Observation device

Abstract

To provide an observation device which can easily observe an object from multiple directions.SOLUTION: An observation device 1 comprises: a tubular capillary 20 which holds an object T at a tip end E; a rotary shaft member 42 which holds the base end B of the capillary 20 and rotates around a center axis 42a; a driving device 50 which moves the rotary shaft member 42 in the perpendicular direction perpendicular to the center axis 42a; and an imaging part 60 which captures images of the object T held at the tip end E of the capillary 20. When the rotary shaft member 42 is rotating around the center axis 42a, the driving device 50 moves the rotary shaft member 42 in the perpendicular direction so that the tip end E of the capillary 20 may be positioned on a parallel axis Ap parallel to the center axis 42a.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an observation device.

Background Art

[0002] Patent Document 1 discloses, as an example of an observation device for observing an object, a microparticle measuring device including a support base that supports a long observation container for accommodating microparticles, and an imaging unit that images the microparticles accommodated in the observation container. The imaging unit is disposed on the outer side in the radial direction of the observation container. Based on the imaging result of the imaging unit, the microparticles accommodated in the observation container are observed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the microparticle measuring device (observation device) of Patent Document 1, it is difficult to arrange the imaging unit in the extending direction of the observation container. Further, the posture of the microparticles (objects) accommodated in the observation container cannot be changed. Therefore, the direction for observing the object is limited. On the other hand, there is a desire to easily observe the object from multiple directions and identify the three-dimensional shape of the object.

[0005] An object of the present disclosure is to provide an observation device capable of easily observing an object from multiple directions.

Means for Solving the Problems

[0006] An observation apparatus according to one aspect of the present disclosure includes a tubular capillary that holds an object at its tip, a rotary shaft member that holds the base end of the capillary and rotates around a central axis, a driving device that moves the rotary shaft member in an orthogonal direction orthogonal to the central axis, and an imaging unit that images an image of the object held at the tip of the capillary. The driving device moves the rotary shaft member in the orthogonal direction so that the tip of the capillary is located on a parallel axis parallel to the central axis when the rotary shaft member is rotating around the central axis.

[0007] According to this, when the rotary shaft member is rotating around the central axis, the rotary shaft member moves in the orthogonal direction so that the tip of the capillary is located on the parallel axis. As a result, the object is located on the parallel axis and its posture changes. Therefore, the observation apparatus can easily observe the object from multiple directions.

[0008] In the observation apparatus according to one aspect of the present disclosure, the driving device rotates the rotary shaft member around the parallel axis in synchronization with the rotation of the rotary shaft member around the central axis when the rotary shaft member is rotating around the central axis.

[0009] According to this, with the tip of the capillary located on the parallel axis, the tip of the capillary and the object rotate around the parallel axis, thereby changing the posture of the object. Therefore, the observation apparatus can more easily observe the object from multiple directions.

[0010] In an observation apparatus according to an aspect of the present disclosure, the imaging unit includes a first imaging unit that images an image of the object along a first direction, and a second imaging unit that images an image of the object along a second direction orthogonal to the first direction. The first imaging unit and the second imaging unit are capable of imaging an image of the tip of the capillary when the rotary shaft member is rotating around the central axis. The moving direction of the rotary shaft member when the driving device moves the rotary shaft member is determined using the moving direction and the amount of movement of the tip of the capillary derived based on the images captured by the first imaging unit and the second imaging unit.

[0011] According to this, when the driving device moves the rotary shaft member, the moving direction of the rotary shaft member can be determined accurately and simply.

[0012] In an observation apparatus according to an aspect of the present disclosure, the first direction and the second direction are perpendicular to the central axis.

[0013] According to this, based on the images captured by the first imaging unit and the second imaging unit, the moving direction and the amount of movement of the tip of the capillary can be accurately derived.

[0014] In an observation apparatus according to an aspect of the present disclosure, the first direction and the second direction are parallel to a plane including the central axis.

[0015] According to this, based on the images captured by the first imaging unit and the second imaging unit, the moving direction and the amount of movement of the tip of the capillary can be accurately derived.

[0016] In an observation apparatus according to an aspect of the present disclosure, the imaging unit further includes an image processing unit that images images of a plurality of the objects with different in-focus parts, and generates an all-in-focus image in which the in-focus parts in the plurality of images of the objects imaged by the imaging unit are combined.

[0017] According to this, by the image processing unit generating a full focus image, a clear image can be obtained over the entire object.

Brief Description of the Drawings

[0018]

Figure 1

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Figure 7A

Figure 7B

Figure 8A

Figure 8B

Figure 9A

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Figure 10

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Figure 12A

Figure 12B

Figure 13A

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Figure 14A

Figure 14B

DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited thereto. The components of each embodiment described below can be combined as appropriate. Also, there may be cases where some components are not used.

[0020] Also, in the following description, the Z direction is the vertical direction of the observation device 1, the X direction is the left - right direction of the observation device 1, and the Y direction is the front - back direction of the observation device 1. The X direction, Y direction, and Z direction are orthogonal to each other. Note that the directions of X, Y, and Z are merely examples, and the present disclosure is not limited to these directions.

[0021] FIG. 1 is a diagram showing the configuration of an observation device 1 according to an embodiment of the present disclosure. The observation device 1 is a device for observing an object T. The object T is relatively minute, and for example, is an elastic body such as a cell or a silicon rubber bead, and a viscoelastic body such as a spheroid and an organoid.

[0022] The observation device 1 includes a base 10, a capillary 20, a suction pump 30, a rotating device 40, a driving device 50, an imaging unit 60, and a control device 70.

[0023] FIG. 2 is a cross - sectional view schematically showing the capillary 20. The capillary 20 is a hollow tube extending straight. Both ends of the capillary 20 are open. The capillary 20 is made of, for example, glass. Note that the material of the capillary 20 is not limited to glass, and any material having electrical insulation properties may be used.

[0024] The capillary 20 has a main body portion 21 and a tip portion 22 continuous with the main body portion 21 on the tip E side of the main body portion 21. The outer diameter and inner diameter of the main body portion 21 are each substantially constant. At the tip portion 22, the outer diameter and inner diameter become smaller from the base end B side toward the tip E side. Note that the outer diameter of the tip E of the tip portion 22 is approximately 20 μm, and the inner diameter of the tip E of the tip portion 22 is approximately 15 μm. Needless to say, the outer diameter and inner diameter of the tip E are not limited to the above sizes.

[0025] The suction pump 30 shown in FIG. 1 is connected to the proximal end B of the capillary 20 via a tube 31. When the suction pump 30 is driven, the pressure inside the capillary 20 becomes negative pressure. As a result, the capillary 20 sucks the object T from the tip E and holds the object T at the tip E. The capillary 20 holds the object T in a state where the tip E of the capillary 20 is in contact with the outer surface of the object T. Note that the capillary 20 may hold the object T in a state where the tip E of the capillary 20 is inserted into the object T.

[0026] The rotating device 40 rotates the capillary 20. The rotating device 40 includes a housing 41, a rotating shaft member 42, and a motor 43. The rotating shaft member 42 is columnar with a central axis line 42a and is rotatable about the central axis line 42a with respect to the housing 41. The central axis line 42a is parallel to the Z direction. The rotating shaft member 42 holds the proximal end B of the capillary 20 at one end (lower end).

[0027] The motor 43 rotates the rotating shaft member 42 about the central axis line 42a. When the rotating shaft member 42 rotates, the capillary 20 rotates about the central axis line 42a.

[0028] The driving device 50 is disposed on the base 10 and moves the rotating device 40. Specifically, the driving device 50 moves the rotating device 40 in an orthogonal direction orthogonal to the central axis line 42a. The orthogonal direction is a direction orthogonal to the Z direction.

[0029] The driving device 50 includes an XY table 51 that moves the rotating device 40 along the X direction and the Y direction with respect to the base 10, and a first actuator 52 that moves the XY table 51. The XY table 51 moves the rotating device 40 along the X direction and the Y direction with respect to the base 10. As a result, the rotating device 40 moves in the orthogonal direction.

[0030] Furthermore, the driving device 50 moves the rotating device 40 along the Z direction. The driving device 50 includes a Z table 53 that moves the rotating device 40 along the Z direction with respect to the base 10, and a second actuator 54 that moves the Z table 53.

[0031] The imaging unit 60 captures an image of the object T. The imaging unit 60 includes an optical system 61 and an image sensor 62. The optical system 61 has a plurality of lenses and is capable of adjusting the focal length. The optical system 61 forms an optical image of the object T on the light-receiving surface of the image sensor 62. The image sensor 62 converts the optical image into image data and outputs it to the control device 70.

[0032] The imaging unit 60 is arranged so as to be able to image the object T. There is a space where the imaging unit 60 can be arranged between each of the base 10, the suction pump 30, the rotating device 40, the driving device 50, and the control device 70 and the object T. That is, the imaging unit 60 may be arranged around the object T so as not to interfere with the capillary 20. Note that the observation device 1 may include a plurality of imaging units 60 when observing the object T. The plurality of imaging units 60 may be at different positions from each other.

[0033] The control device 70 performs overall control of the observation device 1. The control device 70 is electrically connected to the suction pump 30, the rotating device 40, the driving device 50, and the imaging unit 60. The control device 70 includes an image processing unit 71 and a display unit 72. The image processing unit 71 generates an image of the object T based on the image data acquired from the imaging unit 60. The display unit 72 displays the image generated by the image processing unit 71.

[0034] Next, the operation of the observation device 1 when observing the object T will be described. The control device 70 controls the suction pump 30 to hold the object T at the tip E of the capillary 20.

[0035] The control device 70 rotates the rotary shaft member 42 of the rotating device 40. When the rotary shaft member 42 rotates, the capillary 20 and the object T rotate around the central axis 42a. As a result, the posture of the object T changes, and the imaging unit 60 can image the object T from multiple directions.

[0036] FIG. 3 is a diagram showing a state in which the position of the rotary shaft member 42 is fixed and the tip E of the capillary 20 is displaced from the central axis 42a, and the rotary shaft member 42 is rotating around the central axis 42a.

[0037] When the tip E of the capillary 20 is displaced from the central axis 42a, the base end B of the capillary 20 is held by the rotary shaft member 42, so that the capillary 20 is inclined with respect to the central axis 42a. Therefore, when the rotary shaft member 42 rotates around the central axis 42a, the tip E of the capillary 20 rotates around the central axis 42a. The locus of the tip E of the capillary 20 at this time is included in a plane orthogonal to the central axis 42a and is circular when viewed along the central axis 42a.

[0038] Also, at this time, the object T rotates around the central axis 42a in the same manner as the tip E of the capillary 20. In this case, it is necessary to adjust the focus of the imaging unit 60 in accordance with the movement of the object T. Further, when the object T is relatively small, the amount of deviation between the object T and the central axis 42a becomes large with respect to the size of the object T, and when the object T moves, the object T may deviate from the imaging range of the imaging unit 60. Therefore, it is desirable that the tip E of the capillary 20 is located on the central axis 42a so that the tip E of the capillary 20 does not displace even when the rotary shaft member 42 rotates.

[0039] However, when the capillary 20 only rotates around the central axis 42a with the tip E of the capillary 20 coinciding with the central axis 42a, it is necessary to precisely adjust the position of the capillary 20 for the tip E of the capillary 20 to be located on the central axis 42a. Therefore, it is difficult to fix the capillary 20 to the rotary shaft member 42 so that the tip E of the capillary 20 is positioned on the central axis 42a. Thus, the control device 70 controls the drive device 50 to move the rotary device 40 so that the tip E of the capillary 20 does not displace.

[0040] FIG. 4 is a diagram showing a state in which the rotary device 40 moves so that the tip E of the capillary 20 does not displace when the rotary shaft member 42 rotates around the central axis 42a with the tip E of the capillary 20 being displaced from the central axis 42a.

[0041] When the rotary shaft member 42 rotates around the central axis 42a, the control device 70 controls the drive device 50 to move the rotary shaft member 42 in the orthogonal direction so that the tip E of the capillary 20 is located on a parallel axis Ap parallel to the central axis 42a.

[0042] Specifically, the control device 70 controls the drive device 50 to rotate and move the rotary shaft member 42 around the parallel axis Ap in synchronization with the rotation of the rotary shaft member 42 around the central axis 42a. In other words, the drive device 50 rotates and moves the rotary shaft member 42 around a parallel axis Ap that passes through the tip E of the capillary 20 and is parallel to the central axis 42a. In the present embodiment, the parallel axis Ap is parallel to the Z direction.

[0043] FIG. 5 is a diagram showing a locus L of the central axis 42a of the rotary shaft member 42 when viewed along the parallel axis Ap when the drive device 50 rotates and moves the rotary shaft member 42 around the parallel axis Ap. The locus L of the central axis 42a is circular with the parallel axis Ap as the center. The radius of the locus L of the central axis 42a is derived in advance and stored in advance in the storage area of the control device 70 as described below.

[0044] FIG. 6 is a diagram showing the arrangement of the imaging unit 60 when deriving the radius of the locus L of the central axis line 42a. The first direction D1 shown in FIG. 6 is parallel to the X direction, and the second direction D2 is parallel to the Y direction. The first direction D1 and the second direction D2 are orthogonal to each other at the intersection point P and perpendicular to the central axis line 42a parallel to the Z direction. When deriving the radius of the locus L of the central axis line 42a, the object T is not held at the tip E of the capillary 20.

[0045] In FIG. 6, the capillary 20 when the tip E of the capillary 20 is located at the intersection point P is shown by a solid line. Also, in FIG. 6, the capillary 20 when the tip E of the capillary 20 has moved from the intersection point P is shown by a dashed line. Note that the same applies to FIGS. 7A, 7B, 8A, 8B, 9A, 9B, 11, 12A, 12B, 13A, 13B, 14A, and 14B described later. Specifically, the capillary 20 shown in FIGS. 7A, 7B, 8A, 8B, 9A, and 9B is the outer diameter of the main body portion 21. Also, the capillary 20 shown in FIGS. 11, 12A, 12B, 13A, and 13B is the shape of the tip portion 22 as viewed from the side. In FIG. 6, the case where the tip E of the capillary 20 has moved from the intersection point P along the X direction to the + side in the X direction is shown.

[0046] When deriving the radius of the locus L of the central axis line 42a, two imaging units 60 are used. The two imaging units 60 are the first imaging unit 60a and the second imaging unit 60b. The first imaging unit 60a images the image of the tip E of the capillary 20 along the first direction D1. The second imaging unit 60b images the image of the tip E of the capillary 20 along the second direction D2 orthogonal to the first direction D1.

[0047] First, an example of deriving the moving direction and moving distance of the tip E of the capillary 20 based on the images captured by the first imaging unit 60a and the second imaging unit 60b when the tip E of the capillary 20 has moved from the intersection point P will be described. First, as shown in FIG. 6, the case where the tip E of the capillary 20 has moved from the intersection point P along the X direction to the + side in the X direction will be described.

[0048] FIG. 7A is a diagram showing an image captured by the first imaging unit 60a when the tip E of the capillary 20 moves in the + side in the X direction along the X direction from the intersection point P. For convenience of explanation, in FIG. 7A and FIGS. 7B, 8A, 8B, 9A, 9B, 12A, 12B, 13A, 13B, 14A, and 14B described later, the X direction, the Y direction, and the Z direction are perpendicular to each other at the intersection point P.

[0049] In the image captured by the first imaging unit 60a shown in FIG. 7A, the tip E of the capillary 20 has not moved. Therefore, based on the image captured by the first imaging unit 60a shown in FIG. 7A, it can be derived that the amount of movement of the tip E of the capillary 20 when viewed along the first direction D1 is zero.

[0050] FIG. 7B is a diagram showing an image captured by the second imaging unit 60b when the tip E of the capillary 20 moves in the + side in the X direction along the X direction from the intersection point P.

[0051] In the image captured by the second imaging unit 60b shown in FIG. 7B, the tip E of the capillary 20 is moving in the + side in the X direction along the X direction. Further, based on the image captured by the second imaging unit 60b shown in FIG. 7B, the amount of movement of the tip E of the capillary 20 when viewed along the second direction D2 can be measured.

[0052] Therefore, based on the image captured by the first imaging unit 60a shown in FIG. 7A and the image captured by the second imaging unit 60b shown in FIG. 7B, it can be derived that the tip E of the capillary 20 has actually moved in the + side in the X direction along the X direction from the intersection point P, and the actual amount of movement of the tip E of the capillary 20 from the intersection point P.

[0053] Next, the case where the tip E of the capillary 20 moves in the + side in the Y direction along the Y direction from the intersection point P will be described.

[0054] FIG. 8A is a diagram showing an image captured by the first imaging unit 60a when the tip E of the capillary 20 moves in the + side in the Y direction along the Y direction from the intersection point P.

[0055] In the image captured by the first imaging unit 60a shown in FIG. 8A, the tip E of the capillary 20 is moving in the + side in the Y direction along the Y direction. Further, based on the image captured by the first imaging unit 60a shown in FIG. 8A, the movement amount of the tip E of the capillary 20 when viewed along the first direction D1 can be measured.

[0056] FIG. 8B is a diagram showing an image captured by the second imaging unit 60b when the tip E of the capillary 20 moves in the + side in the Y direction along the Y direction from the intersection point P.

[0057] In the image captured by the second imaging unit 60b shown in FIG. 8B, the tip E of the capillary 20 has not moved. Therefore, based on the image captured by the second imaging unit 60b shown in FIG. 8B, it can be derived that the movement amount of the tip E of the capillary 20 when viewed along the second direction D2 is zero.

[0058] Therefore, based on the image captured by the first imaging unit 60a shown in FIG. 8A and the image captured by the second imaging unit 60b shown in FIG. 8B, it can be derived that the tip E of the capillary 20 has actually moved in the + side in the Y direction along the Y direction from the intersection point P, and the actual movement amount of the tip E of the capillary 20 from the intersection point P.

[0059] Next, the case where the tip E of the capillary 20 moves in the + side in the Z direction along the Z direction from the intersection point P will be described.

[0060] FIG. 9A is a diagram showing an image captured by the first imaging unit 60a when the tip E of the capillary 20 moves in the + side in the Z direction along the Z direction from the intersection point P.

[0061] In the image captured by the first imaging unit 60a shown in FIG. 9A, the tip E of the capillary 20 is moving in the + direction along the Z direction. Also, based on the image captured by the first imaging unit 60a shown in FIG. 9A, the amount of movement of the tip E of the capillary 20 when viewed along the first direction D1 can be measured.

[0062] FIG. 9B is a diagram showing an image captured by the second imaging unit 60b when the tip E of the capillary 20 moves in the + direction along the Z direction from the intersection point P.

[0063] In the image captured by the second imaging unit 60b shown in FIG. 9B, the tip E of the capillary 20 is moving in the + direction along the Z direction. Also, based on the image captured by the second imaging unit 60b shown in FIG. 9B, the amount of movement of the tip E of the capillary 20 when viewed along the second direction D2 can be measured.

[0064] Therefore, based on the image captured by the first imaging unit 60a shown in FIG. 9A and the image captured by the second imaging unit 60b shown in FIG. 9B, it can be derived that the tip E of the capillary 20 has actually moved in the + direction along the Z direction from the intersection point P, and the actual amount of movement of the tip E of the capillary 20 from the intersection point P.

[0065] Thus, when the moving direction of the tip E of the capillary 20 is different, the combination of the moving direction of the tip E of the capillary 20 in the image captured by the first imaging unit 60a and the moving direction of the tip E of the capillary 20 in the image captured by the second imaging unit 60b is different.

[0066] Therefore, based on the images captured by the first imaging unit 60a and the second imaging unit 60b respectively, the actual movement direction of the tip E of the capillary 20 can be derived. Also, based on the amount of movement of the tip E of the capillary 20 measured based on the images captured by the first imaging unit 60a and the second imaging unit 60b respectively, the actual amount of movement of the tip E of the capillary 20 can be derived.

[0067] Therefore, with the position of the rotating shaft member 42 of the rotating device 40 fixed, by deriving the movement direction and the amount of movement of the tip E of the capillary 20 among the positions of the tips E of three different capillaries 20 when the rotating shaft member 42 is rotated around the central axis line 42a, a circle passing through the positions of the tips E of the three different capillaries 20 and the radius of the circle can be calculated. The calculated radius of the circle corresponds to the radius of the locus L shown in FIG. 5.

[0068] Using the calculated radius, as described above, the control device 70 controls the drive device 50 to rotate the rotating shaft member 42 around the parallel axis Ap as shown in FIG. 4 in synchronization with the rotation of the rotating shaft member 42 around the central axis line 42a. Therefore, the movement direction of the rotating shaft member 42 when the drive device 50 moves the rotating shaft member 42 is the circumferential direction of the circular locus L. In this way, the movement direction of the rotating shaft member 42 when the drive device 50 moves the rotating shaft member 42 is determined using the movement direction and the amount of movement of the tip E of the capillary 20 derived based on the images captured by the first imaging unit 60a and the second imaging unit 60b.

[0069] As described above, when the drive device 50 moves the rotary shaft member 42, the tip E of the capillary 20 and the object T rotate around the parallel axis Ap while the tip E of the capillary 20 is located on the parallel axis Ap without displacement. Therefore, it is possible to suppress the need to adjust the focus of the imaging unit 60 in accordance with the movement of the object T, and to prevent the object T from falling out of the imaging range of the imaging unit 60 even when the object T is relatively small. Further, when the object T rotates around the parallel axis Ap, the posture of the object T changes. Therefore, the observation device 1 can easily observe the object T from multiple directions.

[0070] FIG. 10 is a schematic diagram showing a state where the imaging unit 60 images an image of the object T sucked and held by the capillary 20. The tip E of the capillary 20 shown in FIG. 10 is inserted into the object T. In FIG. 10, the imaging unit 60 images an image of the object T along the imaging direction Dp that passes through the tip E of the capillary 20 and is inclined with respect to the parallel axis Ap.

[0071] For example, when the tip E of the capillary 20 is in focus, the position of the outer surface of the object T (for example, point A) that intersects the plane H perpendicular to the imaging direction Dp and passes through the tip E of the capillary 20 is in focus.

[0072] However, due to the relatively shallow depth of field of the imaging unit 60, the position of the outer surface of the object T that is away from the plane H (for example, point B closest to the imaging unit 60) may be out of focus.

[0073] Therefore, the imaging unit 60 images images of a plurality of objects T in which the in-focus portions are different from each other, and the image processing unit 71 generates an all-in-focus image in which the in-focus portions in the images of the plurality of objects T imaged by the imaging unit 60 are combined.

[0074] For example, the imaging unit 60 captures an image of the object T by focusing on point A, point B, and a portion (e.g., point C) between point A and point B in the imaging direction Dp. Further, the image processing unit 71 generates an all-in-focus image by synthesizing a portion around point A in the image focused on point A, a portion around point B in the image focused on point B, and a portion around point C in the image focused on point C. Thereby, a clear image can be obtained over the entire object T.

[0075] Also, when the object T has translucency, the imaging unit 60 captures an image of the object T by focusing on a portion of the outer surface on the side opposite to the imaging unit 60 with the tip E of the capillary 20 interposed therebetween and the inside of the object T, and the image processing unit 71 may generate an all-in-focus image using the in-focus portion of the image.

[0076] As described above, according to the present embodiment, the observation device 1 includes a tubular capillary 20 that holds the object T at the tip E, a rotary shaft member 42 that holds the base end B of the capillary 20 and rotates around the central axis 42a, a drive device 50 that moves the rotary shaft member 42 in a direction orthogonal to the central axis 42a, and an imaging unit 60 that captures an image of the object T held at the tip E of the capillary 20. The drive device 50 moves the rotary shaft member 42 in the orthogonal direction so that the tip E of the capillary 20 is located on a parallel axis Ap parallel to the central axis 42a when the rotary shaft member 42 is rotating around the central axis 42a.

[0077] According to this, when the rotary shaft member 42 is rotating around the central axis 42a, the rotary shaft member 42 moves in the orthogonal direction so that the tip E of the capillary 20 is located on the parallel axis Ap. Thereby, the object T is located on the parallel axis Ap and its posture changes. Therefore, the observation device 1 can easily observe the object T from multiple directions.

[0078] Further, when the rotary shaft member 42 is rotating about the central axis 42a, the drive device 50 rotates and moves the rotary shaft member 42 about the parallel axis Ap in synchronization with the rotation of the rotary shaft member 42 about the central axis 42a.

[0079] According to this, with the tip E of the capillary 20 positioned on the parallel axis Ap, the tip E of the capillary 20 and the object T rotate about the parallel axis Ap, thereby changing the posture of the object T. Therefore, the observation device 1 can more easily observe the object T from multiple directions.

[0080] The imaging unit 60 includes a first imaging unit 60a that images the object T along the first direction D1, and a second imaging unit 60b that images the object T along a second direction D2 orthogonal to the first direction D1. The first imaging unit 60a and the second imaging unit 60b can image the tip E of the capillary 20 when the rotary shaft member 42 is rotating about the central axis 42a. The moving direction of the rotary shaft member 42 when the drive device 50 moves the rotary shaft member 42 is determined using the moving direction and the moving amount of the tip E of the capillary 20 derived based on the images captured by the first imaging unit 60a and the second imaging unit 60b.

[0081] According to this, based on the moving direction and the moving amount of the tip E of the capillary 20 derived based on the images captured by the first imaging unit 60a and the second imaging unit 60b, the moving direction of the rotary shaft member 42 when the drive device 50 moves the rotary shaft member 42 can be accurately and easily determined.

[0082] The first direction D1 and the second direction D2 are perpendicular to the central axis 42a.

[0083] According to this, based on the images captured by the first imaging unit 60a and the second imaging unit 60b, the moving direction and the moving amount of the tip E of the capillary 20 can be accurately derived.

[0084] The imaging unit 60 captures images of a plurality of objects T with different in-focus parts. The imaging unit 60 further includes an image processing unit 71 that generates an all-in-focus image by synthesizing the in-focus parts in the images of the plurality of objects T captured by the imaging unit 60.

[0085] According to this, by the image processing unit 71 generating the all-in-focus image, a clear image can be obtained over the entire object T.

[0086] Next, the observation device 1 according to a modified example of the embodiment of the present disclosure will be described.

[0087] For example, the image processing unit 71 does not necessarily have to generate an all-in-focus image.

[0088] Also, the drive device 50 does not necessarily have to rotate and move the rotary shaft member 42 as in the above embodiment. In this case, for example, when a plurality of observation positions for observing the object T are defined on the locus L of the central axis line 42a shown in FIG. 5, the drive device 50 may linearly move the rotary shaft member 42 between the plurality of observation positions. In this case, the moving direction of the rotary shaft member 42 when the drive device 50 moves the rotary shaft member 42 is a direction along the straight line connecting the plurality of observation positions to each other.

[0089] Also, it goes without saying that the first direction D1 and the second direction D2 shown in FIG. 6 are not limited to being parallel to the X direction and the Y direction. For example, the first direction D1 and the second direction D2 may be defined as described next.

[0090] FIG. 11 is a diagram showing the arrangement of the imaging unit 60 when deriving the radius of the locus L of the central axis line 42a in the observation device 1 according to a modified example of the embodiment of the present disclosure.

[0091] In this modified example, the first direction D1 and the second direction D2 are parallel to the plane including the central axis line 42a. Specifically, the first direction D1 and the second direction D2 are parallel to the plane including the Z direction and the Y direction. Also, the angles formed by the first direction D1 and the second direction D2 with the Z direction are 45°. Needless to say, the angles formed by the first direction D1 and the second direction D2 with the Z direction are not limited to 45°.

[0092] The first imaging unit 60a and the second imaging unit 60b image the object T along a direction inclined with respect to the central axis line 42a from the -Z side of the object T. Note that the first direction D1 and the second direction D2 shown in FIG. 11 are orthogonal at the intersection point P in the same manner as the first direction D1 and the second direction D2 shown in FIG. 6.

[0093] In FIG. 11, the capillary 20 when the tip E of the capillary 20 is located at the intersection point P is shown by a solid line. Also, in FIG. 11, the capillary 20 when the tip E of the capillary 20 has moved to the + side in the Y direction along the Y direction from the intersection point P is shown by a dashed line.

[0094] First, the case where the tip E of the capillary 20 moves to the + side in the X direction along the X direction from the intersection point P will be described.

[0095] FIG. 12A is a diagram showing an image captured by the first imaging unit 60a when the tip E of the capillary 20 moves to the + side in the X direction along the X direction from the intersection point P.

[0096] In the image captured by the first imaging unit 60a shown in FIG. 12A, the tip E of the capillary 20 is moving to the + side in the X direction along the X direction. Also, based on the image captured by the second imaging unit 60b shown in FIG. 12A, the movement amount of the tip E of the capillary 20 when viewed along the first direction D1 can be measured.

[0097] FIG. 12B is a diagram showing an image captured by the second imaging unit 60b when the tip E of the capillary 20 moves to the + side in the X direction along the X direction from the intersection point P.

[0098] In the image captured by the second imaging unit 60b shown in FIG. 12B, the tip E of the capillary 20 is moving in the + side in the X direction along the X direction. Also, based on the image captured by the second imaging unit 60b shown in FIG. 12B, the amount of movement of the tip E of the capillary 20 when viewed along the second direction D2 can be measured.

[0099] Therefore, based on the image captured by the first imaging unit 60a shown in FIG. 12A and the image captured by the second imaging unit 60b shown in FIG. 12B, it can be derived that the tip E of the capillary 20 has moved in the + side in the X direction along the X direction from the intersection point P, and the amount of movement of the tip E of the capillary 20 from the intersection point P.

[0100] Next, as shown in FIG. 11, the case where the tip E of the capillary 20 moves in the + side in the Y direction along the Y direction from the intersection point P will be described.

[0101] FIG. 13A is a diagram showing an image captured by the first imaging unit 60a when the tip E of the capillary 20 moves in the + side in the Y direction along the Y direction from the intersection point P.

[0102] In the image captured by the first imaging unit 60a shown in FIG. 13A, the tip E of the capillary 20 is moving in the - side in the Z direction along the Z direction. Also, based on the image captured by the first imaging unit 60a shown in FIG. 13A, the amount of movement of the tip E of the capillary 20 when viewed along the first direction D1 can be measured.

[0103] FIG. 13B is a diagram showing an image captured by the second imaging unit 60b when the tip E of the capillary 20 moves in the + side in the Y direction along the Y direction from the intersection point P.

[0104] In the image captured by the second imaging unit 60b shown in FIG. 13B, the tip E of the capillary 20 is moving in the + side in the Z direction along the Z direction. Further, based on the image captured by the second imaging unit 60b shown in FIG. 13B, the movement amount of the tip E of the capillary 20 when viewed along the second direction D2 can be measured.

[0105] Therefore, based on the image captured by the first imaging unit 60a shown in FIG. 13A and the image captured by the second imaging unit 60b shown in FIG. 13B, it can be derived that the tip E of the capillary 20 has moved in the + side in the Y direction along the Y direction from the intersection point P, and the movement amount of the tip E of the capillary 20 from the intersection point P.

[0106] Next, the case where the tip E of the capillary 20 moves in the + side in the Z direction along the Z direction from the intersection point P will be described.

[0107] FIG. 14A is a diagram showing an image captured by the first imaging unit 60a when the tip E of the capillary 20 moves in the + side in the Z direction along the Z direction from the intersection point P.

[0108] In the image captured by the first imaging unit 60a shown in FIG. 14A, the tip E of the capillary 20 is moving in the + side in the Z direction along the Z direction. Further, based on the image captured by the first imaging unit 60a shown in FIG. 14A, the movement amount of the tip E of the capillary 20 when viewed along the first direction D1 can be measured.

[0109] FIG. 14B is a diagram showing an image captured by the second imaging unit 60b when the tip E of the capillary 20 moves in the + side in the Z direction along the Z direction from the intersection point P.

[0110] In the image captured by the second imaging unit 60b shown in FIG. 14B, the tip E of the capillary 20 is moving in the + side in the Z direction along the Z direction. Also, based on the image captured by the second imaging unit 60b shown in FIG. 14B, the movement amount of the tip E of the capillary 20 when viewed along the second direction D2 can be measured.

[0111] Therefore, based on the image captured by the first imaging unit 60a shown in FIG. 14A and the image captured by the second imaging unit 60b shown in FIG. 14B, it can be derived that the tip E of the capillary 20 has moved in the + side in the Z direction along the Z direction from the intersection point P, and the movement amount of the tip E of the capillary 20 from the intersection point P can be derived.

[0112] Thus, similar to the above-described embodiment, when the movement direction of the tip E of the capillary 20 is different, the combination of the movement direction of the tip E of the capillary 20 in the image captured by the first imaging unit 60a and the movement direction of the tip E of the capillary 20 in the image captured by the second imaging unit 60b is different.

[0113] Therefore, similar to the above-described embodiment, based on the images captured by the first imaging unit 60a and the second imaging unit 60b respectively, the actual movement direction of the tip E of the capillary 20 can be derived. Also, based on the movement amount of the tip E of the capillary 20 measured based on the images captured by the first imaging unit 60a and the second imaging unit 60b respectively, the actual movement amount of the tip E of the capillary 20 can be derived.

[0114] According to this modification, the first direction D1 and the second direction D2 are parallel to the plane including the central axis 42a.

[0115] According to this, similar to the above-described embodiment, based on the movement direction and the movement amount of the tip E of the capillary 20 derived based on the images captured by the first imaging unit 60a and the second imaging unit 60b, the movement direction of the rotary shaft member 42 when the driving device 50 moves the rotary shaft member 42 can be accurately and simply determined.

Description of Symbols

[0116] 1 Observation device 20 Capillary 40 Rotation device 42 Rotation shaft member 42a Central axis 50 Driving device 60 Imaging unit 60a First imaging unit 60b Second imaging unit 71 Image processing unit Ap Parallel axis D1 First direction D2 Second direction E Tip T Object

Claims

1. A tubular capillary that holds an object at its tip, a rotary shaft member that holds the base end of the capillary and rotates around a central axis, a driving device that moves the rotary shaft member in an orthogonal direction orthogonal to the central axis, an imaging unit that images an image of the object held at the tip of the capillary, and comprising: The driving device is when the rotary shaft member is rotating around the central axis, moving the rotary shaft member in the orthogonal direction so that the tip of the capillary is positioned on a parallel axis parallel to the central axis, Observation device.

2. The driving device is when the rotary shaft member is rotating around the central axis, rotating and moving the rotary shaft member around the parallel axis in synchronization with the rotation of the rotary shaft member around the central axis, The observation device according to claim 1.

3. The imaging unit is a first imaging unit that images an image of the object along a first direction, a second imaging unit that images an image of the object along a second direction orthogonal to the first direction, and comprising: The first imaging unit and the second imaging unit are capable of imaging an image of the tip of the capillary when the rotary shaft member is rotating around the central axis, The moving direction of the rotary shaft member when the driving device moves the rotary shaft member is determined using the moving direction and the amount of movement of the tip of the capillary derived based on the images captured by the first imaging unit and the second imaging unit, The observation device according to claim 1.

4. The first direction and the second direction are perpendicular to the central axis, The observation device according to claim 3.

5. The first direction and the second direction are parallel to a plane including the central axis, The observation device according to claim 3.

6. The imaging unit images images of a plurality of the objects with different in-focus parts, The imaging unit further comprises an image processing unit that generates an all-in-focus image in which the in-focus parts in the images of the plurality of the objects captured by the imaging unit are combined, The observation device according to claim 1.

Images