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Advanced multi freedom degree Micromanipulator

Research Project

Project/Area Number 12450100
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionThe University of Tokyo

Principal Investigator

KUDOH Ken-ichi  Graduate School of Engineering, Research Associate, 大学院・工学系研究科, 助手 (90250232)

Co-Investigator(Kenkyū-buntansha) YAMAMOTO Akio  Graduate School of Engineering, Lecturer, 大学院・工学系研究科, 講師 (40313035)
TORII Toru  Graduate School of Engineering, Assistant Professor, 大学院・工学系研究科, 助教授 (60172227)
Project Period (FY) 2000 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥14,600,000 (Direct Cost: ¥14,600,000)
Fiscal Year 2002: ¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 2001: ¥6,400,000 (Direct Cost: ¥6,400,000)
Fiscal Year 2000: ¥6,200,000 (Direct Cost: ¥6,200,000)
KeywordsMicromanipulator / Microinjection / Micro actuator / Piezoelectric impact drive / Nuclear Transplant / Piezoelectric actuator / 静電気力 / パラレルリンクロボット / 細胞操作
Research Abstract

We research is a study about development of a micro manipulator that we use for artificially manipulating plant cell or animal cell. Our aim in this research is to develop a new micro manipulator system which can handle and manipulate one single cell precisely, so for every single cell, we can do injection work accurately and swiftly from every position and angle in order to transplant DNA or nucleus into the cell.
Below are our achievements during the research period
(1) Micro Pipette Drive Device for Nuclear Transplantation.
When we insert micro pipette for nuclear transplantation, the elasticity of the cell become deterrent of the process, and it reduced the efficiency of the work. So. we developed a prototype of super impact micro pipette drive mechanism that is a combination of piezo impact drive mechanism and electromagnetic impact drive mechanism. In the experiment using mouse egg cell, we succeeded to insert the pipette into the cell smoothly without giving damage to the cytoplasm … More . And with the impact power generated by electromagnetic impact drive mechanism, we succeeded to insert the pipette smoothly into other egg cell that is known to have hard cell membrane (for example : pig egg cell) without edge treatment to the tip of the pipette.
(2) Animal Egg Cell Handling Mechanism.
In the process of denucleation of the egg cell, when the nucleus position is close to the holding pipette, it is necessary to amend the position of the nucleus. This work is very complicated and required high skill of the operator. Therefore, we developed cell rotation mechanism using electrostatic. The egg cell rotates at the speed of 30 deg/s with applied voltage of 4V 500 Hz. we also developed a prototype of mechanism using multiple electrode board and put them into layer. This prototype enables three dimensional cell positioning.
(3) Cell Sorter Using Liquid Flow.
We developed a prototype with XY-2axis device using voice coil motors. As the result of having done various kinds of experiments with vibration frequency, vibration amplitude, and liquid quantities as parameters, we succeeded to gather intentionally scattered cell using liquid flow.
(4) We lent the system we developed to below research institutions, and did experiments for performance evaluation.
Kagoshima University, Obihiro University of Agriculture and Veterinary Medicine, Tokyo University of Agriculture, Hirosaki University, St. Mother Hospital. Less

Report

(4 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • 2000 Annual Research Report
  • Research Products

    (32 results)

All Other

All Publications (32 results)

  • [Publications] Michel Budiman, 工藤謙一, 樋口俊郎: "圧電素子と電磁力を組み合わせた駆動機構を用いたマイクロマニピュレータの開発"第13回「電磁力関連のダイナミクス」シンポジウム. 767-770 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] TSUKADA, KUDOH, YAMAMOTO, HIGUCHI, KOBAYASHI, SATO, OOISHI, IIDA: "Development of Oocyte Rotation System for Biological Cell Manipulation"Proceedings of the 32nd ISR (International Symposium on Robotics). 682-685 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] TSUKADA, KUDOH, BUDIMAN, YAMAMOTO, HIGUCHI, KOBAYASHI, SATO, OOISHI, IIDA: "Development of Automated Nuclear Transplantation System"Journal of Mammalian Ova Research. Vol.18. No.3. 106-109 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Michel Budiman, 大石勝昭, 塚田修大, 工藤謙一, 樋口俊郎: "圧電素子を用いた細胞操作用マイクロインジェクションの開発"第14回「電磁力関連のダイナミクス」シンポジウム. 561-564 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] TSUKADA, KUDOH, BUDIMAN, YAMAMOTO, HIGUCHI, KOBAYASHI, SATO: "Rotational Position Control Biological Cell by Electrostatic Force"SICE Annual Conference 2002. 1265-1269 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 工藤 謙一, ブディマン ミシェル, 塚田 修大, 樋口 俊郎, 吉田光敏: "電磁衝撃力を用いた細胞操作用マイクロインジェクションシステムの開発"第15回「電磁力関連のダイナミクス」シンポジウム. (印刷中). (2003)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Michel Budiman, Ken-ichi KUDOH, Toshiro HIGUCHI: "Development of Micro Manipulator Using Combination of Priezoelectric and Electromagnetic Actuator"The 13th symposium on Electromagnetics and Dynamics. 767-700 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] TSUKADA, KUDOH, YAMAMOTO, BUDIMAN, HIGUCHI, KOBAYASHI, SATO, OOISHI, IIDA: "Development of Oocyte Rotation System for Biological Cell Manipulation"Rroceeding of the 32th ISR(International Symposium on Robotics). 682-685 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] TSUKUDA, KUDOH, BUDIMAN, YAMAMOTO, HIGUCHI, KOBAYASHI, SATO, OOISHI, IIDA: "Development of Automated Nuclear Transplantation System"Journal of Mammalian Ova Research. 18 No.3. 106-109 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Budiman, OOISHI, TSUKUDA, KUDOH, HIGUCHI: "Development of Micro Injection for Cell Manipulation Using Piezoelectric"The 14th symposium on Electromagnetics and Dynamics. 561-564 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] TSUKADA, KUDOH, BUDIMAN, YAMAMOTO, HIGUCHI, KOBAYASHI, SATO: "Rotational Position Control Biological Cell by Electrostatic Force"SICE Annual Conference 2002. 1265-1269 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] KUDOH, BUDIMAN, TSUKADA, HIGUCHI, YOSHIDA: "Development of Micro Injection System for Cell Manipulation Using Piezoelectric Impact"The 15th symposium on Electromagnetics and Dynamics. printing. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 塚田, 工藤, 山本, 樋口, 小林, 玉川, 羽鳥, 佐藤, 大石: "卵細胞回転機構の開発"第41回日本エム・イー学会大会論文集. 190 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Michel BUDIMAN, 大石, 塚田, 工藤, 樋口: "圧電素子を用いた細胞操作用マイクロインジェクションの開発"第14回「電磁力関連のダイナミクス」シンポジウム講演論文集. 561-564 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 塚田, 工藤, ブディマン ミシェル, 山本, 樋口, 小林, 玉川, 羽鳥, 佐藤: "細胞回転機構の開発"第43回日本哺乳動物卵子学会講演要旨集. S30 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Tsukada, Kudoh, Budiman, Yamamoto, Higuchi, Kobayashi: "Rotational Position Control of Biological Cell by Electrostatic Force"SICE Annual Conference 2002. 1265-1269 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 塚田, 工藤, ブディマン, 山本, 樋口, 小林, 佐藤, 大石: "静電気力を用いた細胞回転機構に関する研究"第61回農業機械学会年次大会講演要旨. 439-440 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 小山 良, 工藤 謙一, 樋口 俊郎, 田中 威づみ, 田中 温, 竹本 洋一: "赤外分光分析によるX, Y精子の判別に関する研究"第61回農業機械学会年次大会講演要旨. 437-438 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 工藤 謙一, 樋口 俊郎(共著): "現代医療 2003 Vol.35 No.3"株式会社 現代医療社. 161 (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] TSUKADA, KUDOH, YAMAMOTO, HIGUCHI, KOBAYASHI, SATO, OISHI, IIDA: "Development of Oocyte Rotation System for Biological Cell Manipulation"Proceedings of the 32nd ISR(International Symposium on Robotics). 682-685 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 工藤, 塚田, ブディマン, 山本, 樋口, 小林, 佐藤, 大石, 飯田: "静電気力を用いた細胞回転機構の開発"ロボティクス・メカトロニクス講演会'01 講演論文集. 2P1C2(1)-2P1C2(2) (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] TSUKADA, KUDOH, BUDIMAN, YAMAMOTO, HIGUCHI, KOBAYASHI, SATO, OISHI, IIDA: "Development of Automated Nuclear Transplantation System"Journal of Mammalian Ova Research. Vol.18・No.3. 106-109 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Michel Budiman, 工藤謙一, 樋口俊郎: "圧電素子と電磁力を組み合わせた駆動機構を用いたマイクロマニピュレータの開発"第13回「電磁力関連のダイナッミクス」シンポジウム講演論文集. No.01-251. 767-770 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 塚田, 工藤, 山本, 樋口, 小林, 玉川, 羽鳥, 佐藤, 大石: "卵細胞回転機構の開発"第41回日本エム・イー学会 講演論文集. (発表予定). (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] 塚田, 工藤, 山本, 樋口, 小林, 玉川, 羽鳥, 佐藤, 大石: "卵細胞回転機構の開発"Journal of Mammalian Ova Research. Vol.19・No.2(発表予定). (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] 塚田,工藤,山本,樋口: "細胞操作用マイクロマニピュレータの自動化に関する研究"第59回農業機械学会年次大会講演要旨集. 101-102 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 塚田,工藤,山本,鳥居,樋口,小林,佐藤,大石,飯田: "卵細胞回転機構の開発"Journal of Mammalian Ova Research. Vol.17・No.2. S30-S30 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 工藤,塚田,山本,樋口,大石,飯田: "マイクロマニピュレーション操作の自動制御とその応用"第1回日本医用ミニブタ研究会大会シンポジウム抄録集. 1-1 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 安東,大石,飯田,塚田,工藤,樋口,千野木,佐藤: "自動マニピュレータのウサギ卵ICSIへの応用"日本生殖免疫学会雑誌. 第15巻・第1号. 35-35 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 塚田,工藤,山本,樋口,小林,佐藤,大石,飯田: "細胞回転機構の開発"日本生殖免疫学会雑誌. 第15巻・第1号. 37-37 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 大石,飯田,塚田,工藤,樋口,安東,小林,佐藤: "自動化マイクロマニピュレータの開発"日本生殖免疫学会雑誌. 第15巻・第1号. 69-69 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 工藤謙一,樋口俊郎(共著): "ARTラボラトリー(不妊治療の新しい展開のために)"MEDICAL VIEW. 279 (2000)

    • Related Report
      2000 Annual Research Report

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Published: 2000-04-01   Modified: 2021-09-24  

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