Pathological tissue embedding box sorting system

Abstract

The invention relates to the technical field of pathology laboratory automation equipment, and discloses a pathological tissue embedding box sorting system which comprises an upper shell part, a lower shell part and a machine core part, and the upper shell part and the lower shell part form a cuboid sorting box with the center of the upper half portion being hollowed out. The machine core part is located in the cuboid sorting box and fixed to the connecting position of the upper shell part and the lower shell part so that the upper portion of the machine core part can be located at the center hollowed-out position of the upper half portion of the sorting box. The machine core part comprises a bottom plate, a manual positioning jig group, and a marking machine, a positioning and clamping mechanism, a six-axis robot, a rotary clamping mechanism and a visual positioning mechanism which are connected with a box body control mechanism. The precision of the initial position is guaranteed through the pre-positioning tissue bottle jig, efficient grabbing is achieved through the six-axis mechanical arm, flexibility and automation efficiency are both considered, the efficiency and accuracy of pathological tissue embedding are improved, and errors caused by manual operation are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment for pathological laboratories, and in particular to a pathological tissue embedding cassette sorting system. Background Art

[0002] In the pathology examination process, the sorting of pathology tissue embedding cassettes is a key link between tissue processing and subsequent sectioning and diagnosis. Its efficiency and accuracy have a significant impact on the overall quality of pathology examinations. At present, the traditional manual sorting method has obvious disadvantages in the modern high-throughput laboratory environment. On the one hand, manual operation relies on the experience and attention of pathology technicians. Long-term and high-intensity work can easily cause fatigue, resulting in an increase in the sorting error rate. For example, the tissue embedding cassettes of different patients or different parts are mixed up, which may lead to serious deviations in subsequent diagnostic results and affect the patient's treatment plan and prognosis. On the other hand, the speed of manual sorting is far from matching the growing specimen processing needs of high-throughput laboratories, which greatly limits the efficiency of pathology examinations and prolongs the time patients wait for diagnosis reports.

[0003] The rapid development of medical technology, particularly driven by the concept of precision medicine, has placed higher demands on the timeliness and accuracy of pathology testing. For example, in the rapid diagnosis of tumors and the development of personalized treatment plans, there is an urgent need for fast and accurate output of pathology results to guide clinical treatment decisions. To fill this technological gap and meet practical clinical needs, the development of a system that can automatically sort pathology tissue embedding cassettes is particularly necessary and urgent. Summary of the Invention

[0004] The present invention provides a pathological tissue embedding cassette sorting system, which ensures initial position accuracy through manual pre-positioning of tissue bottle jigs and achieves efficient grasping using a 6-axis robotic arm. It balances flexibility and automation efficiency, improves the efficiency and accuracy of pathological tissue embedding, and reduces errors caused by manual operation.

[0005] The present invention provides a pathological tissue embedding cassette sorting system, comprising an upper housing component, a lower housing component, and a core component. The upper housing component and the lower housing component form a rectangular parallelepiped sorting box with a hollowed-out center in the upper half. The core component is located inside the rectangular parallelepiped sorting box and is fixed at the connection between the upper housing component and the lower housing component so that the upper portion of the core component is located in the hollowed-out center in the upper half of the sorting box.

[0006] The core components include a base plate, a manual positioning fixture group, a marking machine, a positioning clamping mechanism, a 6-axis robot, a rotary clamping mechanism, and a visual positioning mechanism. The manual positioning fixture group is fixed at a corner of the base plate and is used to place tissue bottles with filters and embedding boxes; the marking machine is fixed at a corner of the base plate and is located on one side of the manual positioning fixture group, and is used to mark and code the embedding boxes; the positioning clamping mechanism is fixed at a corner of the base plate and is located on a side of the marking machine adjacent to the manual positioning fixture group, and is used to mark and code the embedding boxes. The 6-axis robot is fixed to the center of the base plate and is used to grab the filter in the tissue bottle and put it into the embedding cassette clamped by the positioning and clamping mechanism using a robotic arm; the rotary clamping mechanism is fixed to a corner of the base plate and is located on the side of the positioning and clamping mechanism adjacent to the numbering machine, and is used to clamp and transfer the embedding cassette in the manual positioning fixture group; the visual positioning mechanism is fixed to the base plate and is located above the manual positioning fixture group and the rotary clamping mechanism, and is used to take a photo of the tissue bottle with the filter to identify the QR code;

[0007] The marking machine, positioning clamping mechanism, 6-axis robot, rotary clamping mechanism, and visual positioning mechanism are all connected to a box control mechanism, which is used to monitor the core components in real time to control the current sorting task of the pathological tissue embedding cassettes.

[0008] Furthermore, the manual positioning jig group includes a tissue bottle jig, an embedding cassette jig and a tissue bottle, the tissue bottle jig is fixed on the bottom plate and close to the numbering machine, the tissue bottle with the filter is initially placed in the tissue bottle jig, the embedding cassette jig is fixed on the bottom plate and close to the rotary clamping mechanism, and the rotary clamping mechanism clamps the embedding cassette in the embedding cassette jig and transfers it to a fixed container.

[0009] Furthermore, the positioning and clamping mechanism includes a base, a laser displacement sensor, a micro electric push rod, an embedding cassette positioning plate, an embedding cassette slide, and a clamping table. The embedding cassette positioning plate is fixed to the base for carrying the embedding cassette; the embedding cassette slide is fixed to the base and is located on one side of the embedding cassette positioning plate, for connecting the marking machine and the embedding cassette positioning plate; the micro electric push rod is fixed to the base and is located on a side of the embedding cassette positioning plate adjacent to the embedding cassette slide, for pushing the embedding cassette to a preset position; the clamping table is fixed to the bottom plate and is located on a side of the base adjacent to the marking machine, for carrying and clamping the embedding cassette; the laser displacement sensor is fixed to the base and is located above the embedding cassette positioning plate, for measuring the position of the embedding cassette in the clamping table using laser technology.

[0010] Furthermore, the 6-axis robot includes a robotic arm, a rotating electric gripper, and a mechanical base, wherein the mechanical base is fixed to the base plate, the robotic arm is fixed to the mechanical base, and the rotating electric gripper is fixed to the side of the robotic arm away from the mechanical base, so that the 6-axis robot uses the rotating electric gripper to open the embedding cassette on the clamping table, and places the filter in the tissue bottle on the tissue bottle jig into the opened embedding cassette, and clamps and moves the embedding cassette with the filter into the embedding cassette jig.

[0011] Furthermore, the rotary clamping mechanism is located on one side of the clamping platform and is used to clamp and transfer the embedding cassette in the embedding cassette jig to a fixed container.

[0012] Furthermore, the visual positioning mechanism includes a camera, a strip LED light source, an optical axis, and an optical axis base, the optical axis base is fixed to the base plate, the optical axis is fixed to the optical axis base, the camera is fixed to the end of the optical axis away from the optical axis base and is located above the manual positioning fixture group and the rotating clamping mechanism, and the strip LED light source is fixed to the end of the optical axis away from the optical axis base for fill light.

[0013] Furthermore, the upper shell component adopts a split sheet metal structure, and a spacer layer is fixedly installed above the central hollow part inside. The air filter is integrated on the spacer layer. The central hollow part of the upper shell component is provided with a quick opening and closing cabinet door with a magnetic sealing strip. The outer side surface of the upper shell component is fixedly provided with the box control mechanism, and the upper shell component is fixed on all sides of the bottom plate and fixed by screws.

[0014] Furthermore, the box control mechanism includes a 21-inch all-in-one machine and a mechanical bracket, the mechanical bracket is fixed to the outer side of the upper shell component, and the 21-inch all-in-one machine is fixed to an end of the mechanical bracket away from the upper shell component.

[0015] Furthermore, the lower shell component is configured as a welded chassis, universal wheels are installed at the bottom of the welded chassis, a support plate is fixed on the top, aluminum alloy cabinet doors are installed around it, and support sheet metal is fixed inside. The support sheet metal is used to fix the waste collection mechanism and the electrical control cabin. The electrical control cabin contains PLC, power module and IO expansion unit, which are centrally arranged on one side of the support sheet metal, and an isolation sheet metal is provided between the electrical control cabin and the waste collection mechanism.

[0016] Furthermore, the waste collection mechanism includes a tissue bottle waste bucket and a waste liquid bucket for collecting used tissue bottles and tissue fluid in the core component. The waste liquid bucket is provided with a liquid level sensor, and the liquid level sensor is connected to the box control mechanism.

[0017] The beneficial effects of the present invention are:

[0018] 1. The present invention uses a 6-axis robotic arm as the driving component of the core component, which can fully utilize the high degree of freedom, high-precision positioning, and rapid response of the 6-axis robotic arm. It can switch tissue bottles and embedding cassettes to different positions in a short time. Combined with visual recognition, it can realize automated sorting and high-density stacking, replacing manual repetitive labor.

[0019] 2. The present invention achieves automated sorting with the help of an embedded box control mechanism. By controlling the motion of a 6-axis robotic arm, a motion trajectory is generated. The camera is controlled to trigger the photo and transmit the image to the visual algorithm to ensure that the tissue bottle label ID, embedding cassette ID, and LIS instruction are strictly matched.

[0020] 3. The present invention uses a 21-inch all-in-one machine as the core terminal for human-computer interaction. It can manually select the position of the tissue bottle and monitor the equipment status in real time, and supports manual emergency stop. It not only ensures efficiency but also meets the flexibility and safety requirements of the pathology laboratory.

[0021] In the accompanying drawings, there are upper shell component 1, lower shell component 2, base plate 3, numbering machine 4, rotary clamping mechanism 5, tissue bottle fixture 6, embedding cassette fixture 7, tissue bottle 8, embedding cassette 9, base 10, laser displacement sensor 11, micro electric push rod 12, embedding cassette positioning plate 13, embedding cassette slide 14, clamping table 15, robotic arm 16, rotary electric clamp 17, mechanical base 18, camera 19, strip LED light source 20, optical axis 21, optical axis base 22, air filter 23, cabinet door 24, 21-inch all-in-one machine 25, mechanical bracket 26, spacer layer plate 27, welding base 28, universal wheel 29, support sheet metal 30, isolation sheet metal 31, tissue bottle waste bucket 32, waste liquid bucket 33, and liquid level sensor 34. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the whole machine of the present invention.

[0023] Figure 2 This is a schematic diagram of the first three-dimensional structure of the movement component in the present invention.

[0024] Figure 3 This is a second three-dimensional structural diagram of the movement component in the present invention.

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the upper shell component in the present invention.

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the lower shell component in the present invention.

[0027] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0028] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] The present invention provides a device for automatically pairing and sorting tissue samples and embedding cassettes 9 for use in a pathology laboratory, particularly a sorting system that manually pre-positions a tissue bottle fixture 6 and combines a 6-axis robotic arm to accurately grasp the embedding cassette 9, suitable for the pre-processing process of pathology samples.

[0030] like Figure 1 As shown, the present invention provides a pathological tissue embedding cassette sorting system, comprising an upper housing component 1, a lower housing component 2, and a core component. The upper housing component 1 and the lower housing component 2 constitute a rectangular sorting box with a hollow center in the upper half. The core component is located inside the rectangular sorting box and is fixed at the connection between the upper housing component 1 and the lower housing component 2 so that the upper part of the core component is located in the hollow center of the upper half of the sorting box.

[0031] like Figure 2-3 As shown, the core components include a base plate 3, a manual positioning fixture group, a marking machine 4, a positioning clamping mechanism, a 6-axis robot, a rotating clamping mechanism 5, and a visual positioning mechanism. The manual positioning fixture group is fixed at a corner of the base plate 3 and is used to place tissue bottles 8 and embedding boxes 9 with filters; the marking machine 4 is fixed at a corner of the base plate 3 and is located on one side of the manual positioning fixture group, and is used to mark and code the embedding boxes 9 for subsequent identification and management; the positioning clamping mechanism is fixed at a corner of the base plate 3 and is located on a side of the marking machine 4 adjacent to the manual positioning fixture group, and is used to clamp and position the marked and coded embedding boxes 9; the 6-axis robot is fixed at the center of the base plate 3 and is used to use a robotic arm 16 grabs the filter in the tissue bottle 8 into the embedding cassette 9 clamped by the positioning and clamping mechanism; the rotary clamping mechanism 5 is fixed to a corner of the bottom plate 3 and is located on the side of the positioning and clamping mechanism adjacent to the marking machine 4, and is used to clamp and transfer the embedding cassette 9 in the manual positioning jig group; the visual positioning mechanism is fixed on the bottom plate 3 and is located above the manual positioning jig group and the rotary clamping mechanism 5, and is used to take a photo of the tissue bottle 8 with the filter and identify the QR code; the marking machine 4, positioning and clamping mechanism, 6-axis robot, rotary clamping mechanism 5, and visual positioning mechanism are all connected to the box control mechanism, which is used to monitor the core components in real time to control the sorting task of the current pathological tissue embedding cassette 9.

[0032] The manual positioning jig group is equipped with a placement area for the tissue bottle jig 6 with a physical positioning reference. The operator only needs to place the tissue bottle jig 6 loaded with the embedding cassette 9 in the designated area. The visual positioning mechanism automatically identifies the position of the embedding cassette 9 and generates a grabbing instruction for the robotic arm 16. The 6-axis robotic arm 16 accurately grabs the embedding cassette 9 according to the instruction and moves it to the designated position.

[0033] In one embodiment, the manual positioning jig group includes a tissue bottle jig 6, an embedding cassette jig 7 and a tissue bottle 8. The tissue bottle jig 6 is fixed on the base plate 3 and close to the numbering machine 4. The tissue bottle 8 with the filter is initially placed in the tissue bottle jig 6. The embedding cassette jig 7 is fixed on the base plate 3 and close to the rotating clamping mechanism 5. The rotating electric clamp 17 transfers the embedding cassette 9 with the filter from the positioning clamping mechanism to the embedding cassette jig 7, and then transfers the embedding cassette 9 in the embedding cassette jig 7 to a fixed container through the rotating clamping mechanism 5.

[0034] Among them, the tissue bottle 8 is soaked with a filter containing tissue in formalin. The formalin plays a role in fixing and protecting the tissue, ensuring that the tissue maintains integrity and stability in subsequent operations. The tissue bottle fixture 6 is used to place the tissue bottle 8, which is manually placed in the designated position.

[0035] In one embodiment, the positioning and clamping mechanism includes a base 10, a laser displacement sensor 11, a micro electric push rod 12, an embedding cassette positioning plate 13, an embedding cassette slide 14, and a clamping platform 15. The embedding cassette positioning plate 13 is fixed to the base 10 for carrying the embedding cassette 9; the embedding cassette slide 14 is fixed to the base 10 and is located on one side of the embedding cassette positioning plate 13 for connecting the outlet of the marking machine 4 and the embedding cassette positioning plate 13; the micro electric push rod 12 is fixed to the base 10 The 6-axis robot is provided with a plurality of supporting plates 12 and 13 for supporting the cassette 9. The 6-axis robot is provided with a plurality of supporting plates 12 and 13 for supporting the cassette 9. The 6-axis robot is provided with a plurality of supporting plates 12 and 13 for supporting the cassette 9. The 6-axis robot is provided with a plurality of supporting plates 12 and 13 for supporting the cassette 9.

[0036] When the positioning and clamping mechanism is working, the marking machine 4 automatically slides the marked embedding cassette 9 to the embedding cassette positioning plate 13 for positioning. The mechanical arm 16 of the 6-axis robot grabs the embedding cassette 9 in the embedding cassette positioning plate 13 and places it in the clamping table 15. The clamping table 15 clamps the embedding cassette 9, and the embedding cassette 9 is opened by the mechanical arm 16 of the 6-axis robot, and then the filter in the tissue bottle 8 is placed into the embedding cassette 9.

[0037] In one embodiment, the 6-axis robot includes a robotic arm 16, a rotating electric clamp 17, and a mechanical base 18. The mechanical base 18 is fixed on the base plate 3, the robotic arm 16 is fixed on the mechanical base 18, and the rotating electric clamp 17 is fixed on the side of the robotic arm 16 away from the mechanical base 18, so that the 6-axis robot uses the rotating electric clamp 17 to open the embedding cassette 9 on the clamping table 15, and places the filter in the tissue bottle 8 on the tissue bottle fixture 6 into the opened embedding cassette 9, and transfers the embedding cassette 9 with the filter from the positioning and clamping mechanism to the embedding cassette fixture 7.

[0038] The robotic arm 16 is a high-precision industrial robotic arm that can accurately grasp and manipulate the tissue bottle 8 and embedding cassette 9. The rotating electric gripper 17 clamps the tissue bottle 8 to ensure stability during operation, and the robotic arm 16 grasps the filter in the tissue bottle 8 and places it into the embedding cassette 9.

[0039] In one embodiment, the rotary clamping mechanism 5 is located on one side of the clamping platform 15 and is used to clamp and transfer the embedding cassette 9 in the embedding cassette fixture 7 .

[0040] In one embodiment, the visual positioning mechanism includes a camera 19, a strip LED light source 20, an optical axis 21, and an optical axis base 22. The optical axis base 22 is fixed on the base plate 3, and the optical axis 21 is fixed on the optical axis base 22. The camera 19 is fixed on the end of the optical axis 21 away from the optical axis base 22 and is located above the manual positioning fixture group and the rotating clamping mechanism 5. The strip LED light source 20 is fixed on the end of the optical axis 21 away from the optical axis base 22 for fill light.

[0041] In one embodiment, Figure 4 As shown, the upper shell component 1 adopts a split sheet metal structure, and a spacer layer 27 is fixedly installed above the central hollow part inside. The air filter 23 is integrated on the spacer layer 27, and conductive foam is provided between the air filter 23 and the spacer layer 27 for electrostatic dust removal; the central hollow part of the upper shell component 1 is provided with a quick-opening and closing cabinet door 24 with a magnetic sealing strip, and the cabinet door 24 is made of 8mm thick glass with high light transmittance; the box control mechanism is fixedly installed on the outer side surface of the upper shell component 1, and the upper shell component 1 is fixed on the four sides of the bottom plate 3 and fixed by screws.

[0042] In one embodiment, the bin control mechanism includes a 21-inch all-in-one machine 25 and a mechanical bracket 26. The mechanical bracket 26 is fixed to the outer side of the upper housing member 1, and the 21-inch all-in-one machine 25 is fixed to the end of the mechanical bracket 26 away from the upper housing member 1. The 21-inch all-in-one machine 25 has a touchscreen display that provides a real-time monitoring window, the occupancy status of the fixture positioning station, and a progress bar for the current sorting task; sorting data is also connected to the LIS system in real time.

[0043] In one embodiment, Figure 5 As shown, the lower housing component 2 is configured as a welded chassis 28. Universal wheels 29 are mounted on the bottom of the chassis, a support plate is fixed on the top, and aluminum alloy doors are installed around the chassis. A support sheet metal 30 is fixed inside the chassis. This support sheet metal 30 is used to secure the waste collection mechanism and the electrical control compartment. The electrical control compartment contains the PLC, power module, and I / O expansion unit, which are centrally located on one side of the support sheet metal 30. A separation sheet metal 31 is installed between the electrical control compartment and the waste collection mechanism. The lower housing component 2 utilizes a partitioned design to achieve classified waste storage, real-time liquid level warnings, and centralized power distribution for the equipment.

[0044] In one embodiment, the waste collection mechanism includes a tissue bottle waste barrel 32 (capacity 10L) and a waste liquid barrel 33 (capacity 30L), which are used to collect the used tissue bottles 8 and tissue fluid in the core components. The waste liquid barrel 33 is provided with a liquid level sensor 34 to detect the waste liquid situation in real time. The liquid level sensor 34 is connected to the box control mechanism.

[0045] The present invention uses a 6-axis robotic arm as the driving component of the core component. It can fully utilize the high degree of freedom, high-precision positioning, and rapid response characteristics of the 6-axis robotic arm to switch tissue bottles and embedding cassettes to different positions in a short time. Combined with visual recognition, it can realize automated sorting and high-density stacking and arrangement, replacing manual repetitive labor. Automated sorting is achieved with the help of an embedded box control mechanism. The motion trajectory is generated by controlling the motion of the 6-axis robotic arm; the camera is controlled to trigger the photo and transmit the image to the visual algorithm to ensure that the tissue bottle label ID, embedding cassette ID, and LIS instruction are strictly matched. With the help of a 21-inch all-in-one machine as the core terminal for human-computer interaction, the position of the tissue bottle can be manually selected and the equipment status can be monitored in real time. Manual emergency stop is supported. This not only ensures efficiency but also meets the flexibility and safety requirements of the pathology laboratory.

[0046] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, apparatus, article, or method comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, apparatus, article, or method. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, apparatus, article, or method comprising the element.

[0047] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A pathological tissue embedding cassette sorting system, characterized in that: The device comprises an upper shell component, a lower shell component, and a core component, wherein the upper shell component and the lower shell component form a rectangular parallelepiped sorting box with a hollow center in the upper half. The core component is located inside the rectangular parallelepiped sorting box and is fixed at the connection between the upper shell component and the lower shell component so that the upper part of the core component is located in the hollow center of the upper half of the sorting box. The core components include a base plate, a manual positioning fixture group, a marking machine, a positioning clamping mechanism, a 6-axis robot, a rotary clamping mechanism, and a visual positioning mechanism. The manual positioning fixture group is fixed at a corner of the base plate and is used to place tissue bottles with filters and embedding boxes; the marking machine is fixed at a corner of the base plate and is located on one side of the manual positioning fixture group, and is used to mark and code the embedding boxes; the positioning clamping mechanism is fixed at a corner of the base plate and is located on a side of the marking machine adjacent to the manual positioning fixture group, and is used to mark and code the embedding boxes. The 6-axis robot is fixed to the center of the base plate and is used to grab the filter in the tissue bottle and put it into the embedding cassette clamped by the positioning and clamping mechanism using a robotic arm; the rotary clamping mechanism is fixed to a corner of the base plate and is located on the side of the positioning and clamping mechanism adjacent to the numbering machine, and is used to clamp and transfer the embedding cassette in the manual positioning fixture group; the visual positioning mechanism is fixed to the base plate and is located above the manual positioning fixture group and the rotary clamping mechanism, and is used to take a photo of the tissue bottle with the filter to identify the QR code; The marking machine, positioning clamping mechanism, 6-axis robot, rotary clamping mechanism, and visual positioning mechanism are all connected to a box control mechanism, which is used to monitor the core components in real time to control the current sorting task of the pathological tissue embedding cassettes.

2. The pathological tissue embedding cassette sorting system according to claim 1, characterized in that: The manual positioning jig group includes a tissue bottle jig, an embedding cassette jig and a tissue bottle. The tissue bottle jig is fixed on the bottom plate and close to the numbering machine. The tissue bottle with the filter is initially placed in the tissue bottle jig. The embedding cassette jig is fixed on the bottom plate and close to the rotary clamping mechanism. The rotary clamping mechanism clamps the embedding cassette in the embedding cassette jig and transfers it to a fixed container.

3. The pathological tissue embedding cassette sorting system according to claim 2, characterized in that: The positioning and clamping mechanism includes a base, a laser displacement sensor, a micro electric push rod, an embedding cassette positioning plate, an embedding cassette slide, and a clamping platform. The embedding cassette positioning plate is fixed to the base for carrying the embedding cassette; the embedding cassette slide is fixed to the base and is located on one side of the embedding cassette positioning plate, for connecting the marking machine and the embedding cassette positioning plate; the micro electric push rod is fixed to the base and is located on a side of the embedding cassette positioning plate adjacent to the embedding cassette slide, for pushing the embedding cassette to a preset position; the clamping platform is fixed to the bottom plate and is located on a side of the base adjacent to the marking machine, for carrying and clamping the embedding cassette; the laser displacement sensor is fixed to the base and is located above the embedding cassette positioning plate, for measuring the position of the embedding cassette in the clamping platform using laser technology.

4. The pathological tissue embedding cassette sorting system according to claim 3, characterized in that: The 6-axis robot includes a robotic arm, a rotating electric gripper, and a mechanical base. The mechanical base is fixed to the base plate, the robotic arm is fixed to the mechanical base, and the rotating electric gripper is fixed to the side of the robotic arm away from the mechanical base, so that the 6-axis robot uses the rotating electric gripper to open the embedding cassette on the clamping table, and places the filter in the tissue bottle on the tissue bottle fixture into the opened embedding cassette, and clamps and moves the embedding cassette with the filter into the embedding cassette fixture.

5. The pathological tissue embedding cassette sorting system according to claim 4, characterized in that: The rotary clamping mechanism is located on one side of the clamping platform and is used to clamp and transfer the embedding cassette in the embedding cassette fixture to a fixed container.

6. The pathological tissue embedding cassette sorting system according to claim 4, characterized in that: The visual positioning mechanism includes a camera, a strip LED light source, an optical axis, and an optical axis base. The optical axis base is fixed on the base plate, the optical axis is fixed on the optical axis base, the camera is fixed on the end of the optical axis away from the optical axis base and is located above the manual positioning fixture group and the rotating clamping mechanism, and the strip LED light source is fixed on the end of the optical axis away from the optical axis base for fill light.

7. The pathological tissue embedding cassette sorting system according to claim 1, characterized in that: The upper shell component adopts a split sheet metal structure, and a spacer layer is fixedly installed above the central hollow part inside. The air filter is integrated on the spacer layer. The central hollow part of the upper shell component is provided with a quick opening and closing cabinet door with a magnetic sealing strip. The outer side surface of the upper shell component is fixedly provided with the box control mechanism. The upper shell component is fixed on all sides of the bottom plate and fixed by screws.

8. The pathological tissue embedding cassette sorting system according to claim 7, characterized in that: The box control mechanism includes a 21-inch all-in-one machine and a mechanical bracket. The mechanical bracket is fixed to the outer side of the upper shell component, and the 21-inch all-in-one machine is fixed to one end of the mechanical bracket away from the upper shell component.

9. The pathological tissue embedding cassette sorting system according to claim 1, characterized in that: The lower shell component is configured as a welded chassis, with universal wheels installed at the bottom of the welded chassis, a support plate fixed on the top, aluminum alloy cabinet doors installed around it, and support sheet metal fixed inside. The support sheet metal is used to fix the waste collection mechanism and the electrical control cabin. The electrical control cabin contains a PLC, a power module and an IO expansion unit, which are centrally arranged on one side of the support sheet metal, and an isolation sheet metal is provided between the electrical control cabin and the waste collection mechanism.

10. The pathological tissue embedding cassette sorting system according to claim 9, characterized in that: The waste collection mechanism includes a tissue bottle waste bucket and a waste liquid bucket, which are used to collect the used tissue bottles and tissue fluid in the core component. The waste liquid bucket is provided with a liquid level sensor, and the liquid level sensor is connected to the box control mechanism.

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