WO2016051563A1 - マイクロツールの位置決め方法及びマイクロマニピュレータ装置 - Google Patents
マイクロツールの位置決め方法及びマイクロマニピュレータ装置 Download PDFInfo
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- WO2016051563A1 WO2016051563A1 PCT/JP2014/076331 JP2014076331W WO2016051563A1 WO 2016051563 A1 WO2016051563 A1 WO 2016051563A1 JP 2014076331 W JP2014076331 W JP 2014076331W WO 2016051563 A1 WO2016051563 A1 WO 2016051563A1
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- gauge
- positioning
- microtool
- positioning gauge
- tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
- G02B21/32—Micromanipulators structurally combined with microscopes
Definitions
- the present invention can be used, for example, for microscopic insemination (icsi), in vitro fertilization (ivf), injecting sperm directly into an egg, cells, fungi, small animals, small objects such as dust, powder, etc.
- Micro tool used to align the tip of a capillary, pipette, micro sampling tool, microneedle, electrode, tweezers, blade, forceps, etc. (hereinafter referred to as “micro tool”) or to focus a microscope
- micro tool used to align the tip of a capillary, pipette, micro sampling tool, microneedle, electrode, tweezers, blade, forceps, etc.
- the present invention relates to a positioning method and a micromanipulator device.
- a micromanipulator device provided with a microscope and a micromanipulator that performs three-dimensional movement of the microtool and injection and suction within the field of view of the microscope is provided. It is used (for example, refer to Patent Document 1).
- the micromanipulator device described in Patent Document 1 holds or moves a specimen (sample) such as a biological organ, biological tissue, or cell, and performs processing by performing fine movement operations such as suction, liquid injection, and cutting.
- a specimen such as a biological organ, biological tissue, or cell
- This is a device that enables a micro tool such as a micropipette to be micro-remotely operated with a hydraulic pressure such as hydraulic pressure under a microscope.
- a micro tool such as a micropipette
- a hydraulic pressure such as hydraulic pressure under a microscope.
- it is required to perform quickly and accurately when performing fine operations on a subject using a microtool.
- the size of the subject and the diameter of the needle tip of the microtool are as small as several microns, and the distance (X, Y, Z) from the inner bottom surface of the dish into which the subject is placed during the work to the subject Since the operation range in the direction is extremely short, there is a problem that it is difficult to perform adjustment work for adjusting the position in the height direction.
- the distance from the inner bottom surface of the dish to the position to be set is short at a few microns.
- the needle tip may come into contact with the dish surface, and the needle tip may be bent or damaged.
- the initial setting (positioning) of the micro tool requires very careful installation without touching the inner bottom of the dish because the needle tip of the micro tool is extremely delicate. It took time.
- an object of the present invention is to provide a microtool positioning method and a micromanipulator device capable of positioning and attaching a microtool quickly and accurately. .
- a microtool positioning method is a microtool positioning method in which a gauge surface of the positioning gauge is placed at a needle tip position in a state where the positioning gauge is fixed to a holding portion.
- an attaching step means separation of fine particles such as eggs, cells, fungi, etc. in bio-related industries such as medical field, pharmaceutical field, breed improvement, livestock industry, developmental engineering field and chemical industry.
- a member that performs a series of operations such as classification, processing, selection, and processing, such as a capillary, a pipette, a micropipette, a microsampling tool, a glass-made electrode, a microneedle, a microtube, and the like.
- the micro tool positioning method is the state in which the positioning gauge is fixed to the holding part, the gauge surface is placed at the needle tip position, and the alignment step for aligning the mark with the optical axis is performed.
- the positioning gauge is removed from the holding portion, and a positioning operation is performed by performing a microtool attachment process for fixing the microtool to the holding portion.
- the microtool can be positioned by simply attaching the microtool instead of the positioning gauge. Can be mounted at an accurate position and angle.
- accurate positioning can be performed quickly and repeatedly even by an unskilled person.
- the micro tool since the micro tool does not need to be directly positioned using the micro tool during the positioning operation, the micro tool can be prevented from being damaged.
- the microtool of the present invention does not need to be moved to a position in the vicinity of the pole that is actually used after the microtool is aligned at a virtual position that has been conventionally performed in order to prevent damage to the microtool. So you can work quickly.
- a focus adjustment step of the positioning gauge that focuses on the mark in a state where the positioning gauge is aligned in the positioning gauge alignment step.
- the positioning method of the micro tool is performed in a state where the positioning gauge is aligned during the focus adjustment process of the positioning gauge that focuses on the mark, the focus position is easily aligned. be able to.
- the positioning gauge has a gauge attached portion provided at a position separated by a predetermined distance from the mark formed at the distal end portion to a proximal end side, and the microtool has the predetermined distance. It is preferable to have a tool attached portion provided at a position spaced from the distal end of the microtool toward the proximal end side by the same distance.
- the micro tool and the positioning gauge are positioned because the distance from the tip portion to the gauge attached portion is the same as the distance from the tip portion to the tool attached portion. If the gauge is aligned and replaced with a micro tool, the micro tool can be aligned with a single touch. For this reason, the positioning operation for aligning the microtool is simplified and facilitated, and can be performed accurately and quickly.
- the positioning gauge is held by the holding portion in an upwardly inclined state with respect to the inner bottom surface of the dish placed at a predetermined position of the microscope table, and the gauge surface is a tip portion of the positioning gauge. And is placed on the inner bottom surface of the dish at the time of alignment, and the mark is formed perpendicular to the gauge surface and on the optical axis at the time of alignment. It is preferable to arrange
- the positioning gauge is positioned by placing the gauge surface on the inner bottom surface of the dish and positioning the mark on the optical axis during alignment. Since the gauge surface is formed orthogonal to the mark, the mark is set parallel to a predetermined position on the inner bottom surface of the dish of the table even when the positioning gauge is disposed obliquely. Therefore, the positioning gauge can be accurately positioned.
- the holding unit is provided in a moving mechanism that moves the positioning gauge that is detachably attached to the holding unit, and the moving mechanism has the mark formed at the tip of the positioning gauge as a center.
- a rotation mechanism section that rotates the holding section that holds the positioning gauge; and an advance / retreat mechanism section that moves the holding section forward and backward in the T-axis direction of the positioning gauge, and aligns the positioning gauge, It is preferable that the holding unit holding the aligned positioning gauge is attached with the microtool after the positioning gauge is detached with the Y axis fixed.
- the moving mechanism provided in the holding portion includes the rotating mechanism provided so as to be rotatable around the mark, the positioning mechanism and the micro tool are rotated by the moving mechanism. Even if tilted, the positions of the positioning gauge and the tip of the microtool will not deviate from the center position of the mark. Furthermore, the moving mechanism includes an advancing / retreating mechanism portion that advances and retracts the holding portion in the T-axis direction of the positioning gauge, so that the holding portion is moved backward while being positioned, and then the holding portion is advanced to perform the original positioning. It becomes possible to return to the position. For this reason, the positioning work of the microtool can be simplified, and the working efficiency and workability can be improved.
- the moving mechanism includes an advancing / retreating mechanism portion that advances and retracts the holding portion in the T-axis direction of the positioning gauge, so that the holding portion is moved backward while being positioned, and then the holding portion is advanced to perform the original positioning. It becomes possible to return to the position. For this reason, the positioning work of the microtool can be simplified, and the working efficiency and workability can be improved.
- the advancing / retreating mechanism section retracts the holding section that holds the positioning gauge aligned in the positioning gauge positioning process, and then advances the holding section to a position where the positioning gauge is aligned. It is preferable to restore.
- the advancing / retreating mechanism unit can retract the holding unit holding the aligned positioning gauge and then advance the holding unit to return to the original aligned position. For this reason, the holding part does not shift in the X, Y, and Z axis directions by replacing the positioning gauge with the microtool after the positioning gauge is moved back in the positioned state.
- the microtool can be placed in the positioning position without direct alignment. Thereby, the positioning of the microtool can be performed easily and easily.
- a micromanipulator device includes a microtool having a tool attachment portion provided at a position spaced from a distal end to a proximal end side by a predetermined distance set in advance, with respect to a subject within a microscope field of view.
- a micromanipulator device provided with a micromanipulator that performs fine manipulation using a microtool, a gauge attached portion provided at a position that is previously separated from the mark formed at the distal end portion by a predetermined distance from the base end side.
- a holding mechanism for detachably holding the microtool, and a moving mechanism for aligning the positioning gauge in the T-axis direction.
- the micromanipulator device is aligned by including the moving mechanism that aligns the holding unit that detachably holds the microtool and the positioning gauge in the T-axis direction. Positioning can be performed by replacing the micro tool with the positioning gauge. For this reason, when the micro tool is attached to the micro manipulator device, it is not necessary to adjust the position each time. Therefore, the micro tool can be accurately attached in a short time and the positioning operation can be performed quickly.
- the moving mechanism includes a rotation mechanism unit that rotates the holding unit that holds the positioning gauge around the mark formed at a tip end portion of the positioning gauge, and the holding unit that has the T of the positioning gauge. It is preferable to include an advancing / retreating mechanism unit that advances and retracts in the axial direction.
- the moving mechanism includes the rotating mechanism portion that is provided so that the holding portion can be rotated around the mark, thereby rotating the positioning gauge and the micro tool by the rotating mechanism portion.
- the positions of the positioning gauge and the tip of the micro tool are not shifted.
- the moving mechanism includes an advance / retreat mechanism that moves the holding portion back and forth in the T-axis direction of the positioning gauge, so that the holding portion is moved backward in a positioned state, and then the holding portion is advanced to perform original positioning. It becomes possible to return to the position. For this reason, the positioning work of the microtool can be simplified, and the working efficiency and workability can be improved.
- the microtool positioning method and the micromanipulator device according to the present invention can attach the microtool accurately in a short time.
- FIG. 1 It is a schematic side view which shows the micromanipulator apparatus which concerns on embodiment of this invention, and shows a state when a microtool is attached.
- A The schematic plan view which shows a micro tool
- (b) is a side view of the front-end
- It is a figure which shows a positioning gauge (a) is a center longitudinal cross-sectional view, (b) is a principal part enlarged bottom view which shows a front-end
- FIG. 6 is a schematic plan view seen from an arrow II direction in FIG. 5. It is process drawing which shows the positioning method of a micro tool.
- A)-(c) is a schematic side view which shows the modification of the micro tool of the micro manipulator apparatus which concerns on embodiment of this invention, respectively.
- FIG. 1 shows the 1st modification of the positioning gauge of the micromanipulator apparatus which concerns on embodiment of this invention, and is a schematic side view which shows a state when it replaces with the positioned positioning gauge and the microtool is attached.
- It is a principal part expansion schematic sectional drawing which shows the 2nd modification of the positioning gauge of the micromanipulator apparatus which concerns on embodiment of this invention.
- It is a schematic perspective view which shows the 3rd modification of the micromanipulator apparatus which concerns on embodiment of this invention.
- It is a schematic perspective view of the micro tool which shows the 4th modification of the micro manipulator apparatus which concerns on embodiment of this invention.
- micromanipulator device 1 can be used for aligning the various microtools 4 described above.
- a capillary used when performing actual work such as microinsemination and in vitro fertilization.
- the micro tool 4 is used as an example.
- the subject S shown in FIG. 2A is an egg used for actual work such as microinsemination and in vitro fertilization, for example, and is placed on the inner bottom surface 7a on the dish 7 with oil or a solution (chemical solution) or the like. Covered, sperm is injected into the subject S (egg) by the microtool 4. The subject S is placed on the optical axis 62 a of the inner bottom surface 7 a of the dish 7.
- the micromanipulator device 1 is a device used when injecting sperm into a subject S (egg) when performing microinsemination or in vitro fertilization.
- the micromanipulator apparatus 1 includes a microscope 6, a micromanipulator 2 that performs micromanipulation such as three-dimensional movement of the microtool 4 within the field of view of the microscope 6, injection and suction of sperm into an egg, and a gauge attached portion 5 c.
- maintains the microtool 4 so that attachment or detachment are possible, and the moving mechanism 3 which aligns the positioning gauge 5 in a Y (Y-axis) direction are provided.
- the microscope 6 performs a positioning operation for setting the position of the needle tip of the micro tool 4 and the angle of the micro tool 4 to a predetermined state, and a delicate operation for injecting sperm into the small subject S using the micro manipulator device 1.
- the microscope 6 includes a main body base (not shown), a support column (not shown) provided on the main body base, a table 61 provided on the support column, an objective lens 62 disposed below the table 61, and a table 61.
- a light source 63 disposed above the light source 63, a light collector 64 disposed between the light source 63 and the table 61, and a diaphragm interposed between the light collector 64 and the light source 63.
- the visual field size of the microscope 6 is, for example, about several millimeters in the front-rear and left-right directions as shown in FIG.
- the microscope 6 may be an upright type. Further, the microscope 6 can be applied even if it has a high magnification.
- the case of 40 times will be described as an example.
- the table 61 is a plate-like member that is provided horizontally on a column portion of a main body base (not shown), and has an opening 61a.
- the objective lens 62 is disposed, for example, below the table 61 substantially on the center line of the opening 61a (not necessarily on the center line of the opening 61a).
- the dish 7, the condenser 64, and the light source 63 are arranged so as to be centered with each other.
- a lens having a magnification of 4 times field range is about ⁇ 5 is used.
- the light source 63 is a lamp that irradiates the objective lens 62 with light through the condenser 64 and the dish 7.
- the condenser 64 is a device that condenses the light emitted from the light source 63 and sends it to the objective lens 62 via the dish 7.
- the dish 7 is a dish on which the subject S is placed, and has, for example, a Petri dish (petri dish) shape having a circular edge.
- the dish 7 is a dish-like member made of a transparent member such as glass, and has a horizontal inner bottom surface 7a.
- the dish 7 is placed on the table 61 so as to close an opening 61 a formed at substantially the center of the table 61 of the microscope 6.
- the micromanipulator 2 is a device that performs fine operations on the subject S using the microtool 4 within the field of view of the microscope 6, and is placed on the microscope 6.
- the micromanipulator 2 includes a base (not shown) of the micromanipulator 2, a support (not shown) standing on the base (not shown), and an arm 21 whose base end is rotatably attached to the support.
- the attachment portion 22 for attaching the distal end side of the arm 21 to the X-axis fine movement mechanism 23, the micro tool 4 (positioning gauge 5), and the movement for inclining the position gauge 5 and moving it forward and backward (forward and backward).
- a mechanism 3 an X-axis fine movement mechanism 23 that moves the movement mechanism 3 in the X direction, a Y-axis fine movement mechanism 24 that moves the movement mechanism 3 in the Y direction, and a Z-axis fine movement mechanism 25 that moves the movement mechanism 3 in the Z direction.
- the arm 21 is a member that supports the micromanipulator 2, and is attached to a column member provided perpendicular to a base (not shown) or a frame provided on the column member.
- the attachment portion 22 is a part for mounting the micromanipulator 2 on the arm 21.
- Microtool 4 is used to separate, classify, process, and select fine particles such as eggs, cells, and fungi in the biotechnology industry such as the medical field, pharmaceutical field, breed improvement, livestock industry, developmental engineering field, and chemical industry. A member that performs a series of operations such as processing.
- the microtool 4 is, for example, a capillary, a pipette, a micropipette, a microsampling tool, a glass-made electrode, a microneedle, a microtube, or the like.
- a capillary pipette also referred to as “micro pipette”
- the microtool 4 is mainly composed of a tool main body 41 that forms a capillary pipette and a tool holder main body 42 connected to the proximal end side of the tool main body 41.
- a tool main body 41 that forms a capillary pipette
- a tool holder main body 42 connected to the proximal end side of the tool main body 41.
- the micro tool 4 includes the tool main body 41 and the tool holder main body 42 integrally formed. It does not matter if it is
- the microtool 4 has a tool attached portion 42b at a position separated from the distal end of the microtool 4 by a predetermined distance L1 from the proximal end side.
- the predetermined distance L1 from the tip of the tool body 41 to the tool attached portion 42b of the tool holder body 42 is from the gauge hole 5b (mark) of the positioning gauge 5 shown in FIGS. 4 (a) to 4 (d) to the gauge attached portion 5c. Is set to the same distance as the predetermined distance L2 set in advance.
- the tool body 41 has a base 41a that forms a thin cylindrical tube having an outer diameter of about 1 mm, for example, and a taper from the base end of the base 41a toward the tip side. And a distal end portion 41b formed in a tapered shape. Since the shape of the tip portion 41b is adapted to the subject S, there are various shapes depending on the subject S. The tip portion 41b will be described with an example used for microinsemination and in vitro fertilization. To do.
- the distal end portion 41b includes a tapered portion 41c formed on the proximal end side, a fine detail 41d formed from the distal end side of the tapered portion 41c to the protruding end of the tool main body 41, and the tapered portion 41c and the fine detail 41d. And the formed bent portion 41e.
- the fine detail 41d is formed of, for example, an extremely delicate tubular member having a length from the base end to the protruding end of about 0.5 to 2 mm (some may be about 6 mm) and an outer diameter of about 10 microns.
- the fine details 41d are arranged in a state along the horizontal with respect to the inner bottom surface 7a of the dish 7 because the bent portion 41e is bent at 30 degrees.
- the bent portion 41e is, for example, a fold formed to level the fine detail 41d along the inner bottom surface 7a of the dish 7 with respect to the base portion 41a and the tapered portion 41c arranged in a state inclined at 30 degrees. It is a song part.
- the tool body 41 of the microtool 4 formed in this way is positioned and aligned with a preset reference position O1 on the optical axis 62a of the objective lens 62 as shown in FIG.
- the reference position O1 is set to a position of a height H (see FIG. 4C) slightly spaced from the inner bottom surface 7a of the dish 7 on the optical axis 62a, and the tool body 41 The tip of this is a position where it does not contact the inner bottom surface 7 a of the dish 7.
- the tool holder main body 42 is a fixture that holds the base end side of the base 41a of the tool main body 41, and is also referred to as an injection holder.
- the tool holder main body 42 includes a cylindrical tube 42a, a clamp screw 42c provided at the distal end of the cylindrical tube 42a, and a tool attached portion 42b fixed at a position closer to the proximal end side of the cylindrical tube 42a. It is configured.
- the tool holder body 42 is entirely made of stainless steel.
- the cylindrical tube 42a is made of a straight stainless steel tube. One end of a tube (not shown) is attached to the base end side of the cylindrical tube 42a. A pressurizing means or the like is attached to the other end of the tube.
- the tool attached portion 42b is made of a thick plate-like disc material that is externally fitted to the cylindrical tube 42a, and is detachably held by the holding portion 30 of the moving mechanism 3 so as to be able to rotate 360 degrees in the circumferential direction of the axis rotation direction. It is a site to be.
- the tool attached portion 42b is attached to the holding portion 30 of the moving mechanism 3 in a state where the tool attached portion 42b is aligned with a predetermined position by a positioning gauge 5 attached to the moving mechanism 3 to be described later, the tool attached portion 42b is micro-touched with one touch.
- the tool 4 is positioned in a predetermined state.
- the clamp screw 42c is a part that detachably holds the microtool 4 inserted into the clamp screw 42c, and is composed of, for example, a liquid-tight collet chuck.
- the liquid-tight collet chuck includes a clamp screw 42c, a seal member that is provided in the distal end portion of the cylindrical tube 42a and into which the tool body 41 is inserted, and a taper formed on the outer peripheral surface on the distal end side of the cylindrical tube 42a.
- the seal member is formed of a flexible rubber packing such as silicon resin that is easily deformed elastically provided so as to be in contact with the microtool 4.
- the positioning gauge 5 is an initial setting jig used when the microtool 4 is attached to the moving mechanism 3 of the micromanipulator device 1 (see FIG. 1) in an aligned state. .
- the positioning gauge 5 is held in a state of being aligned with the holding portion 30 of the moving mechanism 3, and then the positioning gauge 5 is detached and the micro tool 4 is attached to the holding portion 30.
- the micro tool 4 can be indirectly aligned. That is, when the micromanipulator device 1 aligns the microtool 4, the position of the microtool 4 is adjusted to a predetermined position by the positioning gauge 5 without using the microtool 4 directly.
- the positioning gauge 5 is attached to the holding unit 30 of the moving mechanism 3 in a state where the positioning gauge 5 is aligned at a predetermined position and angle, and then the tool holder main body 42 to which the micro tool 4 is fixed by removing the positioning gauge 5.
- the micro tool 4 can be aligned with one touch without directly positioning.
- the positioning gauge 5 can eliminate the damage of the micro tool 4 coming into contact with the inner bottom surface 7a of the dish 7 by the positioning work by indirectly performing the positioning work for aligning the micro tool 4. This is a jig.
- the positioning gauge 5 includes a cylindrical tube-shaped gauge body 5a, a gauge hole 5b formed in the tip, and a gauge hole of the same distance L2 as the predetermined distance L1 from the tip of the microtool 4 to the tool attached portion 42b. It has the gauge attached part 5c provided in the position spaced apart from 5b to the base end side, and the gauge surface 5d formed in the lower surface of the gauge hole 5b.
- the positioning gauge 5 is held by the moving mechanism 3 in an obliquely upward direction with respect to the inner bottom surface 7a of the dish 7 placed so as to close the opening 61a formed at a predetermined position of the table 61 of the microscope 6. Has been.
- the gauge body 5a is made of a stainless steel straight rod having an outer diameter of 4 mm and a length of 180 mm, and moves in an oblique direction upward at an angle ⁇ 1 (for example, 30 degrees) with respect to the inner bottom surface 7a of the dish 7. It is held by the holding unit 30 of the mechanism 3.
- the gauge hole 5b is a hole serving as a positioning point when the center of the gauge hole 5b is disposed on the optical axis 62a during alignment.
- the gauge hole 5b is formed at a position of 2 mm from the distal end of the gauge body 5a to the proximal end side.
- the gauge hole 5b has a height H of 0.5 mm (for example, 0.1 to 0) from the gauge surface 5d formed on the optical axis 62a at the center of the gauge surface 5d, for example, orthogonal to the gauge surface 5d.
- a small hole 5e having an inner diameter of 1 mm, a tapered upper widening hole 5f formed continuously above the small hole 5e, and a taper formed continuously below the small hole 5e. And a lower widened hole 5g having a shape.
- the inner peripheral edge of the small hole 5e is a part for aligning the focus position and a part for aligning the tip of the fine detail 41d of the micro tool 4 and has a slight height H from the gauge surface 5d. By being arranged at a high position, the fine detail 41d is prevented from coming into contact with the gauge surface 5d and being damaged. Further, since the inner peripheral edge of the small hole 5e is formed in a wedge shape when viewed in a longitudinal section, the focal point can be easily focused, so that the focus position can be easily aligned.
- the reference position O1 is a position where the microscope 6 is focused with the positioning gauge 5 aligned, and the inner edge of the small hole 5e of the gauge hole 5b (the upper expanded hole 5f and the lower expanded hole 5g). It is on the center line in the inner edge of the small-diameter part between. For this reason, the reference position O1 is set at a position away from the inner bottom surface 7a of the dish 7 by the height H of the small hole 5e from the gauge surface 5d.
- the gauge attached portion 5 c is a portion that is detachably attached to the holding portion 30, and is formed of a substantially rectangular thick plate material having a plate thickness that can be inserted into the holding portion 30. .
- the gauge attached portion 5c is fixed at a position separated from the gauge hole 5b at the distal end portion of the positioning gauge 5 by a predetermined distance L2 set in advance toward the proximal end side (see FIG. 4A).
- the gauge surface 5d is formed at the tip of the positioning gauge 5 so as to be flat with respect to a predetermined angle ⁇ 1 set in advance. It is a mounting surface that is mounted on the inner bottom surface 7 a of the dish 7.
- the gauge surface 5d is positioned at the center of the gauge surface 5d on the optical axis 62a of the inner bottom surface 7a of the dish 7 placed so as to close the opening 61a of the table 61 (see FIG. 1). It arrange
- the predetermined angle ⁇ 1 is one of a plurality of preset angles.
- the positioning gauge 5 formed in this way is placed on the gauge surface 5d so as to be in close contact with the inner bottom surface 7a of the dish 7, and the gauge hole 5b is set in a state of being aligned with the optical axis 62a.
- the tip position can be aligned with the positions in the X, Y, Z, and T directions, and the angle ⁇ 1 is also automatically adjusted.
- the moving mechanism 3 is a device capable of tilting the micro tool 4 and the positioning gauge 5 and advancing and retracting (retracting and returning). It has a function for aligning in a direction perpendicular to the axis.
- the moving mechanism 3 is based on the holding portion 30 that detachably holds the tool attached portion 42b of the micro tool 4 and the gauge attached portion 5c of the positioning gauge 5, and the holding portion 30 (the micro tool 4 and the positioning gauge 5).
- the rotation mechanism 8 for rotating in the vertical direction (arrows a and b directions) around the position O1 and the holding part 30 (the micro tool 4 and the positioning gauge 5) are moved in the T direction (arrows c and c) of the reference position O1.
- the holding unit 30 advances and retreats the moving mechanism 3 provided so as to be rotatable around a reference position O ⁇ b> 1 in the gauge hole 5 b of the positioning gauge 5 detachably attached to the holding unit 30. It is provided in the upper part of the mechanism part 9.
- the holding portion 30 is mounted on an advance / retreat slider 92 of the advance / retreat mechanism portion 9 to be described later, and a support case body 31 that holds the hold portion 30, and is slidable on the support case body 31.
- the mounted lock slider 32, a spring member 33 that urges the lock slider 32, a cover member 34 for slidably supporting the lock slider 32, and the cover member 34 are fixed on the support case body 31.
- a stopper 36 for restricting the movement of the lock slider 32.
- the support case body 31 is mounted on an advance / retreat slider 92 that is slidable in the direction of the reference position O ⁇ b> 1 on the advance / retreat mechanism main body 91 of the advance / retreat mechanism 9. It is a member that advances and retreats in the direction of the reference position O1.
- the support case body 31 also functions to hold the holding unit 30 and the cylinder tube 95.
- the lock slider 32 is a sliding member that is slidably mounted on the support case body 31 in a direction (arrow e, f direction) orthogonal to the direction in which the positioning gauge 5 extends.
- the lock slider 32 has a lock groove 32a for holding the gauge attached portion 5c and the tool attached portion 42b (see FIG. 1), a spring insertion hole 32b into which the spring member 33 is inserted, and a gauge attached by the lock groove 32a.
- a release operation part 32c for performing an operation for releasing the state of holding the part 5c and the tool attached part 42b and making it detachable, and guide grooves 32d formed on the left and right side surfaces of the lock slider 32 are formed. Yes.
- the lock groove 32a is a groove in which the gauge attached portion 5c and the gauge main body 5a near the front and rear thereof, the tool attached portion 42b (see FIG. 1) and the tool holder main body 42 near the front and rear thereof are inserted and held. It is.
- the lock groove 32a is formed in accordance with the shape of the gauge attached portion 5c and the shape of the gauge body 5a in the vicinity of the front and rear, and the shape of the tool attached portion 42b (see FIG. 1) and the shape of the tool holder main body 42 in the vicinity of the front and rear. It is formed in a cross shape in plan view.
- the lock slider 32 is urged by the spring member 33 toward the release operation portion 32c (arrow f direction). For this reason, the gauge main body 5a is sandwiched and held between the side wall on one side of the lock groove 32a and the side wall of the cutout groove 34a facing the side wall.
- the spring insertion hole 32 b includes a bottomed cylindrical hole formed at two locations from the upper side surface of the lock slider 32 toward the release operation portion 32 c.
- the release operation portion 32c is formed on the side surface portion of the lock slider 32 opposite to the spring insertion hole 32b.
- the lock slider 32 moves in the direction of arrow e and is sandwiched between the side wall on one side of the lock groove 32a and the side wall of the notch groove 34a.
- the side wall on one side of the lock groove 32a is separated from the gauge attached portion 5c and the gauge main body 5a in the vicinity of the gauge attached portion 5c and is opened.
- the gauge attached portion 5c of the positioning gauge 5 that has been held is released, so that the tool attached portion 42b can be held by exchanging with the micro tool 4. Become.
- the guide groove 32d guides the movement of the lock slider 32 that can move in the direction orthogonal to the extending direction of the microtool 4 and the positioning gauge 5 (directions of arrows e and f), and moves with the stopper 36. It is a groove for regulating the range.
- the guide groove 32d is formed on the left and right side surfaces of the lock slider 32 by a predetermined length set in advance in the directions of arrows e and f.
- the spring member 33 urges the lock slider 32 to urge the lock slider 32 in a direction (arrow f direction) to hold the gauge attached portion 5c and the tool attached portion 42b to bring the holding portion 30 into a holding state. It is.
- the spring member 33 includes two compression coil springs that are inserted into the pair of left and right spring insertion holes 32b.
- the cover member 34 is a member that supports the lock slider 32 so as to be slidably covered in a direction (arrow e, f direction) orthogonal to the direction in which the positioning gauge 5 extends. is there.
- the cover member 34 includes a notch groove 34a, a case portion 34b that supports the lock slider 32 so as to be able to advance and retreat, a flange portion 34c formed at the front and rear ends of the case portion 34b, and an upper side surface of the case portion 34b.
- a spring receiving portion 34d formed on the front side and a stopper installation hole 34e formed on the front and rear side surfaces of the case portion 34b are formed.
- the notch groove 34 a is a groove for exposing the lock groove 32 a of the lock slider 32 disposed so as to be covered by the cover member 34. As shown in FIG. 3, the notch groove 34a has a gauge attached portion by a lower edge portion formed in a T shape of the notch groove 34a and an upper side wall of the lock groove 32a formed in a cross shape. 5c and its front and rear vicinity, and the function to hold
- the case portion 34 b is a metal plate member that forms a hollow rectangular tube with the support case body 31.
- the flange portion 34 c is a rectangular flat plate portion formed on the left and right sides of the cover member 34, and the front and rear end portions of the case portion 34 b are bent into an L shape.
- the spring receiving portion 34d is a portion that receives the upper end portion of the spring member 33, and is formed by bending the upper surface side of the cover member 34 into an L shape.
- the stopper installation hole 34e is a through hole to which the stopper 36 is attached, and is formed of a screw hole drilled from the front and rear side surfaces of the case portion 34b toward the guide groove 32d.
- the fastening member 35 is disposed so as to fix the upper and lower four portions of the flange portion 34 c formed before and after the cover member 34.
- the stopper 36 is a member that regulates the moving range of the sliding slide slider 32, and is formed by a male screw.
- the male screw portion of the stopper 36 is screwed to the left and right side surfaces of the stopper installation hole 34e.
- the distal end portion of the male screw portion of the stopper 36 is disposed in a state of entering the guide groove 32d, and when the lock slider 32 moves to a predetermined position, the distal end portion of the stopper 36 abuts against the inner wall of the guide groove 32d. It arrange
- the advance / retreat mechanism unit 9 moves the support case body 31 including the holding unit 30 forward and backward in the T direction (T-axis direction), and retracts the positions of the microtool 4 and the positioning gauge 5 in the T direction. It is a device that moves it back to the original positioned position.
- the advancing / retreating mechanism unit 9 is capable of moving the support case body 31 in the T direction larger than the first advancing / retreating mechanism 9A and the first advancing / retreating mechanism 9A capable of moving the support case body 31 small in the T direction.
- the second advancing / retreating mechanism 9B and a stopper mechanism 90 for suppressing the movement of the advancing / retreating mechanism unit 9 are provided.
- the first advancing / retracting mechanism 9A is a device that moves the holding unit 30 by, for example, hydraulic pressure supplied from a tube 96 via a control valve of an advancing / retreating mechanism operating device from a hydraulic cylinder (not shown).
- the first advancing / retracting mechanism 9A includes a piston (not shown) connected to the holding unit 30, a cylinder tube 95 that accommodates the piston so as to freely advance and retract, a tube 96 that supplies hydraulic pressure into the cylinder tube 95, and a cylinder tube 95.
- the supporting case body 31 to be held and the stopper mechanism 90 (see FIG. 6) for suppressing the movement of the holding portion 30 are provided.
- the piston (not shown) is connected to the holding portion 30 via a connecting member (not shown), and hydraulic pressure is supplied to the cylinder tube 95, so that the piston is integrally formed with the holding portion 30 in the T direction, for example, about 10 mm. It is arranged to be movable.
- the cylinder tube 95 is an advancing / retracting mechanism driving unit that moves the piston to advance and retract by being supplied with hydraulic pressure.
- the tube 96 is a hydraulic supply pipe that supplies the cylinder tube 95 with the hydraulic pressure supplied from a hydraulic cylinder (not shown) via the control valve of the advance / retreat mechanism operating device.
- the support case body 31 includes a cylinder tube 95 and is provided with a lock lever 90 d and a stopper sliding support body 90 c of the stopper mechanism 90 on the outer peripheral portion.
- the slider 92 is mounted. Therefore, the first advance / retreat mechanism 9A is provided so as to be movable in the T direction with respect to the advance / retreat slider 92, and moves together when the advance / retreat slider 92 of the second advance / retreat mechanism 9B moves in the T direction.
- the second advancing / retracting mechanism 9B includes an advancing / retreating mechanism main body 91, an advancing / retreating slider 92 provided slidably in the T direction (reference position O1 direction) with respect to the advancing / retreating mechanism main body 91, and manually. And a return spring member 93 for returning the retracted advance / retreat slider 92 in the direction of the original position.
- the second advancing / retracting mechanism 9B moves backward by, for example, 50 mm from the reference position O1 of the tip of the micro tool 4 and the positioning gauge 5 to the rear of the T-axis by moving the advancing / retreating slider 92 by hand in the T direction. It is possible.
- the second advancing / retracting mechanism 9B automatically returns the microtool 4 and the holding unit 30 to their original positions by the spring force of the return spring member 93 when the hand is released with the lock lever 90d opened.
- the advance / retreat mechanism main body 91 is a housing member that supports the advance / retreat slider 92, and is formed in a box shape opened upward.
- the advancing / retracting mechanism main body 91 returns to the opening 91a into which the advancing / retreating slider 92 is slidably inserted in the T direction, the advancing / retreating mechanism guide groove 91b formed on the left and right inner walls of the opening 91a, and the inner wall of the opening 91a.
- a spring member installation groove 91c for disposing the spring member 93.
- the advancing / retreating mechanism main body 91 is formed of a rectangular case body in plan view extending toward the reference position O1.
- the advancing / retreating slider 92 is fitted into the opening 91 a of the advancing / retreating mechanism main body 91 so as to be slidable in the T direction, and the upper end is connected to the lower surface of the support case body 31.
- Slide protrusions 92a that are slidably engaged with the advance / retreat mechanism guide groove 91b are formed on the front and rear of the left and right side surfaces of the lower portion of the advance / retreat slider 92.
- the return spring member 93 is composed of a tension coil spring that pulls the advance / retreat slider 92 and returns it to its original position.
- One end is fixed to the rear side surface of the advance / retreat slider 92, and the other end is the rear side of the opening 91 a of the advance / retreat mechanism body 91. It is fixed to the inner wall.
- the stopper mechanism 90 is a device that restricts movement of the holding portion 30, the first advance / retreat mechanism 9A, and the second advance / retreat mechanism 9B in the T direction.
- the stopper mechanism 90 includes a guide groove 90b formed on the outer wall of the advance / retreat mechanism main body 91, a locking groove 90a continuously formed in an L shape on the proximal end side of the guide groove 90b, a guide groove 90b, and a locking groove 90a.
- the locking groove 90a is a locking groove formed at a predetermined position on the outer wall of the advance / retreat mechanism main body 91, and is formed in an L shape in a side view from the base end of the guide groove 90b. ing.
- the guide groove 90b is a groove having a concave shape as viewed in a cross section extending straight along the advance / retreat mechanism main body 91.
- the stopper guide claw 90f is slidably disposed in the guide groove 90b and the locking groove 90a, and guides the movement of the stopper slide support 90c to move integrally with the stopper slide support 90c in the T direction. At the same time, the stopper guide claw 90f is lowered integrally with the stopper sliding support 90c and enters the locking groove 90a, thereby suppressing the movement of the first advance / retreat mechanism 9A and the second advance / retreat mechanism 9B in the T-axis direction.
- the lock lever 90d is directed in the T direction of the positioning gauge 5 and the micro tool 4 in the T axis direction (the base end side direction and the tip end side direction).
- the lock lever 90d When the lock lever 90d is pushed downward, the stopper guide claw 90f is lowered via the connecting member 90g and moved into the stop groove 90a to be locked. Further, by pushing down the lock lever, the tip of the stopper guide claw 90f is detached from the locking groove 90a via the connecting member 90g and moved to the guide groove 90b, and the first advance / retreat mechanism 9A and the second advance / retreat mechanism 9B advance / retreat. Enable.
- the stopper sliding support 90c has a stopper guide claw 90f projecting from a lower end portion thereof toward the guide groove 90b, and a lock lever 90d is pivotally supported at the upper end portion, and is connected to an advance / retreat slider 92 to be integrated.
- the connecting member 90g is arranged on the back surface of the stopper sliding support 90c (the surface facing the advance / retract mechanism main body 91) so as to be vertically movable, and moves in the vertical direction in conjunction with the operation of the lock lever 90d.
- the rotation mechanism unit 8 includes a rotation mechanism main body 81, a plurality of rollers 82 rotatably disposed in the arcuate groove 81 a of the rotation mechanism main body 81, and the rotation mechanism main body 81.
- An angle adjustment screw member 83 supported by a support protrusion 81c (see FIG. 3) formed at the upper and lower rear ends, a knob 84 attached to one end of the angle adjustment screw member 83, and a male screw portion of the angle adjustment screw member 83
- a bearing 86 engaged with a bearing receiving groove 85b on the upper surface of the nut member 85.
- the rotation mechanism unit 8 can tilt the positioning gauge 5 and the microtool 4 by, for example, 15 to 40 degrees around the reference position O1 by rotating the knob 84. It has become.
- the moving mechanism 3 is set so that the tip of the positioning gauge 5 and the tip of the microtool 4 also rotates around the same reference position O1 when the rotating mechanism unit 8 is rotated. .
- the reference position O1 does not fluctuate, so that a focus shift does not occur. Even if the focus position is deviated, it is slightly shifted within the field of view of the microscope.
- the rotation mechanism main body 81 includes an arc-shaped groove 81a formed in an arc shape when viewed from the side, and roller engagement grooves formed on the front inner wall and the rear inner wall of the arc-shaped groove 81a.
- 81b a support protrusion 81c that protrudes rearward from the upper and lower ends of the rotation mechanism body 81, a mounting shaft 81d that protrudes from the center of the lower surface of the rotation mechanism body 81, and the rotation mechanism body
- a nut support groove 81e extending in the vertical direction on the rear end surface of 81 and a nut guide portion 81f formed on the side surface of the rear end portion of the rotation mechanism main body 81 are formed.
- the arc-shaped groove 81 a is a storage groove that is disposed in a state where three rollers 82 that are pivotally supported on the lower surface of the advance / retreat mechanism main body 91 are rotatably inserted.
- the arc-shaped groove 81a is formed in an arc shape having a radius R1 with the reference position O1 as the center when viewed from the side. Therefore, the advancing / retreating mechanism portion 9 of the advancing / retreating mechanism main body 91 on which the roller 82 is pivotally supported, the holding portion 30 of the moving mechanism 3 installed on the advancing / retreating slider 92 of the advancing / retreating mechanism portion 9, and the holding portion 30 are fixed.
- the positioning gauge 5 and the micro tool 4 rotate around the arcuate groove 81a around the reference position O1, and the inclination angle ⁇ 1 can be adjusted without shifting the position of the reference position O1. It is configured as follows.
- the roller engaging groove 81b formed on the front inner wall of the arc-shaped groove 81a is disposed in a state in which the two rollers 82 disposed on the front side are in contact with each other so as to be able to roll. Are guided to move around the reference position O1.
- the roller engagement groove 81b formed on the rear inner wall of the arcuate groove 81a is disposed in a state in which one roller 82 disposed on the rear side is in contact with the roller so as to be able to roll, and the roller 82 is moved to the reference position O1. It is guided to move as the center.
- the roller engaging groove 81b is formed of V-shaped grooves formed on both sides of the center portion of the front inner wall of the arc-shaped groove portion 81a and the center portion of the rear inner wall of the arc-shaped groove portion 81a. .
- the support protrusion 81 c is a bearing portion having a shaft hole that rotatably supports both ends of a screw rod-shaped angle adjusting screw member 83.
- the attachment shaft 81 d is a shaft bar for connecting the rotation mechanism main body 81 to the micromanipulator 2.
- the nut support groove 81e is a guide groove into which a sliding projection 85a formed on the nut member 85 is slidably inserted, and is formed to extend linearly in the vertical direction on the rear end surface of the rotation mechanism body 81.
- a sliding projection 85a formed on the nut member 85 is slidably inserted, and is formed to extend linearly in the vertical direction on the rear end surface of the rotation mechanism body 81.
- the sliding protrusion 85a is inserted into the nut support groove 81e, the nut member 85 is guided by the nut support groove 81e without rotating even if the angle adjusting screw member 83 is rotated, and linearly extends in the vertical direction. It is supposed to move.
- the nut guide portion 81f is a rear end surface of the rotation mechanism main body 81 formed on the upper edge of the nut support groove 81e, and when the advance / retreat mechanism main body 91 moves around the reference position O1, the bearing housing of the nut member 85 is accommodated. It arrange
- the roller 82 is a substantially piece-shaped rotating body as viewed from the side, and is disposed in contact with the inner wall of the roller engaging groove 81b formed in a V shape.
- the roller 82 is rotatably supported by a support shaft 82a fixed in a cantilever shape on the lower surface of the advance / retreat mechanism main body 91.
- three rollers 82 include one roller disposed on the rear side by engaging two rollers 82 disposed on the front side with the roller engagement groove 81 b on the front side.
- the angle adjusting screw member 83 rotates the knob 84 to move the nut member 85 connected to the advance / retreat mechanism body 91 via the bearing 86 in the vertical direction (arrow g and h directions).
- This is a screw rod that moves the holding portion 30 that fixes the micro tool 4 and the positioning gauge 5 in the vertical direction with the reference position O1 as the center through the advance / retreat slider 92 of the advance / retreat mechanism 9 by moving.
- Both ends of the angle adjusting screw member 83 are rotatably mounted on the support protrusion 81c, and a nut member 85 engaged with a bearing 86 pivotally supported by the advance / retreat mechanism main body 91 is screwed into the center portion, and the lower end portion
- a knob 84 is attached.
- the nut member 85 includes a female thread portion formed at the center portion, a sliding protrusion 85a that is slidably engaged with the nut support groove 81e in the vertical direction, and a recess-shaped bearing housing groove with which a bearing 86 is engaged. 85b.
- the bearing 86 is a steel interposed between an inner ring 86a fixed to the lower surface of the advance / retreat mechanism main body 91 by a bearing mounting screw 86c, an outer ring 86b engaged with the bearing housing groove 85b, and the outer ring 86b and the inner ring 86a. And a sphere.
- An X-axis fine movement mechanism 23 shown in FIG. 1 is an advancing / retreating drive device that moves the moving mechanism 3 in the X direction (front-rear direction). For example, a tube from a hydraulic cylinder (not shown) through a control valve of the X-direction fine movement operation device The moving mechanism 3 is advanced and retracted in the X direction by the hydraulic pressure supplied from 23a.
- the Y-axis fine movement mechanism 24 is an advance / retreat drive device that moves the movement mechanism 3 in the Y direction (left-right direction).
- the Y-axis fine movement mechanism 24 is supplied from a tube 24a from a hydraulic cylinder (not shown) via a control valve of the Y-direction fine movement operation device.
- the moving mechanism 3 is advanced and retracted in the Y direction by the hydraulic pressure.
- the Z-axis fine movement mechanism 25 is an advance / retreat drive device that moves the movement mechanism 3 in the Z direction (vertical direction).
- the Z-axis fine movement mechanism 25 is supplied from a tube 25a from a hydraulic cylinder (not shown) through a control valve of the Z-direction fine movement operation device.
- the moving mechanism 3 is advanced and retracted in the Z direction by the hydraulic pressure.
- ⁇ Positioning process of positioning gauge> As shown in FIG. 3, when attaching the micro tool 4 to the micro manipulator device 1 in a predetermined state, first, an alignment step S ⁇ b> 1 for attaching and positioning the positioning gauge 5 to the holding unit 30 of the moving mechanism 3 is performed. Do.
- the gauge attached portion 5c of the positioning gauge 5 is pushed into the holding portion 30 and fixed.
- the positioning gauge 5 operates the Y-axis fine movement operation device (not shown) of the Y-axis fine movement mechanism 24 shown in FIG. 1 to set the needle tip position of the Y-direction positioning gauge 5 at the center on the inner bottom surface 7 a of the dish 7. And the movement in the Y direction is restricted and fixed by a dedicated adapter (not shown) suitable for the microscope 6.
- the positioning gauge 5 is aligned at a predetermined Y-point needle tip position, and Y-direction alignment is not necessary.
- a positioning gauge is operated by operating a Z-axis fine movement operation device (not shown) of the Z-axis fine movement mechanism 25 and an X-axis fine movement operation device (not shown) of the X-axis fine movement mechanism 23.
- 5 is moved in the X and Z directions, the gauge surface 5d of the positioning gauge 5 is placed at the needle tip position of the inner bottom surface 7a of the dish 7, and the gauge hole 5b of the positioning gauge 5 is placed on the optical axis 62a of the objective lens 62. Perform alignment. As a result, the positioning gauge 5 is aligned with a predetermined tip position in the X and Z axis directions.
- the tilting angle ⁇ 1 of the positioning gauge 5 and the position in the T direction (T-axis direction) are indicated by the turning mechanism 8 and the advance / retreat mechanism 9 of the moving mechanism 3.
- the inclination angle ⁇ 1 of the positioning gauge 5 is adjusted, by rotating the knob 84, the advancing / retreating mechanism main body 91, the holding unit 30 and the positioning gauge 5 are vertically moved around the reference position O1 (arrows a and b directions). Since it rotates, the inclination angle ⁇ 1 can be adjusted.
- the positioning gauge 5 When the position of the gauge hole 5b of the positioning gauge 5 is shifted in the T direction (arrow c, d direction), first, the light from the light source 63 is applied to the gauge hole 5b of the positioning gauge 5.
- the inside of the gauge hole 5b shines with the light from the light source 63, so that the position coincides with the optical axis 62a. it can.
- the first advance / retreat mechanism 9A of the advance / retreat mechanism unit 9 is operated to finely move the positioning gauge 5 in the T direction so that the center line of the gauge hole 5b is aligned with the reference position O1 on the optical axis 62a.
- the positioning gauge 5 can adjust the position in the X, Y, Z, and T directions to a predetermined needle tip position, and can also adjust the inclination angle ⁇ 1 to a predetermined angle.
- a focus adjustment step S2 of the positioning gauge 5 is performed to focus the microscope 6 on the small hole 5e of the gauge hole 5b.
- the lock lever 90d is raised and pressed down to release the locked state of the advance / retreat mechanism unit 9. Then, the advancing / retreating slider 92, the holding portion 30, and the positioning gauge 5 of the second advancing / retreating mechanism 9B are moved in the T direction and retracted against the spring force of the return spring member 93 shown in FIG. For this reason, the position of the positioning gauge 5 does not vary in the X, Y, and Z directions, and varies only in the T direction. In this state, the lock lever 90d is operated to lock the advance / retreat mechanism 9 in the retracted state.
- the release operation portion 32c of the lock slider 32 shown in FIG. 3 is pressed upward (in the direction of arrow e). Then, since the lock groove 32a of the lock slider 32 that has pressed and held the positioning gauge 5 is separated from the positioning gauge 5, the gauge attached portion 5c of the positioning gauge 5 can be detached from the holding portion 30. . After the placement gauge 5 is removed from the holding portion 30 in this way, the tool attachment portion 42b of the microtool 4 is pushed into the holding portion 30 to fix the microtool 4 to the holding portion 30 as shown in FIG. To do.
- the microtool 4 is similarly held at the same position as the gauge attached portion 5c of the positioning gauge 5 that has been aligned in the alignment step S1 (positions at distances L1 and L2 from the reference position O1).
- a tool attached portion 42b that can be attached and detached is provided.
- the micro tool 4 moves the aligned positioning gauge 5 in the T direction, replaces and attaches it, and then automatically returns to the original aligned position, and the needle tip position is set to a predetermined position with one touch. It can be accurately attached to the X, Y, Z, T direction position and the predetermined inclination angle ⁇ 1.
- the method for positioning a microtool according to the present invention does not require a positioning operation for directly positioning the microtool 4 by indirectly positioning the microtool 4. For this reason, it is possible to simplify the positioning operation, which is a complicated operation requiring skill, and to perform the positioning operation accurately and in a short time.
- the micro tool 4 is attached by simply pushing it into the holding unit 30 after retracting the aligned positioning gauge 5 to a position where it can be easily replaced by the moving mechanism 3, so that the original positioning gauge 5 is positioned at the aligned position. By automatically returning, it can be attached in the aligned state.
- the present invention does not require positioning by moving the microtool 4 in the X, Y, and Z directions, so that even an unskilled person can perform positioning work for accurately positioning the microtool 4. Thus, it can be easily and quickly repeated, and the work efficiency and workability of the positioning work can be improved.
- FIGS. 9A to 9C are schematic side views showing a first modification of the microtool of the micromanipulator device according to the embodiment of the present invention.
- the micropipette having a shape in which the angle ⁇ 2 of the bent portion 41e at the proximal end of the fine detail 41d is bent at 30 degrees has been described as an example of the microtool 4 (see FIG. 2B).
- the micro tools 4A, 4B, and 4C are configured so that the fine details 4Ad, 4Bd, and 4Cd of the tip portions 4Ab, 4Bb, and 4Cb are appropriately set according to the condition of the subject S. It may be formed by bending at various angles ⁇ 21, ⁇ 22, and ⁇ 23.
- the tips 4Ab, 4Bb, 4Cb including the fine details 4Ad, 4Bd, 4Cd and the tapered portions 4Ac, 4Bc, 4Cc need to be kept horizontal in the dish 7 during operation.
- the angles ⁇ 21 to ⁇ 23 are bent at an obtuse angle, it is easy to keep the tip portion horizontal.
- the micro tools 4A, 4B, and 4C are configured to bend the fine details 4Ad, 4Bd, and 4Cd to about 120 to 160 degrees ( ⁇ 21 to ⁇ 23), so that the fine details 4Ad, Since the tip sides of 4Bd and 4Cd are in a horizontal state, they can be arranged along the inner bottom surface 7a of the dish 7, so that the positioning work and injection work of the tip parts 4Ab, 4Bb and 4Cb are facilitated.
- 9A, the length L3 of the base portion 4Aa, the length L4 of the inclined portion of the fine detail 4Ad extending straight from the base portion 4Aa, and the length L5 of the horizontal portion of the fine detail 4Ad are: You may change suitably.
- FIG. 10 is a diagram showing a first modification of the positioning gauge of the micromanipulator device according to the embodiment of the present invention, and is a schematic side view showing a state when a micro tool is attached instead of the aligned positioning gauge. is there.
- the positioning gauge 5A includes a gauge attached portion 5Ac that matches the tool attached portion 42Ab of the micro tool 4A, a gauge surface 5Ad that matches the bent fine detail 4Ad of the micro tool 4A, and a micro tool. It is also possible to use a gauge hole 5Ab located at a position matching the tip portion 4Ab of 4A and having the tip portion bent according to the shape of the bent needle tip of the micro tool 4A.
- the positioning gauge 5A has a needle tip shape that matches the shape of the microtool 4A and the gauge attached portion 5Ac, the microtool 4A is replaced with the aligned positioning gauge 5A.
- the holding unit 30 By attaching to the holding unit 30, it is possible to accurately match the position of the micro tool 4A in the X, Y, Z, and T directions and the inclination angle ⁇ 1.
- FIG. 11 is an enlarged schematic cross-sectional view of a main part showing a second modification of the positioning gauge of the micromanipulator device according to the embodiment of the present invention.
- the tip 5Dh may be detachable from the cage body 5Da by the screw means 5Di or the like.
- an exchangeable plate 51 having a second gauge hole 51b that matches the gauge hole 5Db and a gauge surface 51d is detachably provided on the lower surface of the distal end portion 5Dh of the positioning gauge 5D by a screw member 52 or the like. May be.
- the positioning gauge 5D and the plate 51 are replaced with those having different lengths and shapes, and to obtain desired lengths and shapes.
- the tip 5Dh or the gauge surface 51d is damaged, only the tip 5Dh or the plate 51 of the positioning gauge 5D needs to be replaced.
- the horizontal portion length L5 of the fine detail 4Ad shown in FIG. 9A is about 0.5 to 2 mm, it can be covered with the positioning gauge 5A shown in FIG. 10, but the length K5 is longer than that. Long ones cannot be handled in FIG. In such a case, the length L5 of the horizontal portion of the fine detail 4Ad can be adjusted by replacing the positioning gauge 5D shown in FIG. 11 with the plate 51 or the like.
- the exchangeable plate 51 may be provided with a crosshair or other shape mark.
- FIG. 12 is a schematic perspective view showing a third modification of the micromanipulator device according to the embodiment of the present invention.
- the microtool 4 having the tool body 41 attached to the tip of the tool holder body 42 has a ruler when the distance L1 from the tip of the tool body 41 to the tool attached portion 42b is aligned to a predetermined length.
- the length adjustment gauge 43 is formed of a case body having support grooves 43b, 43c, and 43d that support the microtool 4, and a scale 43a that is added in units of mm, for example.
- the scale 43 a is provided on the upper surface of the length adjustment gauge 43 at the edge of the expanded support groove 43 b on which the tool body 41 is supported.
- the support groove 43c is a part where the tool holder main body 42 is supported.
- the support groove 43d is a portion where the tool attached portion 42b is supported.
- the micro tool 4 is placed on the length adjustment gauge 43 with the tool attachment portion 42b engaged with the support groove 43d, and the tip of the tool main body 41 is set to “0” of the scale 43a.
- the distance L1 from the tip to the tool attached portion 42b can be set to a predetermined length.
- FIG. 13 is a schematic perspective view of a microtool showing a fourth modification of the micromanipulator device according to the embodiment of the present invention.
- FIG. 14 is an enlarged schematic perspective view showing a length adjustment gauge according to a fourth modification of the present invention, wherein (a) shows the state of the length adjustment gauge when set in the microtool, and (b) shows the microtool. Shows the state of the length adjustment gauge during storage.
- the length adjustment gauge 44 may be attached to the microtool 4.
- the length adjustment gauge 44 is based on a cylindrical member 45 fitted on the tip of the cylindrical tube 42a and a shaft support hole 45b formed at the central portion of the left and right support grooves 45a of the cylindrical member 45.
- a length adjusting member 46 whose end is pivotally supported so as to be rotatable in the front-rear direction.
- the tubular member 45 is externally fitted at a position where it contacts the clamp screw 42c at the tip of the cylindrical tube 42a.
- the length adjusting member 46 is formed of a wire member that is bent in a substantially U shape (substantially recessed shape) as a whole in plan view.
- the length adjusting member 46 includes a pair of left and right shaft portions 46a formed at the base end portion, a specified dimension portion 46b formed in parallel along the T-axis from the shaft portion 46a toward the front side, and a specified dimension portion.
- a bent portion 46c that is bent downward from the tip end portion of 46b and a concave portion 46d that is formed in a concave shape downward from the bent portion 46c are formed.
- the length L6 from the shaft part 46a to the bent part 46c is formed in the prescribed dimension part 46b with a predetermined dimension.
- the microtool 4 causes the tips of the fine details 41d to be
- the length from the tip of the tool body 41 to the tool attached portion 42b is the distance L1.
- the prescribed dimension portion 46b is rotated to the storage position rotated to the base end side (arrow j direction) as shown in FIG. 14 (b).
- FIG. 15 is an enlarged schematic perspective view of a length adjusting jig showing a fifth modification of the micromanipulator device according to the embodiment of the present invention, and (a) shows a state of the length adjusting gauge at the time of setting. (B) shows the state of the length adjustment gauge at the time of storage.
- the length adjustment gauge 44 of the fourth modified example is similar to the length adjustment gauge 47 shown in FIGS. 15A and 15B. (k, m direction) may be slidable.
- the length adjusting member 49 is formed in substantially the same shape as the length adjusting member 46 of the fourth modified example. That is, the length adjusting member 49 includes a locking portion 49a provided at the rear end of the length adjusting member 49 at the opening edge of the through hole 48a formed in the tubular member 48 in the T direction, and a concave portion at the front end.
- the length that can be advanced and retracted is regulated by the contact of 49d (folded portion 49c). As shown in FIG.
- the length adjustment gauge 47 is configured such that the length from the tip of the microtool 4 to the tool attached portion 42b becomes the distance L1 when the length adjusting member 49 is pulled out to the tip side. It has become. And when not using the microtool 4, as shown in FIG.15 (b), the length adjustment member 49 is pushed in to a base end side direction (arrow m direction), and it is set in the accommodation state.
- the gauge hole 5b serves as a mark for alignment.
- the gauge hole 5b may be a mark such as a point or a scale.
- the gauge hole 5b may be a hole that serves as a positioning point at the time of alignment, and the shape in the gauge hole 5b may be appropriately changed.
- the gauge hole 5b is, for example, a straight hole, a taper-shaped upper widening hole 5f on the upper side, a hole having a straight shape on the lower side, or a hole having a stepped shape inside the gauge hole 5b. May be.
- the micro tool 4 made of a capillary is aligned has been described as an example.
- the present invention can be appropriately applied to alignment of rod-shaped members and tubular members in various fields. .
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Abstract
Description
特に、顕微授精や、体外受精等の実作業においては、被検体に対してマイクロツールを用いて微細な操作を行う際、迅速で正確に行うことが求められている。
また、マイクロツールの初期設定(位置決め)を行う作業は、マイクロツールの針先が極めて繊細であるため、その針先をディッシュの内底面に接触すること無く慎重に設置する必要があり、熟練と時間を要するものであった。
これらの作業は、高倍率の顕微鏡で行いたいが、しかし、高倍率では当然視野が狭くなり、針先の位置合わせが益々難しくなるため、作業効率及び作業性が悪いという問題点があった。
ここで、「マイクロツール」とは、医療分野、医薬分野、品種改良といったバイオ系産業分野や家畜産業や発生工学分野及び化学工業分野において、卵子、細胞、菌等の微粒子に対して、分離、分類、加工、選択、処理等の一連の操作を行う部材であって、例えば、キャピラリー、ピペット、マイクロピペット、マイクロサンプリングツール、硝子製等の電極、微小針、微細管等である。
なお、マイクロマニピュレータ装置1は、前記した種々のマイクロツール4を位置合わせするのに使用可能であるが、以下、顕微授精や体外受精等の実作業を行うときに使用されるキャピラリー(「ピペット」ともいう)をマイクロツール4とした場合を例に挙げて説明する。
まず、本発明の実施形態に係るマイクロマニピュレータ装置1を説明する前に、マイクロマニピュレータ装置1によって操作される被検体Sについて説明する。
図2(a)に示す被検体Sは、例えば、顕微授精や体外受精等の実作業に使用される卵子であり、ディッシュ7に内底面7aに載置されてオイルや溶液(薬液)等で覆われて、マイクロツール4によって精子が被検体S(卵子)に注入される。被検体Sは、ディッシュ7の内底面7aの光軸62a上に載置される。
図1に示すように、マイクロマニピュレータ装置1は、顕微授精や体外受精等を行う際に、被検体S(卵子)に精子を注入するときに使用される装置である。マイクロマニピュレータ装置1は、顕微鏡6と、顕微鏡6の視野内でマイクロツール4の三次元移動、卵子への精子の注入及び吸引等の微小操作をするマイクロマニピュレータ2と、ゲージ被取付部5cを有する位置決めゲージ5、及び、マイクロツール4を着脱可能に保持する保持部30と、位置決めゲージ5をY(Y軸)方向に位置合わせする移動機構3と、を備えている。
顕微鏡6は、マイクロツール4の針先の位置及びマイクロツール4の角度を所定の状態に設定する位置決め作業や、マイクロマニピュレータ装置1を使用して小さな被検体Sに精子を注入する繊細な作業を行う場合に、使用される倒立式の顕微鏡装置である。顕微鏡6は、不図示の本体基台と、本体基台に設けられた支柱(図示省略)と、支柱に設けられたテーブル61と、テーブル61の下方に配置された対物レンズ62と、テーブル61の上方に配置された光源63と、光源63とテーブル61との間に配置された集光器64と、集光器64と光源63との間に介在された絞りと、を備えている。顕微鏡6の視野寸法は、例えば、低倍の40倍の場合、前後方向に図4(d)に示すように、前後左右に数ミリ程度である。なお、顕微鏡6は、正立式のものであってもよい。また、顕微鏡6は、高倍率のものであっても適用可能であるが、以下、40倍の場合を例に挙げて説明する。
対物レンズ62は、例えば、開口部61aの略中心線上のテーブル61の下方に、上向きに配置されている(なお、開口部61aの中心線上でなくても可)。対物レンズ62の光軸62aの線上には、それぞれに中心を合わせるようにしてディッシュ7、集光器64、及び光源63が配置されている。対物レンズ62は、例えば、初期ゲージ合わせの場合、4倍(視野範囲がφ5程度)のレンズが使用される。
集光器64は、光源63から照射された光を、集光してディッシュ7を介在して対物レンズ62に送る装置である。
図2(a)に示すように、ディッシュ7は、被検体Sを載せるための皿であり、例えば、円形の縁を有するペトリ皿(シャーレ)形状をしている。このディッシュ7は、硝子等の透明な部材から成る皿状部材であり、水平な内底面7aを有している。図1に示すように、ディッシュ7は、顕微鏡6のテーブル61の略中心に形成された開口部61aを閉塞するようにしてテーブル61に載置される。
マイクロマニピュレータ2は、顕微鏡6の視野内で、被検体Sに対してマイクロツール4を用いて微細な操作を行う装置であり、顕微鏡6上に載設されている。マイクロマニピュレータ2は、マイクロマニピュレータ2の基台(図示省略)と、不図示の基台に立設された支柱(図示省略)と、基端部が支柱に回動可能に取り付けられたアーム21と、アーム21の先端部側をX軸微動機構23に取り付けるための取付部22と、マイクロツール4(位置決めゲージ5)と、位置決めゲージ5を傾斜させたり、進退(前進及び後退)させたりする移動機構3と、移動機構3をX方向に移動させるX軸微動機構23と、移動機構3をY方向に移動させるY軸微動機構24と、移動機構3をZ方向に移動させるZ軸微動機構25と、を備えている。
取付部22は、アーム21上にマイクロマニピュレータ2を載設するための部位である。
マイクロツール4は、医療分野、医薬分野、品種改良といったバイオ系産業分野や家畜産業や発生工学分野及び化学工業分野において、卵子、細胞、菌等の微粒子に対して、分離、分類、加工、選択、処理等の一連の操作を行う部材である。マイクロツール4は、例えば、キャピラリー、ピペット、マイクロピペット、マイクロサンプリングツール、硝子製等の電極、微小針、微細管等である。以下、マイクロツール4の一例として、毛細管ピペット(「マイクロピペット」ともいう。)の場合を例に挙げて説明する。
先端部41bの形状は、被検体Sに適合したものが使用されるため、被検体Sによって種々のものがあるが、顕微授精や体外受精等のときに使用されるものを例に挙げて説明する。その先端部41bは、基端側に形成されたテーパ部41cと、テーパ部41cの先端側からツール本体41の突端まで形成された繊細部41dと、テーパ部41cと繊細部41dとの間に形成された折曲部41eと、から形成されている。
折曲部41eは、例えば、30度に傾いた状態で配置される基部41a及びテーパ部41cに対して、繊細部41dをディッシュ7の内底面7aに沿って水平にするために形成された折曲部位である。
図3に示すように、位置決めゲージ5は、マイクロマニピュレータ装置1(図1参照)の移動機構3に、マイクロツール4を位置合わせした状態に取り付ける際に使用される初期設定用の治具である。この位置決めゲージ5を使用する場合は、位置決めゲージ5を移動機構3の保持部30に位置合わせした状態で保持させた後、位置決めゲージ5を離脱させて、マイクロツール4を保持部30に取り付けることによって、マイクロツール4を間接的に位置合わせできるようになっている。つまり、マイクロマニピュレータ装置1は、マイクロツール4を位置合わせする際に、マイクロツール4を直接使用せずに、位置決めゲージ5によってマイクロツール4の位置を所定位置に合わせている。
図1または図3に示すように、移動機構3は、マイクロツール4及び位置決めゲージ5を傾斜させたり、進退(退避、復帰)させたりすることが可能な装置であって、位置決めゲージ5をY軸に直交する方向に位置合わせするための機能を有している。移動機構3は、マイクロツール4のツール被取付部42b、及び位置決めゲージ5のゲージ被取付部5cを着脱可能に保持する保持部30と、保持部30(マイクロツール4及び位置決めゲージ5)を基準位置O1を中心として上下方向(矢印a,b方向)に回動させるための回動機構部8と、保持部30(マイクロツール4及び位置決めゲージ5)を基準位置O1のT方向(矢印c,d方向)に進退させるための進退機構部9と、を備えている。
図3に示すように、保持部30は、この保持部30に着脱可能に取り付けられた位置決めゲージ5のゲージ孔5b内の基準位置O1を中心として回動可能に設けられた移動機構3の進退機構部9の上部に設けられている。図5に示すように、保持部30は、後記する進退機構部9の進退スライダ92上に載設されて保持部30を保持する支持ケース体31と、支持ケース体31上に摺動自在に載置されたロックスライダ32と、ロックスライダ32を付勢するばね部材33と、ロックスライダ32を摺動自在に支持するためのカバー部材34と、カバー部材34を支持ケース体31上に固定するための締結部材35と、ロックスライダ32の移動を規制するストッパ36と、を備えて構成されている。
解除操作部32cは、ロックスライダ32において、ばね挿入孔32bとは反対側の側面部位に形成されている。解除操作部32cをばね部材33のばね力に抗して押圧すると、ロックスライダ32が矢印e方向に移動して、ロック溝32aの片側の側壁と、切欠溝34aの側壁とで挟持していたゲージ被取付部5c及びその前後近傍のゲージ本体5aからロック溝32aの片側の側壁が離間されて開放状態になる。このように、解除操作部32cを押圧操作した場合は、保持していた位置決めゲージ5のゲージ被取付部5cが開放されるので、マイクロツール4に交換してツール被取付部42bを保持可能になる。
図3に示すように、フランジ部34cは、カバー部材34の左右に形成された矩形の平板状部位であり、ケース部34bの前後端部がL字状に折曲形成されている。
ばね受け部34dは、ばね部材33の上端部を受け止める部位であり、カバー部材34の上面側がL字状に折曲して形成されている。
図5に示すように、ストッパ設置孔34eは、ストッパ36が取り付けられる貫通孔であり、ケース部34bの前後側面からガイド溝32dに向けて穿設されたねじ孔から成る。
図5に示すように、ストッパ36は、摺動するロックスライダ32の移動範囲を規制する部材であり、雄ねじによって形成されている。ストッパ36の雄ねじ部位は、ストッパ設置孔34eの左右側面に螺着されている。ストッパ36の雄ねじ部位の先端部は、ガイド溝32d内まで進入した状態に配置されて、ロックスライダ32が所定位置まで移動すると、ストッパ36の先端部がガイド溝32dの内壁に当接してロックスライダ32の移動を抑制するように配置されている。
図5に示すように、進退機構部9は、保持部30を備えた支持ケース体31をT方向(T軸方向)に進退させて、マイクロツール4及び位置決めゲージ5の位置をT方向に退避させたり、元の位置決めした位置等に前進させて戻したりする装置である。進退機構部9は、支持ケース体31を小さくT方向に進退させることが可能な第1進退機構9Aと、第1進退機構9Aよりも支持ケース体31を大きくT方向に進退させることが可能な第2進退機構9Bと、進退機構部9の移動を抑止するストッパ機構90(図6参照)と、を備えて構成されている。
シリンダチューブ95は、油圧が供給されることによって、ピストンを移動させて保持部30を進退させる進退機構駆動部である。
チューブ96は、不図示の油圧シリンダから進退機構操作装置の制御バルブを介して供給された油圧をシリンダチューブ95供給する油圧供給管である。
復帰ばね部材93は、進退スライダ92を引っ張って元に位置に戻す引張コイルばねから成り、一端が進退スライダ92の後側側面に固定され、他端が進退機構本体91の開口部91aの後側内壁に固定されている。
ガイド溝90bは、進退機構本体91に沿って真っすぐに延設された断面視して凹形状の溝から成る。
ロックレバー90dは、位置決めゲージ5及びマイクロツール4をT方向に移動可能にする場合に、T軸方向(基端側方向及び先端側方向)に向け、位置決めゲージ5及びマイクロツール4のT方向の移動を抑止してロックする場合に上方向に向けて立てた状態で下側に押し込むことによってロックする回動操作レバーである。
ロックレバー90dは、下側に押し込むことによって、連結部材90gを介してストッパガイド爪90fを下降させて止溝90a内に移動させてロック状態にする。また、ロックレバーを押し下げることによって、連結部材90gを介してストッパガイド爪90fの先端を係止溝90aから離脱させてガイド溝90bに移動させ、第1進退機構9A及び第2進退機構9Bの進退を可能にする。
連結部材90gは、ストッパ摺動支持体90cの背面(進退機構本体91の対向面)に上下動自在に配置されて、ロックレバー90dの操作に連動して上下方向に移動する。
図5に示すように、回動機構部8は、回動機構本体81と、回動機構本体81の円弧状溝部81aに回転自在に配置された複数のローラ82と、回動機構本体81の上下後端部に形成された支持突起81c(図3参照)に支持された角度調整ねじ部材83と、角度調整ねじ部材83の一端に取り付けられたノブ84と、角度調整ねじ部材83の雄ねじ部に螺合されたナット部材85と、ナット部材85の上面のベアリング収納溝85bに係合されたベアリング86と、を備えて構成されている。
図5に示すように、取付軸81dは、回動機構本体81をマイクロマニピュレータ2に連結するための軸棒である。
ベアリング86は、進退機構本体91の下面にベアリング取付ねじ86cによって固定された内輪86aと、前記ベアリング収納溝85bの係合された外輪86bと、外輪86bと内輪86aとの間に介在された鋼球と、を備えて構成されている。
Y軸微動機構24は、移動機構3をY方向(左右方向)に移動させる進退駆動装置であり、例えば、不図示の油圧シリンダからY方向微動操作装置の制御バルブを介してチューブ24aから供給される油圧によって、移動機構3をY方向に進退させる。
Z軸微動機構25は、移動機構3をZ方向(上下方向)に移動させる進退駆動装置であり、例えば、不図示の油圧シリンダからZ方向微動操作装置の制御バルブを介してチューブ25aから供給される油圧によって、移動機構3をZ方向に進退させる。
次に、図8を主に、図1~図7を参照しながら本発明の実施形態に係るマイクロツールの位置決め方法及びマイクロマニピュレータ装置の作用を作業工程順に説明する。
図3に示すように、マイクロツール4を所定の状態にマイクロマニピュレータ装置1に取り付ける場合は、まず、始めに位置決めゲージ5を移動機構3の保持部30に取り付けて位置合わせする位置合わせ工程S1を行う。
これにより、位置決めゲージ5は、X,Y,Z,T方向の位置を所定の針先位置に合わすことができると共に、傾斜角度θ1も所定の角度に合わせることができる。
次に、ゲージ孔5bの小孔5eに顕微鏡6のフォーカスを合わせる位置決めゲージ5のフォーカス調整工程S2を行う。
続いて、ロックレバー90dを立てた状態にして押し下げて進退機構部9のロック状態を解放させる。そして、図5に示す復帰ばね部材93のばね力に抗して第2進退機構9Bの進退スライダ92、保持部30、及び位置決めゲージ5をT方向に移動させて退避させる。このため、位置決めゲージ5は、X,Y,Z方向に位置が変動せず、T方向にのみ変動する。この状態で、ロックレバー90dを操作して、進退機構部9を退避状態にロックさせる。
このため、本発明は、マイクロツール4をX,Y,Z方向に移動させて位置合わせする必要がないので、熟練の無い者であっても、マイクロツール4を正確に位置合わせする位置決め作業を、容易にかつ迅速に繰り返し行えるようにすることができると共に、位置決め作業の作業効率及び作業性を向上させることができる。
なお、本発明は、前記実施形態に限定されるものではなく、その技術的思想の範囲内で種々の改造及び変更が可能であり、本発明はこれら改造及び変更された発明にも及ぶことは勿論である。なお、既に説明した構成は同じ符号を付してその説明を省略する。
図9(a)~(c)は、それぞれ本発明の実施形態に係るマイクロマニピュレータ装置のマイクロツールの第1変形例を示す概略側面図である。
また、図9(a)に示すように、基部4Aaの長さL3、基部4Aaから真っすぐに延びる繊細部4Adの傾斜部分の長さL4、及び、繊細部4Adの水平部分の長さL5は、適宜変更しても構わない。
図10に示すように、位置決めゲージ5Aは、マイクロツール4Aのツール被取付部42Abに合ったゲージ被取付部5Acと、マイクロツール4Aの曲がった繊細部4Adに合ったゲージ面5Adと、マイクロツール4Aの先端部4Abに合った位置にあるゲージ孔5Abと、を備えて、マイクロツール4Aの曲がった針先の形状に合わせて先端部を曲げたものを使用してもよい。
このように、位置決めゲージ5Aは、マイクロツール4Aの形状に合った針先形状と、ゲージ被取付部5Acとを有したものを使用すれば、位置合わせした位置決めゲージ5Aに換えてマイクロツール4Aを保持部30に装着することにより、マイクロツール4AのX,Y,Z,T方向の位置及び傾斜角度θ1を正確に合わせることが可能である。
図11は、本発明の実施形態に係るマイクロマニピュレータ装置の位置決めゲージの第2変形例を示す要部拡大概略断面図である。
図11に示すように、位置決めゲージ5Dは、先端部5Dhを、ねじ手段5Di等によってケージ本体5Daに着脱自在にしてもよい。また、位置決めゲージ5Dの先端部5Dhの下面には、ゲージ孔5Dbに合致する第2ゲージ孔51bと、ゲージ面51dと、を有する交換式のプレート51を、ねじ部材52等によって着脱自在に設けてもよい。
このように構成すれば、位置決めゲージ5D及びプレート51は、長さや形状が相違するものに適宜交換して、所望の長さや形状ものにすることが可能となる。
また、位置決めゲージ5Dは、先端部5Dhやゲージ面51dが損傷した場合に、位置決めゲージ5Dの先端部5Dhやプレート51のみを交換すればよい。
また、図9(a)に示す繊細部4Adの水平部分の長さL5が0.5~2mm程度のものは、図10示す位置決めゲージ5Aでもカバーすることができるが、長さK5がそれ以上長いものは、図10でも対応できない。このような場合、図11に示す位置決めゲージ5Dや、プレート51等に交換することにより、繊細部4Adの水平部分の長さL5を調整することができる。また、交換式のプレート51は、十字線や、他形状の目印等を入れてもよい。
図12は、本発明の実施形態に係るマイクロマニピュレータ装置の第3変形例を示す概略斜視図である。
図12に示すように、ツールホルダ本体42の先端にツール本体41を取り付けたマイクロツール4は、ツール本体41の先端からツール被取付部42bまでの距離L1を所定の長さに揃える場合、定規状の目盛43aを有する長さ調整ゲージ43を使用してもよい。
長さ調整ゲージ43は、マイクロツール4を支持する支持溝43b,43c,43dと、例えば、mm単位で付記された目盛43aと、を有するケース体から成る。目盛43aは、ツール本体41が支持される拡開した支持溝43bの縁の長さ調整ゲージ43の上面に設けられる。支持溝43cは、ツールホルダ本体42が支持される部位である。支持溝43dは、ツール被取付部42bが支持される部位である。
図13は、本発明の実施形態に係るマイクロマニピュレータ装置の第4変形例を示すマイクロツールの概略斜視図である。図14は、本発明の第4変形例の長さ調整ゲージを示す拡大概略斜視図であり、(a)はマイクロツールにセット時の長さ調整ゲージの状態を示す、(b)はマイクロツールに収納時の長さ調整ゲージの状態を示す。
この場合、長さ調整ゲージ44は、円筒管42aの先端位置に外嵌される筒状部材45と、筒状部材45の左右の支持溝45aの中央部位に形成された軸支穴45bに基端部が前後方向に回動自在に軸支された長さ合わせ部材46と、を備えて構成されている。
筒状部材45は、円筒管42aの先端のクランプねじ42cに当接する位置に外嵌される。長さ合わせ部材46は、全体が平面視して略U字状(略凹部形状)に折曲形成された針金部材によって形成されている。長さ合わせ部材46には、基端部に形成された左右一対の軸部46aと、軸部46aから前側に向けてT軸に沿って平行に形成された規定寸法部46bと、規定寸法部46bの先端部から下方向に向けて折曲された折曲部46cと、折曲部46cから下方向に向けて凹形状に形成された凹状部46dと、が形成されている。
図15は、本発明の実施形態に係るマイクロマニピュレータ装置の第5変形例を示す長さ調整治具の拡大概略斜視図であり、(a)はセット時の長さ調整ゲージの状態を示す、(b)は収納時の長さ調整ゲージの状態を示す。
この場合、長さ合わせ部材49は、第4変形例の長さ合わせ部材46と略同一形状に形成されている。つまり、長さ合わせ部材49は、筒状部材48にT方向に向けて形成された貫通孔48aの開口縁に長さ合わせ部材49の後端に設けた係止部49a、及び前端の凹状部49d(折曲部49c)が当接するにより、進退できる長さが規制されるようになっている。長さ調整ゲージ47は、図15(a)に示すように、長さ合わせ部材49を先端側へ引き出せば、マイクロツール4の先端からツール被取付部42bまでの長さが距離L1になるようになっている。そして、マイクロツール4を使用しない場合は、図15(b)に示すように、長さ合わせ部材49を基端側方向(矢印m方向)に押し込んで収納状態にする。
また、前記実施形態では、位置決めゲージ5にゲージ孔5bを形成してその中心を光軸62aに合わせて配置する場合を説明したが、ゲージ孔5bは、位置合わせするときの目印になるものであればよく、例えば、ポイントや、目盛等の目印であっても構わない。
また、ゲージ孔5bは、位置合わせの際に、位置決めポイントとなる孔であればよく、ゲージ孔5b内の形状は適宜変更しても構わない。ゲージ孔5bは、例えば、ストレート形状の孔や、上側にテーパ形状の上側拡開孔5fを有し、その下側がストレート形状の孔や、ゲージ孔5b内が段差形状になっている孔であってもよい。
2 マイクロマニピュレータ
3 移動機構
3a 保持部
4,4A,4B,4C マイクロツール
5,5A,5B,5C,5D 位置決めゲージ
5b,5Ab,5Bb,5Db ゲージ孔(目印)
5c,5Ac ゲージ被取付部
5d,5Ad,51d ゲージ面
6 顕微鏡
7 ディッシュ
7a 内底面
8 回動機構部
9 進退機構部
9A 第1進退機構(進退機構部)
9B 第2進退機構(進退機構部)
30 保持部
42b ツール被取付部
61 テーブル
61a 開口部
62 対物レンズ
62a 光軸
L1,L2 所定距離
S 被検体
S1 位置決めゲージの位置合わせ工程
S2 位置決めゲージのフォーカス調整工程
S3 マイクロツールの取付工程
Claims (8)
- マイクロツールの位置決め方法であって、
位置決めゲージを保持部に固定した状態で、針先位置に前記位置決めゲージのゲージ面を置いて、前記位置決めゲージに形成された目印を対物レンズの光軸に合わせる位置決めゲージの位置合わせ工程と、
前記位置決めゲージを前記保持部から外して、前記保持部に前記マイクロツールを固定するマイクロツールの取付工程と、
を含むことを特徴とするマイクロツールの位置決め方法。 - 前記位置決めゲージの位置合わせ工程で前記位置決めゲージを位置合わせした状態で、前記目印にフォーカスを合わせる位置決めゲージのフォーカス調整工程を含むことを特徴とする請求項1に記載のマイクロツールの位置決め方法。
- 前記位置決めゲージは、先端部に形成された前記目印から基端側へ予め設定した所定距離だけ離間した位置に設けられたゲージ被取付部を有し、
前記マイクロツールは、前記所定距離と同一の距離だけ、当該マイクロツールの先端から基端側に離間した位置に設けられたツール被取付部を有していることを特徴とする請求項1に記載のマイクロツールの位置決め方法。 - 前記位置決めゲージは、顕微鏡のテーブルの所定位置に載置されたディッシュの内底面に対して上方向に斜めの状態で前記保持部に保持され、
前記ゲージ面は、前記位置決めゲージの先端部に平らに形成されて、位置合わせの際に、前記ディッシュの前記内底面に載置され、
前記目印は、前記ゲージ面に直交して形成されると共に、位置合わせの際に、前記光軸上に配置されることを特徴とする請求項1に記載のマイクロツールの位置決め方法。 - 前記保持部は、当該保持部に着脱可能に取り付けられた前記位置決めゲージを移動させる移動機構に設けられ、
前記移動機構は、前記位置決めゲージの先端部に形成された前記目印を中心として前記位置決めゲージを保持した前記保持部を回動させる回動機構部と、
前記保持部を前記位置決めゲージのT軸方向に進退させる進退機構部と、を備えて、前記位置決めゲージを位置合わせし、
前記位置合わせした位置決めゲージを保持した前記保持部は、Y軸を固定した状態で、前記位置決めゲージを離脱させてから前記マイクロツールが取り付けられることを特徴とする請求項1に記載のマイクロツールの位置決め方法。 - 前記進退機構部は、前記位置決めゲージの位置合わせ工程で位置合わせした前記位置決めゲージを保持した前記保持部を退避させた後、前記保持部を前進させて前記位置決めゲージを位置合わせした位置に復帰させることを特徴とする請求項5に記載のマイクロツールの位置決め方法。
- 予め設定した所定距離だけ先端から基端側に離間した位置に設けられたツール被取付部を有するマイクロツールと、
顕微鏡の視野内で、被検体に対して前記マイクロツールを用いて微細操作を行うマイクロマニピュレータと、を備えたマイクロマニピュレータ装置において、
先端部に形成された目印から基端側へ予め前記所定距離だけ離間した位置に設けられたゲージ被取付部を有する位置決めゲージ、及び、前記マイクロツールを着脱可能に保持する保持部と、
前記位置決めゲージをT軸方向に位置合わせする移動機構と、
を備えていることを特徴とするマイクロマニピュレータ装置。 - 前記移動機構は、前記位置決めゲージの先端部に形成された前記目印を中心として前記位置決めゲージを保持した前記保持部を回動させる回動機構部と、
前記保持部を前記位置決めゲージのT軸方向に進退させる進退機構部と、を備えていることを特徴とする請求項7に記載のマイクロマニピュレータ装置。
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