WO2006103749A1 - マイクロマニピュレータ - Google Patents
マイクロマニピュレータ Download PDFInfo
- Publication number
- WO2006103749A1 WO2006103749A1 PCT/JP2005/005973 JP2005005973W WO2006103749A1 WO 2006103749 A1 WO2006103749 A1 WO 2006103749A1 JP 2005005973 W JP2005005973 W JP 2005005973W WO 2006103749 A1 WO2006103749 A1 WO 2006103749A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- link
- links
- point
- gripping
- micromanipulator
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Definitions
- the present invention relates to a micromanipulator, and more particularly to a micromanipulator that has a simple structure and can grip and operate a fine object in a three-dimensional space accurately and reliably.
- the rotational force of a motor is used as a gear reduction mechanism. It is converted to mechanical force via a feed screw mechanism, etc., and this mechanical force displaces the manipulator's gripper 'operation part to grip a fine object, which changes the predetermined position and posture. It is common to operate to keep.
- the displacement operation of the manipulator's gripper operation unit detects the current position and orientation of the fine object with a position sensor, angle sensor, etc., and controls the rotation of the motor while feeding it back to the motor. It is done by
- Patent Documents 1 to 3 By directly converting electrical force into mechanical force without using such a complicated mechanism that converts electrical force into mechanical force, precise position and posture control of fine objects is achieved.
- Various micromanipulators that use a telescopic actuator such as a piezoelectric element have been proposed (Patent Documents 1 to 3).
- Patent Document 1 Japanese Patent No. 2677625
- Patent Document 2 JP-A-6-170762
- Patent Document 3 Japanese Patent Publication No. 6-104308
- the devices described in Patent Documents 1 and 2 are stopped by a positioning device having a degree of freedom in one axial direction, and the device described in Patent Document 3 is a multidimensional space.
- the six links and the three springs that are used to control the position and attitude of a minute object within the body first the position and attitude of an end effector consisting of a hand piece attached to the base is controlled.
- the position of the hand piece is controlled in position and posture, and the gripping operation unit provided at the tip of the hand piece grips the fine object and is operated so as to maintain the predetermined position and posture.
- the mechanism and structure are still complex.
- the invention of the present application solves the above-mentioned problems of conventional micromanipulators, has a simple structure, and can accurately control the position and orientation of a fine object in a multidimensional space. It is an object to provide a manipulator.
- the micromanipulator is composed of a pair of hand modules that grips and manipulates a fine object, and each of the pair of hand modules has a first, second, and third link force.
- the first, second, and third links are located at one point X above the base part with the three points A, B, and C of the base part as the starting points of swinging. Are connected to each other so that they can be displaced relative to each other, and the first link extends beyond the point X and has a grip 'operation portion, and each of the second link and the third link includes: There is at least one expansion / contraction actuator in the middle, and the expansion / contraction of each expansion / contraction actuator expands / contracts the second link and the third link, respectively.
- Point X The corresponding part is moved around a predetermined range of the surface of the sphere with the origin A as the center of the sphere so that the gripping operation unit is displaced to a predetermined position in the three-dimensional space.
- a micrometer characterized by It is a pilot.
- the second and third telescopic actuators respectively provided in the second and third links of the pair of hand modules are expanded and contracted.
- Each part of the link expands and contracts, and the part corresponding to the point X of the first link moves around a predetermined range on the surface of the sphere with the origin A as the center of the sphere. It is possible to perform a displacement operation to a predetermined position in the space, thereby gripping a fine object at a predetermined position in the three-dimensional space, This can be operated to maintain a predetermined position and posture. Therefore, with a relatively simple structure, a fine object at a predetermined position in the three-dimensional space can be freely gripped and manipulated in the same space.
- the micromanipulator has at least one extendable actuator between the portion corresponding to the first link force point X and the gripping operation portion. Speak.
- the micromanipulator expands and contracts the extendable actuator provided in the first link, whereby the first link expands and contracts, and the gripping operation portion at the tip thereof is moved to the first link.
- the link can be positioned at a desired position in the length direction of one link, and a more flexible gripping operation in the same space of a fine object at a predetermined position in the three-dimensional space becomes possible.
- the expansion / contraction actuator is configured to also have a piezoelectric element force.
- the micromanipulator can directly relate the amount of electricity input to the piezoelectric element to the amount of expansion / contraction of the first to third links, and accurately adjust the amount of electricity input to the piezoelectric element.
- the amount of expansion and contraction of the first to third links it is possible to precisely control the positional displacement of the pair of gripping operation units, and the control of the force is relatively simple.
- the precise positioning of each of the pair of gripping “operating portions” is facilitated, and free and precise gripping “operation” of a fine object in a three-dimensional space becomes possible.
- a pair of hand modules By extending / contracting the expansion / contraction actuators of the first to third links of the module, the first to third links are expanded / contracted, and a pair of gripping / operating portions of the pair of hand modules are provided.
- a fine object at a predetermined position in the three-dimensional space can be gripped and operated so as to maintain the predetermined position and posture.
- the minute object is positioned at the predetermined position in the three-dimensional space. Free gripping and manipulation of a minute object in the same space.
- the micromanipulator directly converts the electric quantity input to the piezoelectric element into the expansion / contraction amount of the first to third links.
- the amount of electricity input to the piezo piezoelectric element By precisely controlling the amount of electricity input to the piezo piezoelectric element, the amount of expansion and contraction of the first to third links, and the positional displacement of the pair of gripping operation units can be precisely controlled. Since the control of the force is relatively simple, precise positioning of each of the pair of gripping operation units is facilitated, and the fine object can be freely controlled in the three-dimensional space. Precise gripping 'operation becomes possible.
- FIG. 1 is a schematic perspective view of a hand module constituting a micromanipulator of a first embodiment.
- FIG. 2 is a schematic perspective schematic view of the micromanipulator comprising a pair of combinations of the hand modules.
- a pair of hand modules each of the pair of hand modules includes a three-degree-of-freedom link mechanism including first, second, and third link forces I have. These first, second, and third links are relative to each other at one point X above the base, with the three points A, B, and C of the base as the starting points. Connected as possible.
- the first link has a gripping / operating portion extending ahead of the point X, and has at least one extendable / activator between the portion corresponding to the point X and the gripping / operating portion. is doing.
- Each of the second link and the third link has at least one telescopic actuator in the middle thereof.
- each telescopic actuator expands and contracts, so that the first to third links expand and contract, respectively, thereby positioning the gripping operation portion at a desired position in the length direction of the first link,
- the part corresponding to the point X of the first link moves from the starting point A to the center of the sphere, moves within a predetermined range of the surface of the sphere, and the gripping operation unit moves to a predetermined position in the three-dimensional space.
- the telescopic actuator is supposed to have a piezoelectric element force.
- FIG. 1 is a schematic perspective view of a hand module constituting the micromanipulator of the first embodiment
- FIG. 2 is a schematic perspective view of the micromanipulator comprising a combination of the hand modules.
- the micromanipulator 10 is used to hold and position a fine object, for example, a cell, and to operate the micromanipulator 10 so that it takes a predetermined posture. In this way, for the cells whose position and orientation are determined, various operations such as gene incorporation, reaction with reagents, and cutting are performed.
- the micromanipulator 10 of the first embodiment is configured by using a hand module 1 force as shown in Fig. 1 and being used in a pair-to-face combination as shown in Fig. 2. .
- each hand module 1 is provided with a three-degree-of-freedom link mechanism including three links 1, 2, and 4, which are first, second, and third.
- the third links 2, 3, and 4 have three points A, B, and C set on the surface of the base part 6 as their respective swing starting points. They are connected to each other so that they can be displaced relative to each other! ZBAC is 90 ° here.
- connection to the base 6 at the three points A, B, C at one end of the first, second, third link 2, 3, 4 may be a pivot connection, or the second, As shown in FIG. 1, the third links 3 and 4 are tiltably locked to connecting members 8b and 8c that are rotatable on the base portion 6. It may be. Further, as shown in FIG. 1, the end of the first link 2 is fixed to the base portion 6, and the first link 2 is utilized by utilizing the elastic deformation of the constricted portion (hinge) in the vicinity of the end portion. The link 2 may be tiltable.
- the links 3 and 4 As for the second and third links 3 and 4, as in the first link 2, their end portions are fixed to the base portion 6, and the elasticities of the constricted portions (hinges) in the vicinity of these end portions are fixed. Using the deformation, the links 3 and 4 may be tiltable.
- the relative displaceable interconnection at the point X of the first, second, and third links 2, 3, and 4 has two engagements formed at a portion corresponding to the point X of the first link 2. Force that the other ends of the second and third links 3 and 4 are connected to the stop projections 9b and 9c by pivot connection, force that is connected by a universal joint, or connection by a constricted part (hinge) Can be made to be done.
- the first link 2 extends ahead of the point X, and has a gripping / operating unit 7 at the tip thereof.
- the telescopic actuator 5a is provided between the portion corresponding to the point X of the first link 2 and the gripping / operating section 7, and the first link 2 is expanded and contracted by the expansion and contraction of the telescopic actuator 5a.
- the gripping / operating unit 7 is positioned at a desired position in the length direction of the first link 2.
- the number of extendable actuators 5a is not limited to one, and may be plural as required.
- Each of the second link 3 and the third link 4 has expansion / contraction actuators 5b and 5c in the middle thereof, and the expansion / contraction actuators 5b and 5c extend and contract.
- the second link 3 and the third link 4 expand and contract, respectively, so that the portion corresponding to the point X of the first link 2 has a predetermined surface of the sphere with the origin A as the center of the sphere.
- the gripping / operating section 7 moves in a predetermined range on the surface S of the concentric expanding sphere and moves to a predetermined position in the three-dimensional space.
- the number of extendable actuators 5b and 5c is not limited to one, and may be plural if necessary.
- the expansion / contraction actuators 5a, 5b, and 5c are also configured to have a piezoelectric element force.
- a stack actuator unit that is formed by alternately stacking piezoelectric elements and electrodes in a plurality of stages is also used. It is configured. Then, this is used in such a manner that its stacking direction is along the length direction of each link and is incorporated at a predetermined position in the length direction of each link.
- the micromanipulator 10 of the first embodiment is configured by using a pair of the hand modules 1 described above in combination on the base portion 6 so as to face each other. As shown in FIG.
- a line segment A—C connecting the swing start points A and C of one hand module 1 of the pair of hand modules 1 and 1 and the other hand module. 1 may be combined in such a way that the line segment A—B connecting the swing start points A and B is opposed to each other on the six surfaces of the base, or one hand module as shown in FIG.
- the swing starting point A of 1 and the swing starting point A of the other hand module 1 may be combined as such that they face each other on the base 6 surface.
- a predetermined control current is supplied to the telescopic actuators 5a and 5a incorporated in the first links 2 and 2 of the pair of hand modules 1 and 1, so that the first links 2 and 2 expand and contract to a predetermined length.
- the gripping / operating portions 7 and 7 provided at the tip portions thereof are positioned at desired positions in the length direction of the first links 2 and 2.
- predetermined control currents are supplied to the expansion / contraction actuators 5b and 5b incorporated in the second links 3 and 3 and the expansion and contraction actuators 5c and 5c incorporated in the third links 4 and 4, respectively.
- the second link 3, 3, and the third link 4, 4 expand and contract to a predetermined length, so that the parts corresponding to the points X, X of the first link 2, 2 are A predetermined range of the surface of the sphere is moved as the center, and the first links 2 and 2 are oscillated and displaced so as to face the predetermined direction.
- the gripping operation units 7 and 7 move within a predetermined range of the concentric expanding sphere surfaces S and S and move to a predetermined position in the three-dimensional space, and these approach each other. Grab the fine object O.
- the fine object O gripped by the pair of gripping operation units 7 and 7 in this way is further subjected to predetermined control individually for the six extendable actuators 5a, 5a, 5b, 5b, 5c, and 5c.
- it By flowing an electric current, it can be translated or rotated to be positioned at a desired position in the three-dimensional space and controlled to take a desired posture at that position. Control of the current flowing through each telescopic actuator can be performed relatively easily.
- the first to third links 2, 1 and 3 can be expanded and contracted by expanding and contracting the telescopic actuators 5a, 5b, and 5c of the first to third links 2, 3, and 4 of the pair of hand modules 1 and 1, respectively.
- Each of 3 and 4 expands and contracts to position its gripping portion 7 at a desired position in the longitudinal direction of the first link 2, and a partial force starting point corresponding to the point X of the first link 2.
- A as the center of the sphere, a predetermined range of the surface of the sphere can be moved so that the gripping / operating unit 7 can be displaced to a predetermined position in the three-dimensional space.
- a pair of gripping units 7 and 7 of the hand modules 1 and 1 can be operated so as to grip a fine object O at a predetermined position in a three-dimensional space and maintain the predetermined position and posture. it can. Therefore, a relatively simple structure enables free gripping and manipulation of the fine object O at a predetermined position in the three-dimensional space in the same space.
- the expansion / contraction actuators 5a, 5b, and 5c have a piezoelectric element force
- the amount of electricity input to the piezoelectric element can be expanded and contracted by the first to third links 2, 3, and 4.
- the amount of expansion and contraction of the first to third links 2, 3, and 4 can be directly controlled by precisely controlling the amount of electricity input to the piezoelectric element.
- the position displacement of the operation units 7 and 7 can be precisely controlled, and the force is relatively easy to control. Therefore, the precise position setting of each of the pair of gripping operation units 7 and 7 is easy. Thus, it is possible to freely and precisely hold the fine object O in the three-dimensional space.
- the ZBAC is set to 90 °
- the structure of the micromanipulator 10 is further simplified, and calculation for precisely controlling the positional displacement of the pair of gripping operation sections 7 and 7 is easy. become.
- expansion / contraction actuators 5a, 5b, and 5c various expansion / contraction actuators such as an electrostatic activation apparatus and an electromagnetic activation apparatus can be used in addition to the piezoelectric element.
- any one of the pair of hand modules 1 and 1 may not include the extendable actuator 5a incorporated in the first link 2.
- ZBAC can be at angles other than 90 °.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Microscoopes, Condenser (AREA)
- Micromachines (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007510277A JP4717878B2 (ja) | 2005-03-29 | 2005-03-29 | マイクロマニピュレータ |
PCT/JP2005/005973 WO2006103749A1 (ja) | 2005-03-29 | 2005-03-29 | マイクロマニピュレータ |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2005/005973 WO2006103749A1 (ja) | 2005-03-29 | 2005-03-29 | マイクロマニピュレータ |
Publications (1)
Publication Number | Publication Date |
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WO2006103749A1 true WO2006103749A1 (ja) | 2006-10-05 |
Family
ID=37053023
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2005/005973 WO2006103749A1 (ja) | 2005-03-29 | 2005-03-29 | マイクロマニピュレータ |
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JP (1) | JP4717878B2 (ja) |
WO (1) | WO2006103749A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2153793A3 (de) * | 2008-08-13 | 2011-06-29 | Technische Universität Darmstadt | Manipulationsvorrichtung für ein chirurgisches Instrument und chirurgisches Instrument |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06170761A (ja) * | 1991-10-24 | 1994-06-21 | Agency Of Ind Science & Technol | マイクロマニピュレータ |
JPH09295295A (ja) * | 1996-05-07 | 1997-11-18 | Nachi Fujikoshi Corp | 極座標型ロボット |
JP2002103298A (ja) * | 2000-09-29 | 2002-04-09 | National Institute Of Advanced Industrial & Technology | 電子顕微鏡 |
-
2005
- 2005-03-29 JP JP2007510277A patent/JP4717878B2/ja not_active Expired - Fee Related
- 2005-03-29 WO PCT/JP2005/005973 patent/WO2006103749A1/ja not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06170761A (ja) * | 1991-10-24 | 1994-06-21 | Agency Of Ind Science & Technol | マイクロマニピュレータ |
JPH09295295A (ja) * | 1996-05-07 | 1997-11-18 | Nachi Fujikoshi Corp | 極座標型ロボット |
JP2002103298A (ja) * | 2000-09-29 | 2002-04-09 | National Institute Of Advanced Industrial & Technology | 電子顕微鏡 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2153793A3 (de) * | 2008-08-13 | 2011-06-29 | Technische Universität Darmstadt | Manipulationsvorrichtung für ein chirurgisches Instrument und chirurgisches Instrument |
Also Published As
Publication number | Publication date |
---|---|
JPWO2006103749A1 (ja) | 2008-09-04 |
JP4717878B2 (ja) | 2011-07-06 |
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