An intracellular injection device

Abstract

The application relates to an intracellular injection device and belongs to the technical field of artificial insemination apparatuses. The intracellular injection device comprises an oblique sliding table, a first double-degree-of-freedom magnetic driver installed on the oblique sliding table, a second double-degree-of-freedom magnetic driver connected with the top end of the first double-degree-of-freedom magnetic driver, a third double-degree-of-freedom magnetic driver connected with the front end of the second double-degree-of-freedom magnetic driver, and a needle holding assembly or an ovum sucking assembly fixed to the top end of the third double-degree-of-freedom magnetic driver; the first double-degree-of-freedom magnetic driver, the second double-degree-of-freedom magnetic driver and the third double-degree-of-freedom magnetic driver are of the same structure. The intracellular injection device has the advantages of non-contact driving, large stroke, no hysteresis, high response and mature driving technology; the cell and the cell puncture needle can be moved to a prepared position before puncture with the help of a PWM digital controller.

Description

TECHNICAL FIELD

[0001] The present application relates to an intracellular injection device, belonging to the technical field of artificial insemination apparatus. BACKGROUND

[0002] One of the current common artificial insemination methods is intracytoplasmic sperm injection (ICSI). The general method and process is as follows: a mechanical hand is used to fix a suction tube to adsorb and fix an oocyte, a mechanical hand device is used to fix a glass puncture needle, a single sperm is sucked into the glass needle under a microscope, and the glass needle is moved forward to penetrate the cell and inject the sperm into the oocyte, thereby completing the injection of the oocyte.

[0003] During the operation of the above-mentioned mechanical hand device, a manual hydraulic drive method is generally used. That is, a knob is manually turned to change the liquid pressure in the system to drive the movement of the glass suction tube and the glass needle. There are also methods of using a stepping motor or an ultrasonic motor to drive the glass suction tube and the glass needle. At the same time, in order to facilitate the penetration of the glass needle into the cell, in addition to directly penetrating the cell membrane with the glass needle, a piezoelectric material (PIEZO) is used to make the glass needle produce high-frequency forward and backward vibration to facilitate the penetration of the glass needle into the cell.

[0004] It is obvious that the above-mentioned manual, stepping motor and ultrasonic motor mechanical hand driving methods are still in a primary control stage. For example, in the manual hydraulic drive method, the displacement of the needle is controlled by the operating force of the hand, which cannot be digitally controlled; the ultrasonic motor drive is a one-dimensional drive, and the displacement range of the driven needle is very small; the stepping motor drive is limited by each step, and the operation is not smooth enough.

[0005] Therefore, it is necessary to develop a new intracellular injection device to solve the above problems existing in the existing device. SUMMARY

[0006] The purpose of the present application is to provide an intracellular injection device with compact structure and ingenious design to solve the problem of not easy to control existing in the existing intracellular injection device.

[0007] The technical solution of the present application is:

[0008] The utility model provides an intracellular injection device, including oblique slide, first double -freedom magnetic drive of installation in oblique slide, second double -freedom magnetic drive with first double -freedom magnetic drive top end connection, third double -freedom magnetic drive with second double -freedom magnetic drive front end connection, hold needle subassembly or egg sucking subassembly fixed to the top of third double -freedom magnetic drive, the structure of first double -freedom magnetic drive, second double -freedom magnetic drive and third double -freedom magnetic drive is identical, and all is by magnetic shaft motor and direct -current brushless motor compound, and the middle axle of first double -freedom magnetic drive, second double -freedom magnetic drive and third double -freedom magnetic drive makes along the middle axle line movement or rotation through PWM digital controller.

[0009] Further, the first double -freedom magnetic drive, second double -freedom magnetic drive or third double -freedom magnetic drive all include the middle axle, the magnetic axle motor magnetic core arranged in the middle part of the middle axle and the brushless rotating motor magnetic core arranged in one end of the middle axle, the magnetic axle motor magnetic core is formed by a plurality of horizontal permanent magnetic core of S magnetic pole and N magnetic pole, to form high -strength narrow magnetic field, the outside of the magnetic axle motor magnetic core is provided with the magnetic axle motor winding, the magnetic axle motor winding is formed by a plurality of coils, and the moving magnetic field is formed in the coaxial direction of the middle axle by the PWM digital controller drive, and the magnetic axle motor magnetic core of the moving magnetic field drives the middle axle to make corresponding sliding action along the middle axle line, the outside of the brushless rotating motor magnetic core is provided with three brushless rotating motor windings, and the rotating magnetic field is formed with the middle axle as the axis by the PWM digital drive, and the rotating magnetic field drives the brushless rotating motor magnetic core to rotate and then drives the middle axle to rotate.

[0010] Further, it further includes the first support and the second support arranged at both ends of the middle axle, and the first support and the second support are supported by the slidingly fitted circular bearing sleeve to allow the middle axle to freely rotate and slide along the axis of the middle axle.

[0011] Further, the oblique slide is composed of a lower slide, a stepping motor, a screw rod and an upper slide; the upper slide is slidably mounted on the inclined surface of the lower slide through a guide rail; the screw rod is mounted on the lower slide at the lower end of the upper slide through the stepping motor; and the screw rod is connected with the upper slide.

[0012] Further, the needle holding assembly includes a needle holding device and a glass needle mounted on the needle holding device, and the glass needle is used for sucking and injecting sperm into an egg.

[0013] Further, it further includes a needle tip shaking driving device, the needle tip shaking driving device includes a magnetic material, a rubber sleeve, a plurality of coils, the rubber sleeve is sleeved on the rear end of the glass needle, the magnetic material is arranged on the rubber sleeve, a plurality of coils outside the magnetic material are sequentially electrified to sequentially generate magnetic force, the electromagnetic force acts on the magnetic material, and then drives the glass needle, so that the needle tip of the glass needle moves on a plane with the driving of the coil motor current.

[0014] Further, the egg sucking assembly comprises a holding pipette device and an egg sucking pipette mounted on the holding pipette device, and the egg sucking pipette is used to suck and fix the egg for facilitating the injection of sperm into the egg.

[0015] The present application has the advantages of:

[0016] The intracellular injection device controls the electromagnetic quantity by controlling the current in the coil, so that the motor generates corresponding precise displacement. The device is based on the conversion of magnetic field energy into electromagnetic driving elements, and has the advantages of non-contact driving, large stroke, no hysteresis, high response, and mature driving technology. A plurality of double-degree-of-freedom magnetic force drivers are stacked and assisted by other devices to form a driving intracellular injection system with multiple degrees of freedom. Through the system, the movement of the puncture needle or the egg holder can be manually or digitally controlled, and the cell and the puncture needle can be moved to a preparation position before puncture with the help of a PWM digital controller. Further, the whole process of bringing sperm into the egg can be automatically completed with the help of the PWM digital controller. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic diagram of the intracellular injection device of the present application;

[0018] Figure 2 is a structural schematic diagram of the double-degree-of-freedom magnetic force driver in the present application;

[0019] Figure 3 is a structural schematic diagram of the installation structure of the needle holding device, glass needle and double-degree-of-freedom magnetic force driver in the present application;

[0020] Figure 4 is a structural schematic diagram of the intracellular injection system composed of the multi-degree-of-freedom needle holding manipulator and the multi-degree-of-freedom egg sucking manipulator in the present application;

[0021] Figure 5 is a structural schematic diagram of the needle tip shaking driving device in the present application.

[0022] In the figure: 1, first support; 2, second support; 3, magnetic shaft motor magnetic core; 4, magnetic shaft motor winding; 5, brushless rotary motor magnetic core; 6, brushless rotary motor winding; 7, middle shaft; 8, lower sliding table; 9, multiple groups of coils; 10, oblique sliding table; 11, stepping motor; 12, screw rod; 13, sliding table; 20, first double-degree-of-freedom magnetic force driver; 30, second double-degree-of-freedom magnetic force driver; 40, third double-degree-of-freedom magnetic force driver; 50, needle holding device; 60, glass needle; 61, magnetic material; 62, rubber sleeve. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Figure 1 The diagram shown is a structural schematic of one embodiment of the intracellular injection device of the present invention. The intracellular injection device includes an inclined slide 10, a first two-degree-of-freedom magnetic actuator 20 mounted on the inclined slide 10, a second two-degree-of-freedom magnetic actuator 30 connected to the top end of the first two-degree-of-freedom magnetic actuator 20, a third two-degree-of-freedom magnetic actuator 40 connected to the front end of the second two-degree-of-freedom magnetic actuator 30, a needle holder 50 fixed to the top end of the third two-degree-of-freedom magnetic actuator 40, and a glass needle 60 mounted on the needle holder 50.

[0025] The first two-degree-of-freedom magnetic actuator 20, the second two-degree-of-freedom magnetic actuator 30, and the third two-degree-of-freedom magnetic actuator 40 have the same structure, such as... Figure 2 As shown, both are composed of a magnetic shaft motor and a brushless DC motor, controlled by a PWM digital controller, which allows the central shaft of the dual-degree-of-freedom magnetic actuator to move or rotate along the central axis. Figure 1 As shown, the first dual-degree-of-freedom magnetic actuator 20 is vertically arranged and can drive the second dual-degree-of-freedom magnetic actuator 30 to rotate along the Z-axis and move up and down along the Z-axis; the second dual-degree-of-freedom magnetic actuator 30 is horizontally arranged on top of the first dual-degree-of-freedom magnetic actuator 20 and can drive the third dual-degree-of-freedom magnetic actuator 40 to rotate along the Y-axis and move back and forth along the Y-axis; the third dual-degree-of-freedom magnetic actuator 40 is horizontally arranged and perpendicular to the second dual-degree-of-freedom magnetic actuator 30 at the front end of the second dual-degree-of-freedom magnetic actuator 30 and can drive the needle holding device 50 to rotate along the X-axis and move back and forth along the X-axis.

[0026] Taking one of the second two-degree-of-freedom magnetic actuators 30 as an example, it includes a central shaft 7, a first support member 1 and a second support member 2 located at both ends of the central shaft 7. Both the first support member 1 and the second support member 2 are cylindrical structures and are supported by a circular bearing sleeve with sliding fit. This design allows the central shaft 7 to rotate freely and slide along the axis of the central shaft.

[0027] The one end of the double-freedom magnetic driver is a magnetic shaft motor sample structure. Specifically, a magnetic shaft motor magnetic core 3 is arranged at the middle part of the middle shaft 7, the magnetic shaft motor magnetic core 3 is composed of multiple groups of horizontal permanent magnetic cores of S magnetic pole pairs and N magnetic pole pairs, so as to form a high-strength narrow magnetic field; a magnetic shaft motor winding 4 is arranged outside the magnetic shaft motor magnetic core 3 of the middle shaft 7, the magnetic shaft motor winding 4 is composed of multiple groups of coils, and a moving magnetic field coaxial with the middle shaft 7 can be formed by driving the coils through a PWM digital encoder, the moving magnetic field can drive the magnetic shaft motor magnetic core 3 of the middle shaft 7, so that the middle shaft 7 slides along the middle shaft line.

[0028] The other end of the double-freedom magnetic driver is a direct-current brushless motor sample structure. A brushless rotating motor magnetic core 5 connected with the second support 2 is arranged at the right side of the middle shaft 7, three groups of brushless rotating motor windings 6 are arranged outside the brushless rotating motor magnetic core 5, and a rotating magnetic field with the middle shaft 7 as the center can be formed by driving the brushless rotating motor windings 6 through a PWM digital encoder, the rotating magnetic field drives the brushless rotating motor magnetic core 5 to rotate, and then drives the middle shaft 7 to rotate.

[0029] The magnetic shaft motor magnetic core 3 and the brushless rotating motor magnetic core 5 in the application can be isolated from each other by distance or magnetism, so that the two groups of magnetic fields do not interfere with each other.

[0030] The double-freedom magnetic driver in the application adopts electromagnetic driving. The electromagnetic driving technology today is non-contact driving, has high precision, no hysteresis, high response, and mature driving technology. The sliding precision and repeated positioning of the middle shaft 7 can be easily controlled at the nanometer level; similarly, the rotation angle of the middle shaft 7 can also be easily controlled at a very high precision. The driving of the double-freedom magnetic driver can be controlled by a pre-programmed program, and manual control can also be realized by means of external electronic elements.

[0031] As shown in the figure, Figure 3 The double-freedom magnetic driver 30 in the application can be matched with a needle holding device 50 and a glass needle 60. After matching, the front end of the glass needle 60 coincides with the axis of the middle shaft 7 of the double-freedom magnetic driver 30. By driving the corresponding coils through a PWM digital encoder, a horizontal moving magnetic field and a rotating moving magnetic field are formed, and then the middle shaft 7, the needle holding device 50 and the glass needle 60 are driven to move horizontally and rotate. According to the control signal of the PWM digital encoder, the middle shaft 7 drives the needle holding device 50 and the glass needle 60 to move forward and backward in a single degree of freedom, and to perform high-frequency forward and backward shaking in the forward and backward movement; the middle shaft 7 also drives the needle holding device 50 and the glass needle 60 to perform simultaneous composite movement in two degrees of freedom, such as combined movement of forward movement and rotation.

[0032] Further, the double-freedom magnetic driver and other accessories can be combined into a multi-freedom needle holding manipulator. Figure 1As shown, the multi-degree-of-freedom needle holding robot is composed of three double-degree-of-freedom magnetic drivers (20, 30, 40), a needle holding device 50, a glass needle 60 and an inclined slide 10. The superposition of the three double-degree-of-freedom magnetic drivers (20, 30, 40) can realize digital motion control of six degrees of freedom in three axial directions.

[0033] The inclined slide 10 is composed of a lower slide 8, a stepping motor 11, a screw rod 12 and an upper slide 13. The upper slide 13 is slidably mounted on the inclined surface of the lower slide 8 through a guide rail. The screw rod 12 is mounted on the lower slide 8 at the lower end of the upper slide 13 through the stepping motor 11. The screw rod 12 is connected with the upper slide 13. During operation, the stepping motor 11 can drive the slide 13 to slide along the inclined guide rail by rotating the screw rod 12. In this way, the height of the upper slide 13 can be adjusted.

[0034] The first double-degree-of-freedom magnetic driver 20 is fixed on the upper slide 13 in a vertical state, which can quickly move the glass needle 60 out of or into the injection position, and keep the needle tip of the glass needle 60 basically unchanged in the recovery position after movement.

[0035] The needle holding device 50 in the multi-degree-of-freedom needle holding robot contains a pressure controllable liquid flow pipeline system. The flow of the liquid can also be digitally controlled to control the glass needle 60 to suck and inject sperm into the egg.

[0036] Similarly, the double-degree-of-freedom magnetic driver and other accessories can be combined into a multi-degree-of-freedom egg sucking robot, which can be used to suck and fix the egg with the egg sucking tube, and facilitate the injection of sperm into the egg. Figure 1 Compared with the embodiment shown, the difference lies in that the needle holding device 50 is replaced by a suction tube holding device, the glass needle 60 is replaced by an egg sucking tube, and the superposition of the three double-degree-of-freedom magnetic drivers can realize digital motion control of six degrees of freedom in three axial directions. The inclined slide 10 can be digitally controlled to slide a long distance, which is used to quickly move the egg sucking tube out of or into the injection position, and keep the position of the top end of the egg sucking tube basically unchanged in the recovery position after movement.

[0037] The suction tube holding device in the multi-degree-of-freedom egg sucking robot contains a pressure controllable liquid flow pipeline system. The flow of the liquid can also be digitally controlled to control the egg sucking tube to suck and fix the egg, and facilitate the injection of sperm into the egg.

[0038] The multi-degree-of-freedom needle holding robot and the multi-degree-of-freedom egg sucking robot can be combined into a cell injection system, as shown. Figure 4 Under the manual operation or computer digital control, the cell injection system can complete the intracellular sperm injection.

[0039] In addition, Figure 5A simplified needle tip shaking driving device is shown. The needle tip shaking driving device comprises magnetic material 61, rubber sleeve 62, multiple sets of coils 9, the rubber sleeve 62 is sleeved on the rear end of the glass needle 60, the rubber sleeve 62 is provided with magnetic material 61, the outside of the magnetic material 61 is provided with multiple sets of coils 9; during assembly, the glass needle 60 is inserted into the rubber sleeve 62, and then the glass needle 60 is assembled into the needle holding device 50 together with the multiple sets of coils 9; the multiple sets of coils 9 outside the magnetic material 61 are sequentially energized to sequentially generate magnetic force; the electromagnetic force acts on the magnetic material 61, and then drives the glass needle 60, so that the needle tip of the glass needle 60 moves on a plane and moves with the current driving of the coil 70.

[0040] It is obvious that when the needle pierces the cell to try to pierce the cell, the needle tip with forward movement and composite micro-lateral movement can easily pierce the cell. The simplified needle tip shaking driving device can be combined into the cell injection system mentioned above, and can also be separately installed in the existing manual hydraulic needle piercing system.

[0041] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical range disclosed by the present application can be easily thought by any person skilled in the art in the technical field, and should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An intracellular injection device, characterized by: The device comprises an inclined slide (10), a first double-degree-of-freedom magnetic driver (20) mounted on the inclined slide (10), a second double-degree-of-freedom magnetic driver (30) connected to the top end of the first double-degree-of-freedom magnetic driver (20), a third double-degree-of-freedom magnetic driver (40) connected to the front end of the second double-degree-of-freedom magnetic driver (30), and a needle holding assembly or an egg sucking assembly fixed to the top end of the third double-degree-of-freedom magnetic driver (40). The first double-degree-of-freedom magnetic driver (20), the second double-degree-of-freedom magnetic driver (30) and the third double-degree-of-freedom magnetic driver (40) have the same structure and are composed of a magnetic shaft motor and a direct-current brushless motor. The central shaft (7) of the first double-degree-of-freedom magnetic driver (20), the second double-degree-of-freedom magnetic driver (30) and the third double-degree-of-freedom magnetic driver (40) is moved along the center line or rotated through a PWM digital controller. The first double-degree-of-freedom magnetic driver (20), the second double-degree-of-freedom magnetic driver (30) and the third double-degree-of-freedom magnetic driver (40) each comprise a central shaft (7), a magnetic shaft motor core (3) arranged at the middle part of the central shaft (7), and a brushless rotating motor core (5) arranged at one end of the central shaft (7). The magnetic shaft motor core (3) is composed of multiple groups of horizontal permanent magnet cores with S magnetic pole pairs and N magnetic pole pairs to form a high-strength narrow magnetic field. The magnetic shaft motor core (3) is externally provided with a magnetic shaft motor winding (4) composed of multiple groups of coils. The magnetic shaft motor winding (4) is driven by a PWM digital controller to form a moving magnetic field coaxial with the central shaft (7). The moving magnetic field drives the magnetic shaft motor core (3) of the central shaft (7) to move along the central shaft (7) accordingly. The brushless rotating motor core (5) is externally provided with three groups of brushless rotating motor windings (6). The brushless rotating motor windings (6) are driven by a PWM digital controller to form a rotating magnetic field with the central shaft (7) as the axis. The rotating magnetic field drives the brushless rotating motor core (5) to rotate and in turn drives the central shaft (7) to rotate. The needle holding assembly comprises a needle holding device (50) and a glass needle (60) mounted on the needle holding device (50). The glass needle (60) is used for sucking and injecting sperm into an egg. The needle holding assembly further comprises a needle tip shaking driving device. The needle tip shaking driving device comprises a magnetic material (61), a rubber sleeve (62), and multiple groups of coils (9). The rubber sleeve (62) is sleeved on the rear end of the glass needle (60), and the magnetic material (61) is arranged on the rubber sleeve (62). The magnetic material (61) is externally provided with multiple groups of coils (9). During assembly, the glass needle (60) is inserted into the rubber sleeve (62), and then the glass needle (60) and the multiple groups of coils (9) are assembled into the needle holding device (50) together. The multiple groups of coils (9) outside the magnetic material (61) are sequentially energized to generate magnetic forces sequentially. The electromagnetic forces act on the magnetic material (61) to drive the glass needle (60) to move the needle tip of the glass needle (60) on a plane along the current driving of the coils (70).

2. An intracellular injection device according to claim 1, wherein: The first double-freedom magnetic driver (20), the second double-freedom magnetic driver (30) and the third double-freedom magnetic driver (40) further comprise a first support (1) and a second support (2) arranged at both ends of the middle shaft (7), and the first support (1) and the second support (2) are supported by a slidingly-fitted circular bearing sleeve to allow the middle shaft (7) to freely rotate and slide along the axis of the middle shaft (7).

3. An intracellular injection device according to claim 1, wherein: The inclined slide table (10) is composed of a lower slide table (8), a stepping motor (11), a screw rod (12) and an upper slide table (13); the upper slide table (13) is slidably arranged on the inclined surface of the lower slide table (8) through a guide rail; the screw rod (12) is arranged on the lower slide table (8) at the lower end of the upper slide table (13) through the stepping motor (11); and the screw rod (12) is connected with the upper slide table (13).

4. The intracellular injection device of claim 1, wherein: The egg sucking assembly comprises a holding pipette device and an egg sucking pipette mounted on the holding pipette device, and the egg sucking pipette is used for sucking and fixing the egg to facilitate the injection of sperm into the egg.

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