Advanced multi freedom degree Micromanipulator

我们的研究是关于开发一种用于人工操作植物细胞或动物细胞的微操作器的研究。本研究的目的是开发一种新型的微操作手系统，它可以精确地处理和操纵单个细胞，从而可以从各个位置和角度准确、快速地进行注射工作，以便将DNA或细胞核移植到细胞内。以下是我们在研究期间取得的成果：(1)用于核移植的微吸管驱动装置。当我们插入微吸管进行核移植时，细胞的弹性成为过程的阻碍，降低了工作效率。所以。研制了一种将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吸管驱动机构样机。在小鼠卵母细胞的实验中，我们成功地将吸管插入细胞内，而不破坏细胞质…更多。并利用电磁冲击驱动机构产生的冲击力，成功地将吸管顺利地插入到其他已知有硬细胞膜的卵细胞(如：猪卵细胞)中，而不需要对吸管顶端进行边缘处理。(2)动物卵细胞处理机构。在卵细胞去核过程中，当细胞核位置接近握持吸管时，需要修正细胞核的位置。这项工作非常复杂，对操作员的技能要求很高。因此，我们开发了利用静电的细胞旋转机制。卵细胞以30度/S的速度旋转，外加电压为4V，500赫兹。我们还研制了一个多电极板机构的样机，并将它们放入层中。该样机实现了细胞的三维定位。(3)液流细胞分选机。我们利用音圈电机的XY-2轴装置开发了一个样机。以振动频率、振幅、液量为参数进行了各种实验，成功地利用液流采集到了有意分散的细胞。(4)将我们开发的系统借给了以下研究机构，并进行了性能评估实验。鹿儿岛大学、大比弘农业兽医大学、东京农业大学、广崎大学、圣母医院。较少

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