Advanced multi freedom degree Micromanipulator

我们研究的是一种微型机械臂的开发研究，用于人工操纵植物细胞或动物细胞。我们的研究目标是开发一种能够精确处理和操纵单个细胞的新型微操作系统，以便对每个细胞从每个位置和角度准确快速地进行注射工作，以便将DNA或细胞核移植到细胞中。以下是我们在研究期间取得的成果(1)用于核移植的微移液驱动装置。当我们在细胞核移植中插入微移液管时，细胞的弹性会成为过程中的阻碍，降低了工作效率。所以。研制了一种压电冲击驱动机构与电磁冲击驱动机构相结合的超冲击微移液器驱动机构样机。在小鼠卵细胞的实验中，我们成功地将移液管顺利地插入细胞，而没有对细胞质造成损伤。利用电磁冲击驱动机构产生的冲击力，我们成功地将移液管顺利插入其他已知具有硬细胞膜的卵细胞中（例如：猪卵细胞），而无需对移液管尖端进行边缘处理。(2)动物卵细胞处理机制。在卵细胞去核过程中，当细胞核位置接近持液管时，需要对细胞核位置进行修正。这项工作很复杂，对操作人员的技能要求很高。因此，我们利用静电开发了电池旋转机制。卵细胞以30度/秒的速度旋转，外加电压为4V 500 Hz。我们还开发了一个使用多个电极板的机构原型，并将它们分层。这个原型可以实现三维细胞定位。(3)液流式细胞分选器。我们开发了一个使用音圈电机的xy -2轴设备的原型。通过以振动频率、振动幅值和液量为参数进行各种实验，我们成功地利用液流收集了有意分散的胞体。(4)将开发的系统借给以下研究机构，并进行了性能评价实验。鹿儿岛大学、大宽农业兽医大学、东京农业大学、广崎大学、圣母医院。少

We research is a study about development of a micro manipulator that we use for artificially manipulating plant cell or animal cell. Our aim in this research is to develop a new micro manipulator system which can handle and manipulate one single cell precisely, so for every single cell, we can do injection work accurately and swiftly from every position and angle in order to transplant DNA or nucleus into the cell.Below are our achievements during the research period(1) Micro Pipette Drive Device for Nuclear Transplantation.When we insert micro pipette for nuclear transplantation, the elasticity of the cell become deterrent of the process, and it reduced the efficiency of the work. So. we developed a prototype of super impact micro pipette drive mechanism that is a combination of piezo impact drive mechanism and electromagnetic impact drive mechanism. In the experiment using mouse egg cell, we succeeded to insert the pipette into the cell smoothly without giving damage to the cytoplasm … More . And with the impact power generated by electromagnetic impact drive mechanism, we succeeded to insert the pipette smoothly into other egg cell that is known to have hard cell membrane (for example : pig egg cell) without edge treatment to the tip of the pipette.(2) Animal Egg Cell Handling Mechanism.In the process of denucleation of the egg cell, when the nucleus position is close to the holding pipette, it is necessary to amend the position of the nucleus. This work is very complicated and required high skill of the operator. Therefore, we developed cell rotation mechanism using electrostatic. The egg cell rotates at the speed of 30 deg/s with applied voltage of 4V 500 Hz. we also developed a prototype of mechanism using multiple electrode board and put them into layer. This prototype enables three dimensional cell positioning.(3) Cell Sorter Using Liquid Flow.We developed a prototype with XY-2axis device using voice coil motors. As the result of having done various kinds of experiments with vibration frequency, vibration amplitude, and liquid quantities as parameters, we succeeded to gather intentionally scattered cell using liquid flow.(4) We lent the system we developed to below research institutions, and did experiments for performance evaluation.Kagoshima University, Obihiro University of Agriculture and Veterinary Medicine, Tokyo University of Agriculture, Hirosaki University, St. Mother Hospital. Less