JPH02110415A - Minute device moving equipment for micromanipulator - Google Patents

Abstract

PURPOSE:To improve operability by controlling a signal converting means by a move stop commanding means so that a driving signal can not be generated regardless of an operation signal from an operation signal supplying means. CONSTITUTION:In a minute device moving equipment for a micro-manipulator, the operation signal supplying means outputs the operation signal to command the move of a fine equipment and the signal converting means to receive this operation signal converts the operation signal to the driving signal to drive the minute device. Then, a driving device receives the driving signal from the signal converting means and drives the minute device. Thus, by operating the minute device, processing is executed for a minute object to be processed. The drive stop commanding means commands the signal converting means not to generate the driving signal regardless of the operation signal from the operation signal supplying means. For example, the operation signal excepting for the operation signal in a certain direction is ignored and only the operation signal in the said direction is converted. Thus, the micromanipulator, for which the operability is improved, can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a micro-instrument moving device, particularly to a micro-instrument moving device in a micromanipulator for operating a micro-instrument to process a microscopic workpiece. .

BACKGROUND ART For example, a micromanipulator is used when performing microinjection into cells or measuring the intracellular potential. - With a micromanipulator used on a boat,
Under the I & mirror field of view, micro instruments such as micro needles and micro pipettes are operated to perform predetermined treatments on micro objects such as cells.

This type of micromanipulator has a drive device to which a micro-instrument is attached, and an operation frame or knob for an operator to command the operation of the drive device. The drive device also includes a fine movement section for moving the microinstrument precisely and a coarse movement section for moving the microinstrument over a wide range.

Of the operation frame and knobs, the operation frame can be used in two horizontal directions (X, Y
The knob is used to move the microinstrument in the vertical direction (X direction), and the knob is used to move the microinstrument in the vertical direction (X direction).

In this micromanipulator, when it is desired to move a micro-instrument precisely, the fine movement section of the drive device is driven by manual operation of the operating ring or knob, and the micro-instrument is moved in X, Y,
Move in the X direction. Furthermore, when it is desired to move the micro-instrument by a large distance, the coarse movement section of the drive device is moved.

[Problems to be Solved by the Invention] In a micromanipulator, precise movement of the microinstrument is required, so the ratio of the actual movement of the microinstrument to the movement of the operating ring etc. must be kept small. However, if this ratio is reduced, the range in which the micro-instrument can be operated by the operating ring becomes smaller. for example,
It becomes impossible to move the microinstrument to the cells at the edge of the field of view of the microscope simply by operating the operating ring.

Therefore, in the conventional micromanipulator, a coarse movement section is used to move the microinstrument over a large distance. However, since the coarse movement section is not originally provided for the purpose of precisely moving minute instruments, if the minute instrument is moved by the coarse movement section, the minute instrument will vibrate, making it impossible to perform work smoothly. A situation may arise. Further, there is a problem in that the micro-instrument moves too much and it is difficult to move the micro-instrument to a desired position accurately.

On the other hand, when using a micromanipulator to perform microinjections into cells or to measure the intracellular potential, the microneedle or micropipette 1 is inserted into the cell by moving only in their axial direction (X direction). There are times when you want to. However, in the conventional micromanipulator, the operating ring commands the movement of the microinstrument in the X and Y directions, so even if the operator intends to move the microinstrument only in the It also moves in the Y direction. For this reason, there was a problem in that it was difficult to perform accurate work with conventional micromanipulators.

An object of the present invention is to provide a micro-instrument moving device that can solve the above-mentioned problems and realize a micromanipulator with improved operability.

[Means to solve the problem]

A micro-instrument moving device in a micromanipulator according to the present invention is a micro-instrument moving device in a micromanipulator for operating a micro-instrument to process a microscopic workpiece. As shown in FIG. 1, this micro instrument moving device includes an operation signal supply means, a signal conversion means, a drive stop command means, and a drive device.

The operation signal supply means is a means for issuing an operation signal for instructing movement of the micro-instrument. The signal conversion means is means for receiving the operation signal from the operation signal supply means and converting it into a drive signal for driving the micro-instrument. The drive stop command means is a means for instructing the signal conversion means not to generate a drive signal regardless of the operation signal from the operation signal supply means. The drive device is a device that receives a drive signal from the signal conversion means and drives the micro-instrument.

[Effect]

In the micro-instrument moving device in the micromanipulator according to the present invention, the operation signal supply means issues an operation signal for instructing movement of the micro-instrument.

The signal conversion means receives this operation signal and converts it into a drive signal for driving the micro-instrument. And the drive device is
The micro-instrument is driven by receiving the drive signal from the signal conversion means. By operating the micro-instrument in this way, the micro-processing object is processed.

In this operation, the drive stop command means instructs the signal conversion means not to generate a drive signal regardless of the operation signal from the operation signal supply means.

Here, for example, when it is desired to move a micro-instrument over a wide range, the drive stop command means sends a signal so that operation signals other than those in a certain direction are ignored and only operation signals in that direction are converted into drive signals. command to the conversion means. As a result, by repeating the operation of capturing only the operation signal in the relevant direction among the operation signals from the operation signal supply means, the micro-instrument can be largely moved in the desired direction.

In addition, for example, if you want to eliminate the movement of a micro-instrument in unnecessary directions, you can use a drive system that ignores operation signals other than those in a certain direction and converts only the operation signals in that direction into drive signals. The stop command means issues a command to the signal conversion means.

As a result, the drive device drives the micro-instrument only in the relevant direction, thereby eliminating the movement of the micro-instrument in unnecessary directions and allowing accurate work to be performed.

As a result, the operability of the micromanipulator is improved.

[Example] FIG. 2 is a schematic diagram of a micromanipulator that employs a moving device as an example of the present invention. In FIG. 2, the micromanipulator is mounted on the base ll.
The microscope 12 has a microscope 12 placed thereon, a moving device 13 placed on the side of the microscope 12, and a control device 14 for controlling the operation of the moving device 13.

The microscope 12 has an operation table 15 in its center, and a container 16 such as a petri dish containing an object to be processed is placed on the operation table 15. An objective lens 17 is arranged below the operation table 15, and the lower end of the objective lens 17 is connected to a television camera 18. The television camera 1 is electrically connected to the control device 14, and is configured to send a signal of an image obtained by the objective lens 17 to the control device 14.

The moving device 13 is placed on the base 11,
It is also electrically connected to the control device 14 . The lower part of the moving device 13 is a stand 20, and a coarse movement section 21 is mounted on the stand 20.
is installed. The coarse movement section 21 is capable of vertically and horizontally moving the table 20 in units of several tens of micrometers by means of a step motor (not shown). A fine movement section 22 is attached to the surface of the coarse movement section 21 of the 12 examples of microscopes. The fine movement section 22 is capable of moving in units of 1 μm in the horizontal and vertical directions (X, Y, and Z directions) using an electromagnetic method. A microinstrument 24, such as a microneedle or a micropipette, is attached to the tip of a microinstrument holder 23 provided at the end of the fine movement section 22 on the side of the microscope 12. The tip of the microinstrument 24 extends toward the container 16 side.

The control device 14 includes a control unit 26 and a C
It includes an RT 27 and an operation box 28. The control unit 26 has a built-in power supply, a microcomputer, etc., and can control the operation of the moving device 13. The CRT 27 displays an image of cells etc. obtained by the objective lens 17, and also displays operating procedures and questions for the operator. Operation box 2
8 is used by the operator to control the micromanipulator. The operation box 28 includes a group of keys 29 for setting various conditions, etc., a coarse movement section operation key 30 for instructing the movement of the coarse movement section 21 in the x, y, and z directions, and a control key 30 for controlling the operation of the micromanipulator. A group of various lamps 31 for informing the operator of the mode, a joystick 32 for commanding movement of the fine movement part 22 in the XY force direction, and a Z-axis knob 33 for commanding movement of the fine movement part 22 in the Z direction; A scale knob 34 for specifying operation, a stop button 35, and an XYZ/XY switch 36 are provided.

The key group 29 includes numeric keys as well as a lock Y for specifying to stop the movement of the micro instrument holder 23 in the Y-axis direction.
keys, a BL key for setting the lower limit of the micro instrument holder 23 in the Z direction, and the like. joystick 32
The Z-axis knob 33 is mainly composed of a variable resistor, and its movement is detected by a change in resistance value. Further, the scale knob 34 is also mainly composed of a variable resistor, and the set value of the operating ratio is detected based on the resistance value of the variable resistor.

The X Y Z/X Y switch 36 can be switched to either the XYZ side or the XY side.

Here, the XYZ side means a mode in which the operating ratio specified by the scale knob 34 is used in any direction of the X, Y, or Z axes. Also,
The XY side means a mode in which the operating ratio specified by the scale knob 34 is used in the X- and Y-axis directions, and the maximum operating ratio is used in the Z-axis direction. Note that the operating ratio refers to the joystick 32
This is the ratio of the amount of movement of the micro instrument 24 to the amount of movement of the Z-axis knob 33 and the amount of rotation of the Z-axis knob 33.

As shown in FIG. 3, the microcomputer within the control unit 26 includes a CPU 40. As shown in FIG. C.P.
U40 includes a ROM41 that stores control programs, etc.
, the RAM 42 for storing processing data, etc., and the CR
An A/D converter for T27 and mobile device 13 is connected. Further, a joystick 32, a Z-axis knob 33, and a scale knob 34 are connected to the CPU 40 via an A/D converter 44, and a key group 29, a coarse movement section operation key 30, and a lamp group are further connected to the CPU 40 via an I10 boat 45. 31, a stop button 35, and an XYZ/XY switch 36 are connected.

Next, the operation of the micromanipulator related to control of the control unit 26 will be explained according to the flowcharts shown in FIGS. 4 and 5.

When the main switch (not shown) of the micromanipulator is turned on, the program starts. Step S
In step 1, initial settings are performed such as clearing the lock Y flag, BL, and the lock flag, which will be described later, setting the lower limit value to the limit value, and turning off each lamp of the lamp group 31. Furthermore, here,
The lower limit value is the downward limit value of the micro instrument 24 in a state where there is no special designation of the movement range.

In step S2, it is determined whether or not there is any key input from the key group 29 and operation keys 30. If there is no key human power, the process moves to step S3. In step S3, it is determined whether the stop button 35 is pressed, that is, whether it is in the ON state. If the stop button 35 is in the OFF state, the process moves to step S4.

In step S4, signals from the joystick 32, Z-axis knob 33, and scale knob 34 are input. In step S5, a drive signal in the X direction is calculated based on the input signal and output to the moving device 13. In the mobile device 13,
In response to the output, the fine movement section 22 moves by a specified amount in the X direction. In step S6, it is determined whether the lock Y flag is set. If the lock Y flag is not set, the process advances to step S7. In step S7, a drive signal in the X direction is calculated based on the signal input in step S4 and output to the moving device 13. Mobile device 1
3, upon receiving the output, the fine movement section 22 moves by a specified amount in the X direction. When the process in step S7 is completed, the process moves to step S8. If the lock Y flag is set in step S6, step S6
The process moves to step S8 without performing the process of step 7.

That is, even if an operation signal in the Y-axis direction is input in step S4, if the lock Y flag is set in step S6, the micro instrument 24 will not be driven in the Y-axis direction.

In the step S8, the XYZ/xY swing 36 is
It is determined whether it is placed on the Z side or the XY side. If the XYZ side mode is designated by the XYZ/XY switch 36, the process moves to step S9. In step S9, a drive signal in the Z direction is calculated using a coefficient according to the scale knob 34, and the process moves to step SIO. In step S8, if the XY side mode is designated, the process moves to step Sll. In step 311, a drive signal in the Z direction is calculated by setting the operating ratio coefficient to the maximum value, and the process proceeds to step 310. In step SIO, it is determined whether the Z-direction drive signal exceeds a limit value. If the two-direction drive signals do not exceed the limit values, the process moves to step S12. Step S1
In step 2, the Z-direction drive signal calculated in step S9 or step 311 is output to the moving device 13. In the moving device 13, upon receiving the output, the fine movement section 22 moves by a specified amount in the Z direction. On the other hand, in step SIO, Z
If the direction drive signal exceeds the limit value, step S1
Move to 3. In step S13, the two-direction drive signals are set to limit values, and then in step S12, the above-described processing is performed.

When the process in step S12 is finished, the process returns to step S2.

In this way, in the process from step S8 to step S13 for controlling the microinstrument 24 in the Z direction, the process from step S8 to step Sll is adopted, so that the state of the operating ratio can be changed, and the micromanipulator Improves operability. That is, when fine movement of the micro instrument 24 is required in any direction of the X, Y, or Z axes, the fine movement can be performed based on the setting by the scale knob 34. For example, when holding cells with the microinstrument 24 and moving the microinstrument greatly in the vertical direction (Z direction) so that the microinstrument 24 does not touch the container 16 etc., and moving on to the next operation, , the operation ratio in the Y direction is common and the operation ratio in the Z direction can be changed with a single touch. This improves the operability of the micromanipulator.

Next, when the stop button 35 is pressed, that is, turned ON, the determination in step S3 becomes Yes, and the processes from step S4 to step S12 are not performed. That is, while the operator presses the stop button 35, the micro instrument 24 will not be driven, no matter how the joystick 32 or Z-axis knob 33 is operated. This feature can be used as follows: For example, the micro instrument 24
When it is desired to move over a wide range, control can be performed by turning the stop button 35 ON/OFF so that operation signals other than those in a certain direction are ignored and only operation signals in that direction are converted into drive signals. More specifically, for example,
A case as shown in FIG. 6A may be considered. Figure 6A is C
Assume that this is a microscopic field of view projected on RT27, and that the cells to be processed are located in the upper right corner. Here, micro instrument 2
If the movable range of the fine movement part 22 of No. 4 is within the two-dot chain line a, the microinstrument 24 cannot be moved to the desired cell position by normal driving by the fine movement part 22. Therefore,
First, the joystick 32 is operated to bring the microinstrument 24 closest to the cell within range a. In this case, normal driving processing for the micro-instrument 24 is performed based on the processing from step S4 to step S13. Next, the stop button 35 is set ONL and the joystick 32 is moved in the opposite direction. In this case, since the processes from step S4 to step S13 are not performed, the micro instrument 24 is not driven regardless of the movement of the joystick 32. By moving the joystick 32 in the opposite direction, the range a is shifted to the desired cell side. By repeating this operation, as shown in FIG. 6B, the movable range a
Desired cells can be placed inside. Thus, according to this embodiment, the microinstrument 24 can be moved, for example, to a cell at the edge of the field of view of the microscope simply by operating the joystick 32. Therefore, there is no need to use the coarse movement section 21 to move the micro instrument 24 over a large distance, and the work can be performed smoothly and precisely.

Next, if any key in the key group 29 is pressed, the determination in step S2 becomes Yes, and the process moves to step 314 in FIG.

Here, for example, if you want to prevent the movement of the micro instrument 24 in the Y-axis direction (if you want to enter the lock Y mode), press the lock Y key. If the person's key is the mouth/ink Y key, the process moves from step S14 to step S15. In step 315, it is determined whether the lock Y flag is set.

If it is not in the locked Y state, the judgment will be No.
The process moves to step S16. In step S16, the lock Y flag is set, and then in step S17, the lock Y lamp of the lamp group 31 is turned on, and then the process returns to step S2. Since the lock Y flag is set in step S16, the process is in lock Y mode. Furthermore, the operator is informed that the lock Y mode has been entered by lighting the lock Y lamp. In lock Y mode, step S
4 to step S13, step S6
The judgment is Yes. That is, even if an operation signal in the Y-axis direction is input in step S4, if the lock Y flag is set in step S6,
The microinstrument 24 is not driven in the Y-axis direction. As a result, for example, when you want to move the microinstrument 24 only in its axial direction (X direction) and insert it into the cell in order to perform a microinjection into cells or measure the intracellular potential, you can accurately The micro instrument 24 can be moved only in this direction, making it easier to perform accurate work.

As a result, the operability of the micromanipulator is improved.

To cancel the lock Y mode, press the lock Y key in the key group 29 again. As a result, the program passes through step S2, step S14, and step 315, and then proceeds to step 31B.

In step 31B, the lock Y flag is cleared, and in step S19, the lock Y lamp of the lamp group 31 is turned off.
Return to step S2.

Next, in order to solve the problem of the micro instrument 24 contacting the container 16 and breaking due to carelessness when moving the micro instrument in the Z-axis direction, it is desired to restrict the downward movement of the micro instrument 24. (If you want to use BL mode), proceed as follows.

First, the Z-axis knob 33 is operated to lower the micro instrument 24 and bring it close to the container 16 to a desired degree. The processing at this time is performed according to steps S4 to S13. Next, press the BL main key in the key group 29. The program includes steps S2, S14 to S20.
to move to.

In step S20, it is determined whether or not the BL main key has been pressed, that is, whether or not the BL double signal has been input.

Since the determination in step S20 is Yes, the process moves to step S21. In step S21, it is determined whether the BL flag is set.

If it is not the BL mode, the determination is NO and the process moves to step S22. In step S22, the BL flag is set, and then in step S23, the lamp group 31
The BL clamp lights up. Then, in step S24,
After setting the current position of the microinstrument 24 in the X direction as a limit value, the process returns to step S2. Since the BL flag is set in step S22, the subsequent processing will be in BL mode.

-Also, the operator is notified that the BL mode has been entered by lighting the BL clamp. In the BL mode, in the processing from step S4 to step Sla, the criterion in step SIO is the value set in step S24. That is, even if an operation signal in the Z-axis direction is input in step S4, the micro instrument 24 will not be driven below the position set in step S24. This eliminates the problem of the micro instrument 24 coming into contact with the bottom of a container such as the container 16 and breaking due to carelessness when moving the micro instrument in the X direction. Therefore, the operability of the micromanipulator can be improved.

To cancel BL mode, press BL of key group 29 again.
Press the primary key. This causes the program to step S2.
, Step S14, Step S20, and Step S21, and then proceed to Step S25. In step S25, the BL flag is cleared, and in step 326, the lamp group 31
The BL clamp goes out. In step S27, the limit value in the Z-axis direction is set to the lowest end, and the process returns to step S2.

This BL mode can also be effectively used, for example, when injecting DNA or the like into cells attached to the container 16. That is, the processes from step 322 to step S24 may be performed at the position where the microinstrument 24 is first inserted into the cell. After that, all you have to do is move the container 16 in the
are placed at a predetermined height, making injection work easy.

If any other key in the key group 29 is pressed, the program moves from step S2 to step S14 to step S2.
0, the process reaches step 328, and the process corresponding to that key is performed. Further, by pressing the coarse movement section operation key 30, the coarse movement section 21 is driven in the X, Y, and X directions.

[Other Examples]

(a) In the description of the embodiment, a micromanipulator having one moving device 13 was described, but the invention is not limited to this. For example, the micromanipulator has one moving device 13.
There may be more than one pair of moving devices 13.

(b) Although in the embodiment described above, the fine movement section 22 is driven by electromagnetic force, the fine movement section 22 is not limited to this, and may be driven by hydraulic pressure, for example.

(C) In the embodiment described above, the joystick 32 controls the X and Y directions, and the Y-axis knob 33 controls the Z direction, but the Y-axis knob 33 is omitted and the rotation of the joystick 32 controls the Z direction. You may also do this.

In this case, lock Y mode as well as X.

A lock XY mode in which locking is performed on both Y axes may be adopted. To achieve this, for example, a lock XY flag, a lock XY lamp may be provided, and step 514
Processing similar to that of step S19 can also be performed in the X and Y directions. Further, a step is provided between step S4 and step S5 to determine whether the lock XY flag is set, and if the determination in that step is YES, the process moves to step S8.

(d) In the above embodiment, a configuration was shown in which the downward movement of the micro instrument 24 is restricted by the processing from step S20 to step 327, but the present invention is not limited to this, and the movement of the micro instrument 24 in the horizontal direction (X direction and It is also possible to similarly implement a configuration that limits movement in the Y direction).

(e) In the above embodiment, the operating ratio can be switched between the mode in which the x, y, and z axes are common and the mode in which only the X and Y axes are common, but the switching mode is not limited to this. do not have.

For example, it may be possible to switch between a state in which the operating ratio is the maximum common value for the X, Y, and Z axes, and a state in which only the operating ratio for the X and Y axes is set at the operating ratio set by the scale knob 34. . In addition, there is a state in which the operating ratio is the maximum value common to the X, Y, and Z axes, and a state where the operating ratio is the maximum value common to the X, Y, and Z axes.

It may be possible to switch between a state in which the operating ratio is set with the scale knob 34 in common for the Z-axis.

(f) In the embodiment described above, one scale knob 34 was used to determine the operating ratio, but other scale knobs may be provided. In this case, for example, instead of simply switching the operating ratio in the Z-axis direction to the maximum value (it is also possible to switch it to a desired value), it is also possible to It may be possible to make the setting values common and to switch between the setting values of the operating ratio by each knob.

(g) In the above embodiment, two types of operating ratio states are provided and switching is performed between them, but three or more types may be provided and switching between them is possible.

[Effects of the Invention] According to the micro-instrument moving device for a micromanipulator according to the present invention, the drive stop command means instructs the signal conversion means not to generate a drive signal regardless of the operation signal from the operation signal supply means. Therefore, it is possible to realize a micromanipulator with improved operability when you want to move a microinstrument precisely over a wide range or when you want to perform accurate work without moving the microinstrument in unnecessary directions. A micro-instrument moving device can be obtained.

[Brief explanation of the drawing]

Fig. 1 is a functional block diagram showing an outline of the present invention, Fig. 2 is a schematic front view of a micromanipulator adopting an embodiment of the invention, Fig. 3 is a block diagram showing an outline of a control unit, and Fig. 4 , FIG. 5 is a flowchart showing the operation of this embodiment, and FIGS. 6A and 6B are front views showing an example of the microscope field of view. 12...Microscope operation device, 13...Movement device, 14.
... Control device, 24... Micro instrument, 26... Control unit, 31... Lamp group, 32... Joystick, 33... Y-axis knob, 34... Scale knob, 35 ...stop button, 36...X
YZ/XY switch, 40...CPU. Diagram

Claims (1)

[Scope of Claims] A micro-instrument moving device in a micromanipulator for operating a micro-instrument to process a micro-processed object, comprising: an operation signal for issuing an operation signal for instructing the movement of the micro-instrument; supplying means; signal conversion means for receiving an operation signal from the operation signal supplying means and converting it into a drive signal for driving the micro-instrument; generating a drive signal regardless of the operation signal from the operation signal supplying means. A micro-instrument moving device in a micromanipulator, comprising: drive stop command means for instructing the signal conversion means to prevent the micro-instrument from moving; and a drive device that receives a drive signal from the signal conversion means and drives the micro-instrument. .