• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.1 s.256
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• pp.62-69
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• 2007

Micromanipulator is a device that manipulates an object with high precision. Generally, a parallel-type robot has inherently higher precision than a serial-type robot. In most cases, the use of flexure hinge mechanisms is the most appropriate approach to micromanipulators. The micromanipulator is basically required that have high natural frequency and sufficient workspace. However, previous designs are hard to satisfy the required workspace and natural frequency, simultaneously, because the previous micromanipulators are coupled designs. Therefore, this paper suggests a new design parameter as displacement amplifier and new design procedure based on semi-coupled design in axiomatic design. As a consequence the spatial 3-DOF micromanipulator which is chosen as an exemplary device has natural frequency of 500Hz and workspace of $-0.5^{\circ}{\sim}0.5^{\circ}$. To investigate the effectiveness of the displacement amplifier, simulation and experiment are performed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.103.5-103
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• 2001

This paper presents a visual feedback system that controls a micromanipulator using multiple microscopic vision information. The micromanipulation stations basically have optical microscope. However the single field-of-view of optical microscope essentially limits the workspace of the micromanipulator and low dept-of-field makes it difficult to handle 3D-shaped micro objects. The system consists of a stereoscopic microscope, three CCD cameras, the micromanipulator and personal computer. The use of stereoscopic microscope which has long working distance and high depth-of-field with selective field-of-view improves the recognizability of 3D-shaped micro objects and provides a method for overcoming several essential limitations in micromanipulation. Thus, visual feedback information is very important in handling micro objects for overcoming those limitations and provides a mean for the ...

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.42-53
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• 1993

이 논문에서는 정밀로봇 설계에 관한 여려 사안을 다루었다. 정밀로봇이란 미세한 오차와 정밀한 제어로 기존 로봇의 정밀도 향상을 위한 작고, 정밀한 운동범위를 갖춘 로봇이다. 원하는 운동범위나 효과적인 힘 전달률, 최소한 작은 힘으로의 동작을 수행하기 위한 최적의 기구학적 변수를 컴퓨터 시뮬레이션을 통하여 구현하고자 한다. CAD/CAM 시스템을 이용한 합성, 해석 및 제작을 위한 정보가 만들어질 수 있으며 최대 휨 및 응력해석을 통하여 최종적인 검증 및 설계 변경을 위한 자료로서 사용될 수 있을 것이다.

• Reproductive and Developmental Biology
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• v.34 no.1
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• pp.15-19
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• 2010

Oocyte enucleation is essential for somatic cell nuclear transfer (SCNT) in the production of cloned animals or embryonic stem cells from adult somatic cells. Most studies of oocyte enucleation have been performed using micromanipulator-based techniques, which are technically demanding, time-consuming, and expensive. Several recent studies have used chemical-induced oocyte enucleation; however, each has been plagued by low efficiency and toxicity. In this study, I found that the co-treatment of murine oocytes with demecolcine and BMI-1026, a potent cdk1 inhibitor, resulted in a high enucleation rate (97%). This method is entirely independent of a micromanipulator and is suitable for the large-scale production of enucleated oocytes. This new method of enucleation will be useful in SCNT and in the development of handmade cloning techniques.

• Korean Journal of Animal Reproduction
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• v.18 no.1
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• pp.31-37
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• 1994

This study carried out to investigate the effects of cryoprotectants in the medium on the survival rate of rapidly frozen porcine bisected demi-embryos. The porcine bisected demi-embryos following dehydration by cryoprotectants containing sucrose were directly plunged into liquid nitrogen and thawed in 3$0^{\circ}C$ water bath. Survival rate was defined as development rate on in vitro culture or FDA-test. The results are summarized as follows : 1. The survival rates of without-zona pellucida embryos and 2 blastomeres porcine embryos were 10.0 and 7.1%, respectively. The rate of unfrozen blastomeres (20.00%) was significantly higher than that of non-frozen oocytes. 2. The survival rates of with and without-zona pellucida of bisected porcine embryos by micromanipulator were 20.0 and 14.3%, respectively. 3. The developmental rates of with and without-zona pellucida of bisected poricine embryos by micromanipulator were 13.3 and 7.1%, respectively.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.158-163
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• 2001

Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human interfaces, due to the scaling effects in micro/nano world. This paper presents a micro manipulation system based on the teleoperation techniques which enables the operators to manipulate the objects with ease by transferring both human motion and manipulation skill to a micromanipulator. An experimental setup consisting of a micromanipulator operated under stereo-microscope with the help of intelligent user interface provides a tool that can be used to visualize and manipulate micro-sized 3D objects in a controlled manner. The key features of a micro manipulation system and control strategies using teleoperation techniques for handling micro objects are presented. Experimental results demonstrate the feasibility of this system in precisely controlling trapping and manipulation of micro objects based on teleoperation techniques.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.2
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• pp.13-22
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• 2008

For the accuracy correction of the micro-positioning industrial robot, micro-manipulator has been devised. The compliant mechanisms using piezoelectric actuators is necessary geometrically and structurally to be developed by the optimization approaches. The overall geometric advantage as the mechanical efficiencies of the mechanism are considered as objective functions, which respectively art the ratio of output displacement to input force, and their constraints are the vertical notion of supporting leg and the structural strength of manipulation. In optimizing the compliant mechanical amplifier, the sequential linear programming and an optimality criteria method are used for the geometrical dimensions of compliant bridges and flexure hinges. This paper presents the integrated design process which not only can maximize the mechanism feasibilities but also can ensure the positioning accuracy and sufficient workspace. Experiment and simulation are presented for validating the design process through the comparisons of the kinematical and structural performances.

• Proceedings of the Zoological Society Korea Conference
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• 1996.10a
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• pp.124.2-124
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• 1996

No Abstract, See Full Text

• Journal of Embryo Transfer
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• v.12 no.1
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• pp.21-27
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• 1997

The studies were carried out to investigate the effects of bisection method and with and without-zona pellucida of embryos on in vitro developmental rate bisected embryos by micromanipulator, micropipette and pipetting. The ovaries were obtained from slaughtered Korean native cows. The follicular oocytes were cultured in TCM-199 mediurn containing 10 IU /ml의 PMSG(Sigma, USA), 10 IU /ml의 hCG, 1$\mu$g /ml의 $\beta$-estradiol(Sigma, USA) and 10% FCS for 24~48 hrs in incubator with 5% $CO_2$ in air at 38.5$^{\circ}C$ and then, matured oocytes were again cultured for 12~ 18 hrs with motile capacitated sperm by preincubation of heparin. Bisected embryos cultured for 1~5 days in 20% FCS + TCM-199 medium. Survival rate was defined as developmental rate on in vitro culture or FDA-test. The results are summarized as follows :1. The survival rates of bisected bovine embryos by micromanipulator and micropipett were 29.2% and 19.1%, respectively. The rates of non-bisection embryos(46.7%) were significantly higher than those of bisection embryos. 2. The in vitro developmental rates of bisected bovine embryos by micromanipulator, micropipett and pipetting method were 32.4%, 19.4% and 25.6%, respectively.3. The in vitro developmental rates of with and without-zona pellucida of bisected bovine embryos by raicromanipulator were 30.8% and 25.0%, respectively. The rates of nonbisection embryos(53.1%) were significantly higher than those of bisection embryos.

• Korean Journal of Animal Reproduction
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• v.19 no.4
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• pp.265-270
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• 1996

This study was carried out to investigate on the survival rates and in vitro developmental rates of bisected bovine embryos by micromanipulator and micropipette. Bisected embryos were cultured for 1∼5 days in 20% FCS＋TCM-199 medium. Survival rate and in vitro developmental rate were defined as development rate on in vitro culture or FDA-test. The results are summarized as follows ; 1. The survival rates of intact or free zona pellucida of bisected embryos were 30.3 and 25.0%, respectively. And the survival rates of bisected embryos by micromanipulator and micropipette were 33.3 and 26.7%, respectively. The survival rate of bisected embryos was significantly lower than that of non-bisection embryos(65.0%). 2. The survival rates of bisection embryos in cultured for 12, 24, 48, 72 hrs with 20% FCS＋TCM-199 medium were 40.0, 30.0, 23.3 and 13.3%, respectively. 3. The in vitro developmental rates of intact of free zona pellucida of bisected embryos by micromainipulator and micropipettes were 33.3 and 26.7%, respectively. The survival rate of bisection embryos was significantly lower than that of non-bisection embryos(45.0%).