Cell micropuncture device and microscope system
The cell puncture device addresses needle vibration issues by incorporating a vibration damping unit and restricting mechanism, enhancing needle control and reducing cell damage for precise puncturing and evaluation.
Patent Information
- Application Number
- JP2024057948
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-03-29
- Publication Date
- 2025-10-10
AI Technical Summary
Conventional cell puncture devices cause needle vibration upon insertion, leading to potential damage to the cell wall and reduced cell viability due to strong vibrations, especially when using piezoelectric elements for high-speed needle movement.
A cell puncture device with a vibration damping unit arranged to intersect with the needle's puncturing direction, combined with a restricting unit to control movement direction, suppresses needle vibrations by converting vibration energy into thermal energy and restricting movement to the puncturing direction.
Reduces needle vibrations, minimizing cell damage and maintaining cell viability, enabling accurate evaluation of drug effects by ensuring precise needle control and reducing fluctuations in needle position.
Smart Images
Figure 2025154764000001_ABST
Abstract
Description
[Technical Field]
[0001] The present disclosure relates to a cell puncture device and a microscope system. [Background technology]
[0002] In the past, in research and application development related to cells, there have been known techniques for inserting a needle into a cell in order to precisely inject a drug solution or the like into a specific sample cell or to aspirate a substance inside the cell. For example, Patent Document 1 discloses a device using a multi-barrel nanopipette with at least two electrodes in multiple barrels, in which one barrel withdraws the cell contents and the other barrel injects a substance into the cell. [Prior art documents] [Patent documents]
[0003] [Patent Document 1] Patent No. 6453300 Summary of the Invention [Problem to be solved by the invention]
[0004] In the conventional technology described in Patent Document 1, for example, when a needle is inserted into a cell, the needle tip vibrates inside the cell wall, which can cause damage to the inside of the cell wall. Alternatively, if the vibration is strong, it is possible that the needle will repeatedly be inserted into and removed from the cell, which can cause damage to the cell.
[0005] The present disclosure aims to provide a cell puncture device and a microscope system that can suppress needle vibration. [Means for solving the problem]
[0006] In some embodiments, the cell puncture device comprises a first fixed part arranged relative to an imaging part that photographs cells, an arm part arranged relative to the first fixed part, a drive part arranged relative to the arm part, a needle that is driven by the drive part and punctures the cell, and a vibration damping part that damps vibration of the needle, wherein the vibration damping part is arranged relative to at least one of the arm part and the drive part.
[0007] This allows the cell puncturing device to suppress needle vibration. For example, by arranging a vibration suppression unit relative to the drive unit, the cell puncturing device can also suppress needle vibration caused by a reaction force when the needle is driven by the drive unit. For example, the cell puncturing device can suppress vibration caused by a reaction force that occurs on the fixed part of the drive unit when a part of the drive unit moves to puncture the needle into a cell. For example, the cell puncturing device can also suppress needle vibration caused by a reaction force when the needle punctures a cell. For example, the cell puncturing device can also suppress needle vibration caused by a reaction force when the needle is not driven by the drive unit, even if the needle is subjected to vibration due to some external factor.
[0008] The cell puncturing device can suppress vibration of the needle connected to the drive unit, thereby reducing damage to the inside of the cell wall and the cell. Furthermore, the cell puncturing device can suppress vibration of the entire structure and therefore vibration of the needle by arranging a vibration damping unit on the arm unit. The cell puncturing device can suppress vibration of the needle even when the needle is moved at high speed to penetrate the cell wall and puncture the inside of the cell, and the needle vibrates after puncturing due to a reaction force caused by the high movement speed of the drive unit. This allows the cell puncturing device to suppress damage to cells caused by vibration of the needle tip and reduce a decrease in cell viability, even when, for example, a drug solution is injected into the cell and the subsequent progress is observed. Therefore, the cell puncturing device can contribute to accurate evaluation of the effects of the injected drug solution.
[0009] In one embodiment of the cell puncturing device, the vibration damping unit may be arranged so that the vibration damping surface intersects with the puncturing direction of the needle. This allows the cell puncturing device to more effectively attenuate vibration in the puncturing direction of the needle after puncturing. In other words, the cell puncturing device can absorb more vibration energy with the vibration damping unit than when the vibration damping surface is arranged parallel to the puncturing direction of the needle.
[0010] In one embodiment, the cell puncturing device may further include a regulating unit disposed relative to the drive unit and regulating the movement direction of the drive unit in the puncturing direction of the needle. This allows the cell puncturing device to reduce fluctuations in the needle position in directions other than the puncturing direction. Therefore, when the cell puncturing device accurately controls the needle position using the drive unit to align it with the desired position relative to the cell, it can reduce movement of the needle in directions other than the puncturing direction even when it is subjected to vibrations due to some external factor. In addition, the cell puncturing device can more effectively suppress needle vibrations by regulating the movement direction of the drive unit only in the puncturing direction of the needle.
[0011] In one embodiment of the cell puncturing device, the regulating unit may include a third fixed unit disposed relative to the arm unit and a second movable unit connected to the third fixed unit and the drive unit. This allows the cell puncturing device to regulate the movement direction of the drive unit in the puncturing direction of the needle, as described above. Additionally, by regulating the movement direction of the drive unit in the puncturing direction, the cell puncturing device can receive vibrations generated in the drive unit in directions other than the puncturing direction via the second movable unit. Therefore, the cell puncturing device can reduce the vibrations in the third fixed unit. In the cell puncturing device, the third fixed unit is disposed relative to the second movable unit, and the second movable unit moves only in the puncturing direction relative to the fixed third fixed unit. The cell puncturing device can reduce vibrations in directions other than the puncturing direction using the third fixed unit, thereby reducing vibrations transmitted to the support unit, arm unit, etc. Therefore, the cell puncturing device can reduce vibrations in the entire cell puncturing device.
[0012] In one embodiment of the cell puncture device, the drive unit may include a second fixed unit connected to the restriction unit and a first movable unit connected to the second fixed unit to drive the needle, and the vibration damping unit may be arranged so that its vibration damping surface is in contact with only the first movable unit. This makes it possible for the cell puncture device to effectively suppress needle vibration by arranging the vibration damping unit on the first movable unit to which the needle unit is connected and which is directly affected by needle vibration.
[0013] In one embodiment of the cell puncturing device, the drive unit may include a second fixed unit connected to the restricting unit and a first movable unit connected to the second fixed unit to drive the needle, and the vibration damping unit may be positioned so that its vibration damping surface contacts both the second fixed unit and the first movable unit. This allows the cell puncturing device to absorb needle vibrations over a wide range, including not only the first movable unit but also the second fixed unit, by the vibration damping unit. Therefore, the cell puncturing device can more effectively attenuate needle vibrations.
[0014] In one embodiment of the cell puncture device, the drive unit may include a second fixed unit connected to the restriction unit and a first movable unit connected to the second fixed unit to drive the needle, and the vibration damping unit may be arranged so that its vibration damping surface is in contact with only the second fixed unit. This eliminates the need for a support unit (described later) to be arranged around the first movable unit, thereby improving the degree of freedom of movement of the first movable unit. Therefore, even if a microscope is arranged near the cell puncture device and the space for arranging the vibration damping unit is limited, the vibration damping unit can be easily arranged within that space.
[0015] Furthermore, in the cell puncturing device, the first movable part is not subjected to a reaction force corresponding to the deformation of the vibration damping part, compared to when a vibration damping part is disposed relative to the first movable part, and the first movable part can be operated swiftly. This allows the cell puncturing device to achieve high-speed movement of the first movable part when moving the needle at high speed to puncture a cell. When the first movable part is subjected to a reaction force corresponding to the deformation of the vibration damping part, the cell puncturing device can reduce the reaction force accompanying the movement of the first movable part by reducing the weight of the actuator, such as a piezoelectric element, included in part of the first movable part, compared to when a large piezoelectric element is used to provide the first movable part with a large force for movement. As a result, vibrations generated by the reaction force are reduced.
[0016] In one embodiment of the cell puncturing device, the vibration damping unit may be positioned so that its vibration damping surface contacts the arm unit. This eliminates the need for the cell puncturing device to arrange a support unit (described later) around the entire drive unit, thereby improving the freedom of movement of the drive unit. Therefore, even if a microscope is located near the cell puncturing device and it is difficult to arrange the vibration damping unit around the drive unit, the cell puncturing device can arrange the vibration damping unit on the arm unit to suppress needle vibration. Furthermore, because the cell puncturing device can damp vibrations that are transmitted to the arm unit, it can more effectively suppress vibrations that are transmitted to the entire cell puncturing device.
[0017] In one embodiment of the cell puncturing device, the drive unit may include a piezoelectric element that drives the needle. This allows the cell puncturing device to move the needle at high speed when puncturing a cell. Therefore, the cell puncturing device can easily control the position and speed of the needle tip so that it penetrates the cell wall in order to inject a chemical solution into the cell or to aspirate and extract a substance inside the cell. For example, when puncturing a plant cell with a hard cell wall, the cell puncturing device can puncture the needle at a speed sufficient to penetrate the cell wall.
[0018] In one embodiment of the cell puncture device, the vibration damping section may include a vibration damping rubber, which is pressed and deformed by the vibration of the needle, thereby converting part of the vibration energy into thermal energy, thereby efficiently attenuating the vibration energy and more effectively suppressing the vibration.
[0019] A microscope system according to some embodiments includes any one of the cell puncturing devices described above and a microscope having an imaging unit that images the cell punctured by the needle of the cell puncturing device. This allows the microscope system to suppress vibration of the needle. For example, in the microscope system, the microscope is placed relative to a first fixing unit, and when a part of the driving unit moves to puncture the needle into a cell on the microscope, a reaction force is generated on the fixing unit side of the driving unit. The cell puncturing device then damps the vibration generated by the reaction force using a vibration damping unit. This allows the microscope system to reduce damage to the cell and facilitate observation of the cell punctured by the needle. [Effects of the Invention]
[0020] According to the present disclosure, it is possible to provide a cell puncture device and a microscope system that can suppress needle vibration. [Brief explanation of the drawings]
[0021] [Figure 1] 1 is a schematic diagram showing an example of the configuration of a microscope system having a cell puncturing device according to a first embodiment of the present disclosure. [Figure 2] FIG. 10 is a schematic diagram showing an example of the configuration of a microscope system having a cell puncturing device according to a first modified example of the first embodiment of the present disclosure. [Figure 3] FIG. 10 is a schematic diagram showing an example of the configuration of a microscope system having a cell puncturing device according to a second modified example of the first embodiment of the present disclosure. [Figure 4] FIG. 10 is a schematic diagram showing an example of the configuration of a microscope system having a cell puncturing device according to a second embodiment of the present disclosure. [Figure 5] 2 is a graph illustrating the effect of the cell puncturing device of FIG. 1. FIG. DETAILED DESCRIPTION OF THE INVENTION
[0022] The background and problems of the prior art will now be described in more detail.
[0023] In recent years, in research on biological systems, etc., studies have been conducted to elucidate cellular functions by injecting specific chemical solutions into cells and observing changes in the cells, or to induce specific modifications in specific cells by injecting chemical solutions for genetic modification into cells. In addition, application development aimed at application to the production of chemical solutions and the like has also been conducted. Meanwhile, research has also been conducted to elucidate cellular functions and application development aimed at application to production by aspirating and recovering some of the components that make up specific cells. In such research and application development, for example, it is necessary to accurately inject chemical solutions into specific cells or aspirate components from specific cells, and a cell puncturing device that can accurately puncture cells with a needle is desired.
[0024] Patent Document 1 discloses a conventional method and device for injecting a drug solution into a cell by controlling the position of a fine needle with a piezoelectric element, puncturing the cell with the needle tip, and controlling the voltage. Similarly, the patent document also discloses a conventional method and device for aspirating a substance from inside a cell.
[0025] Generally, cells have a cell wall located at the outermost part of the cell, which covers and protects the interior of the cell. Therefore, in order to inject a chemical solution into the cell or to aspirate and extract a substance from inside the cell, the cell puncturing device must control the position and speed of the needle tip to insert the needle into the cell so that the needle tip penetrates the cell wall. To achieve this, it is preferable for the cell puncturing device to move the needle at a high speed when puncturing the cell.
[0026] For example, the cell puncture device can penetrate the cell wall of certain animal cells with soft cell walls even when the needle is moved slowly, whereas the cell puncture device has a problem in that the needle does not penetrate the cell wall of certain plant cells with hard cell walls unless the needle is moved quickly, making it difficult to insert the needle tip into the cell.
[0027] As described above, one known method for moving the needle at high speed is to move the needle using a piezoelectric element included in a drive unit that drives the needle. When a voltage is applied to a piezoelectric element, an electrostrictive effect occurs inside the piezoelectric element, causing the piezoelectric element itself to expand and contract. The expansion and contraction of the piezoelectric element can respond faster than actuators such as general motors. Therefore, the cell puncture device is able to puncture the needle into a cell at high speed using the piezoelectric element.
[0028] However, because the piezoelectric element moves the needle at high speed, problems have arisen in that the needle vibrates due to a reaction force generated when the needle is driven by the drive unit. For example, when part of the drive unit moves to puncture the needle into a cell, a reaction force is generated on the fixed part of the drive unit, causing vibration. Furthermore, when the needle punctures a cell, a reaction force is applied to the structure supporting the piezoelectric element. This causes the entire structure to move in the opposite direction to the needle's puncture movement. As a result, problems have also arisen in that the needle vibrates after puncturing. When the needle vibrates after puncturing, the needle tip vibrates inside the cell wall, potentially causing damage to the cell wall. Furthermore, if the vibration is strong, the needle may repeatedly pierce and withdraw from the cell, potentially causing damage to the cell. Therefore, for example, when injecting a drug solution into a cell and observing the subsequent progress, the cell viability is reduced due to cell damage caused by the vibration of the needle tip. As a result, problems such as the inability to evaluate the effect of the injected drug solution may arise.
[0029] In order to solve the above problems, an object of the present disclosure is to provide a cell puncture device and a microscope system that can suppress needle vibration.
[0030] Hereinafter, an embodiment of the present disclosure will be mainly described with reference to the accompanying drawings. The x, y, and z directions in the following description are based on the directions of the arrows in the drawings. The directions of the arrows in different drawings in Figures 1 to 4 are consistent with each other.
[0031] First Embodiment 1 is a schematic diagram showing an example of the configuration of a microscope system 1 having a cell puncturing device 10 according to a first embodiment of the present disclosure. An example of the configuration and functions of the microscope system 1 having the cell puncturing device 10 according to the first embodiment will be mainly described with reference to FIG. 1. The microscope system 1 has the cell puncturing device 10 and a microscope 20 that captures an image of a cell S punctured by a needle 17a of the cell puncturing device 10.
[0032] The microscope 20 includes any microscope capable of photographing the cell S. The microscope 20 includes, for example, a confocal microscope. The microscope 20 has any camera 21 capable of photographing the cell S. The camera 21 constitutes the photographing unit of the microscope 20. The microscope 20 has a support 22 that positions the camera 21 on one side of the cell S in the z direction so that the camera 21 can photograph the cell S from that side. The support 22 supports the camera 21 with the camera 21 connected to the end of that side of the support 22. The microscope 20 has a holder 23 that holds a petri dish C in which the cell S is placed from the other side in the z direction. The holder 23 is configured as a stage that can move in two directions, the x direction and the y direction. The microscope 20 has a support 24 that is located at the end of the other side of the support 22 and supports the holder 23 that holds the petri dish C.
[0033] The cell puncture device 10 has a first fixing part 11 arranged relative to an imaging part that images the cell S. The first fixing part 11 is fixed to, for example, a microscope 20 that images the cell S. The first fixing part 11 is configured in an arm shape and extends in the x direction. One side of the first fixing part 11 in the x direction is screwed to the support part 24 of the microscope 20, thereby disposing the first fixing part 11 relative to the holder 23 and the support part 24 and fixing it to the microscope 20. As an example, the first fixing part 11 is located between the holder 23 and the support part 24, but this is not limiting. The holder 23 may also be located below the first fixing part 11. The first fixing part 11 is not limited to being screwed to the support part 24, but may be fixed to the microscope 20 in any other manner, such as by joining, fitting, or engagement. The cell puncture device 10 can be attached to the microscope 20 via the first fixing part 11.
[0034] The cell puncturing device 10 has a base 12 connected to the other side of the first fixing part 11 in the x direction and located on the surface of the first fixing part 11. The cell puncturing device 10 is supported by the first fixing part 11 and the base 12 and has a first driving part 13 that protrudes from the base 12 toward the positive side in the z direction. The cell puncturing device 10 has an arm 14 that extends from the first driving part 13 toward the positive side in the x direction. The arm 14 is disposed relative to the first fixing part 11. For example, the arm 14 is disposed parallel to the first fixing part 11. The first driving part 13 drives the arm 14 so that the arm 14 can move in each of the x direction, y direction, and z direction relative to the base 12.
[0035] The cell puncturing device 10 has a support unit 15 connected to the x-direction tip of the arm unit 14. The support unit 15 is for mounting a vibration suppressing unit 19a and a restricting unit 19b, which will be described later. The cell puncturing device 10 also has a second drive unit 16 located inside the support unit 15 so as to be sandwiched between the outer frame of the support unit 15. This is not limiting, and the second drive unit 16 does not have to be located inside the support unit 15. The second drive unit 16 may be located elsewhere outside the support unit 15 together with the vibration suppressing unit 19a. For example, the vibration suppressing unit 19a may be attached to a location unrelated to the support unit 15, such as the exterior of the cell puncturing device 10 and the second drive unit 16. The second drive unit 16 is disposed relative to the arm unit 14 via the restricting unit 19b and the support unit 15. The second drive unit 16 is disposed relative to the support unit 15 via the vibration suppressing unit 19a.
[0036] The second driving unit 16 needs to move the needle 17a at a high speed to puncture the cell S. To achieve such high-speed movement of the needle 17a, the second driving unit 16 includes, for example, a piezoelectric element that drives the needle 17a. The second driving unit 16 includes a second fixed unit 16a connected to a restricting unit 19b (described later) and a first movable unit 16b connected to the second fixed unit 16a and driving the needle 17a. The first movable unit 16b is movable relative to the second fixed unit 16a. The piezoelectric element included in the first movable unit 16b drives the needle 17a so that the tip of the needle 17a moves along the z-direction, for example. The first movable unit 16b moves relative to the second fixed unit 16a to cause the needle 17a to puncture the cell S.
[0037] The cell puncture device 10 has a needle unit 17 that has a needle 17a at its tip that punctures the cell S and is driven by a first movable unit 16b of a second drive unit 16. The needle unit 17 is driven by the second drive unit 16 and has the needle 17a that punctures the cell S, and a needle fixing unit 17b that fixes the needle 17a.
[0038] Cell puncture device 10 has needle support part 18 connected to needle fixing part 17b and having needle part 17 positioned at its tip. Needle support part 18 has support head 18a connected to needle fixing part 17b and support head fixing part 18b connected to support head 18a. Needle part 17 is supported by support head 18a, and support head 18a is attached to support head fixing part 18b, allowing it to be operated by second drive part 16.
[0039] The cell puncture device 10 has a vibration damping unit 19a that damps the vibration of the needle 17a. The vibration damping unit 19a includes, for example, a vibration damping rubber. The vibration damping unit 19a may be disposed relative to at least one of the arm unit 14 and the second drive unit 16. For example, in FIG. 1, the vibration damping unit 19a is disposed so that the vibration damping surface 19a1 contacts only the first movable unit 16b of the second drive unit 16. A pair of vibration damping units 19a are disposed on both sides of the second drive unit 16 in the z direction. This is not a limitation, and only one vibration damping unit 19a may be disposed relative to the second drive unit 16, or three or more vibration damping units 19a may be disposed. The vibration damping unit 19a may be disposed between the support unit 15 and the second drive unit 16 so as to fill a gap along the z direction between the support unit 15 and the second drive unit 16.
[0040] Vibration damping unit 19a is disposed so that vibration damping surface 19a1 intersects with the puncturing motion direction of needle 17a. In the present disclosure, the "puncturing motion direction" corresponds to, for example, the z direction. "Intersecting with the puncturing motion direction" refers not only to a case where the direction intersects perpendicularly with the puncturing motion direction, but also to a case where the direction intersects obliquely with the puncturing motion direction. For example, vibration damping surface 19a1 is perpendicular to the z direction, which is the puncturing motion direction of needle 17a. Vibration damping surface 19a1 forms a contact surface of vibration damping unit 19a with first movable unit 16b, and contacts the surface of first movable unit 16b in the z direction. Vibration damping surface 19a1 is included in the xy plane, for example. When second drive unit 16 vibrates and presses and deforms vibration damping unit 19a, vibration damping unit 19a performs vibration damping by converting part of the vibration energy of second drive unit 16 into thermal energy.
[0041] The cell puncture device 10 has a restricting part 19b that is disposed relative to the second drive part 16 and restricts the movement direction of the second drive part 16 to the puncture operation direction of the needle 17a. The restricting part 19b includes a third fixed part 19b1 that is disposed relative to the arm part 14, and a second movable part 19b2 that is connected to the third fixed part 19b1 and the second fixed part 16a of the second drive part 16. The third fixed part 19b1 is connected to, for example, the inner surface of the support part 15 along the z direction.
[0042] Restriction unit 19b includes, for example, a linear guide, a cross roller guide, etc. Restriction unit 19b allows movement in the puncturing operation direction in which second drive unit 16 moves to puncture needle 17a into cell S, but restricts movement of second drive unit 16 in a direction perpendicular to that direction. For example, if the puncturing operation direction is the z direction, restriction unit 19b allows movement of second drive unit 16 along the z direction, but restricts movement in the x and y directions.
[0043] The cell puncture device 10 may be configured so that the entire components, including the first drive unit 13, arm unit 14, support unit 15, second drive unit 16, and needle 17a, can be retracted from the microscope 20 by moving the pedestal unit 12 in the x or y direction or by rotating the pedestal unit 12 relative to the first fixed unit 11. Movement of the pedestal unit 12 in the x or y direction can be easily achieved, for example, by arranging a linear guide, a cross roller guide, or the like between the first fixed unit 11 and the pedestal unit 12. Rotational movement of the pedestal unit 12 can be easily achieved, for example, by arranging a ball bearing, a cross roller bearing, or the like between the first fixed unit 11 and the pedestal unit 12.
[0044] The cell puncture device 10 may further include a fixing portion (not shown) between the first fixing portion 11 and the pedestal portion 12 to prevent relative movement in the x or y direction or relative rotational movement of the pedestal portion 12 with respect to the first fixing portion 11. The fixing portion may fix the pedestal portion 12 by the frictional force of a pin that is movable in the z direction and pressed against the first fixing portion 11 by a spring, or the pedestal portion 12 may be fixed by a similar pin engaging with a groove provided in the first fixing portion 11. The pin can be easily lifted by arranging an operating portion for lifting the pin on the positive side of the z direction. The pin allows the pedestal portion 12 to be moved relative to the first fixing portion 11 and fixed.
[0045] With the above-described configuration, cell puncturing device 10 can accurately position pedestal 12 relative to first fixing part 11. Cell puncturing device 10 can reduce fluctuations in the position of needle 17a due to play in pedestal 12 relative to first fixing part 11.
[0046] The cell puncturing device 10 and microscope system 1 according to the first embodiment described above can suppress vibration of the needle 17a. For example, by providing a vibration suppression unit 19a relative to the second drive unit 16, the cell puncturing device 10 can also suppress vibration of the needle 17a caused by a reaction force generated when the needle 17a is driven by the second drive unit 16. For example, the cell puncturing device 10 can suppress vibration caused by a reaction force generated on the fixed part of the second drive unit 16 when a part of the second drive unit 16 moves to puncture the cell S with the needle 17a. For example, the cell puncturing device 10 can also suppress vibration of the needle 17a caused by a reaction force generated when the needle 17a punctures the cell S. For example, the cell puncturing device 10 can suppress vibration of the needle 17a caused by a reaction force generated when the needle 17a punctures the cell S. For example, the cell puncturing device 10 can suppress vibration of the needle 17a even if the needle 17a is subjected to vibration due to some external factor when the needle 17a is not being driven by the second drive unit 16.
[0047] The cell puncturing device 10 can suppress vibration of the needle 17a connected to the second drive unit 16, thereby reducing damage to the inside of the cell wall of the cell S and to the cell S. The cell puncturing device 10 can suppress vibration of the needle 17a even when the needle 17a is moved at high speed to penetrate the cell wall of the cell S and puncture the inside of the cell S, and the needle 17a vibrates after puncturing due to a reaction force caused by the high movement speed of the second drive unit 16. As a result, the cell puncturing device 10 can suppress damage to the cell S caused by vibration of the needle tip of the needle 17a and suppress a decrease in the viability of the cell S, even when, for example, a chemical solution is injected into the cell S and the subsequent progress is observed. Therefore, the cell puncturing device 10 can contribute to accurate evaluation of the effect of the injected chemical solution.
[0048] In cell puncturing device 10, vibration damping unit 19a is arranged so that vibration damping surface 19a1 intersects with the puncturing direction of needle 17a. This allows cell puncturing device 10 to more effectively attenuate vibration in the puncturing direction of needle 17a after puncturing. In other words, cell puncturing device 10 can absorb more vibration energy with vibration damping unit 19a compared to when vibration damping surface 19a1 is arranged parallel to the puncturing direction of needle 17a.
[0049] The cell puncturing device 10 further includes a restricting unit 19b that is disposed relative to the second driving unit 16 and restricts the movement direction of the second driving unit 16 to the puncturing operation direction of the needle 17a. This allows the cell puncturing device 10 to reduce fluctuations in the position of the needle 17a in directions other than the puncturing operation direction. Therefore, when the cell puncturing device 10 accurately controls the position of the needle 17a using the second driving unit 16 to align it with the desired position relative to the cell S, it can reduce movement of the needle 17a in directions other than the puncturing operation direction even when it is subjected to vibrations due to some external factor. In addition, the cell puncturing device 10 can restrict the movement direction of the second driving unit 16 to only the puncturing operation direction of the needle 17a, thereby more effectively suppressing vibration of the needle 17a.
[0050] In the cell puncturing device 10, the restricting unit 19b includes a third fixed unit 19b1 disposed relative to the arm unit 14 and a second movable unit 19b2 connected to the third fixed unit 19b1 and the second drive unit 16. This allows the cell puncturing device 10 to restrict the movement direction of the second drive unit 16 to the puncturing operation direction of the needle 17a, as described above. Additionally, by restricting the movement direction of the second drive unit 16 to the puncturing operation direction, for example, vibrations generated in the second drive unit 16 in directions other than the puncturing operation direction can be received by the third fixed unit 19b1 via the second movable unit 19b2. Therefore, the cell puncturing device 10 can reduce the vibrations at the third fixed unit 19b1. In the cell puncturing device 10, the third fixed unit 19b1 is disposed relative to the second movable unit 19b2, and the second movable unit 19b2 moves only in the puncturing operation direction relative to the fixed third fixed unit 19b1. The cell puncturing device 10 can also reduce vibrations in directions other than the puncturing direction by using the third fixing part 19b1, thereby reducing vibrations transmitted to the support part 15, the arm part 14, etc. Therefore, the cell puncturing device 10 can reduce vibrations of the entire cell puncturing device 10.
[0051] In cell puncture device 10, vibration damping unit 19a may be arranged so that vibration damping surface 19a1 is in contact only with first movable unit 16b. This allows cell puncture device 10 to effectively suppress the vibration of needle 17a by arranging vibration damping unit 19a on first movable unit 16b, which is connected to needle 17 and is directly affected by the vibration of needle 17a.
[0052] In the cell puncturing device 10, the second drive unit 16 includes a piezoelectric element that drives the needle 17a. This enables the cell puncturing device 10 to move the needle 17a at high speed when puncturing the cell S with the needle 17a. Therefore, the cell puncturing device 10 can easily control the position and speed of the needle tip so that the needle tip penetrates the cell wall of the cell S in order to inject a chemical solution into the cell S or to suck and extract a substance inside the cell S. For example, when puncturing a plant cell with a hard cell wall with the needle 17a, the cell puncturing device 10 can puncture the needle 17a at a speed sufficient to penetrate the cell wall.
[0053] In cell puncture device 10, vibration damping section 19a may include vibration damping rubber. This allows cell puncture device 10 to convert part of the vibration energy into heat energy by vibration damping section 19a being pressed and deformed by the vibration of needle 17a, thereby efficiently attenuating the vibration energy and more effectively suppressing the vibration.
[0054] As described above, when needle 17a is punctured into cell S using cell puncturing device 10, vibration suppression unit 19a needs to be disposed as shown in Fig. 1 in order to dampen the vibration of needle 17a caused by the reaction force generated when first movable unit 16b of second drive unit 16 moves. Suppressing the vibration of needle 17a after puncturing reduces damage to cell S.
[0055] For example, in cell puncture device 10, vibrations can be effectively damped by arranging vibration damping unit 19a so that vibration damping surface 19a1 contacts first movable unit 16b of second drive unit 16, which is connected to needle 17a, the vibration source. When vibration damping unit 19a is arranged close to needle 17a, the vibrations transmitted to vibration damping unit 19a have a nearly single period, and vibrations are easily damped by vibration damping unit 19a.
[0056] In the first embodiment, the first fixing unit 11 is described as being fixed to, for example, the microscope 20 that photographs the cell S, but this is not limiting. The first fixing unit 11 may be attached to the microscope 20 in other ways as long as it is disposed relative to the photographing unit that photographs the cell S. For example, instead of being configured to be fixed so as to extend outward from the microscope 20 as described above, the first fixing unit 11 may be incorporated inside the microscope 20 or may be incorporated into an inspection system in which the microscope 20 is incorporated.
[0057] In the first embodiment, the vibration damping unit 19a is described as being arranged so that the vibration damping surface 19a1 intersects with the puncturing direction of the needle 17a, but this is not limited to this. The vibration damping unit 19a may be arranged so that the vibration damping surface 19a1 is parallel to the puncturing direction of the needle 17a. Alternatively, the vibration damping unit 19a may be configured in such a way that one vibration damping surface 19a1 is arranged perpendicular to the puncturing direction of the needle 17a and another vibration damping surface 19a1 is arranged parallel to the puncturing direction of the needle 17a.
[0058] In the first embodiment, the cell puncturing device 10 is described as further including a restricting unit 19b that is disposed relative to the second driving unit 16 and restricts the movement direction of the second driving unit 16 to the puncturing direction of the needle 17a, but this is not limiting. The restricting unit 19b may restrict the movement direction of the second driving unit 16 to a direction different from the puncturing direction of the needle 17a. Furthermore, the cell puncturing device 10 does not necessarily have to include the restricting unit 19b.
[0059] In the first embodiment, the second drive unit 16 includes the second fixed portion 16a connected to the restricting portion 19b and the first movable portion 16b connected to the second fixed portion 16a to drive the needle 17a. However, the present invention is not limited to this. The second drive unit 16 may be divided into three or more parts by fixed portions and movable portions, or may be an integrated unit without being divided into fixed portions and movable portions.
[0060] In the first embodiment, the restricting portion 19b is described as including the third fixed portion 19b1 disposed relative to the arm portion 14 and the second movable portion 19b2 connected to the third fixed portion 19b1 and the second driving portion 16. However, the restricting portion 19b may be divided into three or more parts by the fixed portion and the movable portion, or may be an integral portion without being divided into the fixed portion and the movable portion.
[0061] In the first embodiment, the vibration damping portion 19a is described as being arranged so that the vibration damping surface 19a1 is in contact only with the first movable portion 16b of the second driving portion 16, but the present invention is not limited to this.
[0062] 2 is a schematic diagram showing an example of the configuration of a microscope system 1 including a cell puncturing device 10 according to a first modified example of the first embodiment of the present disclosure. As shown in FIG. 2, the vibration damping unit 19a may be arranged such that the vibration damping surface 19a1 is in contact with both the second fixed unit 16a and the first movable unit 16b of the second driving unit 16.
[0063] This allows the vibration damping unit 19a to receive the vibration of the needle 17a over a wide range, including not only the first movable unit 16b but also the second fixed unit 16a, of the cell puncturing device 10. Therefore, the cell puncturing device 10 can more effectively damp the vibration of the needle 17a.
[0064] In the first modified example described above, vibration damping portion 19a is arranged in a divided state in the x direction along second fixed portion 16a and first movable portion 16b as shown in Fig. 2, but is not limited to this. Vibration damping portion 19a may also be arranged integrally in the x direction along second fixed portion 16a and first movable portion 16b.
[0065] 3 is a schematic diagram showing an example of the configuration of a microscope system 1 including a cell puncturing device 10 according to a second modified example of the first embodiment of the present disclosure. As shown in FIG. 3, the vibration damping unit 19a may be arranged so that the vibration damping surface 19a1 contacts only the second fixing unit 16a of the second driving unit 16.
[0066] This eliminates the need to arrange support part 15 around first movable part 16b in cell puncturing device 10, thereby improving the degree of freedom of movement of first movable part 16b. Therefore, even if microscope 20 is arranged near cell puncturing device 10 and the space for arranging vibration damping part 19a is limited, cell puncturing device 10 allows vibration damping part 19a to be easily arranged within that space.
[0067] Furthermore, in the cell puncturing device 10, the first movable part 16b is not subjected to a reaction force corresponding to the deformation of the vibration damping part 19a, and the first movable part 16b can be moved swiftly, compared to when the vibration damping part 19a is disposed relative to the first movable part 16b. This allows the cell puncturing device 10 to achieve high-speed movement of the first movable part 16b when moving the needle 17a at high speed to puncture the cell S. When the first movable part 16b is subjected to a reaction force corresponding to the deformation of the vibration damping part 19a, the cell puncturing device 10 can reduce the reaction force accompanying the movement of the first movable part 16b by reducing the weight of the actuator, such as a piezoelectric element, included in part of the first movable part 16b, compared to when a large piezoelectric element is used to provide the first movable part 16b with a large force for movement. As a result, vibrations generated by the reaction force are reduced.
[0068] Second Embodiment FIG. 4 is a schematic diagram showing an example of the configuration of a microscope system 1 including a cell puncturing device 10 according to a second embodiment of the present disclosure. The cell puncturing device 10 according to the second embodiment differs from the first embodiment in that the vibration control unit 19a is not disposed relative to the second drive unit 16 but is disposed relative to the arm unit 14. Other configurations, functions, effects, and modifications are the same as those of the first embodiment, and the corresponding explanations apply to the cell puncturing device 10 according to the second embodiment. In the following, components similar to those of the first embodiment are denoted by the same reference numerals, and their explanations will be omitted. Differences from the first embodiment will be mainly explained.
[0069] In the cell puncture device 10 according to the second embodiment, the vibration damping unit 19a is arranged so that the vibration damping surface 19a1 is in contact with the arm unit 14. For example, the vibration damping surface 19a1 is in contact with the side surface of the arm unit 14 that is located on the negative side in the z direction and is parallel to the xy plane.
[0070] The second drive unit 16 is directly connected to the arm unit 14. The cell puncturing device 10 has a support unit 15 that protrudes from the base unit 12 toward the positive side in the z direction. The vibration suppression unit 19a is supported at the tip of the support unit 15, which is located on the opposite side from the base unit 12. Here, the support unit 15 may be configured to be extendable and retractable in the z direction in accordance with the movement of the arm unit 14, using a slide guide or the like. In addition, the support unit 15 may be configured to be movable in the x direction, y direction, etc., by attaching rollers or the like to the lower part of the support unit 15. The cell puncturing device 10 can suppress vibration of the arm unit 14 by having the vibration suppression unit 19a, which is connected to such a support unit 15, in contact with the arm unit 14.
[0071] The cell puncturing device 10 according to the second embodiment does not need to arrange the support unit 15 around the entire second drive unit 16, thereby improving the degree of freedom of movement of the second drive unit 16. Therefore, even if a microscope 20 is arranged near the cell puncturing device 10 and it is difficult to arrange the vibration control unit 19a around the second drive unit 16, the cell puncturing device 10 can arrange the vibration control unit 19a on the arm unit 14 to suppress vibration of the needle 17a. Furthermore, because the cell puncturing device 10 can suppress vibrations that are transmitted to the arm unit 14, it can more effectively suppress vibrations that are transmitted to the entire cell puncturing device 10.
[0072] <Example> FIG. 5 is a graph illustrating the effect of the cell puncturing device 10 of FIG. 1. The graph of FIG. 5 shows two vibration waveforms W1 and W2. The vibration waveform W1 shows the change in position over time due to the vibration of the support head 18a when the vibration of the second drive unit 16 is damped by the vibration damping unit 19a in the cell puncturing device 10 of FIG. 1. The vibration waveform W2 shows the change in position over time due to the vibration of the support head 18a when the vibration damping unit 19a is not provided and the second drive unit 16 is directly connected to the arm unit 14, in order to demonstrate the effect of the cell puncturing device 10 according to one embodiment of the present disclosure. Both the vibration waveforms W1 and W2 show the change in position over time of the support head 18a after the second drive unit 16 has moved the support head 18a to the negative side in the z-direction.
[0073] Ideally, it would be desirable to show the change in the position of needle 17a over time as a vibration waveform, but needle 17a is so small that it is not easy to measure the change in its position over time. Therefore, FIG. 5 shows vibration waveforms W1 and W2 obtained when measuring the change in the position of support head 18a over time. Needle 17a is firmly fixed to support head 18a. Therefore, it is considered that the change in the position of needle 17a over time is equivalent to the change in the position of support head 18a over time.
[0074] Both vibration waveforms W1 and W2 show the vibration of support head 18a when second drive unit 16 moves support head 18a 100 μm in the negative z-direction. As shown in FIG. 5, when cell puncturing device 10 does not virtually have vibration damping unit 19a, vibration waveform W2 shows that support head 18a is still vibrating even after 2000 ms (milliseconds) have elapsed. In other words, the vibration does not decay in a short time. On the other hand, when cell puncturing device 10 has vibration damping unit 19a, the vibration of support head 18a decays in a short time due to vibration damping unit 19a, and vibration waveform W1 shows that there is almost no vibration after 500 ms (milliseconds) have elapsed.
[0075] It will be apparent to those skilled in the art that the present disclosure can be embodied in other specific forms other than the above-described embodiments without departing from the spirit or essential characteristics thereof. Therefore, the foregoing description is illustrative and not limiting. The scope of the disclosure is defined not by the foregoing description but by the appended claims. Any modifications within the range of equivalents of all modifications are intended to be embraced therein.
[0076] For example, the shape, pattern, size, arrangement, orientation, type, number, etc. of each of the above-mentioned components are not limited to the above description and the contents illustrated in the drawings. The shape, pattern, size, arrangement, orientation, type, number, etc. of each component may be configured arbitrarily as long as it can realize its function. The components of the illustrated cell puncture device 10 and microscope system 1 are functional concepts, and the specific form of each component is not limited to those illustrated.
[0077] The functions contained in each of the above-mentioned components can be rearranged so as not to cause logical inconsistencies, and multiple components can be combined into one or separated.
[0078] Some embodiments of the present disclosure will be described below as examples, however, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] a first fixing unit disposed relative to an imaging unit that images the cells; an arm portion disposed relative to the first fixed portion; a drive unit disposed relative to the arm unit; a needle driven by the driving unit and configured to puncture the cell; a vibration damping unit that damps vibration of the needle; Equipped with the vibration damping unit is disposed relative to at least one of the arm unit and the drive unit; Cell puncture device. [Appendix 2] 2. The cell puncture device according to claim 1, The vibration damping unit is arranged so that the vibration damping surface intersects with the direction of the puncturing operation of the needle. Cell puncture device. [Appendix 3] The cell puncture device according to claim 1 or 2, The device further includes a restricting unit that is disposed relative to the drive unit and restricts the movement direction of the drive unit to the puncture operation direction of the needle. Cell puncture device. [Appendix 4] 4. The cell puncture device according to claim 3, The restricting portion includes a third fixed portion disposed relative to the arm portion, and a second movable portion connected to the third fixed portion and the driving portion. Cell puncture device. [Appendix 5] 5. The cell puncture device according to claim 3 or 4, the drive unit includes a second fixed unit connected to the restriction unit and a first movable unit connected to the second fixed unit to drive the needle, The vibration damping portion is arranged so that a vibration damping surface is in contact with only the first movable portion. Cell puncture device. [Appendix 6] 5. The cell puncture device according to claim 3 or 4, the drive unit includes a second fixed unit connected to the restriction unit and a first movable unit connected to the second fixed unit to drive the needle, the vibration damping portion is disposed so that a vibration damping surface is in contact with both the second fixed portion and the first movable portion. Cell puncture device. [Appendix 7] 5. The cell puncture device according to claim 3 or 4, the drive unit includes a second fixed unit connected to the restriction unit and a first movable unit connected to the second fixed unit to drive the needle, The vibration damping portion is arranged so that a vibration damping surface is in contact with only the second fixed portion. Cell puncture device. [Appendix 8] A cell puncture device according to any one of claims 1 to 7, The vibration damping portion is disposed so that a vibration damping surface thereof contacts the arm portion. Cell puncture device. [Appendix 9] A cell puncture device according to any one of appendices 1 to 8, The driving unit includes a piezoelectric element that drives the needle. Cell puncture device. [Appendix 10] The cell puncture device according to any one of claims 1 to 9, The vibration damping portion includes a vibration damping rubber. Cell puncture device. [Appendix 11] A cell puncture device according to any one of claims 1 to 10, a microscope having the photographing unit that photographs the cells punctured by the needle of the cell puncturing device; Equipped with Microscope system. [Explanation of symbols]
[0079] 1. Microscope system 10 Cell puncture device 11 1st fixed part 12 Base 13 First drive unit 14 Arm section 15 Support part 16 Second drive unit (drive unit) 16a 2nd fixed part 16b 1st moving part 17 Needle 17a needle 17b Needle fixing part 18 Needle support 18a Support Head 18b Support head fixing part 19a Vibration damping section 19a1 Vibration-damping surface 19b Regulatory Department 19b1 3rd fixed part 19b2 2nd moving part 20. Microscope 21 Camera (photography section) 22 Posts 23 Holding part 24 Support part C Petri dish S cell W1 vibration waveform W2 vibration waveform
Claims
1. a first fixing unit disposed relative to an imaging unit that images cells; an arm portion disposed relative to the first fixed portion; a drive unit disposed relative to the arm unit; a needle driven by the driving unit and punctured into the cell; a vibration damping unit that damps vibration of the needle; Equipped with the vibration damping unit is disposed relative to at least one of the arm unit and the drive unit; Cell puncture device.
2. The cell puncture device according to claim 1, The vibration damping unit is arranged so that the vibration damping surface intersects with the direction of the puncturing operation of the needle. Cell puncture device.
3. The cell puncture device according to claim 1 or 2, The device further includes a restricting unit that is disposed relative to the drive unit and restricts the movement direction of the drive unit to the puncture operation direction of the needle. Cell puncture device.
4. The cell puncture device according to claim 3, the restricting portion includes a third fixed portion disposed relative to the arm portion, and a second movable portion connected to the third fixed portion and the driving portion. Cell puncture device.
5. The cell puncture device according to claim 3, the drive unit includes a second fixed unit connected to the restriction unit and a first movable unit connected to the second fixed unit to drive the needle, The vibration damping portion is disposed so that a vibration damping surface is in contact with only the first movable portion. Cell puncture device.
6. The cell puncture device according to claim 3, the drive unit includes a second fixed unit connected to the restriction unit and a first movable unit connected to the second fixed unit to drive the needle, the vibration damping portion is disposed so that a vibration damping surface is in contact with both the second fixed portion and the first movable portion. Cell puncture device.
7. The cell puncture device according to claim 3, the drive unit includes a second fixed unit connected to the restriction unit and a first movable unit connected to the second fixed unit to drive the needle, The vibration damping portion is arranged so that a vibration damping surface is in contact with only the second fixed portion. Cell puncture device.
8. The cell puncture device according to claim 1 or 2, The vibration damping portion is disposed so that a vibration damping surface thereof contacts the arm portion. Cell puncture device.
9. The cell puncture device according to claim 1 or 2, The driving unit includes a piezoelectric element that drives the needle. Cell puncture device.
10. The cell puncture device according to claim 1 or 2, The vibration damping portion includes a vibration damping rubber. Cell puncture device.
11. The cell puncture device according to claim 1 or 2; a microscope having the photographing unit that photographs the cells punctured by the needle of the cell puncturing device; Equipped with Microscope system.
Citation Information
Patent Citations
Road running method and transmitter-receiver of emergency radio wave for emergency car
JP1989053300A