In Table 1, “⇔” of the four-direction hat switch 477 is two switches in the left-right direction, and “↓ ↑” is two switches in the up-down direction. Negative pressure + and pressure + are increases in the absolute pressure value by each syringe motor, and negative pressure-and pressure-are decreases in the absolute pressure value. The fine movement drive Z +, − is an increase or decrease in the movement amount with respect to the Z-axis direction.

  Note that the layout for each operation of the handle 479 and the plurality of buttons 471 to 477 as shown in Table 1 can be changed as appropriate so that the operator can easily use the layout. In addition, when the piezoelectric element 920 is driven by cell operation, it may be necessary to drive with a plurality of parameters. In this case, it can be dealt with by adding a similar button.

  The joystick 470 to be used may be of a type that adjusts the speed according to the degree of tilting (tilting) of the handle 479, and stops driving the manipulators 140, 160 when released (speed command type), or tilted the handle 479. A type that drives the manipulators 140 and 160 as much as possible (position control type) may be used. In addition to the joystick, for example, a two-dimensional or three-dimensional mouse having a plurality of buttons may be used as the mouse 571 in FIG.

  Next, a controller screen displayed on the display units 433 and 533 of the personal computer 430 will be described with reference to FIG. FIG. 8 is a diagram showing an example of a controller screen displayed on the display units 433 and 533 of the personal computer 430 in FIG.

  On the controller screen of the first display unit 433 of the personal computer 430, the microscope image by the camera 437 is displayed on at least two screens. For example, as shown in FIG. 8, the microscope image is displayed on the first display screen 433a. Each of the images can be displayed on the second display screen 433b at an enlargement magnification at a standard magnification. In the example of FIG. 8, the egg D is operated by the manipulator system 500, and the state in which the injection capillary 341 at the tip of the injector 340 has perforated the egg D held in the glass holding capillary 342 by the negative pressure is first displayed. The image is displayed on the screen 433a at the standard magnification, and is displayed at the enlargement magnification on the second display screen 433b. As a result, when referring to a low-magnification microscopic image and a high-magnification microscopic image, there is no need to change the display magnification of the microscopic image, and the manipulator system 500 can perform a quick operation process, and always has a standard magnification. While grasping the state of a sample such as a cell (egg) under a microscope with an image, a fine operation can be performed with an image at an enlargement magnification. Also, when the injection capillary 341 is attached to the tip of the injector 340, the attachment work can be performed while referring to the low-magnification image and the high-magnification image, and the attachment work becomes easy.

  As shown in FIG. 8, the controller screen of the first display unit 433 in FIG. 6 includes first and second display screens 433a and 433b arranged substantially at the center left and right, and an operation state display panel 433c on the lower side thereof. The image operation panel 433d, the sample stage operation panel 433e, and the manipulator operation panel 433f are disposed above the image operation panel 433d and can be operated by the first mouse 571, respectively.

  On the operation state display panel 433c, an actual XYZ position coordinate of the manipulators 140 and 160 is displayed on the display unit 433g, and a display unit 433h that can recognize which button is being pressed when the joystick 470 is operated is disposed. The operation state can be grasped while viewing the image, and an electric / manual switching unit 433i and a pause button 433j of the manipulators 140 and 160 are arranged.

  The image operation panel 433d is provided with an image magnification menu 433k and an image display position menu 433m on the first and second display screens 433a and 433b, and the operator can adjust the image magnification and display position. It has become. Further, the microscope image can be saved in the storage unit 430a by an operation with the mouse 571, 572 on the controller screen, and a moving image can be saved by pressing a button on the controller screen.

  In addition to the menu 433n for adjusting the drive parameter of the sample stage 110, the sample stage operation panel 433e is provided with buttons that can be operated such as XY drive and return to origin. The sample stage 110 can be driven by a button operation while viewing a microscope image on the display screens 433a and 433b. For example, it can be moved in the + X direction only while the button is pressed.

  The manipulator operation panel 433f has a menu 433p for adjusting the driving parameters of the manipulators 140 and 160, and can be used by the operator by setting the parameters as desired. The manipulator operation panel 433f is provided with a button 433q for driving the nut rotary actuator 170 shown in FIGS. By pressing the button 433q, the nut rotary actuator 170 is driven with a preset stroke, and the injector 340 can be set at the center of the microscope and retracted.

  Further, the same screen as that in FIG. 8 is displayed on the second display portion 533, and the same operation can be performed with the second mouse 571. That is, the second display unit 533 is installed along with the second mouse 572 on the side of the microscope to which the manipulators 140 and 160 are attached. The second mouse 572 drives the nut rotary actuator 170 to which the injector 340 shown in FIGS. 1 to 4 is attached, sets the capillary 341 in the microscope field of view, and clicks on the controller screen to perform the retreat operation. Use to do. Furthermore, each function of the manipulators 140 and 160 can be driven by a click operation of the second mouse 572. When the capillary 341 is attached, the main body of the personal computer 430 (controller) and the joystick 470 are set apart from the operator. Work is possible even if it is done.

  The nut rotary actuator 170 and the sample stage 110 can be driven by button operation with the mouse 571, 572 on the controller screen of FIG. 8 as described above, but is performed by a joystick 470 or a separately installed switch. You may do it.

  According to the conventional manipulator system, a joystick or the like is installed at the microscope installation location, and the operator operates while looking through the eyepiece lens, but in such an operation, the operation of the joystick must be performed without observing, While skillful technology is required for use, according to the manipulator system 500 described above, the operation of the joystick 470 can be visually observed while viewing the controller screen of the display unit 433, and the operation of the joystick 470 is also performed on the controller screen. Since the status is displayed, the manipulator system 500 can be used easily and reliably.

  Next, an arrangement example of the manipulator system 500 described with reference to FIGS. 1 to 8 will be described with reference to FIG. FIG. 9 is a perspective view schematically showing an arrangement example of the manipulator system 500 according to the present embodiment.

  As shown in FIG. 6, the manipulator system 500 includes a first display unit 433 and a second display unit 533 connected to a personal computer 430 as display means, and further a first mouse 571 connected to the personal computer 430 as an interface. And a second mouse 572, which are arranged in the test room as shown in FIG.

  That is, as shown in FIG. 9, the main body of the personal computer 430, the first display unit 433, the first mouse 571, and the pair of joysticks 470 are arranged on the first table TA1. Further, the microscope 120 to which the manipulators 140 and 160 of the manipulator system 500 are attached, the second display unit 533, and the second mouse 572 are arranged on the second table TA2.

  The second display unit 533 is disposed on the side of the microscope 120 and is located near the microscope 120 and the manipulators 140 and 160. The second mouse 572 is placed at a position that is easy for the operator to handle. The first table TA1 and the second table TA2 are separated from each other in the test chamber.

  Prior to the injection operation on a minute operation target such as a cell or egg, as one of the preparation steps for that purpose, the injection capillary 341 of FIG. 2 is attached to the tip of the injector 340 of FIGS. 3 and 4 of the injection manipulator 160. It is necessary to finely adjust the position and the like. When the injection capillary 341 is attached and fine adjustment of the direction of the injection capillary 341 and fine adjustment of the focusing are performed, the operator is displayed on the second display unit 533 installed on the side of the microscope 120 as shown in FIG. The second mouse 572 can be operated while viewing the microscope image on the controller screen.

  For example, in the attaching operation of the capillary 341, the operator operates the second mouse 572 to push (click) the button 433q on the controller screen shown in FIG. 170 is driven to retract the injector 340 from the center of the microscope, and then the injection capillary 341 is attached to the tip of the injector 340, and then the second mouse 572 is operated and the button 433q is pressed to set the nut at a preset stroke. The rotary actuator 170 is driven, and the operation of setting the injector 340 to the center of the microscope can be performed on the first table TA1 on which the microscope 120 and the like are installed.

  As described above, even when the main body of the personal computer 430 (controller) and the microscope 120 to which the manipulators 140 and 160 are attached are separated as shown in FIG. This can be done without moving to the first table TA1 where the main body is installed. Thus, when setting the capillary 341, it is not necessary to go back and forth between the microscope installation location and the controller installation location, and the capillary 341 setting operation can be performed efficiently.

  The operator can operate the manipulator while viewing the microscope image on the same controller screen as the first display unit 433 displayed on the second display unit 533 installed on the side of the microscope 120. There is no need to operate the manipulator while looking at the eyepiece lens 120a, which facilitates the operation and reduces the work load.

  When the preparation process as described above is completed, the operator moves away from the second table TA2 of FIG. 9 to the first table TA1, and while viewing the microscope image as shown in FIG. 8 displayed on the first display unit 433, While operating the first mouse 571 and the pair of joysticks 470, an injection operation on the egg D or the like can be performed.

  In FIG. 9, it is conceivable that the main body of the personal computer 430 and the joystick 470 are installed on the second table TA2 on which the microscope 120 is installed. When such an installation is performed, the operator performs the joystick 470 during the original injection operation. This is not preferable because vibrations caused by operating the sensor are transmitted to the microscope 120 and the manipulators 140 and 160 and are liable to hinder work. As shown in FIG. 9, for example, by placing the main body of the personal computer 430, the first mouse 571, and the joystick 470 on the first table installed away from the second table TA2 on which the microscope 120 is installed, the first mouse is removed from the microscope 120. 571, joystick 470, etc. are set apart. Thereby, the vibration resulting from the operation of the manipulator such as the joystick 470 by the operator does not adversely affect the microscope 120 and the manipulators 140 and 160.

  As described above, the best mode for carrying out the present invention has been described. However, the present invention is not limited to these, and various modifications are possible within the scope of the technical idea of the present invention. For example, FIG. 8 shows the two-screen display by the first display screen 433a and the second display screen 433b. However, the first display portion 433 and the second display portion 533 also display a one-screen display in which the entire screen becomes larger. Is possible.

It is a perspective view which shows roughly the principal part structure of the manipulator system of this embodiment. It is a perspective view which shows schematic structure of the electric triaxial manipulator for injection of FIG. FIG. 3 is a perspective view of a nut rotary actuator 170 in FIG. 2 . FIG. 3 is a cross-sectional view of the nut rotary actuator 170 of FIG. 2 cut along a plane parallel to the plane of the θ stage 164 . It is a perspective view which shows the sample stage 110 of FIG. It is a principal part block diagram for demonstrating the control system by the personal computer (controller) about the manipulator system 500 of FIGS. It is a perspective view which shows the example of the joystick of FIG. It is a figure which shows an example of the controller screen displayed on the display parts 433 and 533 of the personal computer 430 of FIG. It is a perspective view showing roughly an example of arrangement of a manipulator system by this embodiment.

Explanation of symbols

500 Manipulator System, 120 Microscope, 140 Holding Manipulator, Manipulator, 160 Injection Manipulator, Manipulator, 170 Nut Rotary Actuator, 340 Injector, 341 Injection Capillary, Capillary, 430 PC (Controller), 433 First Display Unit, 533 First 2 display unit, 437 camera, 470 joystick, 571 first mouse, 572 second mouse

Claims (4)

A microscope for observing a minute manipulation object, a camera for imaging a microscope image by the microscope, a manipulator attached to the microscope to manipulate the minute manipulation object, a controller for controlling driving of the manipulator, An operation unit that is operated to drive the manipulator via the controller, and a display unit that displays a microscope image by the camera,
The manipulator
A capillary for operating the minute operation object is attached to the tip,
A rotating shaft on which the capillary is mounted on the tip side thereof, two bearings for rotatably supporting the rotating shaft, an inner ring spacer disposed between inner rings of the two bearings, and the two bearings together with the bearing A preload is applied by a pressing force along the axial direction of the rotating shaft, and the rotating shaft is expanded and contracted in one of the two bearings so that the rotating shaft is moved through the inner ring spacer and the other of the two bearings. A nanopositioner having a piezoelectric element that finely adjusts the position of the capillary by finely moving in the direction,
A manipulator system comprising a plurality of display units and a plurality of operation units, each of which is disposed near the microscope.   The manipulator system according to claim 1, wherein the same controller screen is displayed on the plurality of display units, and the controller can be controlled by the plurality of operation units.   The manipulator system according to claim 1, wherein the operation unit is a mouse, and a controller screen displayed on the display unit can be operated with the mouse.   The manipulator system according to any one of claims 1 to 3, wherein a screen of the display unit is divided and the microscope image is displayed on each of the divided screens.

Images