Research And Design On End-effector Of The Cell-microinjection System

The current micro-injection system used in the cell injections, manual operation or using manipulator methods to move cells for search, positioning, holding and injection. There are control system complexity and low precision injection shortcomings. It becomes very important subject to develop a simple, high precision and high rate of success equipment using in cell injection.The main content in this paper is about cell-injection system equipment design, and it mainly includes two aspects:the flow control device design and push pin equipment design.First, on flow control, we proposed a method using piezoelectric ceramic micro displacement drive to realize digital control of cell injections flow, and developed a mechanical device, it realized fixing of the piezoelectric ceramics and preloading, and through this device the ceramics can pushing the piston of the syringe, which will change the liquid piezoelectric ceramic actuator displacement into micro flow.On pushing pin, considering the efficiency of accuracy and economic, we used a stepper motor driver platform and a method of driving force feedback, and make the process of cell membrane penetration needles realized the closed-loop control and improve the accuracy. And we also do some work about the selection of the mobile platform and its drive.Finally the paper introduced the system control methods of the design, and we used a singlechip PIC18F4620as the core of our control circuit, which is easy to realize drive control input pulses. As to the force feedback equipment, we used the singlechip self-own A/D converter to change the analog force signals into digital ones, and it also can communicate with the host computer by the RS232serial port, etc.