JPH0620398Y2 - Micro manipulator - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a micromanipulator for finely moving a tool such as a pipette that processes cells and the like.

"Conventional Technology" Conventional micromanipulators of this type use a rack and a pinion, use the lever principle,
In addition, various types such as those using a hydraulic cylinder proposed by the present applicant are already known. Various micromanipulators can move tools such as pipettes in a vertical direction (hereinafter referred to as Y-axis direction) and a horizontal direction (hereinafter referred to as X-axis direction), and further in a height direction (hereinafter referred to as Z-axis direction). There are some that can be moved.

[Problems to be solved by the invention] However, the above-described micromanipulator is a combination of three mechanisms that move in one direction, and the
The tool is moved in the Y-axis direction and the Z-axis direction, and therefore the shape is large. In particular, when performing processing such as incision of an egg cell and taking out an embryo, it is necessary to expose about three tools to the same position of the egg cell, but the above-mentioned micromanipulator with each tool attached does not have enough space. It is not easy to arrange three micromanipulators on a microscope stage without a microscope, and even if three micromanipulators can be arranged on the microscope stage, the operator can observe them while operating in space. There is a problem that various processes such as operation are difficult to perform because there is no room.

Therefore, in view of the above circumstances, the present invention has an object to provide an ultra-compact micromanipulator suitable for arranging a plurality of tools such as pipettes in parallel.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention has a swing plate pivotally attached to one end of a base, and a tool such as a pipette is attached to the swing plate. A slide mechanism that is movable by a hydraulic cylinder in a direction substantially orthogonal to the swing direction is rotatably provided, and the slide mechanism is rotated with respect to the swing plate between the slide mechanism and the swing plate. Therefore, the present invention features a micromanipulator in which a hydraulic cylinder is interposed and a hydraulic cylinder for rocking the rocking plate with respect to the base is interposed between the base and the rocking plate.

[Operation] In the present invention, in the above means, the rocking plate is rocked with respect to the base by the hydraulic cylinder, and the slide mechanism is rotated with respect to the rocking plate by the hydraulic cylinder. By moving the slide mechanism in the direction orthogonal to the swing direction of the swing plate, a tool such as a pipette attached to the slide mechanism can be moved in the vertical and horizontal directions and in the height direction.

[Embodiment] An embodiment of the micromanipulator according to the present invention will be described below with reference to the drawings. In FIGS. 1 to 3, 1 is a base. The base 1 is formed in a long plate shape, has shaft support portions 2 and 2 at its tip, and has a fitting hole 3 at its rear part into which a hydraulic cylinder is fitted. The pivot hole 3 has a shape in which a part is cut out by the cut groove 4, and the cut groove 4
The Z-axis direction hydraulic cylinder 5 that has been fitted is held under a narrow pressure. A tip end of a rocking plate 6 is rockably supported on the shaft supporting portions 2 and 2 of the base 1. A base 8 of a slide mechanism 7 is rotatably attached to the swing plate 6. This installation is done with screws 9c with collar 9a and washer 9b interposed.
Thus, the base 8 is rotatably attached to the swing plate 6. The base 8 is formed in a U-shape, and a slider is provided with a linear motion bearing 10 interposed therein.
11 is slidably fitted. The linear motion bearing 10 has angle-shaped receiving grooves 12 formed on the inner surface of the compatible wall of the base 8 and both side surfaces of the slider 11, and between the receiving groove 12 of the base 8 and the receiving groove 12 of the slider 11. The small rolls 13 are interleaved by alternately staggering the directions. A front plate 14 is fixed to the front end of the base 8, and a return spring 15 is interposed between the front plate 14 and the slider 11. The return spring 15 uses a coil spring, and a support rod 16 protruding from the front plate 14 to prevent outward bending when compressed.
Is inserted in the coil. A piston 17 is fixed to the rear end of the slider 11. The piston 17 is brought into contact with the diaphragm F of the Y-axis hydraulic cylinder 18 in a pressable manner. Y
The shaft hydraulic cylinder 18 is fitted in the fitting hole 20 of the L-shaped metal fitting 19. The fitting hole 20 has a shape in which a part is cut out by a cut groove 21, and the Y-axis hydraulic cylinder 18 is pinched and attached by the existence of the cut groove 21.
The L-shaped metal fitting 19 is fixed to the rear end of the base with screws. A substantially convex mounting member 22 is fixed to the rear end of the oscillating plate 6, and an X-axis hydraulic cylinder 24 is fitted in a fitting hole 23 formed at one end of the mounting member 22. The mounting member 22 has a holding hole 25 penetrating from the fitting hole 23 to the other end side of the mounting member 22, and the piston 26 is slidably inserted into the holding hole 25. One end of the piston 26 is brought into contact with the diaphragm F of the X-axis hydraulic cylinder 24, and the other end of the piston 26 is brought into contact with the L-shaped fitting 19. A stopper 27 is fitted on the X-axis hydraulic cylinder 24, and a return spring 28 is hooked between the stopper 27 and the L-shaped metal fitting 19. The stopper 27 also has a fitting hole 30 partially cut by the cut groove 29, and the fitting hole 30
A part of the X-axis hydraulic cylinder 24 is sandwiched therein. The lower end of the L-shaped metal fitting 31 is fixed to the rear end of the rocking plate 6. A Z-axis hydraulic cylinder 5 is fitted in the fitting hole 3 of the base 1, and the Z-axis hydraulic cylinder 5 has a substantially convex holder.
A fitting hole 33 provided on one side of 32 is fitted. The holder 32 has a holding hole 34 penetrating from the fitting hole 33 to the other side of the holder 32, and the piston 35 is slidably inserted into the holding hole 34.
One end of the piston 35 is in contact with the diaphragm F of the Z-axis hydraulic cylinder 5, and the other end of the piston 35 is in contact with the L-shaped fitting 31. A return spring 46 is hooked between the L-shaped bracket 31 and the base 1. Hydraulic cylinder for X-axis 2
4, Y-axis hydraulic cylinder 18 and Z-axis hydraulic cylinder 5
Is the corresponding hydraulic cylinder 36 for X-axis on the operating side,
The Y-axis hydraulic cylinder 37 and the Z-axis hydraulic cylinder 38 are connected with pressure resistant tubes 39 to 41. Pressure resistant tube 39
Oil or water is filled in the X-axis hydraulic cylinders 24 and 36, the Y-axis hydraulic cylinders 18 and 37, and the Z-axis hydraulic cylinders 5 and 38 which are connected by 41. X-axis hydraulic cylinders 24, 36, Y-axis hydraulic cylinders 18, 37, and Z
The hydraulic cylinders 5 and 38 for the shafts have the same structure. The diaphragm F provided inside each of the X-axis hydraulic cylinder 36, the Y-axis hydraulic cylinder 37, and the Z-axis hydraulic cylinder 38 on the operating side is pressed by pistons 42 to 44 which are moved by a moving mechanism (not shown). It has become so. As shown in FIG. 1, the slider 11 is equipped with a tool such as a pipette 45 for treating cells and the like.

Next, the operation of the micromanipulator having the above configuration will be described. First, to move the pipette 45 in the X-axis direction, the piston 42 presses the diaphragm F of the X-axis hydraulic cylinder 36, and this pressing force is applied to the X-axis via the oil or water enclosed inside. When transmitted to the hydraulic cylinder 24, the diaphragm F of the X-axis hydraulic cylinder 24 presses the piston 26, and the piston 26 presses the L-shaped metal fitting 19. When the L-shaped metal fitting 19 is pressed, the slide mechanism 7 rotates with respect to the rocking plate 6 against the elastic biasing force of the return spring 28, whereby the pipette 45 moves in the X-axis direction. If the pressing of the piston 42 is stopped and pulled backward, the elastic biasing force of the return spring 28 causes the slide mechanism 7 to rotate toward the original position. On the other hand, when the piston 43 is pressed, the diaphragm F of the Y-axis hydraulic cylinder 37 is pressed, and this pressing force is transmitted to the Y-axis hydraulic cylinder 18 in the same manner as above, and the Y-axis hydraulic cylinder 37 is pushed. The diaphragm F of 18 presses the piston 17. Therefore, the slider 11 integrated with the piston 17 resists the elastic biasing force of the return spring 15,
It moves in the Y-axis direction together with the pipette 45. Piston 43 above
When is pulled out in the opposite direction, the slider 11 moves together with the pipette 45 in the direction of the original position by the elastic biasing force of the return spring 15. If the piston 44 presses the diaphragm F of the Z-axis hydraulic cylinder 38, this pressing force is transmitted to the Z-axis hydraulic cylinder 38 in the same manner as described above, and the diaphragm F of the Z-axis hydraulic cylinder 38 is moved. Depress the piston 35. Piston 35 resists the elastic bias of return spring 46 to L
By pressing the metal fitting 31, the rocking plate 6 is rocked with respect to the base 1, and the pipette 45 is moved in the Z-axis direction.
When the piston 44 is pulled out in the opposite direction, the swinging plate 6 swings together with the pipette 45 in the direction of the original position by the elastic biasing force of the return spring 46.

As shown in FIG. 4, the micromanipulators A and B described above are used.
2 are attached to both ends of the mounting plate 47 with an appropriate angle, and a mounting tool 49 for mounting the injection pipe 48 is fixedly used at the center of the mounting plate 47. Then, the pipette 45 attached to either one of the micromanipulators A and B is moved to cut off a part of the epidermis of the egg cell, and then both pipettes 45 of each micromanipulator A and B are moved to remove the egg cell The cut end is opened, and the tip of the injection pipe 48 is made to face the expanded opening so that the embryo is inhaled from the egg cell.

[Advantage of Invention] As described below, according to the micromanipulator of the present invention, it is possible to provide a microminiature manipulator suitable for arranging a plurality of tools such as pipettes in parallel for treating cells. .

[Brief description of drawings]

1 is an exploded perspective view of a micromanipulator according to the present invention, FIG. 2 is a side view of the micromanipulator of FIG. 1, FIG. 3 is a plan view of the micromanipulator of FIG. 1, and FIG. It is a perspective view showing an example of use. 1 ... Base, 5, 38 ... Z-axis hydraulic cylinder 6 ... Oscillating plate, 7 ... Slide mechanism 17, 26, 35, 42 to 44 ... Piston 18, 37 ... Y-axis hydraulic pressure Cylinder 19, 31 …… L-shaped metal fitting 24,36 …… X-axis hydraulic cylinder

Claims (1)

[Scope of utility model registration request] 1. A swing plate is swingably attached to one end of a base, and a tool such as a pipette is attached to the swing plate and moved by a hydraulic cylinder in a direction substantially orthogonal to the swing direction. A free slide mechanism is rotatably provided, and a hydraulic cylinder for rotating the slide mechanism with respect to the swing plate is interposed between the slide mechanism and the swing plate, and the slide mechanism moves with the base. A micromanipulator characterized in that a hydraulic cylinder for vibrating the oscillating plate relative to the base is interposed between the plate and the plate.