Design, operation, and application of micromanipulators in biological researc

Harris, J.

Kopac, M. J.

English

NASA Technical Reports Server

https://ntrs.nasa.gov/search.jsp?R=19690020863 2020-03-12T03:43:36+00:00Z
Report No. 1-69-1 
NEW YORK UNIVERSITY 
New York, N.Y. 
IMF’ROvEMFXfS IN MICRQMANIPULATORS 
M. J. Kopac 
Professor and Head 
and 
Jack Harris 
Senior Research Scientist 
Department of Biology, Graduate School of Arts and Science 
New York University 
Prepared for the Office of University Affairs 
National Aeronautics and Space Administration 
under Research Grant NGR-33-016-067 
January 1969 
Sununary 
The Mark X I V  G micromanipulator, capable of handling six 
microprobes, includes two units that possess six degrees of freedom. 
In addition to three degrees of translational freedom, there are 
pitch, yaw, and rotational degrees of freedom provided by a precision 
worm gear assembly. This micromanipulator aids in the testing and 
fabrication of microminiature electronic components including the 
assembly of piezoelectric bimorphs. 
The piezoelectric-electromagnetic drive micropositioner 
utilizes piezoelectric bimorphs for generating y and z movements 
and an electromagnetic drive for producing the x movement. A l l  
three movements can be remotely controlled, utilizing conventional 
potentiometers for regulating the magnitude and direction of voltages 
required to produce the micromovements. Joystick controls can also 
be employed. 
can be constructed to occupy a volume of less than 
of the microprobe holder. 
The piezoelectric-electromagnetic drive micropositioner 
1 cm3 exclusive 
"Functionally, the micromanipulator is a micropositioner with which 
one can place the tip of a microneedle, micropipette, or microelectrode in 
any position in a restricted space. At any instant, the tip of the micro- 
instrument must be either where it is needed or out of the way.  
different types of micromanipulators have been described since Schmidt 
(1859) published a description of his 'Microscopic Dissector'. 
perhaps 15 have reached the status of commercial production. These 
instruments range from simple rack and pinion assemblies to massive, 
accurately fitted ball-bearing slides actuated by precise feed screws 
or other driving mechanisms. 
principle have been engineered in the excellent fine adjustments incor- 
porated into the modern research microscope. 
spring-loaded, ball-bearing slides and various actuating mechanisms, the 
movements axe smooth and without backlash." 
Over 200 
Of these, 
Many commendable adaptations of this 
Through the inclusion of 
"Although the precise positioning of microtools can be accomplished 
with feed screw type micromanipulators, there is a serious drawback in 
such instruments. 
microtool is to be moved diagonally in three dimensions. 
this handicap led to the development of several varieties of lever or 
joystick actuated micromanipulators. 
They are inconvenient to operate, especially if a 
Undoubtedly, 
With these instruments, the tip of 
a microtool can be positioned fairly rapidly which is an important 
advantage if the object is motile. 
the control lever to the slides by pneumatic or hydraulic means, in 
others, the movements are directly transmitted through mechanical 
couplings " (Kopac, 1964). 
Movements can be transmitted from 
2.  
This Technical Report contains a brief description of two micro- 
manipulators, especially constructed for this project. The first is the 
Elark X I V  G with pitch, yaw, and roll movements in addition to three 
degrees of translational freedom. 
is primarily to aid in the fabrication and testing of microminiature 
The purpose of this micromanipulator 
electronic components, including the assembly of piezoelectric bimorphs. 
The second is a description of one of several micromanipulator movements 
that were designed and constructed utilizing piezoelectric components for 
driving two degrees of freedom plus  an electromagnetic drive for the 
third degree of freedom. 
Mark X I V  G micromanipulator with six degrees - of freedom. --- --
The Mark XIV micromanipulator (Kopac, 1964), has the capability of 
handling six microprobes. 
tional freedom (x, y, and z axes) using +way Line ball bearing slides 
controlled by micrometer heads. 
A l l  six stages have three degrees of transla- 
Four of these units (Model J) are 
mounted on the left side of the microscope. 
13 mm in a l l  three axes. 
They each have the range of 
The larger Line micropositioners (Model H) are 
mounted on the right side of the microscope. These have a range of 25 m 
with motion provided by micrometer screws with oversize thimbles. 
Motion for pitch, yaw, and roll degrees of freedom are provided by 
a precision worm gear assembly. 
1 and 2, which show how these attachments are mounted on the Line model 
These are illustrated in Photographs 
H micropositioners . 
The bottom component provides the yaw movement. It consists of a 
phosphor bronze worm gear with 250 teeth. The steel worm has a diameter 
3. 
of 0.312 inch. 
assembly moves as the worm is  rotated. 
bearing (Zg6SS2x54) provides both s t a b i l i t y  and rotat ional  freedom. 
worm i s  held i n  place with an eccentric mount consisting of a pa i r  of 
Barden ba l l  bearings (~156~~3). 
The worm gear is  attached t o  the bracket and the  en t i r e  
A special  Barden double row ball 
The 
The pitch motion consists of a segment of a worm gear ( i n i t i a l l y  
with 250 teeth) .  
Barden bal l  bearings (R156SS3), and the worm is eccentrically mounted 
using two Barden ball  bearings (R156SS3). 
provides a range of 360°, the pitch assembly has a range of appraximatel;y 
200'. 
manual positioning of the microprobes can be used t o  compensate for a 
limited range. 
The phosphor bronze worm gear i s  mounted between two 
While the yaw assembly 
Actually, only about 15' is  needed fo r  both since the approximate 
The r o l l  movement includes a phosphor bronze worm gear w i t h  150 t ee th  
and has an 0. D, of appratimately 0.967 inch. 
a pa i r  of Barden b a l l  bearings (~3.56~~3). 
mounted w i t h  a pair  of Barden ball bearings (R156SS3). 
mounts permit the most i dea l  relationship between the  worm gear and 
worm. This arrangement a lso provides compensation fo r  wear. The range 
of the r o l l  movement i s  a full 360~. 
This gear i s  supported by 
The worm i s  eccentrically 
The eccentric 
The microprobe holder i s  b u i l t  i n to  
the center of the r o l l  movement. 
concentric. 
Both pi tch and r o l l  movements are 
As indicated i n  the photographs, the worm f o r  each movement is 
rotated by turning a knob which extends from the worm. 
mentioned earlier, is  constrained by the eccentric-ball bearing mounts. 
Each worm, as 
4. 
All three control hobs can be extended to provide the most convenient 
operating positions. 
Thus, Mark X I V  G provides two micropositioners with six degrees of 
freedom with each under precise mechanical control. 
capability for translational degrees of freedom is less than 0.001 mm. 
The pitch and yaw movements have a 0.005 mm positioning capability, while 
the roll movement has a capability of less than 0.001 mm. 
The positioning 
These special micropositioners are mounted on the right side of the 
Unitron Tool Makers microscope. 
with a positioning capability of less than 0.001mm. The stage also 
supports a rack and pinion mount for rapidly raising or lowering the 
component to be assembled or tested. 
This microscope has a mechanical stage 
The four Line model J micropositioners, mounted on the left side of 
Two of these the microscope, have a positioning capability of 0.005 mm. 
micropositioners are supplied with small right-angle slide-screw 
assemblies (Brinkmann HS), operating at a different angle, to give two 
additional translational freedoms and one roll movement which is not under 
mechanical control. 
Piezoelectric-magnetic - drive microposittoner. 
The most successful adaptation which utilizes piezoelectric bimorphs 
for the y and z axes and an electromagnetic drive for the x axis is 
illustrated by photographs 3 and 4. 
The problem of expanding the limited range of bender or twister bimorphs 
to drive microprobes in two axes of space (y and z) has been solved. Two 
5. 
degrees of rotational freedom with a large radius provide almost linear 
movements of the microprobes under the microscope. 
loaded gimbal movement is used which works in opposition to the piezo- 
electric bimorphs. 
microns to tens or hundreds of microns. 
For this unit, a spring- 
The problem w a s  to expand the range of a bimorph frDm 
Photographs 3 and 4 show the gimbal movement mounted on a 3-way 
micropositioner. The outer ringe of the gimbal movement has an 0. D. of' 
0.760 inch. 
provided by miniature pivot ball bearings (RMB, series CE'). 
bearings provide an excellent mechanical assembly yielding an instant and 
sensitive response to the delicate spring-loaded bimorph elements. 
Freedom fo r  rotating the rings of the gimbal movement are 
These pivot 
As seen in Photograph 3, the gimbal movement has 3 rings and two 
sets of pivots. 
way that they can cause one of the two inner rings to be displaced when 
activated electrically. 
other produces movement in the y axis. 
Piezoelectric bender bimorphs are seen mounted in such a 
One causes movement in the z axis, while the 
Suspended below the gimbal movement is the electromagnetic drive. 
This consists of an electromagnet which works against a phosphor bronze 
diaphragm. 
which is parallel to the axis of the microprobe holder. 
about 0.025 mm. 
Action of the electromagnet induces motion in the x &xis, 
Its range is 
This component can be seen most clearly in Photograph 4. 
Activation and control. of either piezoelectric or electromagnetic 
drives is easily accomplished by potentiometers which can be adjusted to 
provide the voltages and directional changes needed. There is a separate 
6.  
potentiometer for each degree of freedom. 
a conventional 270' potentiometer is satisfactory. 
+turn potentiometer can be used. 
voltages up to 180 volts which are supplied by small "B" type batteries. 
Separate batteries are used for each degree of freedom. 
drive requires voltages up to 22.5 volts. 
For most control requirements, 
For finer controls, a 
The piezoelectric components operate on 
The electromagnetic 
Control of movements in both piezoelectric and electromagnetic drives 
thus is basically no different than the control of a movement activated 
by turning a micrometer screw (Kopac and Harris, 1962; Kopac, 1964). 
For simplifying the controls, a double potentiometer with concentric 
knobs can provide movements in two axes and a third potentiometer provides 
movement in the third axis. 
magnetic controls can be remote. 
can be provided by Precision Miniature Jgrsticks (Bawmar AM-3244) for two 
movements, with a separate control (pctentiometer) for the third movement. 
The remote control of micropositioners is possible by pneumatic 
Obviously, both piezoelectric and electro- 
If joystick controls are needed, these 
controls such as in the de Fonbrune or Cailloux micromanipulators 
(Chambers and Kopac, 1961; Kopac, 1%3). It is also possible in the 
electric micromanipulator, formerly made by American Optical Company 
(Kopac, 1964). 
is capable of remote controlling. 
The piezoelectric micromanipulator, by Ellis (Ellis, 1953), 
The piezoelectric-electromagnetic micromanipulator described in this 
report is the most campact of the remotely controlled micromanipulators 
now available. 
compared with the size that can be made utilizing piezoelectric or 
Indeed, the prototype described here is a "monster" 
7. 
electromagnetic drives. 
constructed in which the entire positioner assembly can be limited to a 
volume of less t h m  1 ad, exclusive of the microprobe holder. 
If necessary, a micromanipulator can now be 
a. 
References 
Chambers, R. and M. J. Kopac. 1961. Micrurgical techniques for the study 
of cellular phenomena. pp. 492-543 - in McClung's Handbook of 
Microscopical Technique (R. M. Jones, ed. ) . Reprint. Hafner 
Publishing Company, Inc., New York, N. Y. 
E l l i s ,  G. W. 1953. Micrmrgical investigation of nuclear injury with the 
piezoelectric micromanipulator. Dissertation. Graduate Division, 
University of California, Berkeley. Science 138: 84 (1962). 
Kopac, M. J. and Jack Harris. 1962. Microsurgery and visible light 
television. Ann. N. Y. Acad. Sci., 97: 331-345. 
Kopac, M. J. 1963. Exploring the inner space of living cells by micro- 
surgery, 
J. Degan, and J. Spiegel, eds.) 
New York, M. Y. 
Chapter 28 - in Human Factors in Technology (E, Bennett, 
McGraw-Hill Book Company, Inc., 
Kopac, M. J. 1964. Micromanipulators: Principles of design, operation, 
and application. 
Research, vol. 5 (14. L. Nastuk, ed,). 
London. 
Chapter 5 - in Physical Techniques in Biological 
Academic Press, New York and 
photograph 1. Pitch, yaw, and roll movements mounted on Line model K 
positioners. 
in the z axis. 
moVing the mechanical stage in the y axis. 
Two large micrometer heads are shown which supply movement 
The large micrometer head in the foreground is used for 
Photograph 2. Another View of the pitch, yaw, and roll movements which 
also shows the control hobs  for turning the worms in the worm gear 
assemblies, A l l  three micrometer screws for the Line model €I positioner 
may be seen. In the background is one of four Line model J positioners. 
The second micrometer head for moving the mechanical stage in the x axis 
is seen between the two model H positioners. 
Photograph 3.. tic drive is shown, It 
is supported by a c sitioner. The gimbal 
movement with its three ring 
are the two piezoelectric b 
sets of pivots is clearly Shawn as 
ed on top of the rings. Supported 
by the inner ring of the is the electr tic dr ive  
which carries the microprobe holder. 
ezoelectrie-electr t ic  a c s s e l y  is shown 
moumted on the z ic 
drive is shown suspended 
b-rphs can be seen nt. Theyare 
mounted at right angles to  one 
 he piezoeledtric 


Improvements in micromanipulators

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