JP5849503B2 - Particle observation device and manipulation device - Google Patents

Description

  The present invention relates to an observation device that observes particles in a fluid, a separation device that separates particles, and a manipulation device that controls particles.

  In recent years, research and development has been conducted on the use of magnetic fine particles in drug delivery and the like, and research and development has been promoted on observation and control of magnetic fine particles. On the other hand, since it is difficult to handle fine particles, it is difficult not only to control fine particles but also to observe them.

  For example, a magnetic support balance is used for observing the magnetic material. In the method using a magnetic support balance, a model having a magnetic material to be observed is stationary in a non-contact manner by electromagnetic force in the space, and the external force and electromagnetic force are balanced to grasp the external force from the known electromagnetic force. (For example, refer to Patent Document 1). Here, the magnetic body to be observed by the magnetic force support balance is specifically a soft magnetic body or a permanent magnet.

Japanese Patent No. 4001236

  However, even with a method using this magnetic support balance, it has been difficult to observe magnetic microparticles on the order of μm or nm, which cannot be visually observed. Further, it is difficult to control the magnetic fine particles because it is difficult to observe the magnetic characteristics and drive characteristics of such magnetic fine particles while applying a magnetic field.

  Further, when the magnetic body to be observed using a magnetic support balance is a soft magnetic body, the N pole and the S pole are not fixed as in the permanent magnet. Therefore, the magnetic moment is rotated according to the direction of the external magnetic field, the positions of the N pole and the S pole are changed, and it is difficult to stand the soft magnetic body without rotating, and observation is difficult.

  In view of the above problems, an object of the present invention is to provide a particle observation device that easily observes magnetic fine particles, a separation device that separates magnetic fine particles, and a manipulation device that controls magnetic fine particles.

In order to achieve the above object, a particle observation apparatus according to the present invention includes an observation cell in which a fluid containing magnetic fine particles exists, an imaging device that continuously takes images of magnetic fine particles in the observation cell, and The calculation unit for obtaining the coordinates and cross-sectional area of the magnetic fine particles from the image picked up by the image pickup device, the coordinates and cross-sectional area of the tracking particles that are the magnetic fine particles to be tracked in the image picked up last time, and the newly picked-up image Comparing the coordinates and cross-sectional area of the magnetic fine particles determined by the calculation unit from the image, the tracking unit for tracking the tracking particles, and displaying the image captured by the imaging device on the display device, and the display device a magnetic force generating unit and the tracking unit on an image to generate a display processing unit for displaying a mark on the tracking particles tracking, adjustable magnetic field lines of the magnetic field in the observation region where the observation cell exists that is displayed in, The particle movement control unit for controlling the magnetic force generation unit by outputting a control value for generating a magnetic force line for gripping the tracking particles at a predetermined target position while the fluid in the observation cell is stationary differs from the imaging device. Volume of the tracking particle obtained from a plurality of images of the tracking particle imaged from the direction, gravity given to the tracking particle obtained from the control value obtained by the particle movement control unit, and magnetic fine particles in the observation region And a characteristic calculator that obtains the magnetic characteristics of the tracking particles by using the magnetic field distribution of the observation region measured in advance without being arranged .
Further, the particle observation apparatus according to the present invention is imaged by an observation cell in which a fluid containing magnetic fine particles is present, an imaging device that continuously takes images of the magnetic fine particles in the observation cell, and the imaging device. The calculation unit for obtaining the coordinates and cross-sectional area of the magnetic fine particles from the captured image, the coordinates and cross-sectional area of the tracking particle that is the magnetic fine particle to be tracked in the previous image, and the calculation unit from the newly captured image On the image displayed on the display device, the tracking unit for tracking the tracking particle and the image captured by the imaging device are displayed on the display device by comparing the obtained coordinates and cross-sectional area of the magnetic fine particles. A display processing unit that displays a mark on the tracking particles tracked by the tracking unit, a magnetic force generation unit that generates a magnetic field line that can adjust the magnetic field in the observation region where the observation cell exists, and the tracking particles for a predetermined target A particle movement control unit that outputs a control value for generating a magnetic force line to be gripped by the device to control the magnetic force generation unit, and an action force that acts on the tracking particles using the control value obtained by the particle movement control unit An output force calculating unit, and the particle movement control unit outputs a rectangular wave current to the magnetic force generation unit as a control value for confirming the tracking particle before tracking the tracking particle. It is characterized by .
Further, the particle observation apparatus according to the present invention is imaged by an observation cell in which a fluid containing magnetic fine particles is present, an imaging device that continuously takes images of the magnetic fine particles in the observation cell, and the imaging device. Included in the tracking data, a calculation unit for obtaining the coordinates and cross-sectional area of the magnetic fine particles from the captured image, a storage unit for storing tracking data in which the coordinates and cross-sectional area of each magnetic fine particle calculated in the calculation unit are stored By comparing the coordinates and cross-sectional area of the magnetic fine particles with the coordinates and cross-sectional area of the magnetic fine particles obtained by the calculation unit from the newly imaged image, the tracking unit for obtaining the locus of each magnetic fine particle, and the imaging device And a display processing unit that displays a captured image on a display device and displays a locus of each magnetic fine particle as a magnetic gradient on the image displayed on the display device .
Furthermore, a manipulation device according to the present invention includes a control cell in which magnetic fine particles are controlled, an imaging device that continuously captures images of magnetic fine particles in the control cell, and an image captured by the imaging device. The calculation unit that obtains the coordinates and the cross-sectional area of the magnetic fine particles, the coordinates and cross-sectional area of the target particles that are the magnetic fine particles to be controlled in the previously captured image, and the newly-captured image were obtained by the calculation unit. A tracking unit for tracking the target particle by comparing the coordinates and cross-sectional area of the magnetic particle, a magnetic force generation unit for generating a magnetic force line capable of adjusting the magnetic field in the control cell,
And a particle movement control unit for controlling the magnetic force generation unit by outputting a control value for generating a magnetic force line to be controlled by moving the position of the target particle in the control cell .

In addition, the separation device according to the present invention includes a plurality of flow paths, a separation cell that flows out of a plurality of outflow sections provided in each flow path, and a magnetic fluid contained in the separation cell. An imaging device that continuously captures images of fine particles, a calculation unit that obtains the coordinates and cross-sectional area of the magnetic fine particles from the image captured by the imaging device, and a target that is a magnetic fine particle to be separated in the previously captured image A tracking unit for tracking the target particle by comparing the coordinates and cross-sectional area of the particle with the coordinates and cross-sectional area of the magnetic fine particle obtained by the calculation unit from a newly captured image, and the magnetic field in the separation cell Particles that control the magnetic force generation unit by outputting a control value that generates a magnetic force generation unit that generates an adjustable magnetic force line and a magnetic force line that moves the target particles tracked by the tracking unit to the outflow unit for the target particle outflow Movement system Characterized in that it comprises a part.

  According to the present invention, moving particles can be easily observed, separated, or controlled.

1 is an overall configuration diagram of a particle observation apparatus according to a first embodiment. It is a left view of the observation part vicinity of an observation cell. It is a figure explaining an example of the line of magnetic force generated from a coil. It is a figure explaining an example of the line of magnetic force generated from another coil. It is a flowchart explaining an example of a tracking observation process. It is a flowchart explaining an example of action force observation processing. It is an example of the image group image | photographed with the particle | grain observation apparatus. It is another example of the image group image | photographed with the particle | grain observation apparatus. It is a figure showing the coordinate change of the particle | grains of observation object. It is a figure showing the change of the electric current amount given to a coil. It is a figure explaining the change of the force which acts on particle | grains. It is a whole block diagram of the particle observation apparatus which concerns on 2nd Embodiment. It is a flowchart explaining an example of a characteristic observation process. It is a whole block diagram of the particle observation apparatus which concerns on 3rd Embodiment. It is a flowchart explaining an example of a magnetic gradient observation process. It is a whole block diagram of the separation apparatus which concerns on 4th Embodiment. It is the schematic of an example of a cell. It is a flowchart explaining an example of a separation process. It is a whole block diagram of the manipulation apparatus which concerns on 5th Embodiment.

  Embodiments of the present invention will be described below with reference to the drawings. In the following description, the same components are denoted by the same reference numerals and description thereof is omitted.

<First Embodiment>
A particle observation apparatus 1A according to the first embodiment will be described with reference to FIGS. The particle observation apparatus 1A according to the first embodiment observes particles 101 in a liquid (fluid) 102. The particles 101 are magnetic particles. The particle 101 is a fine particle, for example, a particle of 1 μm or less.

  FIG. 1 is an overall configuration diagram of the particle observation apparatus 1A according to the first embodiment, and FIG. 2 is a left side view of the vicinity of the observation unit 22 of the observation cell 2 of the particle observation apparatus 1A. In addition, the figure of the observation part 22 vicinity connected with the dotted line in FIG. 1 is a front view. In the following description, the vertical and horizontal directions indicated by the arrows in FIG. 1 are the vertical and horizontal directions in the dotted frame. Also, the surface direction in FIG. 1 is the front in the dotted frame (see FIG. 2).

  As shown in FIG. 1, the particle observation apparatus 1A includes an observation cell 2, a light irradiation unit 3, a particle moving unit 4, an imaging device 5, a processing device 6A, a display device 8, and a control device 9. I have.

  The observation cell 2 is for flowing the liquid 102 together with the particles 101 to be observed. The observation cell 2 is made of resin or glass that can transmit light. As shown in FIG. 2, the observation cell 2 includes an inflow portion 21, an observation portion 22, and an outflow portion 23. The inflow part 21, the observation part 22, and the outflow part 23 are integrally configured. In the inflow part 21, the observation part 22, and the outflow part 23, a fluid flow path is formed in series. The liquid 102 containing the particles 101 flows to the inflow part 21, the observation part 22, and the outflow part 23. In addition, a pump 24 is connected to the inflow portion 21, and the flow rate of the liquid 102 fed into the observation cell 2 by the pump 24 can be controlled. In the example illustrated in FIG. 2, the observation unit 22 is formed in a rectangular shape when viewed from the front.

  The light irradiation unit 3 irradiates the particles 101 of the observation unit 22 of the observation cell 2 with the sheet-like light Lb. The light irradiation unit 3 includes a light emitting unit 31, a beam expander 32, a reflecting member 33, and a light receiving unit 34.

  The light emitting unit 31 is a light source of the light La for irradiating the particles 101. For the light emitting unit 31, for example, a white light source such as a halogen lamp or a laser light source can be used. When a white light source is used, the outline of the particle becomes clear and the cross-sectional area of the particle 101 can be obtained more accurately. However, it is difficult to observe particles having a particle diameter of nm due to the problem of the wavelength of light and the resolution of the camera. Can not. On the other hand, when the laser light source is used, the particle 101 appears to be larger than the particle diameter due to the scattered light from the particle 101, and thus the cross-sectional area cannot be accurately specified. Can be observed. Therefore, in the particle observation apparatus 1A, a white light source or a laser light source is selected according to the purpose and used for the light emitting unit 31.

  The beam expander 32 is for spreading the linear light La in one direction when a laser light source is used as the light emitting unit 31. Thereby, the light La becomes a sheet-like light Lb having a certain width in the left-right direction and irradiates the observation unit 22. Note that, when a laser light source is used as the light emitting unit 31 and the particle 101 is irradiated with the linear light Lb, the beam expander 32 is unnecessary. Further, when a white light source such as a halogen lamp is used as the light emitting unit 31, the beam expander 32 is not necessary because the light Lb has little directivity. If a white light source is used as the light emitting unit 31, it is necessary to use a collimator lens in addition to the beam expander 32.

  The reflecting member 33 reflects the light Lb traveling in the right direction downward where the observation unit 22 is disposed. As a result, the sheet-like light Lb illuminates the observation unit 22 brightly.

  The light receiving unit 34 receives the light Lb that has passed through the observation unit 22 and outputs a detection signal to the control device 9. When the light Lb is deviated from the desired position of the observation unit 22, the control device 9 detects the deviation of the light Lb based on this detection signal and adjusts the direction of the light emitting unit 31. Thereby, the light Lb illuminates a desired region of the observation unit 22.

  The particle moving unit 4 stops or moves the ferromagnetic particles by a magnetic field. The particle moving unit 4 is an electromagnet including four sets of coils 41, 42, 43, 44 and coil power supplies 45, 46, 47, 48.

  The four coils 41 to 44 are arranged in the four directions on the observation unit 22 of the observation cell 2 in the lower left and right directions, respectively. The coils 41 to 44 generate lines of magnetic force 103 to the observation unit 22 when current is supplied. Specifically, as shown in FIG. 3, the coil 41 generates magnetic field lines 103 in the vertical direction. As a result, the magnetic force in the direction attracted by the coil 41 (upward) acts on the ferromagnetic particles 101. Further, as shown in FIG. 4, the coil 42 generates a magnetic force line 103 in the left-right direction. Thereby, the magnetic force in the direction attracted by the coil 42 (leftward) acts on the ferromagnetic particles 101.

  The four coil power supplies 45 to 48 are connected to different coils 41 to 44, respectively. The coil power supplies 45 to 48 supply currents that generate lines of magnetic force to the coils 41 to 44.

  The imaging device 5 is for imaging the particle 101 irradiated with the light Lb. The imaging device 5 is composed of, for example, a CMOS camera capable of high-speed shooting. As shown in FIG. 2, the imaging device 5 is disposed in front of the central portion of the observation unit 22. Note that the position of the imaging device 5 in FIG. 1 is shown for convenience and is different from the actual position. The imaging device 5 captures a dark field image of the particle 101 of the observation unit 22 with light in which the sheet-like light Lb is Rayleigh scattered by the particle 101. The imaging device 5 continuously images the particles 101 at a predetermined time interval (hereinafter referred to as imaging interval) TI. The imaging device 5 outputs the captured image data of the particles 101 to the processing device 6A. For example, when the light emitting unit 31 pulsates the light Lb, the imaging device 5 images the particle 101 in synchronization with the pulsed light Lb.

  The processing device 6A processes the image data of the particles 101 captured and input by the imaging device 5, and causes the display device 8 to display the image of the particles 101 and the processing result. The processing device 6A includes a calculation unit (not shown) such as a CPU (central processing unit) and a storage unit (not shown) such as a random access memory (RAM), a read only memory (ROM), and a hard disk drive (HDD). ). For example, the processing device 6A reads and executes an observation processing program (not shown) stored in the storage unit, so that a binarization unit 61, a display processing unit 62, A coordinate calculation unit 63, a cross-sectional area calculation unit 64, a tracking unit 65, a deviation calculation unit 66, and an acting force calculation unit 67 are mounted on the calculation unit.

  The binarization unit 61 inputs image data from the imaging device 5 and binarizes the background and the particles 101. The binarized image data obtained is displayed on the display processing unit 62, the coordinate calculation unit 63, and the cross-sectional area. The result is output to the calculation unit 64.

  The display processing unit 62 outputs the input data to the display device 8 such as a liquid crystal display device for display. Specifically, when the binarized image data is input, the display processing unit 62 displays the binarized image data on the display device 8, and when the value obtained by the acting force calculation unit 67 is input, the display device 8. Displays the value entered in. The display processing unit 62 may display not the binarized image data but the image data captured by the image capturing device 5 on the display device 8. In this case, the display processing unit 62 inputs image data and displays the image data on the display device 8. The display processing unit 62 may selectively display the image data and the binarized image data in accordance with an operation when the image data and the binarized image data are input.

  When the binarized image data is input from the binarizing unit 61, the coordinate calculating unit 63 obtains the coordinates of all the particles 101 included in the input binarized image data, and outputs them as coordinate data. Here, for example, the coordinate calculation unit 63 assigns an identification number to each particle 101 included in the binarized image data, and associates the obtained coordinate with each identification number to obtain coordinate data.

  When the binarized image data is input from the binarizing unit 61, the cross-sectional area calculating unit 64 obtains the cross-sectional areas of all the particles 101 included in the input binarized image data and outputs the cross-sectional area data. Here, for example, the cross-sectional area calculator 64 assigns an identification number to each particle 101 included in the binarized image data, and associates the obtained cross-sectional area with each identification number to obtain cross-sectional area data. At this time, by unifying the method of assigning the identification number to the particle 101 in the cross-sectional area calculation unit 64 and the method of assigning the identification number in the coordinate calculation unit 63, each particle is obtained from the cross-sectional area data and the coordinate data. The cross-sectional area and coordinates of 101 can be grasped. Further, since the volume of each particle 101 can be predicted from the identified cross-sectional area, the size of each particle 101 can be predicted.

  The tracking unit 65 uses the coordinate data and the cross-sectional area data to obtain the coordinates and cross-sectional area of the tracking particle that is the magnetic fine particle to be tracked in the previously captured image and the magnetic value obtained from the newly captured image. The coordinates and cross-sectional area of the fine particles are compared to track a predetermined particle 101, and the tracking result is output to the display processing unit 62 and the deviation calculation unit 66. Specifically, when it is determined to track a particle of a predetermined size, the tracking unit 65 determines the particle 101 having a predetermined cross-sectional area as the tracking particle from the cross-sectional area data, and coordinates and the cross-sectional area of the tracking particle Are stored in the storage unit as tracking data D1. Further, when the tracking unit 65 determines the tracking particle and inputs new coordinate data and cross-sectional area data, the tracking unit 65 compares the previous coordinate and cross-sectional area of the tracking particle included in the tracking data D1 of the storage unit, and New coordinates and cross-sectional areas are specified, new coordinates and cross-sectional areas are added, and tracking data in the storage unit is updated. Here, the tracking unit 65 basically uses the particles 101 that are close to the coordinates of the tracking particles stored as the tracking data and have substantially the same cross-sectional area as the tracking particles. If particles overlap each other, false detection will occur, so the movement speed and direction are predicted from the particle information several times before the previous time, set as the search range, and if the corresponding particle does not exist in the search range, the control value The calculation is not performed, and the search range predicted by the next captured image is searched. Further, the tracking unit 65 outputs the coordinates of the tracking particles to the display processing unit 62 and the deviation calculation unit 66 at the timing when the tracking particles are determined or when the tracking data D1 is updated.

  The display processing unit 62 that has input the coordinates of the tracking particles from the tracking unit 65 marks the tracking particles using the input coordinates when displaying the binarized image data of the particles 101 on the display device 8. To display. Thereby, tracking particles can be identified from the plurality of particles 101 in the image displayed on the display device 8.

  The deviation calculation unit 66 obtains a deviation between the coordinates of the tracking particle specified by the input coordinate data and a predetermined target position to which the tracking particle is moved, and outputs the obtained deviation to the particle movement control unit 93.

  The acting force calculation unit 67 uses the deviation obtained by the deviation calculation unit 66 to input from the particle movement control unit 93 a control value used by the particle movement control unit 93 to hold the tracking particle at a fixed point at the target position. Further, the acting force calculation unit 67 obtains an acting force such as a magnetic force acting on the tracking particle, fluid resistance force, gravity, buoyancy, or interparticle force due to the magnetic dipole field using the input control value, and calculates the obtained value. The data is output to the display processing unit 62. The display processing unit 62 causes the display device 8 to display the value input from the acting force calculation unit 67.

  Specifically, the acting force calculation unit 67 can obtain the magnetic force Fp acting on the tracking particles by the following equation (1).

Fp = Vp × Mp × grad (μ ₀ × H ₀ ) (1)
Here, Vp is the volume of the particle, Mp is the volume magnetization of the particle, and H ₀ is the external magnetic field. Here, the particle volume Vp is predicted from the cross-sectional area of the tracking particle obtained by the cross-sectional area calculation unit 64. Mp = χp × H ₀ , where χp is the magnetic susceptibility of the particle determined for each type of particle, and H ₀ is a value obtained from the control value input from the particle movement control unit 93.

  Further, for example, it is simply considered as a spherical particle, and the acting force calculation unit 67 can obtain the fluid resistance force Fd that the tracking particle receives from the liquid 102 by the following equation (2).

Fd = 6π × η × rp × (vf−vp) (2)
Here, η is a viscosity coefficient of the fluid determined for each type of fluid, rp is a particle radius obtained from the cross-sectional area of the particle obtained by the cross-sectional area calculation unit 64, and vf−vp is a relative value between the fluid and the particle. Is speed.

  The particle velocity vp is obtained from the change in coordinates obtained by the coordinate calculation unit 63. The fluid velocity vf is such that fine particles of a non-magnetic material (for example, several μm or less) are mixed in the liquid 102 and moved in the observation cell 2 along with the flow of the liquid 102 without affecting the magnetic force. And obtained by the coordinate calculation unit 63. Here, since it is necessary to distinguish the tracking particles from the non-magnetic fine particles by image processing, it is preferable to mix non-magnetic fine particles having different particle diameters.

  In addition, the fluid resistance force is basically obtained from the equation (2), but it may deviate from the value of the equation (2) depending on the properties of the fluid and the shape of the particles. A fluid analysis may be performed to create and correct a correlation database between flow velocity and particle shape. The flow velocity may be measured by inserting a flow meter upstream from the observation cell, or non-magnetic fine particles that do not respond to magnetic force flow from the upstream, and the flow velocity of those non-magnetic fine particles may be calculated and used by image processing. . Alternatively, when magnetic fine particles having a smaller volume than the magnetic fine particles held at a constant value exist in the observation cell, the velocity of the magnetic fine particles may be calculated by image processing and used as the fluid velocity. This is because the magnetic force is proportional to the particle volume. For example, if the volume is 1/10, the magnetic force acting on the magnetic fine particle is also 1/10, and the fluid resistance force is more dominant than the magnetic force. Therefore, it can be considered that non-magnetic fine particles are observed.

  Further, the acting force calculation unit 67 can obtain the gravitational force Fg received by the tracking particles by the following equation (3).

Fg = ρp × (4/3) π × rp ³ × g (3)
Here, ρp is a particle density determined for each type of particle.

  Moreover, the acting force calculation part 67 can obtain | require the buoyancy Fb which a tracking particle receives by following formula (4).

Fb = ρf × (4/3) π × rp ³ × g (4)
Here, ρf is a fluid density determined for each type of fluid.

  Furthermore, the acting force calculation unit 67 can easily obtain the magnetic flux density generated at an arbitrary point by the magnetic dipole field by the tracking particles by the following equations (5) and (6). From this magnetic flux density distribution, the magnetic gradient created by the tracking particles in the vicinity is also calculated.

Br = μ ₀ (Pm / (2π × rp ³ )) × cos θ (5)
Bθ = μ ₀ (Pm / (4π × rp ³ )) × cos θ (6)
Here, Pm = M × Vp, where Pm is the magnetic moment m [Am ² ], M [A / m] is the magnetization, and Vp [m ³ ] is the volume of the particle.

  The control device 9 governs overall control of the particle observation device 1A. The control device 9 is an information processing device including a calculation unit (not shown) such as a CPU, a storage unit (not shown) such as a RAM, a ROM, and an HDD, and an input unit 91 such as a keyboard and a mouse. For example, the control device 9 reads and executes an observation control program (not shown) stored in the storage unit, so that as shown in FIG. 1, the light control unit 92, the particle movement control unit 93, and An imaging control unit 94 is mounted on the calculation unit.

  The input unit 91 is for a user to input various instructions. The input unit 91 outputs an instruction input by the user to the light control unit 92 and the particle movement control unit 93.

  The light control unit 92 is for controlling the light irradiation unit 3. The light control unit 92 outputs an instruction signal to the light emitting unit 31. Thereby, the light emission part 31 radiate | emits light La. Further, at the time of initial setting, the light control unit 92 inputs a detection signal from the light receiving unit 34. The light control unit 92 calculates the shift of the light Lb based on the detection signal, and controls the light emitting unit 31 to adjust the emission direction of the light Lb. Note that the light control unit 92 may be configured to display the shift of the light Lb, and the emission direction of the light emitting unit 31 may be set by the user.

  The particle movement control unit 93 controls the particle movement unit 4 by outputting a control value for generating a magnetic force line that holds the particle 101 at a predetermined target position, thereby performing PID control of the movement of the particle 101. The particle movement control unit 93 inputs the deviation between the tracking particle and the target position of the tracking particle from the deviation calculating unit 66, and obtains a control value for moving the tracking particle to the target position based on the input deviation. The control value calculated | required to the power supplies 45-48 is output, and the magnetic force line 103 which 4 sets of coils 41-44 generate | occur | produce is adjusted. That is, since the tracking particle is a magnetic substance, the tracking particle can be moved to the target position by generating an appropriate magnetic force line 103 in the space where the tracking particle exists. Here, if the tracking particle can be moved to the target position, the coordinate of the tracking particle and the target position coincide with each other. Therefore, the control value output by the particle movement control unit 93 holds the tracking particle at a fixed point at the target position. The control value for Further, the particle movement control unit 93 outputs the obtained control value to the acting force calculation unit 67.

  The imaging control unit 94 is for outputting a signal to the imaging device 5 and controlling the imaging device 5.

  In the above description, the observation cell 2 has the inflow portion 21 and the outflow portion 23, and sends the particles 101 and the liquid 102 to the inside via a pump or the like, and moves the fluid 102 inside, so that the flow rate or It is possible to measure by changing the fluid resistance force.

  Further, as described above, the coils 41 to 44 are preferably installed before and after the observation cell 2 in addition to being installed above and below and right and left of the observation cell 2. Even if it is not installed before and after the observation cell 2, the iron core shape and the like in the coils 41 to 44 installed on the upper, lower, left and right sides of the observation cell 2 are adjusted to give a convergence force to the center of the observation area. Thus, the movement of the particles 101 in the depth direction can be suppressed. (Furthermore, by making the coils 41 to 44 movable, tracking of the tracking particles is facilitated. In addition, the particle moving unit 4 includes the coil 41. -44 and coil power supplies 45-48, but permanent magnets may be used in combination.

(Particle tracking observation processing)
An example of processing for tracking and observing specific particles in the particle observation apparatus 1A will be described using the flowchart shown in FIG.

  First, in the particle observation device 1A, the imaging device 5 is supplied with the particles 101 to be observed, images the particles 101 in the observation unit 22 irradiated by the light irradiation unit 3, and the captured image data is input to the processing device 6A. Output (S01).

  The processing device 6A that has input the image data binarizes the input image data by the binarization unit 61, and outputs the binarized image data obtained to the display processing unit 62, the coordinate calculation unit 63, and the cross-sectional area calculation unit 64. Output (S03).

  The display processing unit 62 displays the input binarized image data on the display device 8 (S04).

  The coordinate calculation unit 63 obtains the coordinates of all the particles 101 in the input binarized image data and outputs them to the tracking unit 65 as coordinate data. The cross-sectional area calculation unit 64 calculates the cross-sectional areas of all the particles 101 in the input binarized image data and outputs the cross-sectional area data to the tracking unit 65 as cross-sectional area data (S05).

  The tracking unit 65 that has input the coordinate data and the cross-sectional area data determines whether or not there is a tracking particle (tracking particle) (S05). When there is no tracking particle (NO in S05), the tracking unit 65 determines whether there is a particle of a predetermined size (S06). That is, the tracking unit 65 predicts the size of each particle from the cross-sectional area of each particle 101, and determines whether there is a particle having a predetermined size that is determined as a tracking target.

  When there is a particle of a predetermined size (YES in S06), the tracking unit 65 determines the particle of the predetermined size as the tracking particle, stores the tracking data D1 in the storage unit, and outputs the coordinates of the tracking particle to the display processing unit 62 Then, the process returns to step S02, and the processes of steps S02 to S06 are repeated (S07). Thereby, in the display device 8, the tracking particles are marked on the displayed binarized image.

  On the other hand, when there is no particle of the predetermined size (NO in S06), the tracking unit 65 returns to step S02 and repeats the processes of steps S02 to S06.

  When there is a tracking particle in step S5 (YES in S05), the tracking unit 65 searches for the tracking particle using the input coordinate data and cross-sectional area data and the tracking data D1 stored in the storage unit (S08). . Further, when the tracking unit 65 searches for the tracking particle in step S9, the tracking unit 65 continues the tracking by adding the coordinates and cross-sectional area of the tracking particle after movement and updating the tracking data D1 (S09). Thereafter, the processing device 6A repeats the processes in steps S02 to S09 until the operation signal for ending the tracking is input, thereby tracking the particles (S10).

  In the above description, the predetermined size particle 101 is determined to be a tracking target particle in advance, and in step S06, the tracking unit 65 determines the predetermined size particle as the tracking target particle. However, the user may be able to select the particles to be tracked from the particles 101 displayed on the display device 8.

(Particle action force observation process)
Next, an example of processing for observing the acting force of the particles tracked in the particle observation apparatus 1A will be described using the flowchart shown in FIG. For example, the action force observation process is performed on the tracking particles after the tracking target particles are determined by the tracking process as described above with reference to FIG.

  First, in the particle observation apparatus 1A, the deviation calculation unit 66 inputs the coordinate data of the tracking particles included in the tracking data D1 updated from the tracking unit 65 that has determined the tracking particles (S21).

  The deviation calculation unit 66 that has input the coordinate data of the tracking particle obtains a deviation between the coordinate of the tracking particle and the coordinate of the target position where the tracking particle is moved, and outputs the deviation to the particle movement control unit 93 (S22).

  Thereafter, the particle movement control unit 93 uses the deviation to obtain a control value for moving the tracking particle to the target position, and outputs the control value to the coil power sources 45 to 48 to control the movement of the particle, and the control value is applied to the acting force. It outputs to the calculating part 67 (S23).

  The applied force calculation unit 67 having input the control value obtains the applied force acting on the tracking particles from the input control value, and outputs it to the display processing unit 62 (S24).

  Further, the processing device 6A repeats the processes of steps S21 to S24 until an operation signal for ending the action force observation process is input (S25).

"Example"
Here, an example of particle observation in the particle observation apparatus 1A according to the first embodiment will be described. Here, an example is shown in which ferrite fine particles (particle diameter average: 12 μm, particle diameter distribution: 300 nm to 300 μm) are used as the particles 101. The saturation magnetization Mp of the ferrite fine particles is about 1.85e5 [A / m], and the magnetic susceptibility χ at 0.05T is about 2.3. At this time, ferrite fine particles as particles 101 are encapsulated in a 10 × 10 × 45 mm glass observation cell 2 containing the liquid 102, and 100 images per second are captured by a high-speed photographing CMOS camera as the imaging device 5. Taken at speed.

  FIG. 7 shows an example in which the tracking particle determined as the observation target is tracked by the particle observation apparatus 1A. In each image shown in FIG. 7, a marker is attached to a circular tracking particle. FIG. 7A shows a tracking start time (t = 0 s) when irradiation is performed from the back surface of the observation cell 2 using a halogen lamp as a white light source as the light emitting unit 31 and tracking is performed, and FIG. FIG. 7C shows an example of binarized image data 2 seconds after the start of tracking (t = 2 s) and 4 seconds after the start of tracking (t = 4 s).

  FIG. 7D shows a tracking start time (t = 0 s) when tracking is performed by irradiating from the side surface of the observation cell 2 using a laser light source as the light emitting unit 31, and FIG. After 2 seconds (t = 2s), FIG. 7F is an example of binarized image data 4 seconds after the start of tracking (t = 4s). In the example shown in FIG. 7, it can be seen that, when observed using a laser light source, particles of 1 μm or less can be observed, so that more particles can be observed than when observed using a white light source.

  Next, FIG. 8 is a diagram for explaining the movement of the particles in the process of gripping the tracking particles at the target position by the particle observation apparatus 1A. Specifically, it is an example of an image every 0.5 seconds from 2.5 seconds to 6 seconds after the gripping process is started. Thus, it can be seen that the tracking particles are moved by the generation of the lines of magnetic force 103. In the example shown in FIG. 8, it can be seen that the tracking particles were held at a fixed point after combining with other particles within 3 to 3.5 seconds after the start of processing.

  Moreover, FIG. 9 is a figure showing the coordinate of the tracking particle | grains in the case shown in FIG. 8, FIG. 9 (a) is 0 to 10 second after, FIG. 9 (b) is 10 to 25 second after. An example is shown. In the example shown in FIG. 9, it takes about 6 seconds until the tracking particles are held at the target position, and thereafter, it is understood that the tracking particles were held at the substantially target position.

  Furthermore, FIG. 10 is a graph showing a change in the amount of current required when the tracking particles are held at the target position in the case shown in FIG. In order to determine whether it is a magnetic fine particle up to 3 seconds, it is confirmed whether or not it responds to a magnetic force by passing a rectangular wave current through the upper electromagnet. Fixed point control is started after 3 seconds, and as shown in FIG. 8, the fixed point is gripped at the target point at 6 seconds. The reason why the current supplied during the period from 3 seconds to 6 seconds has changed greatly is to generate a large magnetic force in order to quickly move to the target point.

  As shown in FIG. 10, the particle movement control unit 93 applies an initial current in a rectangular shape, and determines whether the particles in the liquid 102 are magnetic fine particles depending on whether the particles 101 follow the vertical movement. Alternatively, it is preferable to start subsequent processing after determining whether the particles are non-magnetic fine particles. As a result, particles that cannot be directly magnetically driven by the particle movement control unit 93 are erroneously set as tracking particles, and unnecessary magnetic field lines 103 are generated to drive other particles more than necessary to disturb the fluid field (liquid 102). This is to prevent the process from being difficult. In addition, in order to stably control the soft magnetic material particles that can only act on the attraction force without rotating, it is desirable to devise a technique that does not disturb the fluid field. In this way, the tracking particles are applied by applying a rectangular wave current. It is possible to shorten the time until gripping.

  FIG. 11 shows changes in the vertical and horizontal magnetic forces, changes in gravity and buoyancy (FIG. 11 (a)) required for gripping the tracking particles at the target position, and grip control start 20 seconds. It is an example which shows the relationship (FIG.11 (b)) of gravity, buoyancy, magnetic force, and fluid resistance force after.

  As described above, in the particle observation apparatus 1A according to the first embodiment, the coordinates and cross-sectional area of the magnetic fine particles are obtained from the continuous images and the specific particles are tracked to display the binarized image data of the fine particles. In this case, the tracking particles can be displayed with a mark. This makes it possible to easily grasp the behavior of the magnetic fine particles. Further, in the particle observation apparatus 1A, it is possible to easily grasp the acting force of the magnetic fine particles by using the magnetic force that holds the magnetic fine particles at the target position using the obtained coordinates. Furthermore, in the particle observation apparatus 1A, the tracking particles can be gripped in a non-contact manner and the acting force can be grasped, so that the acting force can be grasped more accurately without being affected by the tracking particle gripping component or the like.

Second Embodiment
A particle observation apparatus 1B according to the second embodiment will be described with reference to the overall configuration diagram shown in FIG. The particle observation apparatus 1B measures characteristics by observing one particle which is a ferromagnetic particle 101 in a liquid 102. When the particle observation device 1B according to the second embodiment is compared with the particle observation device 1A according to the first embodiment described above, the particle observation device 1B includes the magnetic measurement device 7, and the processing device 6B is replaced with the processing device 6A. It differs in that it has. Further, the processing device 6B is different from the processing device 6A in that the acting force calculation unit 67 is not provided and the characteristic calculation unit 68 is provided.

  The particle observation device 1B stores magnetic data D2 relating to the magnetic gradient and magnetic field strength in the moving region (observation region) of the particle 101, which is measured in advance using the magnetic measurement device 7, in the storage unit. . The magnetic measuring device 7 is configured to be freely driven in the observation region, and is a Hall sensor or a Gauss meter. When the magnetic data D2 is generated, the coil power supplies 45 to 48 change the current supplied to the coils 41 to 44 and perform measurement several times. Therefore, the magnetic data D2 is data representing the correlation between the current supplied to the coils 41 to 44 and the magnetic field distribution in the observation region. Note that the position of the magnetic measurement device 7 in FIG. 12 is shown for convenience, and is different from the actual position.

  The characteristic calculation unit 68 reconstructs the tracking particles in three dimensions using image data of the tracking particles photographed from a plurality of directions, and obtains the volume of the tracking particles. Thereafter, the characteristic calculation unit 68 obtains the mass of the tracking particle from the obtained volume and the density of the tracking particle. Here, when the tracking particles are imaged from a plurality of directions, the flow of the liquid 102 into the observation cell 2 is stopped, the liquid 102 is stopped, the tracking particles are held at a fixed point, and then the particle movement control unit 93 The particles are controlled to rotate and photographed by the imaging device 5 composed of one fixed camera.

  The characteristic calculation unit 68 is a control value that gives magnetic lines of force to the tracking particles in order to hold the tracking particles in the observation cell 2 in a state where the flow of the liquid 102 into the observation cell 2 is stopped and the liquid 102 is stopped. Is input from the particle movement control unit 93.

  The characteristic calculation unit 68 obtains the magnetic force Fp of the tracking particle from the gravity Fg and the buoyancy Fb of the tracking particle using the equation (7). Here, the gravity Fg can be obtained from the density and volume of the tracking particles.

Fp = Fg−Fb (7)
Thereafter, the characteristic calculation unit 68 obtains the volume magnetization Mp by using Equation (8) to obtain the magnetic characteristic (magnetic field-magnetization curve). Here, Vp is the particle volume and H ₀ is the external magnetic field.

Mp = Fp / {Vp × grad (μ ₀ × H ₀ )} (8)
Here, in order to photograph the tracking particles from a plurality of directions, the imaging is performed with a camera in which the tracking particles are rotated and fixed. On the other hand, you may image | photograph the tracking particle | grains hold | gripped by a fixed point with the imaging device 5 which consists of several cameras installed in a different position. Alternatively, the tracking device may be photographed from a plurality of different directions by moving the camera with the imaging device 5 including a movable camera.

(Particle characteristic observation processing)
Next, processing for observing the characteristics of specific particles in the particle observation apparatus 1B will be described using the flowchart shown in FIG. This characteristic observation process is executed, for example, to observe the characteristic of one particle that is the tracking particle after the particle is registered as the tracking particle in the tracking observation process described above with reference to FIG.

  First, in the particle observation apparatus 1B, when the liquid 102 in the observation cell 2 is stationary (YES in S31) and the tracking particle is stationary by being held at a fixed position at the target position (YES in S32), the particle movement control unit 93 is The coil power supply is controlled so as to output a current for rotating the tracking particles at the target position (S33).

  The imaging device 5 acquires the image data of the tracking particles from a plurality of different directions by photographing the tracking particles rotated under the control of the particle movement control unit 93 (S34).

  When the characteristic calculation unit 68 acquires a plurality of pieces of image data, the characteristic calculation unit 68 obtains the volume of the tracking particles using cross-sectional areas of the tracking particles in the image data from a plurality of directions (S35).

  Subsequently, the flow rate of the liquid 102 in the observation cell 2 is changed by changing the amount of the liquid 102 supplied to the observation cell 2 via the inflow portion 21 (S36).

  Thereafter, the characteristic calculator 68 obtains the magnetic force (S37). Subsequently, the characteristic calculation unit 68 obtains the magnetic characteristic (magnetic field-magnetization curve) by the tracking particle, outputs the obtained characteristic to the display processing unit 62, and displays it on the display device 8 (S38). In the above-described method, only volume magnetization with respect to a magnetic field that balances gravity, buoyancy, and magnetic force is obtained. Magnetic properties (relationship between magnetic flux density (or magnetic field) and magnetization) are only balanced with gravity while the liquid 102 is at rest, and data of only one magnetic flux density can be obtained. On the other hand, by increasing the flow velocity of the liquid 102 stepwise and sequentially balancing with gravity, buoyancy, and viscous force, the magnetic flux density increases as the flow velocity increases, and there are several relationships between the magnetic flux density and magnetization. General-purpose magnetic properties can be obtained.

  As described above, in the particle observation apparatus 1B according to the second embodiment, the magnetic particles that track the specific particles by obtaining the coordinates and cross-sectional area of the magnetic fine particles from the continuous images and that hold the specific magnetic fine particles at the target position. By using this, it is possible to easily grasp the characteristics of the magnetic fine particles.

<Third Embodiment>
A particle observation apparatus 1C according to the third embodiment will be described with reference to the overall configuration diagram shown in FIG. This particle observation apparatus 1C observes the magnetic gradient in the space where the ferromagnetic particles 101 contained in the fluid such as the liquid 102 are present. Therefore, in this particle observation apparatus 1C, when the binarized image data is displayed, the tracking particles are not marked, but the trajectory of each particle is displayed.

  When the particle observation apparatus 1C according to the third embodiment is compared with the particle observation apparatus 1C according to the first embodiment described above, the particle observation apparatus 1C is different in that a processing apparatus 6C is provided instead of the processing apparatus 6A. Further, the processing device 6C is different from the processing device 6A in that a tracking unit 65C is provided instead of the tracking unit 65, an acting force calculation unit 67 is not provided, and a gradient calculation unit 69 is provided.

  The tracking unit 65C of the particle observation apparatus 1C does not track only specific tracking particles, but tracks all particles 101 or a plurality of particles 101 included in the binarized image data. Specifically, the tracking unit 65C stores the coordinates and cross-sectional area of each particle in the storage unit as tracking data D3. When new coordinate data and cross-sectional area data are input, the coordinates and cross-sectional data included in the tracking data D3 The corresponding particles are selected compared to the cross-sectional area. The tracking data D3 includes a history of changes between coordinates and cross-sectional areas. When the tracking unit 65C selects a particle corresponding to each particle included in the binarized data from the tracking data D3, the display processing unit 62 displays the coordinates of each particle and the locus data including the history of changes in the coordinates of each particle. Output to. Thereby, the trajectory of each particle is displayed on the display device 8.

  The gradient calculation unit 69 obtains the magnitude (dH / dλ) of the magnetic gradient for each particle and outputs it to the display processing unit 62. Thereby, the display processing unit 62 displays the magnitude of the magnetic gradient on each particle displayed on the display device 8.

  Specifically, the gradient calculation unit 69 calculates the acceleration of each particle and obtains it using equations (6) and (7). Note that the acceleration of each particle is obtained from a change in coordinates included in the tracking data D3. In Formula (7), Fd is the fluid resistance obtained by Formula (2).

F = mα (6)
F = Mp × μ × dH / dλ × V + Fd (7)
(Magnetic gradient observation process)
Next, processing for observing the magnetic gradient in the space where the particles 101 exist in the particle observation apparatus 1C will be described using the flowchart shown in FIG.

  First, the imaging device 5 supplies the observation target particle 101 to the observation cell 2, images the particle 101 in the observation unit 22 irradiated by the light irradiation unit 3, and outputs the captured data to the processing device 6C ( S41).

  The processing device 6C that has input the image data binarizes the input image data by the binarization unit 61, and outputs the binarized image data obtained to the display processing unit 62, the coordinate calculation unit 63, and the cross-sectional area calculation unit 64. Output (S42).

  The coordinate calculation unit 63 obtains the coordinates of all the particles 101 in the input binarized image data and outputs them to the tracking unit 65C as coordinate data. Further, the cross-sectional area calculation unit 64 obtains cross-sectional areas of all the particles 101 in the input binarized image data, and outputs the cross-sectional area data to the tracking unit 65C as cross-sectional area data (S43).

  The tracking unit 65C that has input the coordinate data and the cross-sectional area data determines whether or not the tracking data D3 is stored in the storage unit (S44). When the tracking data D3 is not stored (NO in S44), the tracking unit 65C generates the tracking data D3 from the input coordinate data, the coordinates included in the cross-sectional area data, and the cross-sectional area, and stores the tracking data D3 in the storage unit for display. After the processing unit 62 displays the binarized image data on the display device 8, the process returns to step S41, and the processes of steps S01 to S43 are repeated (S45).

  When the tracking data D3 is stored in the storage device (YES in S44), the tracking unit 65C updates the tracking data D3 by adding the coordinates and sectional area included in the input coordinate data and sectional area data. The display processing unit 62 displays the image data on the display device 8 together with the locus of each particle (S46). In addition, the tangent of the locus of each particle represents the direction of the magnetic gradient.

  Thereafter, the gradient calculation unit 69 obtains the magnitude of the gradient and outputs it to the display processing unit 62 (S47). Thereby, the magnitude | size of the gradient which the display process part 62 which input the magnitude | size of the gradient input is displayed on the display apparatus 8 (S48).

  The particle observation apparatus 1C repeats the processes in steps S41 to S48 until an operation signal for ending the magnetic gradient observation process is input (S49).

  As described above, in the particle observation device 1C according to the third embodiment, the coordinates and cross-sectional area of the magnetic fine particles are obtained from the continuous images, the movement history of each fine particle is specified, and the movement path is displayed, thereby easily. It is possible to grasp the magnetic gradient of the region containing the magnetic fine particles.

<Fourth embodiment>
A separation apparatus 1D according to the fourth embodiment will be described with reference to the overall configuration diagram shown in FIG. A separation device 1D according to the fourth embodiment is a device that separates specific particles 101 from a plurality of magnetic particles 101 contained in a fluid such as the liquid 102. This separation device 1D includes a separation cell 2D, a light irradiation unit 3, a particle moving unit 4, a processing device 6D, a display device 8, and a control device 9, similarly to the particle observation device 1A according to the first embodiment described above. Yes. Here, unlike the particle observation apparatus 1A, the separation apparatus 1D includes a separation cell 2D instead of the observation cell 2, and includes a processing apparatus 6D instead of the processing apparatus 6A.

  As shown in FIG. 17, for example, the separation cell 2D includes a plurality of outflow portions 23a and 23b. Specifically, an outflow portion 23a for target particles from which particles to be separated flow out and an outflow portion 23b for non-target particles from which particles that are not to be separated flow out are provided. Thereby, only specific particles are selected from the particles 101 flowing in from the inflow portion 21 and flow out from the outflow portion 23a for target particles, and other particles flow out from the outflow portion 23b for non-target particles.

  The processing device 6D is different from the processing device 6A in that it does not include the acting force calculation unit 67 but includes a deviation calculation unit 66D instead of the deviation calculation unit 66. The processing device 6D is also an information processing device having a calculation unit and a storage unit (not shown), for example, as with the processing device 6A, and a separation program (not shown) stored in the storage unit is read out. As shown in FIG. 16, the binarization unit 61, the display processing unit 62, the coordinate calculation unit 63, the cross-sectional area calculation unit 64, the tracking unit 65, and the deviation calculation unit 66D are mounted on the calculation unit. The

  The tracking unit 65 of the processing device 6D tracks particles to be separated. For example, the tracking unit 65 tracks particles of a predetermined size as separation target particles. Further, the tracking unit 65 stores the coordinates and cross-sectional area of the separation target particle in the storage unit as tracking data D1, and updates the tracking data D1 according to the movement of the separation target particle.

  When the coordinate data is input, the deviation calculation unit 66D of the processing device 6D obtains a deviation between the coordinates of the particles to be separated and the path of the particles at the time of separation, and outputs the obtained deviation to the particle movement control unit 93. For example, in this separation apparatus 1D, the flow path from the observation unit 22 to the outflow unit 23a of the separation cell 2D is defined as a guide path for the particles to be separated, and the deviation calculation unit 66D has the coordinates and separation of the particles to be separated. A deviation from the coordinates of a point on the taxiway determined for the target particle (for example, the coordinates of a branch point) is obtained. In addition, when the separation target particle is on the taxiway, the deviation calculating unit 66D sets a coordinate that is a predetermined distance from the current coordinate to the outflow part 23a for the target particle on the taxiway as a target position, and the target coordinate is calculated from the current coordinate. Find the deviation to the position.

  The particle movement control unit 93 to which the deviation is input controls the separation target particles to move on the guide path and to flow out from the target particle outflow unit 23a according to the input deviation. At this time, as shown in FIG. 17, by forming a complicated guide path from the observation unit 22 to the target particle outflow portion 23a, it is possible to prevent out-of-target particles from flowing out from the target particle outflow portion 23a. can do.

(Particle separation process)
Then, the process which isolate | separates specific particle | grains in the separation apparatus 1D is demonstrated using the flowchart shown in FIG.

  First, the imaging device 5 supplies the liquid 102 containing the particles 101 to be divided to the separation cell 2D, images the particles 101 in the observation unit 22 irradiated by the light irradiation unit 3, and processes the captured data. Output to 6D (S51).

  The processing device 6D that has input the image data binarizes the input image data by the binarization unit 61, and the obtained binarized image data is input to the display processing unit 62, the coordinate calculation unit 63, and the cross-sectional area calculation unit 64. Output (S52).

  The display processing unit 62 displays the input binarized image data on the display device 8 (S53).

  The coordinate calculation unit 63 obtains the coordinates of all the particles 101 in the input binarized image data and outputs them to the tracking unit 65 as coordinate data. In addition, the cross-sectional area calculation unit 64 obtains cross-sectional areas of all the particles 101 in the input binarized image data and outputs the cross-sectional area data to the tracking unit 65 as cross-sectional area data (S54).

  The tracking unit 65 that has input the coordinate data and the cross-sectional area data determines whether or not there is a separation target particle 101 (S55). When there is no particle to be separated (NO in S55), the process returns to step S51, and the processes in steps S51 to S55 are repeated.

  If it is determined that there are particles to be separated (YES in S55), the tracking unit 65 outputs the coordinate data of the particles to be separated to the deviation calculating unit 66D (S56).

  The deviation calculating unit 66D calculates a deviation between the input coordinates of the separation target particle and the path determined for the particle to be separated, and outputs the deviation to the particle movement control unit 93 (S57).

  The particle movement control unit 93 obtains a control value that leads to the particle path from the obtained deviation and controls the particle moving unit 4 to separate only the target particles (S58), and then ends the separation process. Until the signal is input, the processing of steps S51 to S59 is repeated (S59).

  Here, the separation cell 2D includes a plurality of outflow portions 23a and 23b, and is configured such that the particles to be separated flow out from an outflow portion 23a different from the outflow portion 23b through which other particles flow out. On the other hand, when the separation cell 2D does not include the plurality of outflow portions 23a and 23b, the separation target particles are gripped in the separation cell D by magnetic force, and the separation target particles are recovered after flowing out the other particles 101. You can also do it.

  As described above, in the separation apparatus 1D according to the fourth embodiment, the coordinates and cross-sectional area of the magnetic fine particles are obtained from the continuous images, the separation target particles are tracked, and only the separation target particles are collected using the magnetic force. By moving to a target position, even magnetic particles that are difficult to separate can be easily separated.

<Fifth Embodiment>
A manipulation device 1E according to the fifth embodiment will be described with reference to the overall configuration diagram shown in FIG. A manipulation device 1E according to the fifth embodiment is a device for manipulating ferromagnetic particles 101. This manipulation device 1E includes a control cell 2E, a light irradiation unit 3, a particle moving unit 4, a processing device 6E, a display device 8, and a control device 9, similarly to the separation device 1D according to the above-described four embodiments. Here, unlike the separation device 1D, the manipulation device 1E includes a control cell 2E instead of the separation cell 2D, and a processing device 6E instead of the processing device 6D.

  The shape of the control cell 2E is not limited, but is formed so that the target particles can be manipulated inside. Although the object to be manipulated is basically a magnetic material, non-magnetic material that does not act on magnetic force can be manipulated using fluid resistance force by utilizing the flow of fluid generated by driving and controlling the magnetic material. Is possible. Specifically, the magnetic fine particles are suspended in the vicinity of the target nonmagnetic fine particles, and the magnetic fine particles are moved in the direction in which the nonmagnetic material is desired to be moved (attracted by the magnetic force of the electromagnet in that direction). Therefore, the flow of fluid in the direction you want to move is locally created around the non-magnetic fine particles, and this adds non-gravity and buoyancy to the non-magnetic fine particles and adds fluid resistance in the direction you want to move. Thus, non-magnetic material can be manipulated.

  The processing device 6E is, for example, an information processing device having a calculation unit and a storage unit (not shown) as with the processing device 6D, and a manipulation program (not shown) stored in the storage unit is read and executed. As a result, as shown in FIG. 19, a binarization unit 61, a display processing unit 62, a coordinate calculation unit 63, a cross-sectional area calculation unit 64, a tracking unit 65, and a deviation calculation unit 66D are implemented.

  In this manipulation device 1E, a path for manipulating the particles to be controlled is determined, and a deviation from the path determined as the particle to be controlled is obtained by the deviation calculation unit 66D. Thereby, the particles to be controlled are controlled by the particle movement control unit 93 so as to move along this route.

  Here, when the imaging device 5 is movable, or when the coils 41 to 44 are movable, the three-dimensional control can be performed.

  As described above, in the manipulation device 1E according to the fifth embodiment, the coordinates and cross-sectional area of the magnetic fine particles are obtained from the continuous images, the particles to be controlled are tracked, and only the particles to be controlled are utilized using the magnetic force. By moving, magnetic fine particles that are difficult to control can be easily manipulated.

  As mentioned above, although this invention was demonstrated in detail using each embodiment, this invention is not limited to embodiment described in this specification. The scope of the present invention is determined by the description of the claims and the scope equivalent to the description of the claims.

DESCRIPTION OF SYMBOLS 1A, 1B, 1C ... Particle observation apparatus 1D ... Separation apparatus 1E ... Manipulation apparatus 2 ... Observation cell 2D ... Separation cell 2E ... Control cell 21 ... Inflow part 22 ... Observation part 23 ... Outflow part 3 ... Light irradiation part 31 ... Light emission part 32 ... Beam expander 33 ... Reflecting member 34 ... Light receiving part 4 ... Particle moving part (magnetic generator)
42-44 ... Coil 45-48 ... Coil power supply 5 ... Imaging device 6A, 6B, 6C, 6D, 6E ... Processing device 61 ... Binarization unit 62 ... Display processing unit 63 ... Coordinate calculation unit 64 ... Cross-sectional area calculation unit 65 , 65C, 65D ... tracking unit 66 ... deviation calculating unit 67 ... acting force calculating unit 68 ... characteristic calculating unit 69 ... gradient calculating unit 7 ... magnetic measuring device 8 ... display device 9 ... control device 91 ... input unit 92 ... light control unit 93 ... Particle movement control unit 94 ... Imaging control unit 101 ... Particle 102 ... Liquid 103 ... Magnetic field lines

Claims (11)

An observation cell in which a fluid containing magnetic fine particles exists,
An imaging device for continuously capturing images of magnetic fine particles in the observation cell;
A calculation unit for obtaining the coordinates and cross-sectional area of the magnetic fine particles from the image captured by the imaging device;
Compare the coordinates and cross-sectional area of the tracking particles that are the magnetic fine particles to be tracked in the previously imaged image, and the coordinates and cross-sectional area of the magnetic fine particles obtained by the calculation unit from the newly imaged image, A tracking unit for tracking the tracking particles;
A display processing unit for displaying an image captured by the imaging device on a display device, and displaying a mark on the tracking particles tracked by the tracking unit on the image displayed on the display device;
A magnetic force generator that generates magnetic field lines capable of adjusting a magnetic field in an observation region where the observation cell exists;
With the fluid in the observation cell stationary, a particle movement control unit that controls the magnetic force generation unit by outputting a control value that generates a magnetic force line that holds the tracking particles at a predetermined target position;
The volume of the tracking particle obtained from a plurality of images of the tracking particle imaged from different directions by the imaging device, the gravity given to the tracking particle obtained from the control value obtained by the particle movement control unit, and the observation A characteristic calculator that obtains the magnetic properties of the tracking particles using the magnetic field distribution of the observation region measured in advance in a state where magnetic fine particles are not disposed in the region;
A particle observation apparatus comprising: The particle observation apparatus according to claim 1 , further comprising a magnetic measurement apparatus that measures a magnetic field distribution in the observation region . 3. The particle observation apparatus according to claim 1, wherein the particle movement control unit controls the magnetic force generation unit by outputting a control value for generating a magnetic force line that rotates stationary tracking particles at the target position. . 4. The particle observation apparatus according to claim 1, wherein the imaging apparatus includes a plurality of cameras that capture tracking particles from different directions . 5. The said particle movement control part outputs the electric current of a rectangular wave to the said magnetic force generation part as a control value for confirming a tracking particle in the step before tracking a tracking particle, The said magnetic force generation part, It is any one of Claim 1 thru | or 4 characterized by the above-mentioned. The particle observation apparatus according to Item 1 . An observation cell in which a fluid containing magnetic fine particles exists,
An imaging device for continuously capturing images of magnetic fine particles in the observation cell;
A calculation unit for obtaining the coordinates and cross-sectional area of the magnetic fine particles from the image captured by the imaging device;
Compare the coordinates and cross-sectional area of the tracking particles that are the magnetic fine particles to be tracked in the previously imaged image, and the coordinates and cross-sectional area of the magnetic fine particles obtained by the calculation unit from the newly imaged image, A tracking unit for tracking the tracking particles;
A display processing unit for displaying an image captured by the imaging device on a display device, and displaying a mark on the tracking particles tracked by the tracking unit on the image displayed on the display device;
A magnetic force generator that generates magnetic field lines capable of adjusting a magnetic field in an observation region where the observation cell exists;
A particle movement control unit for controlling the magnetic force generation unit by outputting a control value for generating a magnetic force line for gripping the tracking particles at a predetermined target position;
An action force calculation unit that calculates and outputs an action force acting on the tracking particles using the control value obtained by the particle movement control unit, and
The particle movement control unit outputs a rectangular wave current to the magnetic force generation unit as a control value for confirming the tracking particle before tracking the tracking particle . The particle observation apparatus according to claim 1, wherein the arithmetic unit determines the magnetic fine particle as a tracking particle when the obtained cross-sectional area of the magnetic fine particle is a predetermined value . The particle observation apparatus according to claim 1, further comprising a pump that adjusts a flow rate of a fluid supplied to the observation cell . An observation cell in which a fluid containing magnetic fine particles exists,
An imaging device for continuously capturing images of magnetic fine particles in the observation cell;
A calculation unit for obtaining the coordinates and cross-sectional area of the magnetic fine particles from the image captured by the imaging device;
A storage unit for storing tracking data in which the coordinates and cross-sectional area of each magnetic fine particle calculated by the calculation unit are stored;
The tracking unit that obtains the trajectory of each magnetic particle by comparing the coordinates and cross-sectional area of the magnetic fine particle included in the tracking data with the coordinates and cross-sectional area of the magnetic fine particle obtained by the calculation unit from a newly captured image When,
A display processing unit for displaying an image captured by the imaging device on a display device, and displaying a locus of each magnetic fine particle as a magnetic gradient on the image displayed on the display device;
A particle observation apparatus comprising: The particle observation apparatus according to claim 9, further comprising a gradient calculation unit that calculates the magnitude and direction of the magnetic gradient and outputs the calculated value to the display processing unit . A control cell in which magnetic fine particles are controlled,
An imaging device for continuously capturing images of magnetic fine particles in the control cell;
A calculation unit for obtaining the coordinates and cross-sectional area of the magnetic fine particles from the image captured by the imaging device;
Compare the coordinates and cross-sectional area of the target particle that is the magnetic fine particle to be controlled in the previously captured image with the coordinates and cross-sectional area of the magnetic fine particle obtained by the calculation unit from the newly captured image. A tracking unit for tracking fine particles;
A magnetic force generator for generating magnetic field lines capable of adjusting the magnetic field in the control cell;
A particle movement control unit for controlling the magnetic force generation unit by outputting a control value for generating a magnetic force line to be controlled by moving the position of the target particle in the control cell;
A manipulating device comprising: