Manipulation System

Abstract

To provide a manipulation system which can satisfactorily operate a micro object under prescribed environment.SOLUTION: A manipulation system has: a sample stage on which a container for accommodating a micro object is placed; a manipulator equipped with a pipette for operating the micro object; a chamber in which a first opening for inserting the micro object into an internal space is provided, and accommodates at least the micro object and the container; and a first sealing member which seals a gap between an outer edge of the first opening and the pipette. Further, in the manipulation system, the first sealing member is formed from a flexible material.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] In the field of biotechnology, a manipulation system for performing fine operations on a microscopic object (e.g., a cell, etc.) under microscopic observation is known (see Patent Document 1). In such a manipulation system, it may be required to perform fine operations on a microscopic object under a predetermined environment (see Patent Document 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 2, a manipulation system including a manipulator, an operation location, and an imager is disposed in a chamber. Therefore, the environment in the chamber may be contaminated by dust generated from a driving device such as an actuator. Further, when the chamber is set to a high-temperature and high-humidity environment, it may be difficult to perform fine operations properly, such as rusting occurring on the movable parts of the manipulator.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a manipulation system capable of performing operations on a microscopic object well under a predetermined environment.

Means for Solving the Problems

[0006] A manipulation system according to one aspect of the present invention includes a sample stage on which a container for accommodating a micro object is placed, a manipulator including a pipette for manipulating the micro object, a chamber provided with a first opening for inserting the pipette into an internal space, and accommodating at least the micro object and the container, and a first sealing member for sealing a gap between an outer edge of the first opening and the pipette.

[0007] According to this, since the internal space of the chamber is shielded from the outside by the first sealing member in the manipulation system, the environment inside the chamber can be maintained well. Then, the pipette is inserted into the internal space through the first opening provided in the chamber, and the micro object can be manipulated well under a predetermined environment inside the chamber. Further, since movable parts such as a driving device of the manipulator are arranged outside the chamber, it is possible to suppress exposure to the environment inside the chamber (for example, a high-temperature and high-humidity environment).

[0008] In the manipulation system according to one aspect of the present invention, the first sealing member is formed of a flexible material. According to this, when the pipette is moved in the internal space to manipulate the micro object, the first sealing member is provided to be deformable as the pipette moves. Thereby, the manipulation system can seal the gap between the outer edge of the first opening and the pipette well and manipulate the micro object while maintaining the environment inside the chamber.

[0009] In the manipulation system according to one aspect of the present invention, a second opening for inserting at least a part of the sample stage into the internal space is provided in a side plate of the chamber, and a second sealing member for sealing a gap between an outer edge of the second opening and the sample stage is provided. According to this, in the internal space of the chamber, the micro object placed on the sample stage and the container can be moved. Further, since the internal space of the chamber is shielded from the outside by the second sealing member, the environment inside the chamber can be maintained well.

[0010] In the manipulation system according to one aspect of the present invention, the second sealing member is formed of a flexible material. According to this, when moving the sample stage in the internal space, the second sealing member is provided so as to be deformable as the sample stage moves. Thereby, the manipulation system can seal the gap between the outer edge of the second opening and the sample stage well and move the sample stage while maintaining the environment in the chamber.

[0011] In the manipulation system according to one aspect of the present invention, it has a microscope disposed above the sample stage and the chamber, and the top plate of the chamber has a light-transmitting region having light-transmittance at least at a position overlapping with the microscope. According to this, the internal space of the chamber can be observed through the light-transmitting region by the microscope. Therefore, the manipulation system can satisfactorily manipulate the micro object in the internal space of the chamber.

[0012] In the manipulation system according to one aspect of the present invention, the chamber has at least one or more through holes for controlling the environment of the internal space. According to this, the internal space of the chamber can be connected to, for example, a humidity adjusting device, a CO2 gas concentration adjusting device, etc. via the through holes. Alternatively, a heater and various sensors can be installed in the internal space of the chamber via the through holes.

[0013] In the manipulation system according to one aspect of the present invention, it has a base on which the chamber is placed, and the chamber is fixed to the base by a fixing member. According to this, since the chamber is fixed to the base, the sealing performance of the first opening and the second opening can be improved as compared with a configuration in which the chamber is provided movably.

Advantages of the Invention

[0014] According to the present invention, it is possible to provide a manipulation system capable of satisfactorily manipulating a micro object under a predetermined environment.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

MODE FOR CARRYING OUT THE INVENTION

[0016] A mode for carrying out the present invention (embodiment) will be described in detail with reference to the drawings. The present invention is not limited by the contents described in the following embodiments. In addition, the constituent elements described below include those that can be easily assumed by those skilled in the art and substantially the same ones. Furthermore, the constituent elements described below can be combined as appropriate.

[0017] (Embodiment) FIG. 1 is a perspective view showing a configuration example of a manipulation system according to an embodiment. FIG. 2 is a perspective view showing an enlarged part of the manipulation system shown in FIG. 1. The manipulation system 100 shown in FIGS. 1 and 2 is a device for operating a minute object accommodated in a container 38 under microscopic observation. The minute object is, for example, a cell.

[0018] As shown in FIGS. 1 and 2, the manipulation system 100 includes a base 101, a pipette 10, a pipette holder 15, a manipulator 20, a sample stage 30, a microscope unit 40, and a chamber 60. In the present embodiment, one direction parallel to the mounting surface 30a (see FIG. 3) of the sample stage 30 is defined as the X-axis direction. A direction parallel to the mounting surface 30a and orthogonal to the X-axis direction is defined as the Y-axis direction. The normal direction of the mounting surface 30a is defined as the Z-axis direction. For example, the arrangement of the base 1 is adjusted so that the mounting surface 30a is a horizontal plane orthogonal to the vertical direction.

[0019] The manipulator 20 is a device for moving the pipette holder 15 and the pipette 10 in the X-axis direction, Y-axis direction, and Z-axis direction. The manipulator 20 is a three-axis manipulator of the X-axis - Y-axis - Z-axis configuration.

[0020] The pipette holder 15 is a tubular instrument for holding the pipette 10. The material of the pipette holder 15 is, for example, glass or metal. One end of the pipette holder 15 is connected to the pipette 10. Also, the other end of the pipette holder 15 is connected to the manipulator 20. Further, the pipette holder 15 is connected to an electric micropump 29 (see FIG. 3) provided in the manipulator 20. The internal pressure of the pipette holder 15 and the pipette 10 is reduced or increased by the pressure P supplied from the electric micropump 29.

[0021] The pipette 10 is an injection pipette used as a means for injecting minute objects. For example, a solution or the like is injected from the tip of the pipette 10 by an electric micropump 29 communicated with the pipette 10 for the minute object. Note that the pipette 10 is not limited to an injection pipette, and may be a sampling pipette for sampling minute objects.

[0022] The sample stage 30 is connected to an X-axis stage 31 and a Y-axis stage 32. The X-axis stage 31 moves in the X-axis direction when driven by a driving device 36a. The Y-axis stage 32 moves in the Y-axis direction when driven by a driving device 36b. The X-axis stage 31 is mounted on the Y-axis stage 32. The sample stage 30 is provided so as to be movable in two axes within the X-Y plane by the movement of the X-axis stage 31 and the Y-axis stage 32. Further, the driving device 36 (driving device 36a and driving device 36b) is connected to a controller 50 (see FIG. 3).

[0023] A container 38 is placed on the placement surface 30a of the sample stage 30. The container 38 is, for example, a dish or a well plate. Minute objects such as cells are accommodated in the container 38.

[0024] The chamber 60 is a box-shaped member having an internal space. The internal space of the chamber 60 is sealed and blocked from the outside of the chamber 60. The internal space of the chamber 60 is maintained and managed in a predetermined environment (for example, a clean environment, a high-temperature and high-humidity environment, a gas environment such as CO2, etc.) for operating minute objects such as cells. Note that in this specification, "sealed" and "sealed off" are not limited to a state in which the internal space of the chamber 60 is completely blocked from the outside, and when moving the pipette 10 and the sample stage 30 to operate minute objects, it is sufficient if the internal space of the chamber 60 has airtightness capable of maintaining a predetermined environment.

[0025] The chamber 60 is placed on the base 101. The chamber 60 is fixed to the base 101 by a fixing member 102. The fixing member 102 is, for example, a bolt. The micro object and the container 38 are accommodated in the internal space of the chamber 60. The pipette 10 and the pipette holding portion 15 are inserted into the internal space of the chamber 60 through the first opening OP1. Also, a part of the sample stage 30 is inserted into the internal space of the chamber 60 through the second opening OP2. Note that the sealing structure of the first opening OP1 and the second opening OP2 will be described later.

[0026] The microscope unit 40 is disposed above the sample stage 30 and the chamber 60. The microscope unit 40 includes a microscope 41, an imaging device 45, and a light source (not shown) that irradiates light toward the mounting surface 30a of the sample stage 30. As shown in FIG. 2, the microscope 41 includes a lens barrel 411, an objective lens 412, an eyepiece lens 413, and a driving device 414 (see FIG. 3). The microscope 41 is a stereomicroscope in which the objective lens 412 is positioned above the container 38 and the chamber 60. The lens barrel 411 of the microscope unit 40 moves in the Z-axis direction when the driving device 414 is driven. Thereby, the microscope 41 can adjust the focal position. A plurality of types of objective lenses 412 may be prepared according to a desired magnification. The imaging device 45 can image the tip of the pipette 10 and the micro object from the Z-axis direction through the microscope 41.

[0027] Note that the microscope unit 40 is not limited to one, and two or more microscope units may be provided. In this case, the plurality of microscope units can observe the tip of the pipette 10 and the micro object from different directions.

[0028] FIG. 3 is a schematic diagram showing a configuration example of a manipulation system according to an embodiment. As shown in FIG. 3, the manipulation system 100 further includes a controller 50, a joystick 57, an input unit 58, and a display unit 80. The input unit 58 is a keyboard, a touch panel, or the like. The joystick 57 and the input unit 58 are connected to the controller 50. An operator can input a command to the controller 50 via the joystick 57 and the input unit 58.

[0029] Also, as shown in FIG. 3, the manipulator 20 includes an X-axis table 21, a Y-axis table 22, a Z-axis table 23, drive devices 26 and 27, and an electric micropump 29. The X-axis table 21 moves in the X-axis direction when the drive device 26 is driven. The Y-axis table 22 moves in the Y-axis direction when the drive device 26 is driven. The Z-axis table 23 moves in the Z-axis direction when the drive device 27 is driven. The drive devices 26 and 27 and the electric micropump 29 are connected to the controller 50.

[0030] In the manipulator 20, the Z-axis table 23 is attached to the Y-axis table 22. Thereby, the pipette holding part 15 and the pipette 10 can move in the Y-axis direction by the same distance as the Y-axis table 22 as the Y-axis table 22 moves. Further, the Y-axis table 22 is attached to the X-axis table 21. Thereby, the pipette holding part 15 and the pipette 10 can move in the X-axis direction by the same distance as the X-axis table 21 as the X-axis table 21 moves. Also, the pipette holding part 15 and the pipette 10 can move in the Z-axis direction by the same distance as the Z-axis table 23 as the Z-axis table 23 moves.

[0031] Next, the functions of the controller 50 will be described with reference to FIG. 4. FIG. 4 is a block diagram showing a configuration example of the manipulation system according to the embodiment. The controller 50 includes hardware resources such as a CPU (Central Processing Unit) as arithmetic means and a hard disk, a RAM (Random Access Memory), a ROM (Read Only Memory), etc. as storage means.

[0032] As shown in FIG. 4, the controller 50 has, as its functions, an image input unit 51a, an image output unit 51b, an image processing unit 52, a detection unit 53, an image editing unit 54, a control unit 55, and a storage unit 56. The image input unit 51a, the image output unit 51b, the image processing unit 52, the detection unit 53, the image editing unit 54, and the control unit 55 are realized by the above-described arithmetic means. The storage unit 56 is realized by the above-described storage means. The controller 50 performs various operations based on the program stored in the storage unit 56, and outputs a drive signal so that the control unit 55 performs various controls according to the operation results.

[0033] The control unit 55 controls the drive device 414 of the microscope unit 40, the drive devices 26, 27 of the manipulator 20, the electric micropump 29, and the drive device 36 of the sample stage 30. The control unit 55 supplies drive signals Vz1, Vxy2, Vz2, Vxy3 (see FIG. 3) to the drive devices 414, 26, 27, respectively. Further, the control unit 55 supplies a drive signal Vmp (see FIG. 3) to the electric micropump 29. Note that the control unit 55 may supply the drive signals Vz1, Vxy2, Vz2, Vxy3, Vmp via a driver, an amplifier, etc. provided as necessary.

[0034] The image signal Vpix1 (see FIG. 3) output from the imaging device 45 is input to the image input unit 51a. The image processing unit 52 receives the image signal Vpix1 from the image input unit 51a and performs image processing. The image output unit 51b outputs the image information processed by the image processing unit 52 to the storage unit 56 and the display unit 80.

[0035] The detection unit 53 receives image information from the image processing unit 52, and automatically detects the position and number of minute objects based on the received image information. Then, the detection unit 53 outputs the detection result to the image editing unit 54 and the control unit 55. Note that in the present disclosure, "automatically" means that the apparatus operates without the intervention of an operator's judgment. Further, the controller 50 is not limited to the detection of minute objects, and can also detect the position of the pipette 10.

[0036] Next, the detailed configuration of the chamber 60 will be described. FIG. 5 is a top view for explaining the arrangement relationship of the chamber, the pipette holding portion, and the pipette. FIG. 6 is a front view for explaining the arrangement relationship of the chamber and the sample stage. FIG. 7 is a side view of the chamber.

[0037] As shown in FIGS. 5 to 7, the chamber 60 includes a bottom plate 61 and a cover portion 62. The bottom plate 61 is a flat plate-shaped member and is disposed to face the base 101. Further, at least a part of the sample stage 30 is disposed to face the upper surface of the bottom plate 61. The cover portion 62 includes a top plate 62a and side plates 62b. The lower part of the side plate 62b is connected to the bottom plate 61, and the internal space of the chamber 60 is sealed.

[0038] As shown in FIG. 5, the chamber 60 is square when viewed from above. However, the present invention is not limited to this, and the chamber 60 may have other shapes such as a polygon or a circle.

[0039] As shown in FIG. 5, a first opening OP1 is provided in the top plate 62a of the chamber 60. As described above, the pipette 10 and the pipette holding portion 15 are inserted into the internal space of the chamber 60 through the first opening OP1. The first opening OP1 is rectangular in shape having a long side along the X-axis direction when viewed from above. The length of each side of the first opening OP1 is formed to be larger than the diameter of the pipette 10 and the pipette holding portion 15. Thereby, the manipulation system 100 can move the pipette holding portion 15 within the first opening OP1 and perform operations on the micro objects within the chamber 60. Note that the first opening OP1 is not limited to a rectangular shape and may be other shapes such as a polygonal shape or a circular shape. The first opening OP1 can adopt an appropriate shape according to the operation of the micro objects.

[0040] A first sealing member 71 is provided to cover the first opening OP1. In FIG. 5, the first sealing member 71 is shown hatched for ease of viewing the drawing. The first sealing member 71 seals the gap between the outer edge of the first opening OP1 and the pipette holding portion 15 (and the pipette 10). The first sealing member 71 is attached to the outer periphery of the pipette holding portion 15 by an attachment member 16.

[0041] The first sealing member 71 is formed of a flexible material. Specifically, the first sealing member 71 can be formed of a resin film material such as nylon or vinyl, or a sheet-like rubber. The first sealing member 71 is provided to be deformable when the pipette holding portion 15 (and the pipette 10) moves within the first opening OP1.

[0042] FIG. 8 is a cross-sectional view showing an enlarged part of the chamber, the pipette holding part, and the first sealing member. FIG. 8 is a cross-sectional view taken along line VIII-VIII' of FIG. 5. As shown in FIG. 8, the first sealing member 71 is sandwiched between the lower surface of the top plate 62a, the fixing member 68, and the O-ring 69. In FIG. 8, for ease of viewing, the lower surface of the top plate 62a and the fixing member 68 are shown separated, but the top plate 62a, the first sealing member 71, the O-ring 69, and the fixing member 68 are fixed so as to be in close contact with each other. The fixing member 68 is fixed to the top plate 62a by, for example, bolts. Also, although FIG. 8 shows a Y-Z cross-sectional view, the fixing member 68 and the O-ring 69 are annular members formed along the outer edge of the first opening OP1. Thereby, the first sealing member 71 is fixed along the outer edge of the first opening OP1 by the fixing member 68 and the O-ring 69, and the first opening OP1 can be sealed.

[0043] Note that a groove portion 62c is formed on the lower surface of the top plate 62a, and a groove portion 68a is formed on the fixing member 68. The O-ring 69 is disposed between the opposing groove portions 62c and 68a. However, at least one of the groove portions 62c and 68a may not be provided. The configurations of the fixing member 68 and the O-ring 69 are merely examples, and any structure may be used as long as it is provided to seal between the outer edge of the first opening OP1 and the first sealing member 71.

[0044] FIG. 9 is a cross-sectional view for explaining a configuration example of the attachment member. The attachment member 16 has a first nut 17 and a second nut 18. Threading is provided on the outer peripheral surface of the pipette holding part 15, and the first nut 17 and the second nut 18 are screwed onto the pipette holding part 15. The first sealing member 71 and the O-ring 19 are sandwiched between the first nut 17 and the second nut 18 in a direction along the axial direction of the pipette holding part 15. Thereby, the space between the pipette holding part 15 and the first sealing member 71 is sealed.

[0045] More specifically, the first nut 17 has a protruding portion 17a that protrudes from the lower surface of the first nut 17. The protruding portion 17a is formed in an annular shape that surrounds the pipette holding portion 15. The second nut 18 has a protruding portion 18a that protrudes from the upper surface of the second nut 18. The protruding portion 18a of the second nut 18 is formed in an annular shape that surrounds the outer periphery of the protruding portion 17a of the first nut 17. The first sealing member 71 and the O-ring 19 are disposed in a recess formed between the protruding portion 18a of the second nut 18 and the outer peripheral surface of the pipette holding portion 15. When the first nut 17 and the second nut 18 rotate in a direction approaching each other, the first sealing member 71 and the O-ring 19 are sandwiched between the protruding portion 17a and the second nut 18 that forms the bottom of the recess.

[0046] Note that the configuration of the mounting member 16 shown in FIG. 9 is merely an example. The mounting member 16 may have any structure as long as it is provided to seal between the pipette holding portion 15 and the first sealing member 71. For example, the protruding portions 17a and 18a may not be provided.

[0047] Next, returning to FIG. 5, a light-transmitting region CL is provided in the top plate 62a of the chamber 60. As the material of the light-transmitting region CL, for example, glass is used. The light-transmitting region CL is provided in a region that overlaps with the microscope 41 (see FIGS. 1 and 2) of the microscope unit 40. Thereby, the manipulation system 100 can observe the pipette 10 and the microscopic object in the internal space of the chamber 60 through the light-transmitting region CL by the microscope 41.

[0048] Note that the first opening OP1 and the light-transmitting region CL are arranged adjacent to each other in the X-axis direction. However, the present invention is not limited to this, and the positional relationship between the first opening OP1 and the light-transmitting region CL can be appropriately changed according to the arrangements of the microscope 41, the manipulator 20, the pipette holding portion 15, and the pipette 10.

[0049] Next, as shown in FIG. 6, a second opening OP2 is provided in the side plate 62b of the chamber 60. As described above, at least a part of the sample stage 30 is inserted into the internal space of the chamber 60 through the second opening OP2. The second opening OP2 has a rectangular shape with a long side along the X-axis direction when viewed from the side. More specifically, the second opening OP2 is formed by being surrounded by a rectangular notch formed in the lower part of the side plate 62b and the bottom plate 61.

[0050] The length of the second opening OP2 in the X-axis direction is formed to be longer than the length of the sample stage 30 in the X-axis direction. The length of the second opening OP2 in the Z-axis direction is formed to be longer than the length (thickness) of the sample stage 30 in the Z-axis direction. Thereby, the manipulation system 100 can move the sample stage 30 within the second opening OP2. That is, the manipulation system 100 can move the container 38 placed on the sample stage 30 and the micro object accommodated in the container 38 within the chamber 60. Note that the second opening OP2 is not limited to a rectangular shape and may be other shapes such as a polygonal shape or a circular shape.

[0051] A second sealing member 72 is provided to cover the second opening OP2. In FIG. 6, the second sealing member 72 is shown with hatching for easy viewing of the drawing. The second sealing member 72 seals the gap between the outer edge of the second opening OP2 and the sample stage 30.

[0052] Similar to the first sealing member 71, the second sealing member 72 is formed of a material having flexibility. Specifically, the second sealing member 72 can be formed of a resin film material such as nylon or vinyl, or a sheet-like rubber. The second sealing member 72 is provided to be deformable when the sample stage 30 moves within the second opening OP2.

[0053] FIG. 10 is a cross-sectional view showing an enlarged part of the chamber, the sample stage, and the second sealing member. FIG. 10 is a cross-sectional view taken along the line X-X' of FIG. 6. As shown in FIG. 10, the second sealing member 72 is sandwiched between the side plate 62b, the fixing member 75, and the O-ring 77. The fixing member 75 is fixed to the side plate 62b by, for example, bolts. Further, although FIG. 8 shows a Y-Z cross-sectional view, the fixing member 75 and the O-ring 77 are formed along the outer edge of the second opening OP2. Thereby, the second sealing member 72 is fixed to the outer edge of the second opening OP2, and the second opening OP2 can be sealed.

[0054] Also, the second sealing member 72 is sandwiched between the upper surface of the sample stage 30, the fixing member 76, and the O-ring 78. The fixing member 76 is fixed to the sample stage 30 by, for example, bolts. Thereby, the second sealing member 72 is fixed to the sample stage 30, and the gap between the second opening OP2 and the sample stage 30 can be sealed. Note that the length of the second opening OP2 in the Z-axis direction is formed longer than the total thickness of the sample stage 30 and the fixing member 76, and the contact between the fixing member 76 and the side plate 62b is suppressed. Alternatively, the fixing member 76 is provided at a position sufficiently separated from the side plate 62b in the Y-axis direction so as not to contact the side plate 62b.

[0055] Note that the configurations of the fixing members 75 and 76 and the O-rings 77 and 78 shown in FIG. 10 are merely examples. The fixing members 75 and 76 and the O-rings 77 and 78 may have any structure as long as they are provided to seal the gap between the second opening OP2 and the sample stage 30.

[0056] Next, as shown in FIG. 7, the chamber 60 has through holes 65 and 66 for controlling the environment of the internal space. The through hole 65 is connected to, for example, a humidity adjusting device (not shown). The through hole 65 is formed as a vent hole for introducing air adjusted to a predetermined humidity supplied from the humidity adjusting device into the internal space of the chamber 60. Thereby, the manipulation system 100 can adjust the humidity in the chamber 60. Alternatively, the through hole 65 may be connected to a CO2 concentration adjusting device (not shown). In this case, the through hole 65 is formed as a vent hole for introducing CO2 gas supplied from the CO2 concentration adjusting device into the internal space of the chamber 60. The present invention is not limited to this. The through hole 65 can supply a gas according to the environment of the chamber 60.

[0057] Further, the through hole 66 is provided for installing a heater and various sensors in the internal space of the chamber 60. The through hole 66 is inserted with, for example, wiring connected to the heater and various sensors. By providing the through holes 65 and 66, the manipulation system 100 of the present embodiment can easily adjust and manage the environment in the chamber 60.

[0058] In the example shown in FIG. 7, two through holes 65 and 66 are provided. The present invention is not limited to this, and one or three or more through holes may be provided.

[0059] Note that the positions, sizes, and shapes of the first opening OP1, the second opening OP2, and the through holes 65 and 66 can be changed as appropriate. For example, the first opening OP1 is not limited to being provided in the top plate 62a, and may be provided in the side plate 62b. Further, the second opening OP2 is provided at a portion (front side) intersecting the Y-axis direction of the side plate 62b, but the present invention is not limited to this, and it may be provided at a portion (side surface side) intersecting the X-axis direction. Also, the positions of the through holes 65 and 66 can be changed as appropriate.

[0060] Note that although the chamber 60 is composed of two members (bottom plate 61 and cover portion 62), it is not limited thereto. FIG. 11 is a front view showing a configuration example of a chamber according to a modification. As shown in FIG. 11, the chamber 60A according to the modification is configured by connecting three members: a bottom plate 61A, a top plate 62A, and a side plate 62B.

[0061] Without being limited thereto, the chambers 60 and 60A can be appropriately configured differently according to the fixing method to the base 101 and the arrangement relationship with the sample stage 30 and the manipulator 20. For example, the chambers 60 and 60A may be composed of four or more members.

[0062] As described above, the manipulation system 100 of the present embodiment includes a sample stage 30 on which a container 38 for accommodating a micro object is placed, a manipulator 20 including a pipette 10 for manipulating the micro object, a first opening OP1 for inserting the pipette 10 into the internal space, a chamber 60 for accommodating at least the micro object and the container 38, and a first sealing member 71 for sealing a gap between the outer edge of the first opening OP1 and the pipette 10 (and the pipette holding portion 15).

[0063] According to this, in the manipulation system 100, since the internal space of the chamber 60 is shielded from the outside by the first sealing member 71, the environment inside the chamber 60 can be maintained well. Then, the pipette 10 is inserted into the internal space through the first opening OP1 provided in the chamber 60, and the micro object can be manipulated well under a predetermined environment inside the chamber 60. In addition, since the movable parts such as the drive devices 26 and 27 of the manipulator 20 are arranged outside the chamber 60, it is possible to suppress exposure to the environment inside the chamber 60 (for example, a high-temperature and high-humidity environment). Therefore, the manipulation system 100 can suppress the occurrence of corrosion and rust in the movable parts such as the drive devices 26 and 27 of the manipulator 20.

[0064] Also, in the manipulation system 100 of the present embodiment, the first sealing member 71 is formed of a flexible material. According to this, when moving the pipette 10 in the internal space to manipulate the micro object, the first sealing member 71 is provided to be deformable as the pipette 10 moves. Thereby, the manipulation system 100 can seal the gap between the outer edge of the first opening OP1 and the pipette 10 well and perform the manipulation of the micro object while maintaining the environment inside the chamber 60.

[0065] Also, in the manipulation system 100 of the present embodiment, a second opening OP2 for inserting at least a part of the sample stage 30 into the internal space is provided in the side plate 62b of the chamber 60, and it has a second sealing member 72 for sealing the gap between the outer edge of the second opening OP2 and the sample stage 30. According to this, the manipulation system 100 can move the micro object and the container 38 placed on the sample stage 30 in the internal space of the chamber 60. Further, since the internal space of the chamber 60 and the outside are shielded by the second sealing member 72, the environment inside the chamber can be maintained well.

[0066] Also, in the manipulation system 100 of the present embodiment, the second sealing member 72 is formed of a flexible material. According to this, when moving the sample stage 30 in the internal space, the second sealing member 72 is provided to be deformable as the sample stage 30 moves. Thereby, the manipulation system 100 can seal the gap between the outer edge of the second opening OP2 and the sample stage 30 well and move the sample stage 30 while maintaining the environment inside the chamber 60.

[0067] In addition, the manipulation system 100 of the present embodiment has a microscope 41 disposed above the sample stage 30 and the chamber 60. The top plate 62a of the chamber 60 has a light-transmitting region CL having light-transmitting properties at least at a position overlapping the microscope 41. According to this, the internal space of the chamber 60 can be observed through the light-transmitting region CL by the microscope 41. Therefore, the manipulation system 100 can satisfactorily manipulate the micro object in the internal space of the chamber 60.

[0068] In addition, in the manipulation system 100 of the present embodiment, the chamber 60 has at least one or more through holes 65, 66 for controlling the environment of the internal space. According to this, the internal space of the chamber 60 can be connected to, for example, a humidity adjusting device, a CO2 gas concentration adjusting device, etc. through the through holes 65, 66. Alternatively, a heater and various sensors can be installed in the internal space of the chamber 60 through the through holes 65, 66.

[0069] In addition, the manipulation system 100 of the present embodiment has a base 101 on which the chamber 60 is placed, and the chamber 60 is fixed to the base 101 by a fixing member 102. According to this, since the chamber 60 is fixed to the base 101, the sealing performance of the first opening OP1 and the second opening OP2 can be improved as compared with a configuration in which the chamber 60 is provided movably. Furthermore, the area of the light-transmitting region CL can be made smaller as compared with a configuration in which the chamber 60 is provided movably.

Explanation of reference numerals

[0070] 10 Pipette 15 Pipette holder 16 Mounting member 17 First nut 18 Second nut 20 Manipulator 30 Sample stage 31 X-axis stage 32 Y-axis stage 38 Container 40 Microscope unit 41 Microscope 60 Chamber 61 Bottom plate 62 Cover part 62a, 62A Top plate 62b, 62B Side plate 65, 66 Through-hole 71 First sealing member 72 Second sealing member 100 Manipulation system 101 Base OP1 First opening OP2 Second opening CL Light-transmitting region

Claims

1. A sample stage on which a container for accommodating a micro object is placed, A manipulator including a pipette for operating the micro object, A chamber provided with a first opening for inserting the pipette into an internal space and accommodating at least the micro object and the container, A first sealing member for sealing a gap between an outer edge of the first opening and the pipette, A second opening for inserting at least a part of the sample stage into the internal space is provided in a side plate of the chamber, It has a second sealing member for sealing a gap between an outer edge of the second opening and the sample stage, The second sealing member is formed of a flexible material A manipulation system.

2. The first sealing member is formed of a flexible material The manipulation system according to claim 1.

3. It has a microscope disposed above the sample stage and the chamber, The top plate of the chamber has a light-transmitting region at least at a position overlapping the microscope The manipulation system according to claim 1 or claim 2.

4. The chamber has at least one or more through holes for controlling the environment of the internal space The manipulation system according to any one of claims 1 to 3.

5. It has a base on which the chamber is placed, The chamber is fixed to the base by a fixing member The manipulation system according to any one of claims 1 to 4.

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