US20130058751A1 - Micromanipulation system comprising a protective system for capillaries - Google Patents

Micromanipulation system comprising a protective system for capillaries Download PDF

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Publication number
US20130058751A1
US20130058751A1 US13/641,261 US201113641261A US2013058751A1 US 20130058751 A1 US20130058751 A1 US 20130058751A1 US 201113641261 A US201113641261 A US 201113641261A US 2013058751 A1 US2013058751 A1 US 2013058751A1
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United States
Prior art keywords
tool
capillary
protective device
manipulation system
rotation axis
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
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US13/641,261
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English (en)
Inventor
Peter Tschanz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MMI AG
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MMI AG
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Filing date
Publication date
Application filed by MMI AG filed Critical MMI AG
Assigned to MMI AG reassignment MMI AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: TSCHANZ, PETER
Publication of US20130058751A1 publication Critical patent/US20130058751A1/en
Abandoned legal-status Critical Current

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/32—Micromanipulators structurally combined with microscopes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
    • G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising

Definitions

  • the present invention relates to a manipulation system for microscope applications, in particular a manipulation system with a protective device for capillaries used in the micromanipulation of biological material.
  • a cannula protective cap which comprises notched grooves on the needle attachment piece which respectively correspond to a non-sealing and a sealing position and in which the needle attachment piece can lockingly engage with a protuberance.
  • a similar protective device is known, this time for an injection needle, which is slipped over the injection needle, wherein the needle should engage in a hook-like manner in a bore of the protective device and thereby fix the protective device.
  • a manipulation system for microscope applications which comprises a micromanipulation tool and a protective device protecting the tool, wherein the tool and the protective device can be moved relative to one another between a position protecting the tool in a contactless manner, and a position releasing the tool for manipulation.
  • a simpler capillary replacement can be carried out, and on the other hand the tool is protected against damage and also the user is protected against injury.
  • the protective device does not contact the tool in the protecting position, which is of great importance in particular for very sensitive micromanipulation tools such as capillaries.
  • the manipulation device is preferably mounted on a tool holder receiving the tool.
  • the protective device can thereby be provided very close to the tool and can thus be moved reliably and quickly from the position releasing the tool for manipulation, into the position protecting the tool in a contactless manner.
  • the tool is fixed to the tool holder with a clamping member whose diameter is greater than that of the tool, and the internal diameter of the protective device is substantially equal to or greater than the diameter of the clamping member. In this way freedom from contact in the protecting position can be ensured in a simple manner, since there is always sufficient safety space between the tool and the inner wall of the protective device.
  • the tool is fixed to the tool holder with a clamping member and the protective device can lockingly engage on the clamping member.
  • the protective device has a section formed in a complementary (matching) manner to the outer surface of the clamping member.
  • the outer surface of the clamping member comprises nut-like flat portions with a width across flats, wherein a region of the protective device is formed corresponding to this width across flats.
  • the protective device can be displaced on the longitudinal axis of the tool in a contactless manner over the tool. In this way it is possible to simply and quickly accommodate the tool in the protective sleeve and to protect the tool against damage and the user against injury. Also, the installation space of the manipulation system is practically not altered thereby.
  • the protective sleeve has a rear wall with an opening in the axial direction of the tool, via which the protective device is guided on the longitudinal axis of the tool, in particular along the tool holder. It is thereby ensured at each stage of the movement of the protective device relative to the tool that no contact can occur between the tool and protective device and therefore the tool remains effectively protected also during the movement.
  • the protective device is a protective sleeve that is contactlessly foldable over the tool.
  • the folding movement is a movement substantially perpendicular to the tool, in other words the protective tool is not moved substantially axially with respect to the tool, but perpendicularly to its longitudinal axis. Due to this implementation an effective protection of the tool can be ensured with little effort when the tool is removed from the working area, since for example the protective device can be incorporated in the micromanipulation system corresponding to the movement of the tool also in the course of the retro-fitting. This solution can be implemented in particular very cost-effectively.
  • the protective device is mounted via a horizontal hinge pin on the tool holder.
  • This solution just like the solution with the displaceable protective device, allows the protective device to be slipped particularly quickly over the tool and thus provides almost immediate protection as and when necessary.
  • the protective device is rotatably mounted on a carrier arm about a horizontal axis and can be slipped over the tool by moving the carrier arm.
  • This embodiment is suitable in particular for situations in which no protective devices can be mounted on the tool holder itself, and thus provides a reliable and cost-effective protection for the tool as well as the user.
  • a movement of the protective device independently of tool adjustment (displacement) is possible, so that the protective device, when not in use (in other words when the tool is being used), is situated outside the working area of the microscope and therefore cannot interfere with the sample manipulation.
  • the manipulation system of the invention furthermore comprises a swivel arm that can swivel about a horizontal rotation axis, on whose end remote from the rotation axis is provided a tool adjustment device movable along three orthogonal working axes, on which the tool is swivelably mounted about a tool axis parallel to the rotation axis.
  • a swivel arm that can swivel about a horizontal rotation axis, on whose end remote from the rotation axis is provided a tool adjustment device movable along three orthogonal working axes, on which the tool is swivelably mounted about a tool axis parallel to the rotation axis.
  • the manipulation system furthermore comprises a tool adjustment movable along three orthogonal working axes, on one end of which is swivelably mounted a swivel arm about a horizontal rotation axis, on whose end remote from the rotation axis the tool is swivelably mounted about a tool axis parallel to the rotation axis.
  • a tool adjustment movable along three orthogonal working axes, on one end of which is swivelably mounted a swivel arm about a horizontal rotation axis, on whose end remote from the rotation axis the tool is swivelably mounted about a tool axis parallel to the rotation axis.
  • the protective device is arranged fixed relative to the tool adjustment and to the rotation axis of the swivel arm. In this way it becomes possible when swiveling out the swivel arm to tilt the tool directly into the protective device, so that the working area can be freed in a simple way.
  • the tool adjustment with the working axes is arranged in a suspended manner.
  • the linear axes are located on or over the microscope stage, since there is no accommodation space for the linear axes underneath the microscope stage. To move the stage in the X-direction space is therefore additionally required on the side. Due to the suspended arrangement over the sample the operational freedom over the working area can be increased and an almost horizontal movement (along a very flat arc) of the tool into and from the working area can be achieved.
  • the protective device can be moved manually or automatically, wherein for this purpose it can be moved either by means of a mechanical, hydraulic or a pneumatic drive, or a combination of these drives. Maintenance operations and tool replacement procedures can therefore also be fully automated and carried out without the intervention of the user.
  • the present invention thus not only permits a quicker and more efficient operation in the exchange of capillaries, installation or maintenance, but also provides an increase in the working space on account of the flat tool guidance, a reduction in weight as well as in installation space, an increase in reliability on account of the simple structure of the manipulation system, and thus a reduction of the associated costs. To all this is added a significant improvement in the safety of the system, which effectively prevents damage to the micromanipulation tool and drastically reduces the danger of injury to the user.
  • FIG. 1 is a schematic sectional view of a manipulation system for microscope applications, in which the manipulation tool can be folded into the protective device;
  • FIG. 2 is an alternative embodiment to FIG. 1 , in which the protective device is displacably arranged on the tool holder;
  • FIG. 3 shows a further embodiment of the manipulation system, in which the protective device can lockingly engage on a clamping nut fixing the tool to the holder, a section along the line A-A being shown in the left-hand part of the figure;
  • FIG. 4 shows a schematic view of an embodiment of the micromanipulation system of the present invention, in which the manipulation tool together with its adjustment drive can be swiveled into or out of the working area;
  • FIG. 5 shows an alternative preferred embodiment of the micromanipulation system, in which compared to FIG. 4 only the tool is swiveled out from the working area, while the tool adjustment device remains stationary;
  • FIG. 6 is an embodiment of the manipulation system according to the invention, in which the protective device is swiveled onto the tool.
  • FIG. 7 is a schematic view of a further embodiment of the present invention, in which the protective device is fixed via a hinge pin to the tool holder.
  • the inventors have for this purpose developed a system that is based on a reverse microscope (inverted microscope), a cell recognition unit, an automated capillary adjustment, an automated pump and a sliding table.
  • the collection and release are controlled by means of a high-precision pump, which enables process procedures to be specified that employ nanolitre volumes of a pump medium for the separation process of the cell and thus provide the basis for a molecular analysis of the cell material to be carried out at the end of the process in just 1 microlitre of medium.
  • the (non-adhering) cells thus do not experience any kind of mechanical stresses: the cell collection takes place simply on account of the liquid flow surrounding the cell. Under optimal conditions even partly adhering cells can be collected in this way. There is no contact between the cells and the capillary used for the collection.
  • the capillary diameter can be significantly larger than that of the cell. For example, cells of 6 ⁇ m diameter can be collected efficiently with a capillary of 40 ⁇ m diameter.
  • the cells can be released to various target carriers (deposits).
  • target carriers So-called “grid deposits” are in this connection either grid-like point deposits (such as for example AmpliGrid®) or small vessels arranged in the manner of a grid (such as the IBIDI sample pocket object carrier).
  • Individual point deposits can consist of a transparent cover, a PCR test tube or a microfluid device.
  • the target carrier In whatever way the target carrier is formed, its size should in general not exceed the size of standard object carriers, so that these can be used if the object carriers are multiply held on the sliding table.
  • the collection and release of the cells can take place in various ways, ranging from the manual to the fully automated mode of operation with cell recognition. However, even with the manual mode of operation it is not necessary to operate any components of the system (microscope, pump, capillary) by hand: all operating procedures are started by the user from a PC.
  • a capillary 1 is first of all generally represented as a micromanipulation tool, which is fixed by means of a clamping nut 3 as clamping member to a holder 4 comprising a corresponding screw thread.
  • the clamping member instead of being realized by the clamping nut 3 , can also be realized by a clamping sleeve (not shown) with a fixing screw, wherein the holder then has to be provided with a thread.
  • the holder is fixed to a further (not shown) triple-axis or multiaxis displacement device, by means of which the capillary can be moved over the sample and lowered for the manipulation, so that the tip of the capillary lies in a working plane 5 .
  • Typical capillary diameters are in the range from 100 ⁇ m or less (for example capillaries with a diameter of 40 ⁇ m to receive individual cells of order of magnitude less than 100 ⁇ m), and are therefore very susceptible to damage.
  • capillaries made of glass can, if carelessly handled, injure the user. For this reason, as is indicated in FIG.
  • the capillary can be moved from the working plane, in which the manipulation is performed, into a protective position, in which the capillary 1 is protected by a sleeve-like protection 2 against damage and injury to the user.
  • the sleeve-like protection 2 does not come into contact with the capillary 1 .
  • FIG. 2 shows an alternative configuration of the manipulation system of the invention, in which a protective sleeve 2 is displacably mounted on the longitudinal axis of the tool on the tool holder 4 .
  • the sleeve 2 is in this connection open to the side of the capillary tip and has in the opposite end wall an opening, which surrounds the capillary holder 4 so that this guides the sleeve reliably in the axial direction.
  • the internal diameter of the sleeve 2 can in this connection be chosen so that it is slightly larger than the external diameter of the clamping nut 3 fixing the capillary 1 in the holder 4 , so that they fit one another in such a way as to allow an axial displacement.
  • the protective sleeve 2 can thus be displaced in a simple and quick manner onto the capillary 1 (contactless protecting position) or can be withdrawn from the capillary 1 (position freeing the manipulation).
  • FIG. 3 shows an embodiment of the protective sleeve 2 , in which this can lockingly engage on the clamping nut 3 (clamping member) of the tool.
  • the outside of the clamping nut is, as shown in the left-hand part of the figure, provided with two oppositely facing flat portions 3 a , and the width across flats of the clamping nut 3 thereby formed is also correspondingly formed in the distal opening of the end wall of the protective sleeve.
  • the protective sleeve can be used as a key, by means of which the clamping nut 3 , and thus the capillary 1 , can be unscrewed from the capillary holder 4 .
  • the capillary always remains covered and protected by the protective sleeve.
  • FIG. 4 shows an embodiment of the manipulation system according to the invention in which the manipulation tool can be removed from the sample in a flat arcuate movement over the working plane.
  • the already described capillary 1 is in this case surrounded by a protective sleeve 2 , as has been illustrated for example in FIG. 2 , which is displacably arranged on the tool holder 4 .
  • the tool holder 4 itself is rotatably mounted on a triple-axis adjustment device over a tool axis 12 in a vertical plane perpendicular to the working plane 5 , by means of which the capillary can be moved along the X-axis 7 and the Y-axis 8 parallel to the working plane 5 and also in the vertical Z direction 9 .
  • the aforementioned arrangement is fixed to one end of a swivel arm 10 , which is swivelably mounted at its other end via a horizontal rotation axis 11 .
  • the swivel arm 10 is swiveled about the rotation axis 11 .
  • the rotation axis 11 is in this connection suitably disposed at such a distance underneath the working plane 5 that the opposite end of the swivel arm, to which the adjustment device 7 , 8 , 9 and the capillary 1 are secured with the clamping nut 3 and holder 4 , is moved away in as flat an arc as possible from the working area in the plane 5 .
  • the end of the swivel aim 10 opposite the rotation axis 11 simply traverses the upper part of the circle that is described by the aforementioned end in a complete rotation about the rotation axis 11 .
  • the tool holder 4 can in this connection either remain fixed relative to the swivel arm 10 , or alternatively can be suitably synchronized with the swiveling movement about the axis 11 . In the first case therefore neither is the adjustment device 7 , 8 , 9 actuated, nor does a rotation about the tool axis 12 take place, so that when the swivel arm 10 is swiveled back the capillary 1 is located again in exactly the same position in relation to the sample. A complicated calibration or readjustment is therefore not necessary.
  • the cannula 1 in the swiveled-out state (shown by dotted lines in FIG. 4 ) can be brought into a head first position, in which a handling of the liquid in the cannula or in the attached pump system can be performed particularly easily.
  • FIG. 5 shows an alternative embodiment of the manipulation system for microscope applications, which differs from the embodiment in FIG. 4 in that now during the swiveling only the swivel arm rotates, but not the adjustment device 7 , 8 , 9 , which remains stationary.
  • the capillary 1 with its holder 4 is rotatably mounted as previously about a tool axis 12 , which this time however passes horizontally through one end of a swivel arm 10 .
  • the swivel arm 10 which in the present case is formed in the shape of an angle steel, it is swivelably mounted about a rotation axis 11 that passes horizontally through the adjustment device 7 , 8 , 9 .
  • the restricted position continuous line in FIG.
  • the capillary 1 is released, so as to manipulate the biological sample on the working plane 5 , whereas in the swiveled-out position (shown by dotted lines in FIG. 5 ) it is inserted into a protective device 2 , which protects the capillary 1 in a contactless manner against damage.
  • the protective device 2 for example a protective sleeve open on a lower side, can be fixed to the adjustment device, which remains stationary, preferably in a fixed relation to the rotation axis 11 (for example by fixing to the height adjustment device 9 ).
  • the adjustment device 7 , 8 , 9 is located on the microscope stage, wherein the position of the rotation axis 11 in this case too is as deep as possible, in other words is chosen to be as close as possible to the working plane 5 , so that the swiveling out of the capillary 5 by means of the swivel arm 10 removes the capillary from the sample region in as flat an arc as possible over the working surface. It is however just as possible for the adjustment device also to be located underneath the microscope stage.
  • FIG. 6 shows a further modification of the manipulation system according to the invention, in which a protective device 2 is mounted on a carrier arm 6 , which is moved independently of the capillary holder 4 .
  • the protective device 2 is in this connection swivelably fixed to the carrier arm via an axis, so that the protective device 2 can be swiveled correctly aligned onto the capillary 1 .
  • the protective device 2 is in this connection shaped so that it surrounds the capillary 1 together with the clamping nut 3 and protects them against damage.
  • the protective sleeve 2 can thus be moved to or away from the tool, independently of adjustment movements of the tool 1 or of the tool holder 4 . For example, this advance or reverse movement can take place synchronously or in a staggered manner with a horizontal swiveling of the swivel arm 10 ( FIGS. 4 and 5 ).
  • FIG. 7 shows a further possible embodiment of the manipulation system according to the invention, in which the protective device 2 is simply fixed in a foldable manner to the tool holder 4 via a hinge pin 13 .
  • This particularly easily realizable configuration is characterized in particular by the speed with which the capillary 1 can be moved from the state allowing the manipulation, to a state protected against damage.

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  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Microscoopes, Condenser (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
US13/641,261 2010-04-15 2011-04-12 Micromanipulation system comprising a protective system for capillaries Abandoned US20130058751A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP10160011.2 2010-04-15
EP10160011A EP2378342A1 (de) 2010-04-15 2010-04-15 Mikromanipulationssystem mit Schutzvorrichtung für Kapillaren
PCT/EP2011/055694 WO2011141251A1 (de) 2010-04-15 2011-04-12 Mikromanipulationssystem mit schutzvorrichtung für kapillaren

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/055694 A-371-Of-International WO2011141251A1 (de) 2010-04-15 2011-04-12 Mikromanipulationssystem mit schutzvorrichtung für kapillaren

Related Child Applications (1)

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US16/920,158 Continuation US20200333577A1 (en) 2010-04-15 2020-07-02 Micromanipulation system comprimising a protective system for capillaries

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US20130058751A1 true US20130058751A1 (en) 2013-03-07

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US13/641,261 Abandoned US20130058751A1 (en) 2010-04-15 2011-04-12 Micromanipulation system comprising a protective system for capillaries
US16/920,158 Pending US20200333577A1 (en) 2010-04-15 2020-07-02 Micromanipulation system comprimising a protective system for capillaries

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US16/920,158 Pending US20200333577A1 (en) 2010-04-15 2020-07-02 Micromanipulation system comprimising a protective system for capillaries

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EP (2) EP2378342A1 (de)
JP (1) JP5855086B2 (de)
WO (1) WO2011141251A1 (de)

Families Citing this family (1)

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Publication number Priority date Publication date Assignee Title
CN113579772A (zh) * 2021-07-05 2021-11-02 湖南中联重科智能高空作业机械有限公司 定位装夹系统和卧式机床

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US2857808A (en) * 1954-02-05 1958-10-28 John A Hastings Micromanipulator
US4619899A (en) * 1983-06-30 1986-10-28 Institut Biokhimii I Fiziologii Mikroorganizmov Akademii Nauk Ssr Method and device for performing microoperations on cells
US6050153A (en) * 1997-09-03 2000-04-18 Narishige Co., Ltd. Hydraulically-operated micromanipulator apparatus
US6190616B1 (en) * 1997-09-11 2001-02-20 Molecular Dynamics, Inc. Capillary valve, connector, and router
US6358749B1 (en) * 1997-12-02 2002-03-19 Ozo Diversified Automation, Inc. Automated system for chromosome microdissection and method of using same
US20030057347A1 (en) * 1998-07-02 2003-03-27 Weiss Jeffrey N. Apparatus and method for cannulating retinal blood vessels
WO2003030961A2 (en) * 2001-10-10 2003-04-17 Maxxon, Inc. Blood sampling assembly with a retractable needle
US7316668B2 (en) * 2002-03-20 2008-01-08 Becton, Dickinson And Company Needle shield assembly
US6967335B1 (en) * 2002-06-17 2005-11-22 Zyvex Corporation Manipulation system for manipulating a sample under study with a microscope
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US7163526B2 (en) * 2002-11-06 2007-01-16 Becton, Dickinson And Company Flashback blood collection needle with needle shield
US7204792B2 (en) * 2003-02-25 2007-04-17 Fanuc Ltd Apparatus for automatically changing a robot tool tip member
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US8251961B2 (en) * 2003-09-22 2012-08-28 Smiths Medical Asd, Inc. Safety needle assembly and method for making the same
US20060182606A1 (en) * 2005-01-31 2006-08-17 Nisca Corporation Micro-manipulator

Also Published As

Publication number Publication date
EP2378342A1 (de) 2011-10-19
JP2013524290A (ja) 2013-06-17
WO2011141251A1 (de) 2011-11-17
US20200333577A1 (en) 2020-10-22
JP5855086B2 (ja) 2016-02-09
EP2558899B1 (de) 2018-12-12
EP2558899A1 (de) 2013-02-20

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