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FIELD OF THE INVENTION

The present invention relates to a manipulator such as a minute component assembly apparatus which assembles a minute object such as a micromachine component or unit by using a magnifying observation device such as an optical microscope, electron microscope, or scanning tunneling microscope, or a compact manipulator apparatus which performs diagnosis, medical treatment, research, biological production, or the like by physically manipulating, for example, minute tissues, cells, or genes of a living body and a minute object manipulating apparatus using the manipulator.

BACKGROUND OF THE INVENTION

There have been known a technique of controlling the posture of a manipulating member (end-effector) by rotating a general size arm using a general size bearing and a technique of performing a necessary process on a minute work in a working device by rotating an arm or tool along an arcuated guide (see, for example, Japanese Patent Laid-Open No. 7-256575).

In a conventional apparatus like those described above, if the distal end of an end-effector is not located on the rotation axis of a bearing or arcuated guide, the distal end of the end-effector moves out of the visual field or depth of focus of a microscope due to posture control operation. This makes it necessary to position the microscope and the distal end of the end-effector again. As described above, in a manipulator which manipulates a minute object, when the posture of the end-effector at the distal end is controlled, the manipulation target object often moves out of the visual field of the microscope. In a conventional manipulator having three degrees of rotational freedom, in particular, since the rotation axes corresponding to the respective degrees of freedom do not coincide with each other and do not cross at one point, the distal end of the end-effector tends to move out of the visual field or depth of focus of the microscope due to posture control operation. In such a case, the microscope and the distal end of the end-effector must be positioned again. This operation requires a long period of time.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a manipulator such as a compact manipulator apparatus which solves the above problems and manipulates a minute target object, and a minute object manipulating apparatus or the like using the manipulator.

In order to achieve the above object, according to the present invention, there is provided a manipulator comprising: a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes; all the plurality of free rotation axes crossing at one point; and, a manipulation distal end portion of the manipulating member being placed near the intersection.

According to this arrangement, the manipulator has a mechanism in which a plurality of (typically three) free rotation axes cross at one point, and the distal end portion of a manipulating member (end-effector) which manipulates a manipulation target object is placed near the intersection. With this structure, even if, for example, the posture of the end-effector is changed, its distal end portion can be made to remain within the visual field of a microscope.

The following embodiment can be provided on the basis of the above basic arrangement.

According to an embodiment of the present invention, the manipulating member is integrally mounted on a spherical shell movable member, the manipulation distal end portion of the manipulating member is placed near the center of the spherical shell movable member, the spherical shell movable member is in contact with a vibration member which can vibrate, and rotation of the spherical shell movable member around the center thereof is controlled by controlling vibration of the vibration member, thereby controlling a posture of the manipulating member.

When the rotation of the movable member in the form of a spherical shell is controlled by controlling the vibration of the vibration member, the distal end portion of the end-effector is made to remain within the visual field of the microscope even if the posture of the end-effector is changed.

According to another embodiment of the present invention, the manipulator further comprises: first rotating means for rotating a first rotating shaft on which a first arm is mounted; second rotating means for rotating a second rotating shaft which is mounted on the first arm and on which a second arm is mounted; and third rotating means for rotating a third rotating shaft which is mounted on the second arm and on which a third arm is mounted, wherein the manipulating member is mounted on the third rotating shaft, and the first, second, and third rotating shafts pass through a manipulation distal end portion of the manipulating member.

In addition, in order to achieve the above object, according to the present invention, there is provided a minute object manipulating apparatus comprising: a manipulator comprising a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes, all the plurality of free rotation axes crossing at one point, and a manipulation distal end portion of the manipulating member being placed near the intersection; a magnifying observation device for magnifying observation of the manipulation target object and the manipulation distal end portion of the manipulating member; and a remote controller for remotely controlling the manipulator.

This apparatus also makes the most of the advantages of the above manipulator. In addition, for example, the manipulator can be placed on the upper side of a manipulation target object, and the magnifying observation device can be placed on the lower side of the manipulation target object.

Other features and advantages of the present invention will

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