JPH03259076A - Three-dimensional object operating device - Google Patents

Abstract

PURPOSE:To make it possible to simple and readily practice operation of three- dimensional object using a micromanipulator bashed on a monitor image plane without requiring skill by constituting the subject device so as to display a dummy image of three-dimensional object on a monitor image plane using at least a pair of picturing means. CONSTITUTION:Operating means 10 for carrying out operation of movement, substance injection, etc., to three-dimensional object 28 of cell, etc., at least a pair of picturing means 30-1 and 30-2 for picturing the space where three- dimensional object 28 exists from different directions and image synthesizing means 34 for detecting the position of operation tip 20 of operation means 10 pictured in the pair of picturing means 30-1 and 30-2 to the three-dimensional object 28, preparing a dummy image of the three-dimensional object 28 and displaying the image on a monitor image plane 36 are provided in the aimed device.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a method for performing operations such as moving cells and injecting substances while displaying cells as three-dimensional objects on a monitor screen when performing cell culture, genetic manipulation, etc. The present invention relates to a three-dimensional object manipulation device.

[Prior Art] Conventionally, as a three-dimensional object manipulation device used for cell manipulation, the one shown in FIG. 3, for example, is known.

In FIG. 3, 10 is a micromanipulator, 38
is a microscope. A sample 28, such as an egg cell, being viewed through a microscope 38 is imaged by a TV camera 3o and displayed on a monitor 36, and the operator operates the stick 24 of the joy-switch device 22 of the micromanipulator 1o while looking at the monitor 36. A glass tube needle 20 attached to the tip of the actuator 18 is used to move the sample 28, perform gene injection, chromosome manipulation, etc.

[Problems to be Solved by the Invention] However, in such conventional three-dimensional object manipulation devices, the field of view is narrow because it is viewed through a microscope, and it is difficult to bring the glass tube needle of the micromanipulator into the field of view. is difficult.

In addition, the image on the monitor screen is a two-dimensional plane image because it is taken from a microscope, so it is difficult to tell from the monitor image whether or not the glass tube needle of the manipulator has accurately penetrated the sample. In the worst case scenario, the tip of the glass tube needle may break. Therefore, the operation of the conventional device requires considerable skill, making it difficult to manipulate microscopic objects such as cells using a micromanipulator.

The present invention has been made in view of these conventional problems, and provides a method for manipulating a three-dimensional object in which a three-dimensional object can be easily and easily manipulated using a micromanipulator from a monitor image without requiring any skill. The purpose is to provide equipment.

[Means for Solving the Problems] In order to achieve this object, the present invention is configured as follows. In addition, the numbers in the drawings of the embodiments are also shown.

That is, the three-dimensional object manipulating device of the present invention includes a manipulating means 10 for performing operations such as moving and injecting a three-dimensional object 28 such as a cell; at least one pair of imaging means 30-1.30
-2; the operating tip 2 of the operating means 10 for the three-dimensional object imaged by the pair of imaging means 30-1 and 30-2;
0 position, and creates a pseudo image of a three-dimensional object viewed from the detected position as a pseudo viewpoint, and displays it on a monitor screen 36;

[Function] According to the three-dimensional object manipulation device of the present invention having such a configuration, a monitor image showing the cells from the tip of the glass tube needle operated by the micromanipulator is obtained on the monitor screen, and the micromanipulator When operating the micromanipulator by inserting the glass tube needle into the cell, the operator can experience a realistic operation feeling as if he or she is rushing into the cell on the monitor screen, allowing even beginners to operate the micromanipulator accurately and easily. I can do it.

[Embodiment] FIG. 1 is a block diagram showing an embodiment of the present invention.

In FIG. 1, 10 is a micromanipulator as an operating means, and the micromanipulator 10 has an XY stage 12 horizontally arranged on a base 15, and the XY stage 12 is moved in the X-axis direction by rotation of a knob 14. , and is moved in the Y-axis direction by rotation of the knob 16. X
An actuator 18 is provided on the Y stage 12,
A glass tube needle 20 is attached to the tip of the actuator 18. A joystick device 22 is connected to the actuator 18, and the glass tube needle 20 attached to the tip of the actuator 18 can be moved forward or backward by operating the stick 24. The actuator 18 is driven by the joystick device 22 using hydraulic pressure or electric signals.

A glass tube needle 20 attached to an actuator 18 by the micromanipulator 10 is placed close to an object 28 such as an egg cell contained in a container 26 .

A television camera 30-1 is installed vertically in the space containing the object 28 and the glass tube needle 20 of the micromanipulator 10 brought close to the object 28, and a television camera 30-2 is also installed diagonally upward. is set up. For example, the television camera 30-1 and 30-2 have a zoom lens 3.
2, so that the space including the object 28 can be photographed from two different directions within a sufficient magnification range.

In the illustrated initial state, the optical axis center of the television camera 30-1.302 is initially set so as to capture the tip 20a of the glass tube needle 20 of the micromanipulator 10 at the center of the screen.

Image signals from the television cameras 30-1 and 30-2 are given to an image synthesis device 34. The image synthesis device 34 calculates the tip of the glass tube needle 20 based on the principle of triangulation from each position of the tip 20a of the glass tube needle 20 in each image obtained from the television camera 30-1, 30-2 and the positions of the cameras. 20a
detect the three-dimensional position of

Here, in order to facilitate detection of the tip 20a of the glass tube needle 20 by image processing, it is desirable to color the tip 20a of the glass tube needle 20 with a specific color that can be distinguished from the background.

The image synthesis device 34 detects the position of the tip 20a of the glass tube needle 20, and at the same time detects the position of the object 28 obtained from the photographic screen.
A three-dimensional image of the object 28 is created based on the image using computer graphics.

Next, the image synthesis device 34 selects the needle tip 20a of the glass tube needle 20.
A pseudo image of the object 28 in a three-dimensional coordinate system viewed from the origin is projected on the monitor 36, and by parallel translation and rotation of the coordinate system, a computer graphic is displayed at the center of the monitor screen 40 of the monitor 36 as shown in FIG. The cells 42 created as a pseudo image are displayed.

In the display state of the monitor 36 as shown in FIG. 2, for example, an operation is performed in which the stick 24 of the joystick device 22 is operated to advance the glass tube needle 20 by the actuator 18 of the micromanipulator 10 and the tip 20a is inserted into the cell. When this is done, the monitor screen 40 in FIG.
For example, by displaying a marker indicating entry in the center of the monitor screen 40, a glass tube needle can be inserted into the cell 42. The operation of piercing with the needle tip 20a of 20 can be performed easily and reliably.

That is, in response to the advancement of the needle tip 20a by the micromanipulator 10, the television camera 30-1. The position of the needle tip 20a is sequentially detected from the screen obtained in real time in step 30-2, and as the distance to the object 28 decreases, the pseudo image of the cell 42 on the monitor screen 40 is projected as if approaching.

In order to achieve a more realistic operating sensation, when the needle tip 20a reaches the target object 28 and puncturing is started, a graphic display is displayed on the monitor screen 40 that shows that the center of the cell 42 breaks and spreads inside. By doing so, it is possible to realize a more appropriate operating feeling.

The position when the needle tip 20a is inserted into the cell 42 is not detected by image processing by the image synthesis device 34, but by using a sensor to detect changes in the pressure or frictional force applied to the actuator 18 in the micromanipulator 10. By supplying the image to the image synthesis device 34, the needle tip 2 is applied to the cell 42.
A graphic display may be made to show how 0a enters and breaks.

[Effects of the Invention] As described above, according to the present invention, even a beginner who is unaccustomed to operating a micromanipulator can display an object being operated by a micromanipulator on a monitor screen, for example, as seen from the tip of a glass tube needle. Since a pseudo image is displayed, it is possible to accurately perform operations on minute three-dimensional objects such as cells.

Of course, it is also possible to easily grasp the three-dimensional appearance of a sample such as a cell by looking at the monitor screen.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram of an embodiment of the present invention; FIG. 2 is an explanatory diagram showing an example of a monitor image according to the present invention; FIG. 3 is an explanatory diagram of a conventional device. 10: Micromanipulator 12: XY stage 14. 16: Knob 18: Actuator 20 Niglass tube needle 20a: Tip (needle tip) 22: Joystick device 24 Nistick 26: Container 28: Object (sample) 30-1.30- 2 32: Zoom lens 34: Image synthesis device 36: Monitor 40: Monitor screen 42: Cell (pseudo image): Television camera 44: Nucleus (pseudo image) 46: Marker

Claims (1)

[Claims] (1) An operation means for performing operations such as movement and substance injection on a three-dimensional object such as a cell; at least a pair of imaging means for imaging a space in which the three-dimensional object exists from different directions; and the pair of imaging means image synthesizing means for detecting the position of the operating tip of the operating means relative to the three-dimensional object imaged by, and creating a pseudo image of the three-dimensional object viewed from the detected position as a pseudo viewpoint and displaying it on a monitor screen; A three-dimensional object manipulation device comprising: