Manipulation System

Abstract

To provide a manipulation system capable of improving operability.SOLUTION: A manipulation system has: a manipulator which has the position and speed of an operation member controlled according to the drive position and drive speed of a drive device; a joystick for controlling the drive position and drive speed of the drive device; and a control circuit which has, as a movement control mode of the operation member, a position control mode in which the drive position of the drive device is controlled to a position according to a manipulated variable of the joystick and a speed control mode in which the drive speed of the drive device is controlled with a speed corresponding to the manipulated variable of the joystick. The control circuit has: an arithmetic circuit which computes a target speed of the driving device based upon an output signal from the joystick in at least one of the position control mode and speed control mode; and a drive control circuit which generates a drive signal based upon information on the target speed of the driving device output from the arithmetic circuit and supplies the drive signal to the drive device.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a manipulation system. [Background technology]

[0002] In the field of biotechnology, micromanipulation systems that perform fine manipulations on minute objects are known. The following Patent Documents 1 to 6 describe joystick and manipulator systems that control the movement of manipulation members such as pipettes and capillaries according to the amount of manipulation of a handle (for example, the tilt angle).

[0003] The movement control of the manipulation system can be switched between a speed control mode and a position control mode. The speed control mode is an operation mode in which the operating member is moved at a speed corresponding to the tilt angle of the handle. The position control mode is an operation mode in which the operating member is moved to a position corresponding to the tilt angle of the handle. In the position control mode, the drive speed of the drive device (motor) is sometimes controlled by so-called trapezoidal control (see Patent Documents 5 and 6). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special table number 2015-528749 [Patent Document 2] Japanese Patent Application Publication No. 7-49715 [Patent Document 3] International Publication No. 2016 / 163401 [Patent Document 4] Japanese Patent Application Laid-Open No. 2015-205370 [Patent Document 5] Japanese Patent Application Laid-Open No. 2004-282972 [Patent Document 6] Japanese Patent Application Laid-Open No. 2001-327194 Summary of the Invention [Problem to be solved by the invention]

[0005] When a drive unit (motor) is controlled using trapezoidal control, the acceleration and maximum speed are fixed, which can make it difficult to achieve smooth, highly responsive control.

[0006] The present invention has been made in view of the above-mentioned problems, and has an object to provide a manipulation system that can improve operability. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, a manipulation system according to one aspect of the present invention comprises a manipulator comprising an operating member for operating a micro-object and a drive unit for moving the operating member, wherein the position and velocity of the operating member are controlled according to the drive position and drive speed of the drive unit, a joystick for controlling the drive position and drive speed of the drive unit, and a control circuit having at least one of the following movement control modes for the operating member: a position control mode for controlling the drive position of the drive unit to a position according to the amount of operation of the joystick, or a speed control mode for controlling the drive speed of the drive unit at a speed according to the amount of operation of the joystick, wherein the control circuit comprises an arithmetic circuit for calculating a target velocity of the drive unit based on an output signal from the joystick in at least one of the position control mode or the speed control mode, and a drive control circuit for generating a drive signal based on information on the target velocity of the drive unit output from the arithmetic circuit and supplying the drive signal to the drive unit.

[0008] This allows speed control according to the amount of joystick operation in both the position control mode and the speed control mode, so that even in the position control mode, the drive speed and drive position of the drive device are controlled in response to both fast, large joystick operations and slow, small joystick operations.

[0009] In a preferred embodiment of the manipulation system, the arithmetic circuit calculates the target velocity of the drive unit according to the amount of operation of the joystick in the velocity control mode, and calculates the target velocity according to the difference between the target position of the drive unit according to the amount of operation of the joystick and the current drive position of the drive unit in the position control mode.

[0010] According to this, in the position control mode, the manipulation system can control the drive speed so that the larger the difference between the target position of the drive device and the current drive position of the drive device, the higher the drive speed becomes, and the smaller the difference between the target position of the drive device and the current drive position of the drive device, the lower the drive speed becomes. In other words, in the position control mode, the manipulation system can perform smooth speed control in accordance with the amount of operation of the joystick.

[0011] In a preferred embodiment of the manipulation system, the drive control circuit compares the target velocity of the drive device from the arithmetic circuit with the drive velocity of the drive device in the position control mode and the velocity control mode to control acceleration and deceleration of the drive device.

[0012] This allows the drive control circuit to perform common arithmetic processing in both the position control mode and the speed control mode, and drive signals are supplied to the drive devices from a common drive control circuit. Furthermore, the drive control circuit can reduce the amount of programming required for arithmetic processing compared to arithmetic circuits that perform different arithmetic processing in the position control mode and the speed control mode, allowing for a more inexpensive arithmetic circuit.

[0013] In a preferred embodiment of the manipulation system, the control circuit has a sequence mode as a movement control mode for the operating member in which the drive position and the drive speed of the drive device are executed in a predetermined order, and the arithmetic circuit sets the target speed of the drive device to the predetermined drive speed in the sequence mode.

[0014] This allows the manipulation system to be controlled in sequence mode at a predetermined drive speed (e.g., maximum target speed) of the drive unit, i.e., the manipulation system can be smoothly controlled in sequence mode according to predetermined drive positions and drive speeds.

[0015] In a preferred embodiment of the manipulation system, the manipulation system has a storage area for storing sequence data including information relating to a series of operations of the drive positions and drive speeds of the drive device in the sequence mode.

[0016] This allows the manipulation system to select a desired sequence from the sequence data stored in the storage area, or to set a desired sequence by combining a desired drive position and drive speed.

[0017] In a preferred embodiment of the manipulation system, the control circuit is connectable to an external control circuit, and the memory area stores the sequence data supplied from the external control circuit.

[0018] This allows the manipulation system to control the drive device in conjunction with an external control circuit. [Effects of the Invention]

[0019] According to the present invention, operability can be improved. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram schematically showing the configuration of a manipulation system according to an embodiment. [Figure 2] FIG. 2 is a control block diagram of the manipulation system. [Figure 3] FIG. 3 is a front view showing an example of the configuration of a joystick. [Figure 4]FIG. 4 is a top view showing an example of the configuration of a joystick. [Figure 5] FIG. 5 is a graph that schematically shows the relationship between the tilt angle of the steering wheel and the target position of the drive device in the position control mode. [Figure 6] FIG. 6 is a flowchart for explaining a control method of the manipulation system in the position control mode. [Figure 7] FIG. 7 is a graph that schematically shows the relationship between the target position and the drive position of the drive device and time. [Figure 8] FIG. 8 is a graph that schematically shows the relationship between the target speed of the drive device and time. [Figure 9] FIG. 9 is a graph showing a schematic relationship between the drive speed of the drive device and time. [Figure 10] FIG. 10 is a graph that schematically shows the relationship between the tilt angle of the steering wheel and the target speed of the drive device in the speed control mode. [Figure 11] FIG. 11 is a flowchart illustrating a control method for the manipulation system in the velocity control mode. [Figure 12] FIG. 12 is a flowchart for explaining a method for controlling the manipulation system in the sequence mode. DETAILED DESCRIPTION OF THE INVENTION

[0021] The present invention will be described in detail below with reference to the drawings. Note that the present invention is not limited to the following modes for carrying out the invention (hereinafter referred to as embodiments). Furthermore, the components in the following embodiments include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the components disclosed in the following embodiments can be combined as appropriate.

[0022] (Embodiment) Fig. 1 is a diagram schematically showing the configuration of a manipulation system according to an embodiment. The manipulation system 10 is a system for manipulating a sample that is a micro-object (e.g., a cell or an egg) under microscope observation. As shown in Fig. 1, the manipulation system 10 includes a microscope unit 12, a first manipulator 14, a second manipulator 16, and a controller 43 that controls the manipulation system 10. The first manipulator 14 and the second manipulator 16 are separately arranged on either side of the microscope unit 12.

[0023] The microscope unit 12 comprises a camera 18 including an image sensor, a microscope 20, and a sample stage 22. The sample stage 22 is capable of supporting a sample holding member 11 such as a petri dish, and the microscope 20 is disposed directly above the sample holding member 11. The microscope unit 12 has an integrated structure in which the microscope 20 and the camera 18 are integrated, and is equipped with a light source (not shown) that irradiates light toward the sample holding member 11. The camera 18 may be provided separately from the microscope 20.

[0024] A solution containing a sample is accommodated in the sample holding member 11. Light is irradiated onto the sample in the sample holding member 11, and the light reflected by the sample in the sample holding member 11 enters the microscope 20. An optical image of the sample is magnified by the microscope 20 and then captured by the camera 18. The microscope unit 12 is capable of observing the sample based on the image captured by the camera 18.

[0025] 1, the first manipulator 14 includes a first pipette holding member 24, an XY-axis table 26, a Z-axis table 28, a drive unit 30 that drives the XY-axis table 26, and a drive unit 32 that drives the Z-axis table 28. The first manipulator 14 is a three-axis manipulator with an X-axis, Y-axis, and Z-axis configuration.

[0026] In this embodiment, one direction in a horizontal plane is defined as the X-axis direction, a direction intersecting the X-axis direction in the horizontal plane is defined as the Y-axis direction, and a direction intersecting both the X-axis direction and the Y-axis direction (i.e., the vertical direction) is defined as the Z-axis direction. The surface of the sample stage 22 is parallel to the XY plane and perpendicular to the Z-axis direction.

[0027] XY-axis table 26 is movable in the X-axis or Y-axis direction by driving device 30. Z-axis table 28 is disposed on XY-axis table 26 so as to be movable up and down, and is movable in the Z-axis direction by driving device 32. Driving devices 30 and 32 are connected to controller 43.

[0028] The first pipette holding member 24 is connected to the Z-axis table 28, and has a first pipette 25, which is a capillary tip, attached to its tip. The first pipette holding member 24 can move in three-dimensional space as a moving area in accordance with the movement of the XY-axis table 26 and the Z-axis table 28.

[0029] A pump device 45 is connected to the first pipette 25 via a pipe 45a such as a tube. The inside of the first pipette 25 and the pipe 45a are filled with a liquid, a gas, or a mixture of a liquid and a gas. The internal pressure of the first pipette 25 is controlled by the pressure supplied from the pump device 45. The pump device 45 is electrically connected to the controller 43.

[0030] The manipulation system 10 can hold a micro-object at the tip of the first pipette 25 by aligning the tip of the first pipette 25 with the micro-object using the first manipulator 14 and sucking the micro-object with the pump device 45. In other words, the first manipulator 14 is a holding manipulator used to hold a micro-object, and the first pipette 25 is a holding pipette used as a means for holding a micro-object.

[0031] The second manipulator 16 includes a second pipette holding member 34, an XY-axis table 36, a Z-axis table 38, a drive unit 40 that drives the XY-axis table 36, and a drive unit 42 that drives the Z-axis table 38. The second manipulator 16 is a three-axis manipulator with an X-axis, Y-axis, and Z-axis configuration.

[0032] The XY-axis table 36 is movable in the X-axis or Y-axis direction by driving a driving device 40. The Z-axis table 38 is disposed on the XY-axis table 36 so as to be movable up and down, and is movable in the Z-axis direction by driving a driving device 42. The driving devices 40 and 42 are connected to a controller 43.

[0033] The second pipette holding member 34 is connected to a Z-axis table 38, and has a second glass pipette 35 attached to its tip. The second pipette holding member 34 can move in three-dimensional space as a moving area in accordance with the movement of the XY-axis table 36 and the Z-axis table 38. The second pipette holding member 34 can manipulate the sample held in the sample holding member 11. That is, the second manipulator 16 is a manipulation manipulator used to manipulate a micro-object (such as injecting a DNA solution or drilling), and the second pipette 35 is an injection pipette used as an injection manipulation means for a micro-object. The first pipette 25 and the second pipette 35 are manipulation members for manipulating the manipulation object.

[0034] The XY-axis table 36 and the Z-axis table 38 are configured as a coarse movement mechanism (three-dimensional moving table) that coarsely moves the second pipette holding member 34 to an operation position for a sample or the like contained in the sample holding member 11. In addition, a fine movement mechanism 44 is provided as a nanopositioner at the connection between the Z-axis table 38 and the second pipette holding member 34. The fine movement mechanism 44 supports the second pipette holding member 34 so that it can move in its longitudinal direction (axial direction), and is configured to finely move the second pipette holding member 34 along its longitudinal direction (axial direction).

[0035] Although the fine movement mechanism 44 is provided on the second manipulator 16 for manipulating the micro object, it may be provided on the first manipulator 14 for fixing the micro object, or may be omitted.

[0036] The controller 43 includes hardware resources such as a CPU (Central Processing Unit) as a calculation means, and a hard disk as a storage means, a RAM (Random Access Memory), a ROM (Read Only Memory), etc. The controller 43 performs various calculations based on predetermined programs stored in a storage area 67 (see FIG. 2), and outputs drive signals to perform various controls according to the calculation results.

[0037] The controller 43 is a control circuit that controls the drive unit 30 and drive unit 32 of the first manipulator 14, the drive unit 40 and drive unit 42 of the second manipulator 16, the pump unit 45, etc. The controller 43 outputs drive signals to each of the first manipulator 14, the second manipulator 16, the pump unit 45, etc. via drivers, amplifiers, etc. (not shown) that are provided as needed. The controller 43 outputs drive signals V to each of the drive units 30, 32, 40, 42. xy , V z (See FIG. 1). The drivers 30, 32, 40, and 42 provide the drive signals V xy , V z The controller 43 drives the fine movement mechanism 44 in the X, Y, and Z axis directions based on the nanopositioner control signal V N (See FIG. 1) may be supplied to control the fine movement mechanism 44.

[0038] The controller 43 is connected to joysticks 47 and 48 as information input means, a pump interface 46, and an input unit 49 (see FIG. 2). The input unit 49 is, for example, a keyboard, a touch panel, a mouse, or the like. Known joysticks can be used for the joysticks 47 and 48. Configuration examples of the joysticks 47 and 48 will be described later with reference to FIGS. 3 and 4.

[0039] The pump interface 46 is a pump operation information input unit that allows the operator to input operation information for the pump device 45. The pump interface 46 includes an operation knob 46a. By rotating the operation knob 46a, the pump interface 46 can adjust the pressure supplied from the pump device 45 in accordance with the amount of rotational displacement.

[0040] Next, the control of the manipulation system 10 by the controller 43 will be described with reference to Fig. 2. Fig. 2 is a control block diagram of the manipulation system.

[0041] 2, the controller 43 controls the driving of the first manipulator 14 and the second manipulator 16 based on a joystick output signal SJ and a selection signal SEL from the joysticks 47, 48. The joystick output signal SJ includes, for example, information related to the amount of operation of the joystick 47 (for example, the tilt angle of the handle 51 and the rotation angle of the rotation input unit 53 (see FIGS. 3 and 4)). The selection signal SEL includes, for example, information related to the operation (position) of the control mode changeover switch 55 (see FIGS. 3 and 4).

[0042] The controller 43 supplies drive signals to the drive devices 30, 32, 40, and 42 based on the joystick output signal SJ and the selection signal SEL, and controls the drive positions SP and drive speeds VP of the drive devices 30, 32, 40, and 42. This controls the positions and movement speeds of the first pipette 25 and the second pipette 35 (operation members).

[0043] The controller 43 has, as movement control modes for the first pipette 25 and the second pipette 35 (operating members), at least a position control mode M1 that controls the drive positions SP of the drive devices 30, 32, 40, 42 to positions corresponding to the amount of operation of the joystick 47, and a speed control mode M2 ​​that controls the drive speeds VP of the drive devices 30, 32, 40, 42 at speeds corresponding to the amount of operation of the joystick 47. The controller 43 also has, as a movement control mode, a sequence mode M3 that executes the drive positions SP and drive speeds VP of the drive devices 30, 32, 40, 42 in a predetermined order. The position control mode M1, the speed control mode M2, and the sequence mode M3 are switched based on a selection signal SEL.

[0044] The controller 43 includes a drive control circuit 61 and an arithmetic circuit 62. The arithmetic circuit 62 is a circuit that calculates the target speeds VT of the drive devices 30, 32, 40, and 42 based on the joystick output signal SJ in each of the position control mode M1, the speed control mode M2, and the sequence mode M3.

[0045] The drive control circuit 61 is a circuit that generates drive signals based on information about the target speeds VT of the drive devices 30, 32, 40, and 42 output from the arithmetic circuit 62, and supplies the drive signals to the drive devices 30, 32, 40, and 42. The drive control circuit 61 is capable of operating faster than the period of the drive signals (drive pulses) supplied to the drive devices 30, 32, 40, and 42, and is assigned high-speed processing that does not require complex calculations. On the other hand, the arithmetic circuit 62 is slower than the drive control circuit 61, but is assigned complex calculations such as various calculations for each control mode and communication with the external control circuit 100.

[0046] The controller 43 is provided so that an external control circuit 100 can be connected thereto. The external control circuit 100 is, for example, a personal computer (PC, a so-called personal computer). Alternatively, the external control circuit 100 may be a mobile terminal such as a smartphone or a tablet. Note that the manipulation system 10 can control the first manipulator 14, the second manipulator 16, the pump device 45, etc. in a state where it is not connected to the external control circuit 100, i.e., by the controller 43 alone. Alternatively, the manipulation system 10 can control the first manipulator 14, the second manipulator 16, the pump device 45, etc. in conjunction with the external control circuit 100.

[0047] Furthermore, the sequence data SQF output from the external control circuit 100 is stored in the memory area 67 of the controller 43. The sequence data SQF includes information on the movement control of the first pipette 25 and the second pipette 35 in sequence mode M3. More specifically, the sequence data SQF includes information on a series of operations of the drive positions SP and drive speeds VP of the drive devices 30, 32, 40, 42.

[0048] More specifically, the drive control circuit 61 includes a signal processing circuit 63, a drive signal calculation circuit 64, and a drive signal output circuit 65. The calculation circuit 62 has a drive speed calculation circuit 66, a storage area 67, and a determination circuit 68.

[0049] The signal processing circuit 63 receives the joystick output signal SJ and the selection signal SEL, which are analog signals, and converts them into digital signals. The signal processing circuit 63 also performs processing such as signal amplification as necessary.

[0050] The calculation circuit 62 is a circuit that performs various calculations by receiving the joystick output signal SJ and the selection signal SEL that have been processed by the signal processing circuit 63. The determination circuit 68 is a circuit that receives the selection signal SEL and determines whether the movement control mode of the operating member is the position control mode M1, the speed control mode M2, or the sequence mode M3.

[0051] The storage area 67 is a circuit that stores information on various setting values ​​(gain amount, threshold value, target position, etc.) for the position control mode M1 and the speed control mode M2 ​​in addition to the sequence data SQF described above.

[0052] The drive speed calculation circuit 66 is a circuit that calculates the target speed VT of the drive devices 30, 32, 40, 42 based on the movement control mode information from the determination circuit 68 and the joystick output signal SJ from the signal processing circuit 63. The calculation circuit 62 and drive speed calculation circuit 66 calculate the target speed VT according to the joystick output signal SJ, i.e., the amount of operation of the joystick 47, not only in the speed control mode M2 ​​but also in the position control mode M1 and sequence mode M3.

[0053] The drive signal calculation circuit 64 of the drive control circuit 61 receives information relating to the target speed VT from the calculation circuit 62, and compares the target speed VT with the current drive speed VP of the drive devices 30, 32, 40, 42 to calculate the acceleration / deceleration of the drive devices 30, 32, 40, 42. The drive signal output circuit 65 generates drive signals (drive pulses) in accordance with the acceleration / deceleration information received from the drive signal calculation circuit 64, and supplies the drive signals to the drive devices 30, 32, 40, 42.

[0054] In this way, in any of the three movement control modes, the arithmetic circuit 62 calculates the target speed VT according to the amount of operation of the joystick 47. That is, by combining the speed control method with the position control mode M1, the manipulation system 10 drives the drive devices 30, 32, 40, 42 at the drive speed VP according to the amount of operation of the joystick 47. This allows smoother speed control to be performed with the speed control method of the position control mode M1 compared to when simple trapezoidal control is performed.

[0055] Furthermore, since the speed control method is adopted in all three movement control modes, the calculation processing in the drive control circuit 61 can be made common to the three movement control modes. This reduces the calculation processing load on the controller 43 and also reduces the cost of the controller 43.

[0056] Next, an example of the configuration of the joysticks 47 and 48 will be described. Fig. 3 is a front view showing an example of the configuration of the joystick. Fig. 4 is a top view showing an example of the configuration of the joystick. Although Figs. 3 and 4 show the joystick 47, the description of the joystick 47 can also be applied to the joystick 48.

[0057] Furthermore, the manipulation system 10 is not limited to a configuration having two joysticks 47, 48, and may be configured to have one joystick 47. Although not shown in FIGS. 3 and 4, the joysticks 47, 48 may be provided with buttons 47A, 48A (see FIG. 1) for operating the drives of the fine movement mechanism 44, the pump device 45, etc. In the following description, an example will be shown in which the joystick 47 operates the first manipulator 14 (first pipette 25), but the joystick 47 may also be used to operate the second manipulator 16 (second pipette 35).

[0058] 3, the joystick 47 has a housing 50, a handle 51, a knob 52, a rotary input unit 53, a tip switch 54, a control mode selector switch 55, and a gain adjustment dial 56. The handle 51 is provided upright from the housing 50 and is provided to be swingable around a neutral position P0.

[0059] The knob 52 and the rotation input unit 53 are provided at the tip of the handle 51. The operator can perform XY drive of the drive devices 30, 40 by gripping the knob 52 and operating to tilt the handle 51 of the joystick 47. Note that even if the operator stops the operation while tilting the handle 51 (i.e., even if the operator releases the handle 51), the handle 51 does not return to the neutral position P0 but maintains the tilted posture due to, for example, frictional force.

[0060] The rotary input unit 53 is provided on the upper part of the knob 52. As shown in Fig. 4, the rotary input unit 53 is provided on the knob 52 so as to be rotatable around a central axis 53c. The rotary input unit 53 is provided so as to be rotatable from a maximum rotation position Rmax on the first direction R1 side to a minimum rotation position Rmin on the second direction R2 side, with respect to a reference position R0. The operator can visually recognize the operation position (rotation angle) of the rotary input unit 53 using the mark 53m as a guide.

[0061] The operator can perform Z-drive of the drive devices 32, 42 by twisting the rotation input unit 53. For example, when the operator rotates the rotation input unit 53 in a first direction R1 from the reference position R0, the first pipette 25 can be moved upward in the Z direction. Furthermore, when the operator rotates the rotation input unit 53 in a second direction R2 from the reference position R0, the first pipette 25 can be moved downward in the Z direction. Note that even if the operator stops rotating the rotation input unit 53 (i.e., releases the rotation input unit 53), the rotation input unit 53 does not return to the reference position R0 but maintains the orientation rotated from the reference position R0 due to, for example, frictional force.

[0062] 3, the tip switch 54 (operation changeover switch) is provided on the rotary input unit 53. The tip switch 54 is switched on and off by being pushed in the axial direction of the handle 51. The tip switch 54 is a switch for switching between enabling and disabling movement control by the handle 51.

[0063] The control mode changeover switch 55 is provided on the side surface of the housing 50. The control mode changeover switch 55 is a switch for switching the movement control of the first pipette 25 (operation member) among a position control mode M1, a speed control mode M2, and a sequence mode M3.

[0064] The position control mode M1 is an operation mode in which the first pipette 25 is moved to a position corresponding to the tilt angle θ of the handle 51. In other words, the drive units 30 and 40 perform XY drive with a drive amount corresponding to the tilt angle θ. The position control mode M1 is convenient for small movements of the operating member.

[0065] The speed control mode M2 ​​is an operation mode in which the first pipette 25 is moved at a speed corresponding to the tilt angle θ of the handle 51. In other words, the drive devices 30 and 40 perform XY drive at a speed corresponding to the tilt angle θ. The speed control mode M2 ​​is convenient when moving the operating member by a large amount.

[0066] Furthermore, in the movement control in the Z-axis direction, the control mode changeover switch 55 can be switched between a position control mode M1 and a speed control mode M2. That is, in the position control mode M1, the first pipette 25 is moved in the Z-axis direction to a position corresponding to the rotation angle (operation amount) of the rotary input unit 53. In the speed control mode M2, the first pipette 25 is moved in the Z-axis direction at a speed corresponding to the rotation angle (operation amount) of the rotary input unit 53.

[0067] Moreover, the sequence mode M3 is an operation mode that controls the movement of the first pipette 25 and the second pipette 35 in an order (speed and position) predetermined by the sequence data SQF.

[0068] The control mode selector switch 55 is provided so as to be movable in the horizontal direction. For example, when the control mode selector switch 55 is positioned on the left side of Fig. 3, the joystick 47 is switched to the position control mode M1, and when it is positioned on the right side of Fig. 3, the joystick 47 is switched to the speed control mode M2. When the control mode selector switch 55 is positioned in the center, the joystick 47 is switched to the sequence mode M3.

[0069] The gain adjustment dial 56 is provided on the side of the housing 50. By rotating and operating the gain adjustment dial 56, the operator can adjust the movement amount or speed of the first pipette 25 according to the tilt angle θ of the handle 51. Specifically, by operating the gain adjustment dial 56, it is possible to change the slope of the line that shows the relationship between the tilt angle θx of the handle 51 and the target position ST of the drive device 30 (first pipette 25), for example, as shown in FIG.

[0070] 3 and 4 is merely an example and can be modified as appropriate. For example, the control mode selector switch 55 is not limited to a slide switch, and other types of switches, such as a push button switch or a rotary switch, may be used. Furthermore, the location of the control mode selector switch 55 is not limited to the side surface of the housing 50, and may be in another location. Switching between the position control mode M1, the speed control mode M2, and the sequence mode M3 may be controlled only by turning the tip switch 54 on and off, without providing the control mode selector switch 55.

[0071] Next, a control method for the manipulation system 10 in the position control mode M1 will be described with reference to Figures 5 to 9. In the following description, a method for controlling the drive position and drive speed of the drive devices 30, 32 of the first manipulator 14 by operating the joystick 47 will be described. However, the present invention is not limited to this, and the following description can also be applied to a case where the drive devices 40, 42 of the second manipulator 16 are controlled by operating the joystick 48.

[0072] FIG. 5 is a graph showing a relationship between the tilt angle of the handle in the position control mode and the target position of the drive unit. FIG. 5 shows an example of the operation of moving the first pipette 25 in the X-axis direction as an example of the position control mode M1. The horizontal axis of the graph shown in FIG. 5 represents the tilt angle θx of the handle 51 in the X-axis direction. The vertical axis represents the target position ST(X) of the drive unit 30 in the X-axis direction, i.e., the target position of the first pipette 25 in the X-axis direction. As shown in FIG. 5, in the position control mode M1, the tilt angle θx is set to 0, i.e., the position of the drive unit 30 when the handle 51 is in the neutral position P0, as the origin. The target position ST of the drive unit 30 changes in the X-axis direction in proportion to the tilt angle θx. For example, the tilt angle θa of the handle 51 corresponds to the target position Xa of the drive unit 30.

[0073] The drive unit 30 is driven by a drive signal from the controller 43 and is controlled at a calculated drive speed VP so that the drive position SP of the drive unit 30 coincides with the target position Xa corresponding to the tilt angle θx of the handle 51. As the drive unit 30 is driven, the position of the first pipette 25 in the X-axis direction moves.

[0074] Fig. 6 is a flowchart for explaining a control method of the manipulation system in the position control mode. The flowchart in Fig. 6 shows the flow after the signal processing circuit 63 and the determination circuit 68 determine that the mode is the position control mode M1 based on the selection signal SEL from the joystick 47.

[0075] 6, in position control mode M1, the drive speed calculation circuit 66 of the calculation circuit 62 acquires the joystick output signal SJ via the signal processing circuit 63 (step ST11). The drive speed calculation circuit 66 calculates a target position ST corresponding to the joystick output signal SJ. Information about the correspondence between the joystick output signal SJ and the target position ST (see, for example, FIG. 5) is stored in advance in the storage area 67.

[0076] FIG. 7 is a graph showing a schematic relationship between the target position and drive position of the drive devices and time. For ease of understanding, FIG. 7 shows the current drive position SP of the drive devices 30, 32 linearly from time t1 to time t2. FIG. 7 shows a case where the joystick 47 is operated at time t1 and a joystick output signal SJ is output. As shown in FIG. 7, at time t1, the drive speed calculation circuit 66 acquires the joystick output signal SJ and calculates the target position ST of the drive devices 30, 32 according to the joystick output signal SJ.

[0077] 6 and 7, the drive speed calculation circuit 66 acquires the current drive position SP from the drive devices 30 and 32 via the drive control circuit 61. Then, the drive speed calculation circuit 66 calculates a signal representing the difference between the target position ST and the drive position SP (hereinafter referred to as a position difference signal Sd) (step ST12).

[0078] Next, the drive speed calculation circuit 66 compares the position difference signal Sd with a position difference signal threshold value TH-P to determine whether or not the joystick 47 is being operated (step ST13). The position difference signal threshold value TH-P is a value stored in advance in the storage area 67, and is, for example, a value set corresponding to a dead zone area near the origin (neutral position P0) of the joystick 47. The dead zone area is an area in which the drive devices 30, 32 are not driven even if the joystick 47 is operated.

[0079] If the position difference signal Sd is equal to or smaller than the position difference signal threshold value TH-P (No in step ST13), the drive speed calculation circuit 66 determines that the joystick 47 is not being operated, and returns to step ST11 without performing various calculation processes. Note that the case where the position difference signal Sd is smaller than the position difference signal threshold value TH-P means that the amount of operation of the joystick 47 is within the dead band area.

[0080] If the position difference signal Sd is greater than the position difference signal threshold value TH-P (step ST13, Yes), the drive speed calculation circuit 66 determines that the joystick 47 is being operated, and calculates the target speed VT of the drive devices 30, 32 according to the amount of operation of the joystick 47 (step ST14).

[0081] Fig. 8 is a graph showing a schematic relationship between the target speed of the drive unit and time. As shown in Fig. 8, the drive speed calculation circuit 66 calculates the target speed VT (= Sd × G) by multiplying the position difference signal Sd by a constant G. In other words, the target speed VT increases as the current drive position SP of the drive units 30, 32 moves away from the target position ST of the drive units 30, 32, which corresponds to the amount of operation of the joystick 47, and the target speed VT decreases as the current drive position SP of the drive units 30, 32 moves closer to the target position ST of the drive units 30, 32.

[0082] Furthermore, in the range from time t1 to time t11, the target speed VT (= Sd × G) indicated by the dotted line is equal to or greater than the maximum target speed TH-V. In this case, the drive speed calculation circuit 66 sets the maximum target speed TH-V as the target speed VT. This prevents the drive devices 30, 32 from being suddenly driven even when the joystick 47 is operated quickly and with a large amount of operation.

[0083] The maximum target speed TH-V and the constant G are values ​​that are stored in advance in the storage area 67. The maximum target speed TH-V and the constant G are set so as to prevent sudden driving and stopping of the drive devices 30, 32 and to enable stable operation. Alternatively, the constant G can be adjusted with the gain adjustment dial 56 of the joystick 47 (see FIG. 3).

[0084] Returning to FIG. 6, the drive speed calculation circuit 66 outputs the calculated target speed VT to the drive control circuit 61 (step ST15).

[0085] The drive signal calculation circuit 64 receives the target speed VT, and also receives the current drive speed VP from the drive devices 30, 32. The drive signal calculation circuit 64 compares the target speed VT with the current drive speed VP of the drive devices 30, 32 to calculate the acceleration / deceleration of the drive devices 30, 32. In other words, the drive signal calculation circuit 64 calculates the acceleration / deceleration of the drive speed VP of the drive devices 30, 32 so that the current drive speed VP of the drive devices 30, 32 approaches the target speed VT.

[0086] FIG. 9 is a graph showing a schematic relationship between the drive speed of the drive device and time. The vertical axis of FIG. 9 represents the drive speed VP calculated by the drive signal calculation circuit 64 based on the target speed VT. As shown in FIGS. 8 and 9, when the target speed VT is greater than the current drive speed VP (between time t1 and time t12), the drive signal calculation circuit 64 calculates the acceleration VA to increase the drive speed VP. When the target speed VT matches the current drive speed VP (between time t12 and time t11), the drive signal calculation circuit 64 maintains the drive speed VP. When the target speed VT is smaller than the current drive speed VP (between time t11 and time t2), the drive signal calculation circuit 64 calculates the deceleration VB to decrease the drive speed VP.

[0087] 6, the drive signal calculation circuit 64 outputs the calculated acceleration VA and deceleration VB to the drive signal output circuit 65. The drive signal output circuit 65 generates a drive signal consisting of a plurality of drive pulses based on the acceleration VA and deceleration VB, and outputs the drive signal to the drive devices 30 and 32 (step ST15).

[0088] As described above, the drive control circuit 61 is capable of faster arithmetic processing than the arithmetic circuit 62. The drive signal arithmetic circuit 64 and the drive signal output circuit 65 receive the target velocity VT calculated by the arithmetic circuit 62 and generate drive pulses at a high frequency based on the acceleration VA and deceleration VB to generate a drive signal. This allows the drive control circuit 61 to output a drive signal consisting of a plurality of drive pulses to drive the drive devices 30, 32. Therefore, the manipulation system 10 can improve the responsiveness of the drive devices 30, 32.

[0089] Furthermore, the arithmetic circuit 62 calculates the target speed VT in combination with speed control in the position control mode M1. That is, the target speed VT can be controlled so that the larger the difference (position difference signal Sd) between the target position ST of the drive devices 30, 32 and the current drive position SP of the drive devices 30, 32, the larger the target speed VT, and the smaller the difference (position difference signal Sd) between the target position ST of the drive devices 30, 32 and the current drive position SP of the drive devices 30, 32, the smaller the target speed VT. That is, in the position control mode M1, the manipulation system 10 is capable of smooth speed control in accordance with the amount of operation of the joystick 47.

[0090] Next, a control method for the manipulation system 10 in the speed control mode M2 ​​will be described with reference to FIGS.

[0091] FIG. 10 is a graph showing the relationship between the tilt angle of the handle in the speed control mode and the target speed of the drive unit. FIG. 10 shows an example of an operation in which the first pipette 25 is moved in the X-axis direction as an example of the speed control mode M2. The horizontal axis of the graph shown in FIG. 10 represents the tilt angle θx of the handle 51 in the X-axis direction. The vertical axis represents the target speed VT(X) of the drive unit 30 in the X-axis direction, i.e., the target speed of the first pipette 25 in the X-axis direction. As shown in FIG. 10, in the speed control mode M2, when the tilt angle θx is 0, i.e., when the handle 51 is in the neutral position P0, the target speed VT of the drive unit 30 is 0, i.e., the drive unit 30 and the first pipette 25 are stationary. The target speed VT of the drive unit 30 changes in proportion to the tilt angle θx. For example, the target speed Vb of the drive unit 30 corresponds to the tilt angle θb of the handle 51.

[0092] The drive unit 30 is driven by a drive signal from the controller 43 and controlled at a calculated drive speed that coincides with the target speed VT corresponding to the tilt angle θx of the handle 51. The position of the first pipette 25 in the X-axis direction moves as the drive unit 30 drives it. In speed control mode M2, for example, when the handle 51 is maintained at the tilt angle θb, the drive unit 30 is driven at a constant drive speed VP corresponding to the target speed Vb. The first pipette 25 then continues to move at a constant speed as driven by the drive unit 30.

[0093] Fig. 11 is a flowchart for explaining a control method of the manipulation system in the velocity control mode. The flowchart in Fig. 11 shows the flow after the signal processing circuit 63 and the determination circuit 68 determine that the mode is the velocity control mode M2 ​​based on the selection signal SEL from the joystick 47.

[0094] As shown in FIG. 11, in the speed control mode M2, the drive speed calculation circuit 66 of the calculation circuit 62 acquires the joystick output signal SJ via the signal processing circuit 63 (step ST21).

[0095] Next, the drive speed calculation circuit 66 compares the joystick output signal SJ with a threshold value to determine whether or not the joystick 47 is being operated (step ST22).

[0096] If the joystick output signal SJ is equal to or less than the threshold value (step ST22, No), the drive speed calculation circuit 66 determines that the joystick 47 is not being operated, and returns to step ST21 without performing various calculation processes. Note that the joystick output signal SJ being smaller than the threshold value means that the amount of operation of the joystick 47 is within the dead band area.

[0097] If the joystick output signal SJ is greater than the threshold value (step ST22, Yes), the drive speed calculation circuit 66 determines that the joystick 47 is being operated, and calculates the target speed VT of the drive devices 30, 32 according to the amount of operation of the joystick 47 (step ST23). Note that information about the correspondence between the joystick output signal SJ and the target speed VT (see, for example, FIG. 10) is stored in advance in the storage area 67.

[0098] The drive speed calculation circuit 66 outputs the calculated target speed VT to the drive control circuit 61 (step ST24).

[0099] In steps ST25 and ST26, the drive control circuit 61 performs the same controls as in steps ST16 and ST17 in the position control mode M1 described with reference to FIG.

[0100] Next, a method for controlling the manipulation system 10 in the sequence mode M3 will be described. Fig. 12 is a flowchart for explaining a method for controlling the manipulation system in the sequence mode.

[0101] 12 shows the flow after the signal processing circuit 63 and the determination circuit 68 determine, based on the selection signal SEL from the joystick 47, that the sequence mode M3 is selected.

[0102] 12, in sequence mode M3, the drive speed calculation circuit 66 of the calculation circuit 62 acquires sequence data SQF from the storage area 67 (step ST31). The sequence data SQF includes various information such as the target positions ST of the drive devices 30 and 32 and the order of movement.

[0103] Next, the drive speed calculation circuit 66 acquires the current drive position SP from the drive devices 30, 32 via the drive control circuit 61. Then, the drive speed calculation circuit 66 calculates a signal (position difference signal Sd) representing the difference between the predetermined target position ST of the sequence data SQF and the current drive position SP (step ST32).

[0104] Next, the drive speed calculation circuit 66 compares the position difference signal Sd with the position difference signal threshold value TH-P to determine whether or not the joystick 47 is being operated (step ST33).

[0105] If step ST33 is Yes, the drive speed calculation circuit 66 calculates the target speed VT of the drive devices 30, 32 based on the sequence data SQF (step ST34). For example, the drive speed calculation circuit 66 sets the target speed VT to a predetermined maximum target speed TH-V (see FIG. 8). In the following steps ST35 to ST37, the drive control circuit 61 and the calculation circuit 62 are controlled in the same way as in steps ST14 to ST17 of the position control mode M1 shown in FIG. 6.

[0106] Furthermore, at least the drive control circuit 61 of the controller 43 can be controlled by the same program in the position control mode M1, the speed control mode M2, and the sequence mode M3, and common calculation processing is performed in each control mode.

[0107] 2 is merely an example and can be modified as appropriate. For example, some of the functions of the drive control circuit 61 (e.g., the signal processing circuit 63) may be provided in the arithmetic circuit 62. Also, some of the functions of the arithmetic circuit 62 may be provided in the drive control circuit 61. Also, the flowcharts shown in FIGS. 6, 11, and 12 are merely schematic illustrations and can be modified as appropriate.

[0108] As described above, the manipulation system 10 of this embodiment includes an operating member (first pipette 25) for manipulating a micro-object, drive devices 30, 32 for moving the operating member, a manipulator (first manipulator 14) in which the position and speed of the operating member are controlled according to the drive position SP and drive speed VP of the drive devices 30, 32, a joystick 47 for controlling the drive position SP and drive speed VP of the drive devices 30, 32, and a control circuit (controller 43) having, as movement control modes for the operating member, at least a position control mode M1 for controlling the drive position SP of the drive devices 30, 32 to a position according to the amount of operation of the joystick 47, and a speed control mode M2 ​​for controlling the drive speed VP of the drive devices 30, 32 at a speed according to the amount of operation of the joystick 47. The control circuit has an arithmetic circuit 62 that calculates the target speed VT of the drive devices 30, 32 based on the output signal from the joystick 47 in each of the position control mode M1 and the speed control mode M2, and a drive control circuit 61 that generates a drive signal based on the information on the target speed VT of the drive devices 30, 32 output from the arithmetic circuit 62 and supplies the drive signal to the drive devices 30, 32.

[0109] According to this, in each of the position control mode M1 and the speed control mode M2, speed control is performed according to the amount of operation of the joystick 47. Therefore, even in the position control mode M1, the drive speed VP and drive position SP of the drive devices 30, 32 are controlled in response to both fast and large operation of the joystick 47 and slow and small operation of the joystick 47.

[0110] In addition, in the manipulation system 10, the calculation circuit 62 calculates the target speed VT of the drive units 30, 32 in accordance with the amount of operation of the joystick 47 in the speed control mode M2, and calculates the target speed VT in accordance with the difference between the target position ST of the drive units 30, 32 in accordance with the amount of operation of the joystick 47 and the current drive position SP of the drive units 30, 32 in the position control mode M1.

[0111] According to this, in the position control mode M1, the manipulation system 10 can control the drive speed VP to be higher the larger the difference between the target position ST of the drive devices 30, 32 and the current drive position SP of the drive devices 30, 32, and to be lower the smaller the difference between the target position ST of the drive devices 30, 32 and the current drive position SP of the drive devices 30, 32. In other words, in the position control mode M1, the manipulation system 10 can perform smooth speed control in accordance with the amount of operation of the joystick 47.

[0112] In addition, in the manipulation system 10, the drive control circuit 61 compares the target speed VT of the drive devices 30, 32 from the calculation circuit 62 with the drive speed VP of the drive devices 30, 32 in the position control mode M1 and the speed control mode M2 ​​to control the acceleration and deceleration of the drive devices 30, 32.

[0113] This allows the drive control circuit 61 to perform common arithmetic processing in the position control mode M1 and the speed control mode M2, and drive signals are supplied to the drive devices 30, 32 from the common drive control circuit 61. Furthermore, the drive control circuit 61 can reduce the amount of programming used for arithmetic processing compared to the arithmetic circuit 62 that performs different arithmetic processing in the position control mode M1 and the speed control mode M2, allowing for a less expensive arithmetic circuit 62.

[0114] In addition, in the manipulation system 10, the control circuit has a sequence mode M3 as a movement control mode for the operation member, in which the drive positions SP and drive velocities VP of the drive devices 30, 32 are executed in a predetermined order. In the sequence mode M3, the arithmetic circuit 62 sets the target speed VT of the drive devices 30, 32 to the predetermined drive velocity VP.

[0115] According to this, the manipulation system 10 can be controlled in the sequence mode M3 at a predetermined drive speed VP (e.g., maximum target speed) of the drive units 30, 32. That is, the manipulation system 10 can perform smooth speed control in the sequence mode M3 according to the predetermined drive position SP and drive speed VP.

[0116] The manipulation system 10 also has a storage area 67 for storing sequence data SQF including information about a series of operations of the drive positions SP and drive velocities VP of the drive devices 30, 32 in the sequence mode M3.

[0117] According to this, the manipulation system 10 can select a desired sequence from the sequence data SQF stored in the storage area 67, or can set a desired sequence by combining a desired drive position SP and drive velocity VP.

[0118] In addition, in the manipulation system 10, the control circuit is provided so as to be connectable to an external control circuit 100, and the memory area 67 stores sequence data SQF supplied from the external control circuit 100.

[0119] This allows the manipulation system 10 to control the drive devices 30 and 32 in conjunction with the external control circuit 100. [Explanation of symbols]

[0120] 10 Manipulation System 14 First Manipulator 16 Second Manipulator 24 first pipette holding member 25 First Pipette 30, 32, 40, 42 Drive unit 34 Second pipette holding member 35 Second Pipette 43 Controller 47, 48 Joystick 61 Drive control circuit 62 Arithmetic circuit 63 Signal Processing Circuit 64 Drive signal calculation circuit 65 Drive signal output circuit 66 Drive speed calculation circuit 67 Storage area 68 Judgment circuit 100 External control circuit M1 Position control mode M2 Speed ​​control mode M3 Sequence Mode SEL selection signal SJ Joystick output signal SP drive position ST target position VP drive speed VT target speed

Claims

1. a manipulator including an operating member for operating a micro object and a drive device for moving the operating member, wherein the position and speed of the operating member are controlled according to the drive position and drive speed of the drive device; a joystick for controlling the drive position and the drive speed of the drive device; a control circuit having, as movement control modes for the operation member, a position control mode for controlling the drive position of the drive device to a position corresponding to the operation amount of the joystick, and a speed control mode for controlling the drive speed of the drive device at a speed corresponding to the operation amount of the joystick, the control circuit includes an arithmetic circuit that calculates a target speed of the drive device based on an output signal from the joystick in each of the position control mode and the speed control mode, and a drive control circuit that generates a drive signal based on information about the target speed of the drive device output from the arithmetic circuit and supplies the drive signal to the drive device; The arithmetic circuit comprises: In the speed control mode, the target speed of the drive device is calculated in accordance with the operation amount of the joystick; In the position control mode, the target speed is calculated according to a difference between a target position of the drive device according to an operation amount of the joystick and the current drive position of the drive device, and if the target speed is greater than a preset maximum target speed, the calculated target speed is replaced with the maximum target speed and set as the target speed. Manipulation system.

2. The drive control circuit compares the target speed of the drive device from the arithmetic circuit with the drive speed of the drive device in the position control mode and the speed control mode to control acceleration / deceleration of the drive device. The manipulation system according to claim 1 .

3. the control circuit has a sequence mode as a movement control mode of the operation member in which the drive positions and the drive speeds of the drive device are executed in a predetermined order, The arithmetic circuit sets the target speed of the drive device to the predetermined drive speed in the sequence mode.

3. The manipulation system according to claim 1 or 2.

4. a storage area for storing sequence data including information about a series of operations of the drive position and the drive speed of the drive device in the sequence mode; The manipulation system according to claim 3 .

5. the control circuit is provided so as to be connectable to an external control circuit; The storage area stores the sequence data supplied from the external control circuit. The manipulation system according to claim 4 .

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