JP3316675B2 - Hydraulic remote control type micromanipulator device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic remote control type micromanipulator device which enables a microtool such as a glass electrode to be microscopically remotely controlled by a hydraulic pressure or the like under a microscope.

[0002]

2. Description of the Related Art In the fields of basic medicine and biotechnology, organs and biological tissues of living organisms, cells such as egg cells and single cells are held, and cells are subjected to cell processing such as suction, injection, and division. There is a micromanipulator that operates, and various types of cell processing are performed on these cells by finely manipulating the micromanipulator within the visual field of the microscope.

[0003] When an operator touches the operation handle of the micromanipulator directly with his / her hand to perform a fine movement, the tremor generated in the hand may be enlarged and transmitted through the machine frame. The micromanipulator must be operated, and the operation requires careful attention and considerable skill. In view of this, there is a hydraulic remote control type micromanipulator device in which a micromanipulator can be finely and remotely controlled by a hydraulic pressure or the like.

[0004] The hydraulic remote control type micromanipulator device includes an operating section for actually moving a microtool on a microscope, and an operating section for performing an operation for performing this movement. Further, a liquid chamber is formed in each of the operating part and the operating part, and these liquid chambers communicate with each other via, for example, a hose. Further, the microtool is configured to move by increasing or decreasing the volume of the liquid chamber in the operating unit, and the volume of the liquid chamber in the operating unit can be increased or decreased by operating an operation dial, for example. By operating the operation dial in the operation section, the volume of the liquid chamber in the operation section increases and decreases, and accordingly, the hydraulic fluid moves between the liquid chamber in the operation section and the liquid chamber in the operation section via a hose. In addition, the number of liquid chambers in the operation section is increased or decreased, so that the micro tool is configured to move.

[0005]

However, in this hydraulic remote control type micromanipulator device,
When there is a temperature change, the working fluid changes its volume in accordance with the temperature change. With this change in the volume of the working fluid, the volume of the fluid chamber in the working section increases and decreases, and the tip of the micro tool drifts, which hinders accurate observation and operation.

In particular, when a sample is kept in contact with the tip of the microtool for a long time to perform observation or operation, if a drift phenomenon occurs, the tip of the microtool is separated from the sample, and observation or operation cannot be continued. There's a problem.

It is an object of the present invention to prevent a drift phenomenon of a micro tool caused by a change in the volume of a working fluid due to a change in temperature in a hydraulic remote control type micromanipulator device. is there.

[0008]

According to the present invention, there is provided a hydraulic remote control type micromanipulator apparatus according to the present invention, wherein an operation section side liquid chamber filled with a hydraulic fluid is formed, and the operation section side liquid chamber is provided. An operating part having operating means for increasing and decreasing the volume of the chamber, and an operating part side liquid chamber which is in communication with the operating part side liquid chamber via a hose and is filled with a working liquid are formed. The moving member has a moving slider that moves relative to the fixed member by increasing or decreasing the volume of the liquid chamber, and the moving member of the moving slider forms a liquid chamber filled with the drift canceling liquid. , By increasing or decreasing the volume of the liquid chamber filled with the drift canceling liquid,
Canceling slider moving member moves relative to the fixed member is mounted, provided with an actuating portion which micro tool installation portion in the moving member is provided in the canceling slider, the actuating portion side liquid Chamber and the drift offset
The liquid chamber filled with the liquid for movement is
Arranged on the opposite side via the offset slider
Is location, the amount of the working fluid, said the amount of the drift canceling liquid identical, and the hydraulic fluid, and the drift canceling liquid, even causing a volume change due to temperature changes, the work
The moving slider is moved by increasing or decreasing the volume of the moving part side liquid chamber.
The moving member is moved and the drift canceling liquid is filled.
Moving member of the offset slider by increasing or decreasing the volume of the liquid chamber
Is opposite to the direction in which the moving member of the moving slider moves.
The micro tool mounting portion is configured to be stopped by relatively moving in the direction .

Also, in the hydraulic remote control type micromanipulator device according to the present invention, the operating means may include:
In addition to being capable of fine movement in the three-dimensional directions of the left-right direction and the up-down direction, it is also possible to operate the operation means in each direction.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a hydraulic remote control type micromanipulator according to the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of a hydraulic remote control type micromanipulator device which is an example of a hydraulic remote control type micromanipulator device according to the present invention.
As shown in FIG. 1, a hydraulic remote control type micromanipulator device 1 includes an operation unit 2 and an operation unit 3.

The operation unit 2 includes a Z-axis dial 2 serving as a moving operation means in each of the Z-axis, X-axis, and Y-axis directions.
1, an X-axis dial 22 and a Y-axis dial 23 are provided. The Z-axis dial 21 is, as shown in FIG.
It has an operation knob 21A and a bearing 21B. The operation knob 21A is provided with a male screw member 21a, and a cylindrical pushing member 21C is attached to a tip of the male screw member 21a.

The bearing 21B is provided with a female screw 21b which penetrates through the pushing member 21C and is screwed with the male screw member 21a of the operation knob 21A, and a scale which is referred to when performing a fine movement operation. 21c is attached. Further, on the opposite side of the bearing 21B from the side where the operation knob 21A is attached, an oil chamber 41 for hydraulic oil, which is a liquid chamber on the operation section side, is arranged. The hydraulic oil chamber 41 is formed of a steel cylindrical member 41A having one open surface and a flexible rubber sealing member 41B covering the open surface. And pressing member 21C
Are fixed in a state where the cylindrical member 41A is fitted to the bearing 21B in a state where they face each other.

A hose connection port 41C is provided on the opposite side of the open surface of the cylindrical member 41A, so that the hose 51 attached to the hose connection port 41 and the hydraulic oil chamber 41 can be inserted therethrough. Thus, by rotating the operation knob 21A, the pushing member 21C moves forward or backward, and the volume of the hydraulic oil chamber 41 can be increased or decreased. A flange 41D is provided on the outer periphery of the cylindrical member 41A.

As shown in FIG. 2B, the operation unit 2 has a liquid canceling liquid chamber 42 serving as a liquid chamber filled with the drift canceling liquid. The liquid chamber 42 for offsetting liquid is
It is formed by a steel cylindrical member 42A, and has a hose connection port 42C at an end thereof,
The hose 52 attached to the hose connection port 42C and the liquid chamber 42 for offsetting liquid can be inserted. A flange 42D is provided on the outer periphery of the cylindrical member 42A.
The hose 51 and the hose 52 having the same volume and length are used.

On the other hand, as shown in FIG.
An X-axis slider 31, a Y-axis slider 32, and a Z-axis slider 33 are provided for enabling movement in the respective directions of the axis, the Y axis, and the Z axis. An X-axis drift prevention slider 34, a Y-axis drift prevention slider 35, and a Z-axis drift prevention slider 36 are attached to each of these sliders for drift prevention.
Since the sliders in these directions have substantially the same configuration, the Z-axis slider 33 and the Z-axis drift prevention slider 36 will be described as examples.

As shown in FIG. 3, an inner slider 33B is slidably provided on an outer slider 33A of the Z-axis slider 33 via a linear way bearing 33C. A piston 33D is provided on one end surface of the inner slider 33C.
Is mounted, and is fitted to the piston 33D to form a hydraulic oil chamber 61 for a hydraulic oil constituting an operating section side liquid chamber of the present invention.
Are disposed.

The cylinder member 33E includes an outer slider 33A.
Is inserted into an insertion hole formed in a side plate 33F fixed to one end surface of the side plate 33F by bolts 33a, 33a.
It is fixed to 3F by bolts 33b, 33b.
The cylinder member 33E is provided with a hose mounting port 33G.
Is attached, and the hydraulic oil chamber 61 communicates with the hydraulic oil chamber 41 in the operation unit via the hose 51. The hydraulic oil chamber 61 communicating with the hydraulic oil chamber 61 via the hose 51 and the hydraulic oil chamber 41 in the operation section are filled with hydraulic oil. The other end surface of the outer slider 33A has
A side plate 33H is fixed by bolts 33c, 33c, and a spring 33I is attached to the side plate 33H to constantly urge the inner slider 33B toward the cylinder member 33E.

On the other hand, the Z-axis drift prevention slider 36 is
Since the configuration is the same as that of the Z-axis slider 33, the detailed description of the configuration is omitted. However, as shown in FIG. 3, an inner slider 33B of the Z-axis slider 33 and an outer slider 36A of the Z-axis drift prevention slider 36 are provided. Are fixed to each other. Also formed on the Z-axis drift prevention slider 36,
The canceling liquid chamber 62 filled with the drift canceling liquid (hereinafter referred to as “offsetting liquid”) is formed to have the same volume as the hydraulic oil chamber 61 formed in the Z-axis drift prevention slider 36. ing. The hydraulic oil chamber 61 and the canceling liquid oil chamber 62 are arranged along the Z-axis direction along the Z-axis slider 3.
3 and the Z-axis drift prevention slider 36 are disposed on opposite sides. Further, the same liquid as the above-mentioned hydraulic fluid is used as the canceling liquid. The inner slider 36B of the Z-axis drift prevention slider 36
Is provided with a micro tool mounting member 37,
A microtool M such as a glass electrode is mounted on the microtool mounting member 37.

Also, as shown in FIG.
3 and the Z-axis drift prevention slider 36, the inner slider 31B of the X-axis slider 31 and the outer slider 34A of the X-axis drift prevention slider 34, and the inner slider 32B of the Y-axis slider 32 and the outer slider 35A of the Y-axis drift prevention slider 35. Are also fixed to each other. Further, the outer slider 31A of the X-axis slider 31 is fixed to the base 5, and the inner slider 3 of the X-axis drift prevention slider 34.
4B is fixed to the outer slider 32A of the Y-axis slider 32 via the angle member 6. The inner slider 35B of the Y-axis drift prevention slider 35 is fixed to the outer slider 33A of the Z-axis slider 33 via the mounting member 7. With this configuration, the Z-axis drift prevention slider 36
The microtool attachment member 37 attached to the inner slider 36B is movable in three-dimensional directions, ie, the front-back direction, the up-down direction, and the left-right direction.

Next, the operation of the hydraulic remote control type micromanipulator device according to the present invention will be described. First, a method of moving the microtool M will be described with reference to a method of moving in the Z-axis direction. Z axis dial 2 shown in FIG.
2 is rotated clockwise, the pushing member 21C shown in FIG. 2A presses the sealing member 41B, and the hydraulic oil chamber 41 is pressed.
Decrease the volume of Then, the hydraulic oil in the hydraulic oil chamber 41 is sent to the hydraulic oil chamber 61 of the Z-axis slider 33 in the operating section 3 shown in FIG. The inner slider 33B moves in the direction of the side plate 33H against the urging force of the spring 33I. Since the outer slider 36A of the Z-axis drift prevention slider 36 is fixed to the inner slider 33B,
The shaft drift prevention slider 36 also moves in the same direction. The micro-tool mounting member 37 is fixed to the inner slider 36B of the drift prevention slider 36, while the outer slider 36 of the drift prevention slider 36 is fixed.
The relative positional relationship between A and the inner slider 36B does not change. Therefore, the microtool attachment member 37 and the microtool M attached thereto move in the same direction as the direction in which the inner slider 33B of the Z-axis slider 33 moves.

Conversely, when the Z-axis dial 21 is rotated counterclockwise, the pushing member 21C shown in FIG. 2A moves in a direction away from the sealing member 41B. Then, the operating part 3
The hydraulic fluid is sent from the hydraulic oil chamber 61 of the Z-axis slider 33 to the hydraulic oil chamber 41 of the operation unit 2 via the hose 51 by the urging force of the spring 33I of the Z-axis slider 33, The inner slider 33B moves in the direction of the side plate 33F. At this time, the Z-axis drift prevention slider 36
Since the relative positional relationship between the outer slider 36A and the inner slider 36B does not change, the micro-tool mounting member 37 and the micro-tool M mounted thereon are the same as the direction in which the inner slider 33B of the Z-axis slider 33 moves. Move in the direction.

The moving operation in the X-axis direction and the Y-axis direction can be performed by the same operation.

Next, the drift prevention function in the present invention will be described. FIG. 5 shows the drift prevention function.
This will be described using the members in the Z-axis direction schematically shown in FIG. Now, the same amount of the canceling liquid as the working oil filled in the working oil chamber 41 on the operation section 2 side is filled in the canceling liquid chamber 42. On the other hand, on the operating section 3 side, similarly, the same amount of the canceling liquid as the working oil filled in the working oil chamber 61 is filled in the canceling liquid chamber 62. The hose 51 and the hose 52 that communicate with each other have the same length and the same volume. Therefore, the hose 51
The amount of hydraulic oil between the hydraulic oil chamber 41 on the operation unit 2 side and the hydraulic oil chamber 61 on the operation unit 3 side that communicates with each other, and the offset on the operation unit 2 side that communicates via the hose 52 The amount of offset liquid between the liquid chamber for liquid 42 and the offset liquid chamber 62 on the operation section side is the same. It should be noted that the term “identical” as used herein does not require strict identicalness. It is considered that the microtool M is substantially stopped even if the hydraulic oil and the offsetting liquid change in volume. This is a concept that includes a small amount of error.

Now, when a temperature change occurs, for example, when the temperature rises, both the hydraulic oil and the canceling liquid expand. When the hydraulic oil expands, the volume of the hydraulic oil chamber 61 in the Z-axis slider 33 increases. At this time, the Z-axis slider 3
3 is fixed, the inner slider 33B of the Z-axis slider 33 is
In the direction of the arrow (a). By the way, the ambient temperature change naturally occurs in the same way, and the same is used as the hydraulic oil and the offset liquid, and the amounts thereof are the same.
The hydraulic oil will expand by the same amount as the expanded amount.
Since the volume of the liquid canceling liquid chamber 42 on the operation unit 2 side is constant and does not change, when the liquid canceling liquid expands, the volume of the liquid canceling liquid chamber 62 in the Z-axis drift prevention slider 36 increases. When the volume of the canceling liquid chamber 62 increases, the inner slider 36B of the Z-axis drift prevention slider 36 relatively moves in the direction of the arrow (b).

Here, the inner slider 3 of the Z-axis slider 33
3B and the outer slider 3 of the Z-axis drift prevention slider 36
Since 6A is fixed, they move integrally. Then, the outer slider 3 in the Z-axis slider 33
3A, the inner slider 33 of the Z-axis slider 33
Outer slider 36A of B and Z axis drift prevention sliders 36
Is similarly moving in the direction of the arrow (a) shown in FIG.
Will have stopped. Also, the Z-axis slider 33
Since the outer slider 33A is fixed,
Inner slider 36B of Z-axis drift prevention slider 36 stopped as viewed from outer slider 33A of shaft slider 33
Is actually stopped. Therefore, even if there is a temperature change, the micro tool M attached to the micro tool attachment member 37 does not drift in the Z-axis direction.

Conversely, when the ambient temperature decreases and the hydraulic oil and the canceling liquid shrink, the inner slider 33B of the Z-axis slider 33 and the outer slider 36A of the Z-axis drift prevention slider 36 are operated according to the same principle. Is the Z-axis slider 3
3 moves relatively in the direction shown by the arrow (b) when viewed from the outer slider 33A. However, the inner slider 36B of the Z-axis drift prevention slider 36 does not relatively move when viewed from the outer slider 33A of the Z-axis slider 33, and thus does not actually move.

The drift prevention function has been described above using the Z-axis slider 33 and the Z-axis drift prevention slider 36. However, the X-axis slider 31 and the X-axis drift prevention slider 3 are described.
4. Y-axis slider 32 and Y-axis drift prevention slider 35
Also, the Z-axis slider 33 and the Z-axis drift prevention slider 36
Since it has the same configuration as that described above, it has the same drift prevention function as these. Therefore, the micro tool M does not drift in the X-axis direction and the Y-axis direction.

In the above-described embodiment, the volumes of the hydraulic oil chamber 41 and the liquid canceling liquid chamber 42 on the operation section side, and the hydraulic oil chamber 61 and the liquid canceling liquid chamber 62 on the operating section side.
Are set to be the same, however, the Z-axis slider 33
If the relationship in which the outer slider 33A and the inner slider 36B of the Z-axis slider 36 are relatively stopped can be maintained, the respective volumes can be set to appropriate values.
For example, the capacity of the oil chamber formed on the operation unit side and the capacity of the oil chamber on the operation unit side communicating with this are set to, for example, 1: 5,
Fine movement operation can be easily performed.

In the above embodiment, the micro tool can be moved in the Z-axis direction, the X-axis direction, and the Y-axis direction. However, the micro tool can be moved only in one or two directions. You may comprise so that it can be performed. Furthermore, in the above-described embodiment, the liquid chamber for canceling liquid is formed on the operation unit side and the operation unit, but a liquid chamber for canceling liquid is formed only on the operating unit side, and the liquid chamber for canceling liquid is filled in this. You can also.

[0030]

As described above, according to the present invention,
In a hydraulic remote control type micromanipulator device,
Even if there is a temperature change, it is possible to prevent the microtool from drifting due to a change in the volume of the working fluid due to the temperature change.

[Brief description of the drawings]

FIG. 1 is a perspective view of a hydraulic remote control type micromanipulator device according to the present invention.

FIG. 2 is an exploded perspective view of a main part of an operation unit in the hydraulic remote control type micromanipulator device according to the present invention.

FIG. 3 is an exploded perspective view of a second slider of an operation unit in the hydraulic remote control type micromanipulator device according to the present invention.

FIG. 4 is an exploded perspective view of a main part of an operating unit in the hydraulic remote control type micromanipulator device according to the present invention.

FIG. 5 is a schematic diagram showing an operation of a drift prevention function of the hydraulic remote control type micromanipulator device according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic remote control type micromanipulator device 2 Operation part 3 Operating part 5 Base 6 Angle material 7 Mounting member 21 Z-axis dial 21A Operation knob 21B Bearing 21C Extrusion member 21a Male screw member 21b Female screw 21c Scale 22 X-axis dial 23 Y-axis dial 31 X-axis slider 31A outer slider 31B inner slider 32 Y-axis slider 32A outer slider 32B inner slider 33 Z-axis slider 33A outer slider 33B inner slider 33C linear way bearing 33D piston 33E cylinder member 33F side plate 33G hose mounting port 33H side plate 33I Spring 34 X-axis drift prevention slider 34A Outer slider 34B Inner slider 35 Y-axis drift prevention slider 35A Outer slider 35B Inner slider 36 Z-axis drift prevention slider Ida 36A Outer slider 36B Inner slider 37 Micro tool mounting member 41 Hydraulic oil chamber 41A Cylindrical member 41B Sealing member 41C Hose connection port 41D Flange 42 Liquid canceling liquid chamber 42A Cylinder member 42C Hose connection port 42D Flange 51, 52 Hose 61 Oil chamber for hydraulic oil 62 Liquid chamber for offset liquid J Joystick M Micro tool

Claims (2)

(57) [Claims] An operation section having an operation section side liquid chamber filled with hydraulic fluid is formed, and an operation section having operation means for increasing and decreasing the volume of the operation section side liquid chamber; A working part side liquid chamber which is communicated through a hose and is filled with the working liquid is formed, and the moving member moves relative to the fixed member by increasing or decreasing the volume of the working part side liquid chamber. A liquid chamber filled with a drift canceling liquid is formed on a moving member of the moving slider, and the moving member is fixed by changing the volume of the liquid chamber filled with the drift canceling liquid. And a moving member of the canceling slider, the moving member of which is provided with a microtool mounting portion. The actuating portion side liquid chamber and the drift canceling device are provided. Liquid It is filled
The liquid chamber is defined as the moving slider and the canceling slide.
And the amount of the hydraulic fluid and the amount of the drift canceling liquid are the same, and the working fluid and the drift canceling liquid have a volume Even if the change occurs, the volume of the liquid chamber
The moving member of the moving slider moves by increasing or decreasing
Increase / decrease in the volume of the liquid chamber filled with the drift canceling liquid
As a result, the moving member of the offset slider is moved
Moves in the direction opposite to the direction in which the moving member of Ida moves
The hydraulic remote control type micromanipulator device , wherein the microtool mounting portion is configured to be stopped. 2. The micro tool mounting portion of the operating portion is finely movable in three-dimensional directions of a front-rear direction, a left-right direction, and a vertical direction, and is operable by the operation portion in each direction. The hydraulic remote control type micromanipulator device according to claim 1.