JPH08248325A - Micromanipulator - Google Patents

Abstract

PURPOSE: To obtain a micromanipulator which is capable of easily and rapidly resetting an operation needle to a home position and has improved operability. CONSTITUTION: This micromanipulator includes a driving section which moves a moving body 5 fixed with the operation needle 4 according to a driving signal, a rotary encoder 7 which has a dial of a uniaxial rotation type and generates a movement command signal, a detecting means 6 which detects the moving direction and moving distance of this moving body 5, a storage means 10 which recognizes the position of the moving body in accordance with the result of detection of this detecting means 6 and stores the position information of the moving body 5 of this time when inputted with a position storage command signal from a switch button 8a, a position resetting means which reads out the position information stored in this storage means 10 and generates a movement command signal meeting the deviation from the present position when inputted with the position resetting command signal from a switch button 8b and a control means 9 which generates a driving signal according to the movement command signals respectively inputted from an encoder 7 and the position resetting means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an optical microscope peripheral device, and more particularly to a micromanipulator for finely manipulating an object to be inspected such as cells under an optical microscope.

[0002]

2. Description of the Related Art Conventionally, a micromanipulator has been known as an apparatus for remotely and finely manipulating cells placed under the visual field of a microscope. In general, cell manipulation in a micromanipulator is performed via an operating section, but various micromanipulators with improved operability of the operating section have been proposed.

FIG. 17 shows an application filed by the applicant first (Japanese Patent Application No.
No. 68531) which shows a schematic overall structure of the micromanipulator. An inverted microscope 100 equipped with a micromanipulator includes a stage 1 on which an object to be micromanipulated, such as a cell, is placed.
A revolver 33 is rotatably attached to the main body of the inverted microscope 100. The inverted microscope 100 transmits the observation light incident on the objective lens 2 on the optical axis to the eyepiece lens 25 and C.
The image is guided to the CD camera 26 so that the image of the object to be inspected can be visually observed and imaged. Further, an illuminating device 3 that illuminates cells is arranged on the stage 1.

As the structure of the micromanipulator of this embodiment, a pair of manipulator bodies 30-1 and 30-
2. Movable body 5 consisting of an ultrasonic actuator, for example
1, 5-2, input means 7 (including operation command generation means),
Control means 9, drive control means 31, operating hands 4-1 and 4-2
And so on.

The input means 7 comprises a joystick 74, a trackball 75, a keyboard 76, a memory 77 storing a program, a monitor means 78 and a light pen 79, and operating hands 4-1 and 4-2 inputted by the operator. The instruction regarding the operation content of is converted into an electrical input signal. The joystick 74 and the trackball 75 that form the input means 7 are connected to the personal computer 70. The personal computer 70 converts the input information indicating the operation content from the input means 7 into an electric movement command signal and outputs it to the control means 9.

When the operation contents of the operation hands 4-1 and 4-2 are instructed from the input means 7, a movement command signal according to the instructed operation contents is transmitted via the control means 9 to the drive control means 31.
Sent to The drive signal generated by the drive control means 31 according to the drive command signal is applied to the movable bodies 5-1 and 5-2, etc., so that the operation needle 4 corresponds to the operation content instructed from the input means 7. -1, 4-2 move.

FIG. 18 shows an external view of the manipulation system. The inverted microscope 100 described above is used, and the sub-stage 102 is horizontally attached by the pillar 101. The sub-stage 102 has X, Y, Z
The movable mechanism 110 having the Cartesian coordinate system is provided.

The movable mechanism 110, as shown in FIG.
X is attached to the mechanism fixing portion 107 fixed to the sub-stage 102.
An X-axis guide in the axial direction is formed, and the X stage 103 is held slidably in the X-axis direction with respect to the mechanism fixing portion 107 via the X-axis guide. An ultrasonic actuator (not shown) is held inside the mechanism fixing portion 107, and a sliding member included in the ultrasonic actuator is brought into direct contact with the facing surface of the X stage 103 with a predetermined pressing force. .

An actuator holding member 108 is fixed to the opposite surface of the X stage 103. A Y-axis guide is formed on the surface of the actuator holding member 108 facing the Y stage 104, and the Y stage 104 is held by the actuator holding member 108 via the Y-axis guide so as to be slidable in the Y-axis direction. Actuator holding member 10
An ultrasonic actuator is held at 8 similarly to the mechanism fixing portion 107, and a sliding member of the ultrasonic actuator is brought into contact with the facing surface of the Y stage 104 with a predetermined force. On the opposite surface of the Y stage 104, an L-shaped L
The metal fitting 109 is fixed, and the actuator holding member 108 is fixed to the L metal fitting 109. The actuator holding member 108 has a Z-axis guide formed in the Z-axis direction.

The Z stage 105 is slidably held in the Z axis direction via a Z axis guide of an actuator holding member 108. An ultrasonic actuator is held by the actuator holding member 108, and a displacement force for displacing the Z stage 105 in the Z-axis direction is generated like the actuators. A movable body substrate 111 is fixed to the opposite surface of the Z stage 105.
The movable body for operating needle 106 is slidably held in the D-axis direction by the D-axis guide formed on the.

On the movable body substrate 111, the movable body 1 for the operating needle is provided.
An ultrasonic actuator for moving 06 in the D-axis direction is held. The operating needle 1 is attached to the movable body 106 for the operating needle.
3 is fixed with its longitudinal direction oriented in the D-axis direction.

X stage 103, Y stage 104, Z
The amount of movement of each of the stage 105 and the movable body for operating needle 106 is constantly detected by the corresponding displacement detecting means, and the amount of movement is fed back to the control means 9.

With the above-mentioned structure, the X stage (X-axis movable base) 103, the Y stage (Y-axis movable base) 104 and the Z stage movable in the X-axis direction, the Y-axis direction and the Z-axis direction which are orthogonal to each other. (Z-axis movable table) 105, the movable mechanism has an X-axis, a Y-axis and a Z-axis.
It constitutes the axis orthogonal coordinate system, and the operating hands 4-1 and 4
-2 not only in the longitudinal direction but also in the operation needles 4-1 and 4
-2 can be freely moved in three directions of the X axis, the Y axis, and the Z axis.

[0014]

By the way, in the actual cell operation in the above-mentioned micromanipulator, while observing with a microscope, at the same time, the operation knob or the joystick on the operation panel is operated by groping.

However, when the operating needle is replaced, it is necessary to return the tip of the operating needle to the original cell position or the optical axis position. However, if the joystick or the like was manually operated, the tip of the operating needle may be replaced. It is extremely difficult to return to the original position easily or quickly.

Further, the operation knob or the joystick on the operation panel is very difficult to operate by groping, and quick and reliable cell operation is difficult. In particular, since it is difficult to know which axis is to be moved by the operation with the joystick, the operator may have to look away from the microscope in some cases, and the operation may become uncertain.

Furthermore, the keyboard-like operation panel currently used occupies a large space, and for microscopic operations where it is necessary to prepare various objects such as reagents and samples in the vicinity of the microscope, it is necessary to secure a place to install the operation panel. It was difficult.

The present invention has been made based on the above-mentioned circumstances, and the operating needle can be easily and quickly returned to its original position, and the operating portion can be operated accurately while continuing microscopic observation. It is an object of the present invention to provide a micromanipulator which can be manufactured and has greatly improved operability.

[0019]

The present invention is configured as follows to achieve the above object. The invention corresponding to claim 1 is a micromanipulator for finely manipulating an object to be inspected by using an operating needle in a field of view of a microscope, wherein a movable body to which the operating needle is fixed responds to a drive signal applied from the outside. A driving unit for moving the movable body, a rotary encoder having a uniaxial rotary dial for generating an electric movement command signal in response to the rotation of the dial, and a detection means for detecting a moving direction and a moving distance of the movable body. Recognizing the current position of the movable body based on the detection result of the detecting means and receiving a position storage command signal from the outside, storing means for storing the position information of the movable body at that time; When a return command signal is input, the position information stored in the storage means is read out and a movement command signal is generated in accordance with a deviation between the position information and the current position of the movable body. Stage and is obtained by and control means for generating said drive signal in response to the movement command signal are input from the rotary encoder and the position return means.

According to the first aspect of the invention, when the dial of the rotary encoder is rotated, the movement command signal is input to the control means in accordance with the rotation amount, and the control means responds to the movement command signal. The drive signal is output to the drive unit. In the drive unit to which the drive signal is input, the movable body and the operation needle fixed thereto are moved according to the drive signal. On the other hand, the moving distance and direction of the movable body are always detected by the detecting means.

When a position storage command signal is input to the storage means from the outside, the current position information of the movable body detected by the detection means is stored. Next, when the position return command signal is input to the position returning means, the original position information of the movable body stored in the storage means is read out, and the current position information of the movable body detected by the detecting means is read. Is captured. And
A movement command signal is generated from the movement direction and movement distance obtained from the original position information of the movable body and the current position information, and is input to the control means. As a result, the movable body and the operating needle are automatically returned to their original positions by the drive unit that receives the drive signal from the control means.

According to a second aspect of the present invention, in a micromanipulator for finely manipulating an object to be inspected by using an operating needle in a field of view of a microscope, a movable body to which the operating needle is fixed is externally driven. A drive unit that moves according to a signal, a rotary encoder that has a uniaxial rotation type dial and that generates an electric movement command signal according to the rotation of the dial, and detects the movement direction and movement distance of the movable body. Detecting means, recognizing the current position of the movable body based on the detection result of the detecting means, when a position storage command signal is input from the outside, storage means for storing the position information of the movable body at that time, When a position return command signal is input from the outside, the position information stored in the storage means is read,
A position return means for generating a movement command signal according to a deviation between the position information and the current position of the movable body, and a movement axis of the operation needle by a command signal obtained on condition that the position return command signal is present. A driving order switching means for outputting a signal for switching the driving order, and a control means for generating the driving signal according to the movement command signals respectively inputted from the rotary encoder, the position returning means and the driving order switching means. It is equipped.

According to the invention corresponding to claim 2, the operating needle can be moved to a desired position by a simple operation, and the container for fixing the operating needle and cells such as a petri dish when the operating needle is moved. Since it is not necessary to pay attention to the contact with, it is possible to concentrate on the original fine operation.

According to a third aspect of the present invention, in a micromanipulator for finely manipulating an object to be inspected by using an operating needle in a field of view of a microscope, a movable body to which the operating needle is fixed is externally driven. A drive unit that moves in response to a signal, an input unit that outputs a movement command signal indicating a moving direction and a movement distance of the operating needle, and a control unit that generates the drive signal in response to the movement command signal from the input unit. And a notifying means for notifying only when the moving direction is a predetermined direction based on the signal indicating the moving direction in the moving command signal.

According to the invention corresponding to claim 3, it is possible to easily identify the moving direction of each axis in the fine operation within the field of view of the microscope, and as a result, even a beginner can easily perform the accurate fine operation.

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. <First Embodiment> FIG. 1 shows a schematic configuration of an embodiment in which a micromanipulator according to the present invention is applied to an inverted optical microscope. The inverted optical microscope uses
The objective lens 2 is arranged below the stage 1 in which is arranged, and the illumination system 3 is arranged above the stage 1. An image of the subject S taken in from the objective lens 2 is guided to an eyepiece lens through an optical system (not shown) and visually observed. Further, the subject image is formed on the image pickup device, converted into an electric signal there, and then enlarged and displayed on the display via a predetermined image processing circuit.

On the other hand, in the micromanipulator, the movable body 5 to which the proximal end of the operating needle 4 is fixed is arranged near the stage 1 via a fixing jig (not shown). The movable body 5 is operated by a holding member (not shown) fixed to a fixing jig.
Is movably supported in the longitudinal direction. The holding member has a built-in ultrasonic actuator as a drive unit, and its slider is brought into pressure contact with one side surface of the movable body 5.

A length measuring sensor 6 is provided close to the movable body 5 in order to measure the displacement of the movable body 5 moved by the ultrasonic actuator. When the movable body 5 moves in a predetermined direction, the length measuring sensor 6 outputs an up-count signal in which the moving distance is converted into a pulse number, and when the movable body 5 moves in the opposite direction, a down-count in which the moving distance is converted into a pulse number. Output a signal.

Further, the present micromanipulator is provided with a rotary encoder 7 and a switch box 8 as an operating section for instructing the control system about the displacement of the operating needle 4. FIG. 5 is an external view of the rotary encoder 7. In the rotary encoder 7, a rotary knob 12 is rotatably attached to one side surface of a rectangular columnar case 11, and a signal generating unit (not shown) that generates a movement command signal according to the rotation direction of the rotary knob 12 is provided inside the case 11. ) Is built in. A lead wire 13 connects between the rotary encoder 7 and the control means 9. That is, the rotary encoder 7 generates an up-count signal when the rotary knob 12 is rotated in a predetermined direction, and generates a down-count signal when the rotary knob 12 is rotated in the opposite direction, and outputs each as a movement command signal. Further, the switch box 8 is provided with two switch buttons 8a and 8b. When one switch button 8a is pressed down, a position storage command signal is output, and when the other switch button 8b is pressed down, a position return command signal is output.

The micromanipulator has a control system having a control means 9 and a storage means 10. Control means 9
Are configured as shown in FIG. In the control means 9, the deviation counter 14 counts the deviation between the up / down count signal inputted from the length measuring sensor 6 and the up / down count signal inputted from the input means 7, and the up means inputted from the storage means 10 described later. The deviation between the / down count signal and the up / down signal input from the length measurement sensor 6 is counted. A drive signal according to the deviation count value output from the deviation counter 14 is generated by the drive signal generator 15, amplified by the amplifier 16 to a predetermined level, and then supplied to the drive unit.

The storage means 10 is constructed as shown in FIG. In the storage means 10, the deviation counter 17
The up / down count signal from the length measuring sensor 6 is constantly input to the sensor, and the count value indicating the current position of the movable body 5 (operation needle 4) is output. The count value of the deviation counter 17 is output to the memory 18 and the deviation counter 19. The memory 18 is connected to the switch button 8a and stores the count value when the position storage command signal is input. The deviation counter 19 is connected to the switch button 8b, and when a position return command signal is input, the deviation between the count value of the deviation counter 17 at that time and the count value stored in the memory 18 is calculated and up. / Output as a down count signal.

Next, the operation of this embodiment configured as described above will be described. When the rotary knob 12 of the rotary encoder 7 is rotated in a predetermined direction, an up / down count signal corresponding to the rotation direction is input to the deviation counter 14 of the control means 9. When the operation starts, the output of the length measurement sensor 6 is cleared to zero, so
The count value of the down count signal is given to the drive signal generator 15 as it is and converted into a drive signal. This drive signal is given to the drive unit, and the movable body 5 is moved together with the operation needle 4 in the direction corresponding to the rotation direction of the rotary knob 12. When the movable body 5 moves, its moving direction and moving distance are fed back to the deviation counter 14 of the control means 9 in the state of the up / down count signal. FIG. 4 shows a flowchart of the basic operation of the control means 9.

If it is necessary to return the operating needle 4 to its original position after a predetermined operation such as replacing the operating needle 4, a position storing command signal is input from the switch button 8a. In the storage means 10, when the position storage command signal is input, the count value of the deviation counter 17 is read and stored. As described above, the count value of the deviation counter 17 indicates the position information of the operating needle 4 at the current time.

For example, when the operation needle replacement work is completed,
The switch button 8b is pushed down and a position return command signal is input to the storage means 10. In the storage means 10, when the position return command signal is input, the deviation counter 19 reads the current count value from the deviation counter 17 and also reads the stored count value from the memory 18. Then, the up / down count signal corresponding to the deviation between both count values is transmitted. Since the deviation between the two count values represents the distance and direction from the current position of the operating needle 4 to the original position of the operating needle, the up / down count input from the deviation counter 19 of the storage unit 10 by the control unit 9 is performed. By converting the count value of the signal into a drive signal and supplying it to the drive unit, the movable body 5 moves to the original position, and at the same time, the operating needle 4 also returns to the original position.

As described above, according to the present embodiment, the moving direction and the moving distance of the operating needle 4 are indicated by the rotating direction of the rotary knob 12 of the rotary encoder 7, and the moving distance is indicated by the rotating angle or the rotating time. Since this is done, it is possible to instruct the movement direction and movement distance of the operating needle 4 more easily and more reliably than in the case of inputting an instruction from a joystick or a keyboard.

According to this embodiment, the deviation counter 17 of the storage means 10 constantly monitors the current position of the operating needle 4, and if the position storing command signal is input from the switch button 8a, the position information at that time is stored. However, if the position return command signal is input from the switch button 8b, the drive signal is generated based on the deviation between the position information at that time and the stored position information, so that the operation is simple and reliable. The needle 14 can be automatically returned to its original position.

Although the rotary encoder 7 and the switch box 8 are constructed separately in the first embodiment, as shown in FIG.
It is possible to incorporate a switch section 8'comprising a switch button 8a 'for inputting a position storage command signal and a switch button 8b' for inputting a position return command signal into the case 11. If such an input device is used, there is an advantage that it can be operated with one hand and storage and the like are easy.

<Second Embodiment> FIG. 7 shows a second embodiment of the present invention.
It is a figure which shows the structure of the micro manipulator which concerns on embodiment of this. Although the configuration on the microscope side is omitted in FIG. 7, it is assumed that the fixing mechanism for the movable body of the micromanipulator is installed near the microscope stage.

In this embodiment, the movable body 5 fixed with the operation needle 4 is moved in one axis direction, and further the three movable axes (X movable axis 21, Y movable axis 22, Z movable axis 23) orthogonal to each other.
Is configured to be movable in each axis direction. Each movable shaft 21
23 to 23, the movable body 5 is driven in each axial direction by a triaxial (X, Y, Z) ultrasonic actuator mechanism. A length measuring sensor (not shown) is incorporated in each of the movable shafts 21 to 23, and the amount of movement in each axial direction detected by each length measuring sensor is input to the control means 9'and the storage means 10 '.

The control means 9'has four input terminals to which four output terminals of the switch 24 are connected in parallel, and an instruction input signal from the rotary encoder 7 is input from the input terminals selected by the switch 24. To be done.

The storage means 10 'is basically constructed similarly to the storage means 10 of the first embodiment, except that the X movable shaft 21, the Y movable shaft 22, the Z movable shaft 23, and the movable body (D).
The coordinates of the four axes (axis 5) are simultaneously stored, and the coordinate values of the four axes are input to the control means 10 '. Incidentally, the storage and reproduction timing of the four-axis coordinates is given from the switch box 8 as in the first embodiment.

In the present embodiment configured as described above,
The displacement amount of the movable body 5 and each of the movable shafts 21 to 23 is constantly measured by the length measuring sensor and input to the control means 9'and the storage means 10 '. When the input terminal of the movement command signal input from the rotary encoder 7 is switched by the switch 24, the control means 9'determines the drive target according to the input terminal switched by the switch 24. A drive signal is generated by which a deviation between the determined displacement amount of the drive target (count value of the length measurement sensor output) and the count value of the movement command signal from the rotary encoder 7 becomes zero, and the drive unit of the control target is generated. Apply to. When the input terminal of the movement command signal is switched by the switch 24, the switched control target is driven in the same manner as above.

On the other hand, in the storage means 10 ', when the position storage command signal is input from the switch button 8a, the count value of each displacement amount of the movable body 5 and each of the movable shafts 21 to 23 at that time is the coordinate value of the current four axes. Memorize as. Then, when the position return command signal is input from the switch button 8b, the coordinate values of the four axes stored so far are input to the control means 9 '. The control means 9'sequentially compares, for each axis, the coordinate values of the four axes from the storage means 10 'and the count value of the displacement amount input at that time from the length measuring sensors of the four axes, and obtains the deviation. A corresponding drive signal is generated for each of the movable body 5 and each of the movable shafts 21-23. As a result, the movable body 5 and each movable shaft 21-23
Is sequentially controlled for each axis and automatically returns to the coordinates when the coordinates were stored.

As described above, according to this embodiment, a plurality of movable shafts 21 to 23 and movable bodies 5 having different moving directions are combined, the coordinates of each movable shaft and the like are stored at once in the storage means 10 ', and Since the input is made to the control means 9'when necessary, it is possible to return the position in the four axis directions, and more complicated operation of the operating needle 4 becomes possible.

By the way, in the above embodiment, the combination of the four moving shafts is illustrated, but the combination of the two moving shafts, the three moving shafts, the six moving shafts, or the like is also possible. Further, although the input means 7 and the switching device 24 are configured as separate bodies, they may be integrated. Further, the switch buttons 8a and 8b may be provided for each movable shaft (moving shaft).

In FIG. 8, the movable shafts 21 to 2 are attached to the control means 9 '.
3 and a plurality of rotary encoders 7 corresponding to the movable body 5.
It shows a configuration example in which -1 to 7-4 are directly connected and the switching elements are deleted. The configuration of the other parts is similar to that shown in FIG.

In this modification, each rotary encoder 7
-1 to 7-4 are operated in the same manner as in the first embodiment. <Third Embodiment> As shown in FIG. 9, when the drive order of each axis is newly changed in addition to the first and second input means, for example, the switch buttons 8a and 8b, in the switch box 8 of FIG. A third input means for pressing, for example, a switch button 8c is provided, and a command signal from the switch button 8c (a command signal for switching the driving order of each axis) is input to the control means 9.

The configuration other than this is the same as that of the above-described embodiment, the signals from the switch buttons 8a and 8b are input to the control means 9, and the control means 9 controls the position detection means 36X ,.
Position signals from 36Y and 36Z are input, and drive signals are output to the drive control means 31 based on signals from the switch buttons 8a and 8b.

The drive control means 31 amplifies the drive signal from the control means 9 and drives the actuators 35X, 35Y, 36.
Supply power to Z. Actuators 35X, 35Y,
36Z drives each of the movable bodies 5X, 5Y and 5Z which are orthogonal to each other in a one-dimensional direction.

The position detecting means 36X, 36Y and 36Z are
The positions of the movable bodies 5X, 5Y and 5Z are detected, and position signals are output to the control means 9. The drive control means 3
1, a drive mechanism (not shown), and movable bodies 5X, 5Y, 5Z
The drive unit of the present invention is constituted by the above.

The operation of the embodiment having the above configuration will be described with reference to the flowchart of FIG. When the control means 9 recognizes (inputs) the signal from the switch button 8a (S1), the respective position detection means 36X, 36 at that time.
The current position is recognized (stored) by the position signals from Y and 36Z (S2).

Further, the control means 9 recognizes the signal from the switch button 8b (S3), that is, by pressing the switch button 8b, the switch button 8b is pressed.
By pressing c (S4), the control means 9 switches the drive order of each axis to the drive control means 31 in response to a signal from 8c, and moves the movable body 5 to the previously stored position.
A drive signal for returning X, 5Y, and 5Z is output to the drive control means 31 (S4 to S15).

That is, the control means 9 is the switch button 8
When the signal from the switch button 8c is input while the signal from b is recognized (S3) (S4), the two states "0" or "1" are held. The signal is "0"
Then, the control means 9 outputs a drive signal for returning the movable bodies 5X, 5Y, 5Z to the previously stored positions to the drive control means 31 (S14), and then returns the X, Y, Z axes. It is determined whether it is completed (S15).

On the other hand, when the control means 9 recognizes the signal from the switch button 8b and the signal from the switch button 8c is input, if the signals in the two states are "1", the following continues. Take control. First, the control means 9 determines whether the returning direction is the upward direction or the downward direction (S).
5). This determination is made by comparing the current Z position by the position signal from the position detecting means 36Z with the previously stored stored Z position. Specifically, when the current Z position is equal to or smaller than the stored Z position, it is determined to be upward, and conversely, when the current Z position is larger than the previously stored stored Z position, it is determined to be downward.

If it is determined in S5 that the direction is the upward direction,
The control means 9 outputs a drive signal for returning the movable body 5Z to the previously stored Z position to the drive control means 31 (S10). Then, the control means 9 controls the position detection means 36.
When it is recognized that the movable body 5Z has completely returned to the previously stored Z position by the position signal from Z (S11), a drive signal for returning the movable bodies 5X and 5Y to the drive control means 31 for the first time. The output is performed (S12), and it is determined whether the return to the X and Y axes is completed (S13).

If it is determined in S5 that the direction is the downward direction,
The control means 9 moves the movable body 5X, to the previously stored X and Y positions.
A drive signal for returning 5Y is output to the drive control means 31 (S6). Next, the control means 9 uses the position signals from the position detecting means 36X and 36Y to move the movable bodies 5X and 5Y.
When it is recognized that Y has completely returned to the previously stored X and Y positions (S7), the drive signal for returning the movable body 5Z is output to the drive control means 31 for the first time (S7).
8), it is determined whether the return to the Z axis is completed (S9).

From the above description, according to the third embodiment, the operating needle 4 can be moved to a desired position by a simple operation, and when the operating needle 4 and the cells such as a petri dish (not shown) are moved. Since it is not necessary to pay attention to the contact with the container for fixing the micromanipulator, it is possible to concentrate on the original cell manipulation and obtain a safe micromanipulator.

FIG. 12 is a flow chart for the second and subsequent times after the manual operation is performed in the first setting. Specifically, this is an example in which S4, S14, and S15 in FIG. 10 are omitted. When it is determined in S3 that there is a signal from the switch button 8b, the process proceeds to S5, and it is determined whether the return is the downward direction or the upward direction. In the same manner as described above, the processing from S6 or S10 is performed.

<Fourth Embodiment> FIGS. 17 to 1 described above.
The input means 7 of the micromanipulator shown in FIG.
As shown in FIG. 2 and FIG. 13, a sounding unit 52 including, for example, a speaker 51 is incorporated in an operation unit having a jog 50 that moves the D-axis (movement direction of the operation needle) that is a movable operation needle. . In this case, the jog 50 is shown in FIG.
By rotating in the direction of the arrow, the operating needle 4 moves in the indicated direction via the corresponding movable mechanism (not shown).

The speaker 51 emits sound only when the operating needle 4 is in the direction of approaching the object S, for example, the cell 53 (direction of arrow in FIG. 13). Then, based on the movement command signal having the movement amount and the movement direction data from the input means 7, the operation direction signal of each ultrasonic actuator is output to the sounding unit 52. The drive control means 31 is provided in the number corresponding to each ultrasonic actuator. Each drive control means 31 applies a drive voltage having a value corresponding to the control signal input from the corresponding control means 9 to the corresponding ultrasonic actuator.

The configuration described above is for the D axis, but this is similarly configured for all of the Z axis, X axis, and Y axis, and if the tone color of the sound generated from the sound producing section 52 is different for each axis. Let
Configure so that the operation of each axis can be identified. In this case, X
With the axes Y and Y, sound is generated from the sounding section 52 only when traveling in the optical axis direction, and with the Z axis, the direction of travel of the operating needle 4 approaches the cell 53 as in the case of the D axis. Sound is emitted from the speaker 51 only in the direction (arrow direction in FIG. 13).

According to the fourth embodiment constructed as described above, the following operational effects can be obtained. That is,
When the operation content of the operation needle 4 is instructed from the input means 7, that is, the jog 50, a movement command signal (movement amount / movement direction) corresponding to the instructed operation content is sent to the drive control means 31, and at the same time, the driving direction. The signal is sent to the sound generator 52. A drive signal in a corresponding movement direction is applied to the ultrasonic actuator according to the movement command signal, and is given as kinetic energy for moving the movable body in the axial direction.

In this case, only when the jog 50 is rotated in the direction of the arrow in FIG.
Since a sound is generated from the cell, it is possible to easily identify the moving direction of the D axis in the cell manipulation in the field of view of the microscope, and even a beginner who is not an expert can easily perform the cell manipulation.

Similarly, sound is emitted from the speaker 51 only when the Z-axis is operated by the jog (not shown) in the direction of approaching the cells, and the X-axis and Y-axis are operated by the jog (not shown). Sound is emitted from the speaker 51 only when the needle is operated in a direction approaching the optical axis direction, so that the moving direction can be easily identified, and cell operation can be easily performed even by a beginner who is not an expert.

Further, since the tone color of the sound emitted from the speaker 51 is made different for each axis, the movement direction on each axis can be easily identified. <Fifth Embodiment> As shown in FIGS. 14 and 15,
In the input means 7 of the micromanipulator, a display unit 54 made of a light emitting diode is arranged on the surface of an operation unit having a jog 50 for moving the D-axis (movement direction of the operation needle 4) which is a movable operation needle. The display unit 54 is configured to be lit only when the direction of operation of the operating needle 4 approaches the cell 53 (the direction of the arrow in FIG. 15).

In this case, by rotating the jog 50 in the direction of the arrow in FIG. 15, a corresponding movable mechanism (not shown)
The operating needle 4 moves in the direction of approaching the cell 53 via the, and the light emitting diode of the display unit 54 emits light only at this time.

The structure described above is about the moving axis of the D-axis, but this is applied to all the moving axes of the Z-axis, the X-axis, and the Y-axis, and the light-emitting diode of the display unit 54 is applied to each moving axis. The color of the emitted light is made different so that the operation of each axis can be identified. In this case, the X-axis and the Y-axis are made to emit light only in the optical axis direction, and the Z-axis is the same as the D-axis in the direction in which the operation needle 4 advances toward the cell 53 ( Only in the direction (arrow direction in FIG. 13), each light emitting diode of the display unit 54 is made to emit light.

According to the fifth embodiment constructed as described above, the following operational effects can be obtained. That is,
When the operation content of the operation needle 4 is instructed from the input means 7, that is, the jog 50, a movement command signal (movement amount / movement direction) corresponding to the instructed operation content is sent to the drive control means 31, and at the same time, the driving direction. The signal is sent to the light emitting diode of the display unit 54. A drive signal in a corresponding movement direction is applied to the ultrasonic actuator according to the movement command signal, and is given as kinetic energy for moving the movable body in the axial direction.

In this case, the light emitting diode of the display unit 54 emits light only when the jog 50 is rotated in the direction of the arrow in FIG.
The direction of movement of the D axis can be easily identified, and even a beginner, not an expert, can easily perform cell manipulation.

Similarly, the light emitting diode of the display section is turned on only when the Z axis is operated by the jog (not shown) in the direction of approaching the cell, and the X axis and the Y axis are operated by the jog (not shown). Since the light emitting diode of the display unit lights up only when the needle is operated in the direction approaching the optical axis direction, it is possible to easily identify the moving direction, and even beginners who are not experts can easily operate cells. .

Further, since the color of the light emitted by the light emitting diode of the display section 54 is different, the movement direction in each axis can be easily identified. That is, when the operation content of the operation needle 4 is instructed from the input means 7, that is, the jog 50, the movement command signal according to the instructed operation content is sent to the drive control means 31, and at the same time, the drive direction signal is displayed on the display section 54. Sent to.

A drive signal in a corresponding movement direction is applied to the ultrasonic actuator according to the movement command signal, and is given to the movable body as kinetic energy. As a result, while the display unit 54 displays the driving direction state, the operating needle 4 moves in each direction instructed by the operation content together with the corresponding movable body of the movable mechanism.

As a result, while watching the display on the display unit 54,
Since the operation needle 4 moves in each direction instructed by the operation contents together with the corresponding movable body of the movable mechanism, it is possible to easily identify the moving direction of each axis in the cell operation under the microscope field of view, and the skilled person Even beginners can easily and accurately manipulate cells.

<Sixth Embodiment> As shown in FIG.
The displacement detection means 55 and the limit setting means 56 are newly added to the embodiment of FIG. 12, and these have the following functions. The displacement detecting means 55 is the operating needle 4.
Is for detecting the amount of movement of the fixed movable body, and the detection result is input to the control means 9. Limit setting means 5
Reference numeral 6 can set limit positions or operable positions of all of D-axis, X-axis, Y-axis and Z-axis, and these set values are input to the control means 9. In the control means 9,
The moving amount of the movable body detected by the displacement detecting means 55 is
It is configured to determine whether the set value set by the limit setting means 56 is exceeded and to output a ringing command to the sound generator 52 when the set value is exceeded.

According to the sixth embodiment constructed as described above, the following operational effects can be obtained. That is, when the operation content of the operation needle 4 is instructed from the input means 7, a movement command signal according to the instructed operation content is sent to the drive control means 31.

At this time, when the displacement amount detected by the displacement detecting means 55 exceeds the set value set by the limit setting means 56, a warning sound generation signal is output to the sounding section 52.
On the other hand, the drive signal generated by the drive control means 31 according to the movement command signal is applied to the ultrasonic actuator and given to the movable body as kinetic energy. As a result, while recognizing the cell operable range, the operation needle 4 moves in each direction instructed by the operation content together with the corresponding movable body of the movable mechanism.

<Modifications> The present invention is not limited to the above-mentioned embodiments, and various modifications can be made without departing from the scope of the present invention. For example, in each of the above-described embodiments, an ultrasonic actuator is used as a drive unit for a movable body, but a combination of an electromagnetic motor such as a stepping motor or an AC motor with a rotation-linear motion conversion mechanism that converts rotary motion into linear motion, or It is also possible to use an electromagnetic linear motor.

Further, in the above-described embodiment, the sounding unit 52 and the display unit 54 are shown as the structure for identifying the moving direction (driving direction) of the operating needle, but the present invention is not limited to this, and the voice recognition unit and the alarm device are not limited thereto. Any notification means such as the above may be used, and these may be arbitrarily combined.

Further, in the above-mentioned embodiment, the case where the ultrasonic actuator is used as the drive mechanism for driving the movable body is taken as an example, but the present invention is not limited to this, and an electric manipulator using a stepping motor or the like can also be used. Yes, it can also be used for a manual manipulator equipped with a linear scale and an optical element for position detection.

Further, the control means 9 of the above-described embodiment may be provided with a volume adjusting function of the sounding section so that the volume can be selected according to the intended use.

Although the present invention has been described with reference to the embodiments of the present invention, the present invention includes the following inventions. (1) An operation in which a dial of the rotary encoder is provided on one side surface of the housing, and a switch group for inputting the position storage command signal and the position return command signal is provided on the other side surface of the housing. The micromanipulator according to claim 1, further comprising a portion.

(2) In a micromanipulator for finely manipulating an object to be inspected by using an operating needle in the field of view of a microscope, a first movable body to which the operating needle is fixed and the first movable body are moved. A drive unit for moving the second movable body according to a drive signal applied to the respective movable bodies from the outside, and an electric movement command signal having a uniaxial rotary dial and rotating the dial. A rotary encoder that generates a current, a detection unit that detects a moving direction and a movement distance of each of the first and second movable bodies, and a current state of the first and second movable bodies based on a detection result of the detection unit. When the position is recognized and a position storage command signal is input from the outside, a storage unit that stores the position information of the first and second movable bodies at that time, and a position return command signal from the outside, Stored in the storage means Reads the position information are the position return means for generating said with the position information first, a movement command signal corresponding to the deviation between the current position of the second movable member by the movable member,
Control means for generating the drive signal for each movable body in response to movement command signals respectively inputted from the rotary encoder and the position returning means, and the rotary provided between the output stage of the rotary encoder and the control means. A micromanipulator, comprising: a switching unit that switches a movable body to be driven by a movement command signal from an encoder.

(3) The micro-instrument according to claim 1, characterized in that the notifying means comprises at least one of a speaker for outputting a voice, a display for displaying a character graphic or the like, and an alarm for generating a warning sound. manipulator.

(4) In a micromanipulator for finely manipulating an object to be inspected by using an operating needle under the field of view of a microscope, a movable body to which the operating needle is fixed is moved according to a drive signal applied from the outside. A drive unit, an input unit that outputs a movement command signal indicating a movement direction and a movement distance of the operation needle, a control unit that generates the drive signal according to the movement command signal from the input unit, and an operation needle of the operation needle. Position setting means for setting the limit position or operable position of the moving axis, displacement detection means for detecting the movement amount of the movable body, and the movement amount of the movable body detected by the displacement detection means of the position setting means. A micromanipulator, comprising: a notifying unit for notifying that the set position has been deviated.

[0085]

According to the present invention described above, the operating needle can be easily and quickly returned to its original position, and the operating portion can be operated accurately while observing with a microscope. It is possible to provide a micromanipulator having improved characteristics.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a micromanipulator according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a control unit included in the micromanipulator of the first embodiment.

FIG. 3 is a configuration diagram of a storage unit included in the micromanipulator of the first embodiment.

FIG. 4 is an operation explanatory diagram of the first embodiment.

FIG. 5 is an external view of a rotary encoder provided in the micromanipulator of the first embodiment.

FIG. 6 is an external view of a modified example of the rotary encoder of the first embodiment.

FIG. 7 is a configuration diagram of a micromanipulator according to a second embodiment of the present invention.

FIG. 8 is a configuration diagram of a main part of a micromanipulator according to a modified example of the second embodiment of the present invention.

FIG. 9 is a block diagram of a micromanipulator according to a third embodiment of the present invention.

FIG. 10 is an operation explanatory diagram of the third embodiment of the present invention.

FIG. 11 is an operation explanatory diagram of a modified example of the third embodiment of the present invention.

FIG. 12 is a block diagram of a micromanipulator according to a fourth embodiment of the present invention.

FIG. 13 is a perspective view showing a jog which is an input unit according to a fourth embodiment of the present invention.

FIG. 14 is a block diagram of a micromanipulator according to a fifth embodiment of the present invention.

FIG. 15 is a block diagram of a micromanipulator according to a fifth embodiment of the present invention.

FIG. 16 is a block diagram of a micromanipulator according to a sixth embodiment of the present invention.

FIG. 17 is an overall configuration diagram of a micromanipulator of a prior application.

FIG. 18 is an external view of the micromanipulator in FIG.

FIG. 19 is a movable mechanism included in the micromanipulator shown in FIG.

[Explanation of symbols]

1 ... Stage, 2 ... Objective lens, 3 ... Illumination device, 4, 4
-1, 4-2 ... Operating needle, 5, 5X, 5Y, 5Z ... Movable body, 6 ... Length measuring sensor, 7 ... Rotary encoder, 8 ... Switch box, 8a, 8b, 8c ... Switch button,
9, 9 '... Control means, 10, 10' ... Storage means, 31 ...
Drive control means, 35X, 35Y, 35Z ... Actuator, 36X, 36Y, 36Z ... Position detection means, 52 ... Sounding section, 54 ... Display section, 55 ... Displacement detection section, 56 ... Limit setting section.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Kazuhiro Awai 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Inventor Katsunori Yamaguchi 2-43 Hatagaya, Shibuya-ku, Tokyo No. 2 Olympus Optical Co., Ltd. (72) Inventor Mitsuhiko Saito 2-43-2 Hatagaya, Shibuya-ku, Tokyo No. 2 Olympus Optical Co., Ltd. (72) Inventor Yukiko Saeki 2-43 Hatagaya, Shibuya-ku, Tokyo No. 2 Olympus Optical Co., Ltd.

Claims (3)

[Claims] 1. A micromanipulator for finely manipulating an object to be inspected by using an operating needle in the field of view of a microscope, in which a movable body to which the operating needle is fixed is moved according to a drive signal applied from the outside. Section, a rotary encoder having a uniaxial rotary dial and generating an electric movement command signal in response to the rotation of the dial, a detecting means for detecting a moving direction and a moving distance of the movable body, and the detecting means. When the current position of the movable body is recognized based on the detection result of, and a position storage command signal is input from the outside, a storage unit that stores the position information of the movable body at that time and a position return command signal from the outside are output. Position input means for reading the position information stored in the storage means when input, and generating a movement command signal according to a deviation between the position information and the current position of the movable body; A micromanipulator comprising: a rotary encoder; and a control means for generating the drive signal in response to a movement command signal input from each of the position returning means. 2. A micromanipulator for finely manipulating an object to be inspected by using an operating needle in the field of view of a microscope, in which a movable body to which the operating needle is fixed is moved according to a drive signal applied from the outside. Section, a rotary encoder having a uniaxial rotary dial and generating an electric movement command signal in response to the rotation of the dial, a detecting means for detecting a moving direction and a moving distance of the movable body, and the detecting means. When the current position of the movable body is recognized based on the detection result of, and a position storage command signal is input from the outside, a storage unit that stores the position information of the movable body at that time and a position return command signal from the outside are output. Position input means for reading the position information stored in the storage means when input, and generating a movement command signal according to a deviation between the position information and the current position of the movable body; The drive order switching means for outputting a signal for switching the drive order of the movement axis of the operation needle according to the command signal obtained on condition that the position return command signal is present, the rotary encoder, the position return means and the drive order. A micromanipulator comprising: a control unit that generates the drive signal according to a movement command signal that is input from each of the switching units. 3. A micromanipulator for finely manipulating an object to be inspected by using an operating needle in the field of view of a microscope, in which a movable body to which the operating needle is fixed is moved according to a drive signal applied from the outside. Section, input means for outputting a movement command signal indicating the movement direction and movement distance of the operating needle, control means for generating the drive signal in response to the movement command signal from the input means, and the movement command signal A micromanipulator comprising: a notification unit that notifies only when the moving direction is a predetermined direction based on a signal indicating the moving direction.