JPH09281404A - Micromanipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily adjust moving speed at the time of moving an operation needle in response to the purpose and to operate the operation needle by providing an input means and a driving control means generating a driving signal in accordance with a control signal from a speed control means. SOLUTION: An action command signal having data on rotating speed (v) (rot/sec) as moving quantity and moving direction is outputted from a jog 31 being the input means to the speed control means 32, and the CPU of the means 32 calculates a control pulse per one rotation of the jog with reference to the rotating speed (v) and generates the control signal based on the calculated result and outputs it to the driving control means 14. The control means 14 generates driving voltage based on the transmitted control signal and impresses it on an ultrasonic actuator so as to move a movable body. In such a case, by rotating the jog 31 quickly, the operation needle performs coarse adjusting action where the moving quantity is large, and by rotating the jog 31 slowly, it performs fine adjusting action where the moving quantity is small. Thus, the fine or the coarse adjusting action in response to the purpose is performed by the same operation part, and the operation to meet a human sense is executed.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art Conventionally, a micromanipulator has been known as a device for finely manipulating cells under a visual field of a microscope from a remote place. Generally, a cell operation in a micromanipulator is performed via an operation unit, and various micromanipulators with improved operability of the operation unit have been proposed.

FIG. 5 shows a schematic structure of a conventional micromanipulator (JP-A-2-110415).
This is a coarse movement mechanism 2 that moves the operating needle 1 over a wide range.
And a fine movement mechanism 3 for precisely operating the operating needle 1. The coarse movement mechanism 2 is controlled by the key group 5 of the computer control unit 4 in the directions of the X axis, the Y axis, and the Z axis,
The fine movement mechanism 3 is moved in the X-axis, Y-axis, and Z-axis directions by the joystick 6 of the computer control unit 4. As described above, the conventional micromanipulator includes the coarse movement mechanism 2 and the fine movement mechanism 3 and has two types of operation means.

FIG. 6 shows the entire structure of a micromanipulator previously filed by the applicant (Japanese Patent Laid-Open No. 6-3.
No. 42121). In an inverted microscope 7 equipped with a micromanipulator, a substage 9 supported by a column 8 is horizontally provided near the stage. The sub-stage 9 is provided with a movable mechanism 10 having an X-axis, Y-axis, and Z-axis orthogonal coordinate system.

The main body of the micromanipulator comprises a movable mechanism 10, input means 12 (including operation command generating means), control means 13, drive control means 14, actuator (not shown), and operation needle 1. . The input means 12 includes the joystick 16 and the trackball 1
7, keyboard 18, memory 1 for storing programs
9, a monitor means 20, and a light pen 21 for converting an instruction relating to the operation content of the operation needle 1 inputted by the operator into an electric input signal.

The joystick 16 and the trackball 17 forming the input means 12 are the personal computer 2
Connected to 2. The personal computer 22
The input information indicating the operation content from the input means 12 is converted into an electrical operation command signal and output to the control means 13.

When the operation content of the operation hand 1 is instructed from the input means 12, an operation command signal corresponding to the instructed operation content is transmitted to the drive control means 14 via the control means 13. The drive signal generated by the drive control unit 14 according to the drive command signal is applied to a movable body such as an ultrasonic actuator, so that the operating needle 1 moves in accordance with the operation content instructed from the input unit 12. To do.

As shown in FIG. 7, the movable mechanism 10 has a mechanism fixed portion 23 fixed to the sub-stage 9 and an X-axis direction X.
The axis guide is formed, and the X stage 24 is attached to the mechanism fixing portion 23.
On the other hand, it is held slidably in the X-axis direction via the X-axis guide. An ultrasonic actuator (not shown) is held inside the mechanism fixing portion 23, and a sliding member provided in the ultrasonic actuator is brought into direct contact with a facing surface of the X stage 24 with a predetermined pressing force. .

A Y-axis actuator holding member 25 is fixed to the opposite surface of the X stage 24. A Y-axis guide is formed on the Y-axis actuator holding member 25 on the surface facing the Y-stage 26. The Y-stage 26 is slidable on the Y-axis actuator holding member 25 in the Y-axis direction via the Y-axis guide. Is held. An ultrasonic actuator is held on the Y-axis actuator holding member 25 similarly to the mechanism fixing portion 23, and the sliding member of the ultrasonic actuator is brought into contact with the facing surface of the Y stage 26 with a predetermined force. An L-shaped L fitting 27 is fixed to the opposite surface of the Y stage 26, and a Z-axis actuator holding member 31 is fixed to the L fitting 27. The Z-axis actuator holding member 31 has a Z-axis guide formed in the Z-axis direction.

The Z stage 28 is slidably held in the Z-axis direction via a Z-axis guide of a Z-axis actuator holding member 31. The Z-axis actuator holding member 31 holds an ultrasonic actuator, and generates a displacement force for displacing the Z-stage 28 in the Z-axis direction in the same manner as the actuators. A movable body substrate 29 is fixed to the opposite surface of the Z stage 28, and a movable body 30 for an operation needle is slidably held in a D-axis direction by a D-axis guide formed on the movable body substrate 29. .

On the movable body substrate 29, a movable body 30 for the operation needle is provided.
The ultrasonic actuator for moving in the D-axis direction is held. The operating needle 1 is fixed to the operating needle movable body 30 with its longitudinal direction directed in the D-axis direction. X
The movement amounts of the stage 24, the Y stage 26, the Z stage 28, and the movable body 30 for the operation needle are always detected by the corresponding displacement detection means, and the movement amounts are fed back to the control means 13.

With the above configuration, the X stage (X-axis movable table) 24 and the Y stage (Y-axis movable table) movable in the X-axis direction, the Y-axis direction, and the Z-axis direction orthogonal to each other.
26 and a Z stage (Z-axis movable base) 28, the movable mechanism constitutes an X-axis, Y-axis, and Z-axis orthogonal coordinate system. Instead, the operation hand 1 can be freely moved in three directions of the X axis, the Y axis and the Z axis.

[0013]

In the micromanipulator, a precise fine movement operation is required, which is necessary for quick coarse movement of the operating needle 1 in or out of the microscope field of view and fine operation of the object to be inspected. In the above-mentioned conventional technique, the coarse movement device for performing the rough alignment and the fine movement device for performing the fine movement operation are configured by separate mechanisms, respectively, so that these mechanisms are complicated and the micromanipulator becomes large.

Further, in the operation, there is a drawback that it is troublesome because the operation involves replacing the hand with each operating device. The present invention has been made to eliminate the above drawbacks, and an object of the present invention is to provide a micromanipulator that can be easily operated by adjusting the moving speed when moving the operating needle according to the purpose. .

[0015]

The present invention is configured as follows to achieve the above object. The invention corresponding to claim 1 is, in a micromanipulator for finely manipulating an object to be inspected by using an operating needle under a field of view of a microscope, an input means for inputting operation contents such as a moving direction and a moving distance of the operating needle. , An operation command generating means for outputting an operation command signal according to the operation content input from the input means, and a speed for generating a control signal having a different moving speed according to the operation command signal output from the operation command generating means Control means, drive control means for generating a drive signal according to the control signal output by the speed control means, and conversion of the drive signal generated by the drive control means into mechanical kinetic energy corresponding to the operation content. And a movable body that receives the kinetic energy from the actuator to geometrically displace the operating needle. It is a manipulator.

According to the invention of claim 1, when the operation content of the operating needle is instructed from the input means, an operation command signal corresponding to the instructed operation content is sent to the speed control means. The speed control means sends to the drive control means a control signal obtained by adding (decreasing) speed control to the operation command signal instructed from the input means. The drive signal generated by the drive control means according to the control signal is applied to the actuator,
It is given to the movable body as kinetic energy. as a result,
The operating needle moves together with the corresponding movable part of the movable mechanism depending on the operation content from the input means while changing the speed.

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, operation contents such as a moving direction and a moving distance of the operating needle are input. Input means, switching means for outputting a speed switching signal for changing the moving speed of the operating needle, operation command generating means for outputting an operation command signal according to the operation content input from the input means, and the operation command Depending on the operation command signal output from the generating means and the speed control means for generating a control signal having a different moving speed according to the speed switching signal output from the switching means, and the control signal output from the speed control means. Drive control means for generating a drive signal, and the drive signal generated by the drive control means is converted into mechanical kinetic energy corresponding to the operation content. And actuator, a micro-manipulator, characterized by comprising a movable body which geometrically displacing the operating needle receiving kinetic energy from the actuator.

According to the second aspect of the invention, when the operation content of the operation needle is instructed from the input means, an operation command signal corresponding to the instructed operation content and a speed for changing the moving speed of the operation needle. A switching signal is sent to the speed control means. The speed control means sends to the drive control means a control signal obtained by adding speed control to the input operation command signal and speed switching signal. The drive signal generated by the drive control means according to the control signal is applied to the actuator and given to the movable body as kinetic energy. As a result, the operating needle moves while changing the speed together with the corresponding movable portion of the movable mechanism depending on the operation content from the input means.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. <First Embodiment> FIG. 1 is a block diagram showing a first embodiment of a micromanipulator of the present invention. A jog unit 3 having a jog 31 which is an example of input means.
3, speed control means 32, and drive control means 14.

The jog unit 33 is for instructing the movement of the D axis, which is a movable body of the operating needle, and is used for the jog 31.
The operation command signal having the rotation speed v (rot / sec) and the moving direction data is output to the speed control means 32.

The speed control means 32, as shown in FIG.
It has a CPU 36, and the CPU 36 has a ROM 34 in which control programs and the like are stored, and an R for storing processing data.
The AM 35 and the DIPSW 37 are connected.

The control program in the ROM 34 also includes a calculation formula or table for calculating the control pulse p per one rotation of the jog from the rotation speed v of the jog 31. This calculation formula or table has a characteristic as shown in FIG. 3, for example. In FIG. 3, the horizontal axis represents the rotation speed v and the vertical axis represents the control pulse p per one rotation of the jog. The CPU 36 calculates the control pulse p per one rotation of the jog according to the characteristics of FIG. 3 with respect to the rotation speed v sent from the jog unit 33, generates a control signal based on this, and outputs it to the drive control means 14. To do.

The drive control means 14 includes the acceleration control means 3
A drive voltage is generated based on the control signal transmitted from No. 2, and the generated drive voltage is applied to the ultrasonic actuator. As a result, the movable body moves.

With such a structure, when the jog 31 is rotated quickly, the operating needle 1 performs a coarse movement operation with a large movement amount, and when it is slowly rotated, a fine movement operation with a small movement amount is performed. Further, as shown in FIG. 3, a predetermined rotation speed v1
Control pulse p is not output until. By doing so, it is possible to cancel the input of an erroneous operation command signal due to vibration or the like.

Further, plural kinds of calculation formulas or tables for calculating the control pulse number p are stored in the ROM 34, and the DIPSW is stored.
It is possible to change the movement characteristic of the operating needle with respect to the rotation of the jog 31 as the input means by switching the DIPSW 37 by arranging so that any conversion formula or table can be selected by 37.

According to the embodiment described above, the following operational effects can be obtained. That is, a fine coarse / fine motion according to the purpose can be easily performed by the same operation unit, and an operation according to a human sense can be performed. Further, the same function can be provided in the X-axis, Y-axis, and Z-axis directions.

<Second Embodiment> FIG. 4 is a block diagram showing the arrangement of the second embodiment. In the present embodiment, the first
The jog unit 33 similar to that of the above embodiment is further provided with a push button switch 39 as speed switching means. The ON / OFF state of the push button switch 39 is sent to the speed control means 38 as a speed switching signal.

As in the first embodiment, the speed control means 38 has a CPU 36, and the CPU 36 is connected with a ROM 34 storing a control program and the like, a RAM 35 storing processing data, and a DIPSW 37. . When the CPU 36 recognizes that the push button SW37 provided on the surface of the jog unit 33 is pressed by the coarse / fine control signal, the CPU 36 outputs n times (n> 1) the control pulse p output in the normal fine operation. The control pulse p is output to the driving means 14. Further, the magnification n of the coarse movement operation can be arbitrarily changed by setting the DIPSW 37.

According to the embodiment having such a configuration, the rotation speed v (rot / se
The ON / OFF of the push button switch 39 is output to the control means 38 together with the operation command signal having the data of c) and the moving direction. The speed control means 38 outputs a control signal corresponding to the coarse movement operation or the fine movement operation to the drive control means 14 according to the signal from the push button switch 39. Then, the drive control means 14 generates a drive voltage based on the control signal transmitted from the control means 38, and applies the generated drive voltage to the ultrasonic actuator. As a result, the movable body 30 for the operating needle of FIG. 7 moves.

According to this method, the switching of fine and coarse movements can be easily performed by one operation portion, and the coarse movement operation can be adjusted. Even in this embodiment, the X axis and the Y axis
Similar functions can be provided in the directions of the axis and the Z axis.

<Modifications> The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention. For example, although an ultrasonic actuator is used as the actuator, the present invention is not limited to this, and an electric manipulator using a stepping motor or the like can also be used.

[0032]

According to the present invention described above, it is possible to provide a micromanipulator which can be operated by easily adjusting the moving speed when moving the operating needle according to the purpose.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of a micromanipulator of the present invention.

FIG. 2 is a diagram for explaining the configuration of speed control means 32 in FIG.

FIG. 3 is a characteristic diagram for explaining the function of a speed control unit 32 in FIG.

FIG. 4 is a block diagram showing a second embodiment of the micromanipulator of the present invention.

FIG. 5 is an overall configuration diagram of a conventional micromanipulator.

6 is an external view of the micromanipulator of FIG.

FIG. 7 is a view for explaining a movable mechanism for moving the operating needle shown in FIG.

[Explanation of symbols]

 14 ... Drive control means, 31 ... Jog, 32 ... Speed control means, 33 ... Jog unit, 34 ... ROM, 35 ... RAM, 36 ... CPU, 37 ... DIPSW, 38 ... Speed control means, 39 ... Push button switch.

Claims (2)

[Claims] 1. A micromanipulator for finely manipulating an object to be inspected by using an operation needle under the field of view of a microscope, an input means for inputting operation contents such as a moving direction and a moving distance of the operation needle, and the input means. Motion command generating means for outputting a motion command signal according to the motion content input from, and speed control means for generating a control signal having a different moving speed according to the motion command signal output from the motion command generating means, A drive control means for generating a drive signal according to the control signal output by the speed control means; an actuator for converting the drive signal generated by the drive control means into mechanical kinetic energy corresponding to the operation content; A movable body which receives the kinetic energy from the actuator to displace the operating needle geometrically; Regulator. 2. A micromanipulator for finely manipulating an object to be inspected by using an operating needle in a field of view of a microscope, an input means for inputting operation contents such as a moving direction and a moving distance of the operating needle, and the operating needle. Switching means for outputting a speed switching signal for changing the moving speed of the, the operation command generating means for outputting an operation command signal according to the operation content input from the input means, and the operation output from the operation command generating means Command signal,
Speed control means for generating a control signal having a different moving speed according to the speed switching signal output from the switching means, and drive control means for generating a drive signal according to the control signal output by the speed control means, An actuator that converts a drive signal generated by the drive control unit into mechanical kinetic energy corresponding to the operation content; and a movable body that receives kinetic energy from the actuator to geometrically displace the operating needle. A micromanipulator characterized by being provided.