A tissue chip core making system and core making method based on image recognition and positioning

Abstract

The invention discloses a tissue chip core making system based on image recognition and positioning and a core making method thereof. The core making system comprises a cutting system and a computer control system; the cutting system comprises a numerical control cutting machine, an XYZ axis translation worktable, a 360-degree rotating turntable, a receptor wax block rack, a freezing table and an image recognition and positioning module; the core making process by the core making system comprises: setting out, sample position recognition, tissue sample image acquisition, tissue sample image processing, setting of cutting parameters, cutting of tissue samples, tissue core information recognition and storage, so as to obtain a tissue core with traceable information; the method obtains a coring area by visual recognition, has the characteristics of high automation and high work efficiency, effectively reduces tissue damage by cutting tissue samples by wire cutting, and improves coring efficiency and success rate; a database is established to manage the information of the tissue core, so as to facilitate subsequent query and use.

Description

Technical Field

[0001] The present invention relates to a core pointing system and a core making method, in particular to a tissue chip core making system positioned by image recognition and a core making method using the core making system, belonging to the technical field of biological and medical instruments. Background Art

[0002] Tissue array, also known as tissue microarray (TMAS), is a single receptor block (receiving block) or paraffin block with multiple different tissue samples placed on it. The receptor block (receiving block) is sliced ​​by a slicer in the usual way to obtain a specimen.

[0003] Tissue microarray technology is a major experimental technology innovation. Clinical pathologists and biologists use arrays of biological tissues and pathological specimens to analyze slices and obtain key information on the status and changes of high-throughput biological tissues and pathological specimens.

[0004] In the process of making tissue arrays, hollow sampling needles are used to punch out tissue cores from various tissues or sample blocks, and the cores are trimmed one by one before being placed in the same receptor block in a predetermined order. When preparing multi-sample tissue arrays, repetitive operations such as sampling and tissue core trimming are very time-consuming and labor-intensive. The tissue chip preparation systems and methods commonly used in the market still have the following problems: First, the current tissue chip preparation uses a sampling needle for sampling, such as: China Utility Model Application No.: 201620069234.6; Authorization Announcement No.: CN 205317515U. The sampling needle samples by pressing and rotating. Although it has little impact on the donor tissue block or wax block, it is difficult to ensure the integrity of the tissue core. The prepared wax core has serious problems such as tissue compression, deformation, and fracture; in addition, the sampling depth of the sampling needle is not easy to control. Although the existing mechanical sampling device can accurately control the puncture depth, when sampling thinner samples, it may cause the front end of the wax core to be a blank wax core. Therefore, the tissue cores in the prepared tissue chip are not located in the same plane, and empty sites appear in the chip array after slicing, which reduces the chip preparation efficiency and yield rate. Secondly, for example, the movable type tissue chip preparation instrument and method used in the invention, application number: 201310396643.8; application publication number: CN 103439163A, requires manual operation in the process of inserting the wax mold into the wax core, which still has not achieved complete automation and the accuracy is difficult to guarantee; at the same time, the results of the wax core addressing in the invention need to be manually coded and recorded, which is inefficient and difficult to guarantee accuracy. Finally, very few tissue chip preparation instruments with image recognition automation have been launched, but all of them are used for needle-type samplers, and their built-in single two-dimensional image recognition monitoring system cannot fully control the coring of wire cutting, and can only select the sampling area from the upper part of the wax block, and cannot select the sampling depth from the side, which is prone to blank wax cores, and ultimately cannot take into account both the degree of automation and the quality of coring. Summary of the invention

[0005] In view of the defects of the existing tissue array production technology, the purpose of the present invention is to provide a tissue chip core making system based on image recognition and positioning. The core making system has a high degree of automation, precise visual recognition and positioning, fast recognition rate, little damage to sample tissue, high coring efficiency and yield rate, and a database can be established for the information of the prepared tissue cores for management, thereby improving the integrity and traceability of the tissue core information.

[0006] Another object of the present invention is to provide a core making method of the core making system, which has high core making efficiency and high yield, and is particularly suitable for the preparation of multi-sample tissue arrays.

[0007] In order to achieve the above technical objectives, the present invention provides a tissue chip core making system based on image recognition and positioning, which includes a cutting system and a computer control system;

[0008] The cutting system includes a CNC cutting machine, an XYZ axis translation worktable, a 360-degree rotating turntable, a freezing table, a receptor wax block rack and an image recognition and positioning module;

[0009] The CNC cutting machine comprises a cutting machine workbench and a cutter, an XYZ-axis translation workbench is installed on the cutting machine workbench, the acceptor wax block rack is arranged on the XYZ-axis translation workbench, a 360-degree rotating turntable is arranged on the XYZ-axis translation workbench, a freezing table is arranged on the 360-degree rotating turntable, the acceptor wax block rack is arranged on the freezing table, and the cutter is arranged above the freezing table;

[0010] The image recognition and positioning module includes a linear array CCDa and a linear array CCDb. The linear array CCDa is arranged above the freezing table and is used to recognize and collect graphics in the XY plane. The linear array CCDb is arranged on the side of the 360-degree rotating turntable and is used to recognize and collect graphics in the Z-axis direction. Both the linear array CCDa and the linear array CCDb are connected to the computer control system.

[0011] In a preferred solution, the CNC cutting machine is a CNC diamond wire cutting machine or a CNC fiber laser cutting machine. The CNC cutting machine is used to cut the sample tissue of the receptor wax block to obtain the wax core; preferably, it is a CNC diamond wire cutting machine. Selecting a suitable CNC cutting machine has little damage to the sample tissue, fast and accurate cutting, and is more conducive to cutting the sample tissue of the receptor wax block.

[0012] In a preferred solution, the XYZ axis translation worktable is composed of an X axis translation worktable, a Y axis translation worktable and a Z axis translation worktable from top to bottom. The XYZ axis translation worktable can control the acceptor wax block rack for placing the sample acceptor wax block to move freely in three-dimensional space.

[0013] In a more preferred solution, an X-axis sliding device is provided between the X-axis translation worktable and the Y-axis translation worktable, which mainly controls the translation of the receptor wax block frame on which the receptor wax block of the sample is placed in the X-axis direction.

[0014] In a more preferred solution, a Y-axis sliding device is provided between the Y-axis translation workbench and the Z-axis translation workbench, which mainly controls the translation of the receptor wax block frame on which the receptor wax block of the sample is placed in the Y-axis direction.

[0015] In a preferred solution, the Z-axis translation workbench is provided with a lifting stud at the bottom, which mainly controls the receptor wax block rack for placing the sample receptor wax block to move up and down in the Z-axis direction.

[0016] In a more preferred solution, an X-axis stepper motor is provided on the side of the X-axis translation table, a Y-axis stepper motor is provided on the side of the Y-axis translation table, and a Z-axis stepper motor is provided at the bottom of the Z-axis translation table. The X-axis stepper motor is connected to the X-axis translation table through a screw rod, and the X-axis stepper motor drives the screw rod to rotate, driving the X-axis translation table to translate along the X-axis. The Y-axis stepper motor is connected to the Y-axis translation table through a screw rod, and the Y-axis stepper motor drives the screw rod to rotate, driving the Y-axis translation table to translate along the Y-axis. The Z-axis stepper motor drives the lifting stud to rotate and drives the Z-axis translation table to translate along the Z-axis.

[0017] In a more preferred solution, the X-axis stepper motor and the Y-axis stepper motor control the X-axis sliding device and the Y-axis sliding device respectively, so as to drive the X-axis translation table and the Y-axis translation table to translate at any angle in the XY plane.

[0018] In a more preferred solution, the Z-axis stepper motor drives the Z-axis translation table to move up and down along the Z-axis direction by controlling the lifting stud.

[0019] In a more preferred solution, the travel ranges of the X-axis, Y-axis and Z-axis are all -100mm to 100mm. The entire XYZ-axis translation workbench can control the receptor wax block on which the sample is placed to move arbitrarily in a cubic three-dimensional space with a side length of 200mm.

[0020] In a further preferred solution, the X-axis sliding device or the Y-axis sliding device is a combination of a slide table, a guide rail and a ball screw. A ball screw is installed between the slide table and the guide rail to convert the bearings of the slide table and the guide rail from sliding to rolling, so that the relative movement distance between the slide table and the guide rail can be accurately controlled.

[0021] In a further preferred embodiment, the slide of the X-axis sliding device is arranged at the bottom of the X-axis translation workbench, the guide rail of the X-axis sliding device is arranged at the top of the Y-axis translation workbench, and a ball screw is arranged between the slide and the guide rail of the X-axis sliding device.

[0022] In a further preferred solution, the slide of the Y-axis sliding device is arranged at the bottom of the Z-axis translation workbench, the guide rail of the Y-axis sliding device is arranged at the top of the Z-axis translation workbench, and a ball screw is arranged between the slide and the guide rail of the Y-axis sliding device.

[0023] In a further preferred solution, the slides of the X-axis translation table and the Y-axis translation table are both provided with grating rulers and encoders. The computer control system can accurately position the movement of the XYZ-axis translation table through the grating rulers and encoders.

[0024] According to a further preferred solution, a grating ruler and an encoder are provided on the lifting stud of the Z-axis translation worktable.

[0025] In a preferred solution, the freezing table is a circular plate-like structure, the radius of which is the same as the cross-sectional radius of the 360-degree rotating turntable, and the freezing table is fixed to the 360-degree rotating turntable by screws.

[0026] In a preferred solution, the 360-degree rotating turntable is a cylindrical structure, which includes an upper rotating turntable and a lower rotating turntable, the lower rotating turntable is fixed on the XYZ axis translation worktable, the upper rotating turntable and the lower rotating turntable are movably connected, and the upper rotating turntable can rotate arbitrarily within a 360° angle relative to the lower rotating turntable. The 360-degree rotating turntable is provided so that the acceptor wax block rack can realize circumferential movement, which lays a foundation for cutting wax cores of different shapes and sizes.

[0027] In a more preferred solution, the 360-degree rotating turntable is provided with angle scales on the side walls of the upper rotating turntable and the lower rotating turntable, and the side wall of the upper rotating turntable is provided with an operating handle for controlling its rotation and fixation, and the lower rotating turntable is fixed to the XYZ axis translation worktable by screws. The upper rotating turntable can be manually operated to rotate relative to the lower rotating turntable by the operating handle to roughly adjust the position of the sample tissue placed on the 360-degree rotating turntable. The lower rotating turntable is fixed by screws for easy disassembly.

[0028] In a preferred solution, the acceptor wax block rack is provided with characteristic images for the image recognition and positioning module to identify and locate at the four corners of each outer frame on which the acceptor wax block is placed. The image recognition and positioning module mainly identifies the acceptor wax block based on the different characteristic images set at the four corners of the outer frame of the acceptor wax block rack. The characteristic image is an arbitrary image, which is mainly for the convenience of identification.

[0029] In a preferred solution, the computer control system controls the movement of the XYZ axis translation table, controls the image recognition and positioning module to collect and process information, and controls the cutting position calibration of the CNC cutting machine.

[0030] In a preferred solution, the computer control system is connected to each AC servo motor and the grating ruler of the XYZ axis translation worktable through a three-axis linkage control card.

[0031] In a preferred solution, the computer control system is connected to the image recognition and positioning module via a Matrox Solis ECL / XCL-B image acquisition card.

[0032] The present invention also provides a method for making a core based on the tissue chip core making system, which comprises the following steps:

[0033] 1) Fix the acceptor wax block on the acceptor wax block holder, and drive the XYZ axis translation table to move through the computer control system until the characteristic image on the acceptor wax block holder is recognized by the image recognition and positioning module, and the computer saves the position of the characteristic image as the origin;

[0034] 2) The image recognition and positioning module is used to collect images and process information of the recipient wax block to obtain a three-dimensional image of the recipient wax block;

[0035] 3) Processing the three-dimensional image of the acceptor wax block, obtaining the sample tissue area and sample tissue thickness in the acceptor wax block, and setting the core-making area;

[0036] 4) Controlling the CNC cutting machine through a computer control system to perform cutting calibration, and then setting cutting parameters to cut the receptor wax block to obtain the wax core.

[0037] The preferred solution is to visually identify the wax core obtained, obtain its characteristic value, and establish a database to store the characteristic value information of the tissue core and other information of the sample tissue for subsequent use and query.

[0038] In a preferred solution, the cutter of the CNC diamond wire cutting machine is connected to a computer control system, and its operation is precisely controlled by the computer control system.

[0039] A preferred solution is that the upper rotating turntable and the lower rotating turntable in the 360-degree rotating turntable are movably connected, and the connecting parts are such as a cylinder and a column sleeve that can be seamlessly embedded with the cylinder. The cylinder and the column sleeve are respectively installed in the bottom center of the upper rotating turntable and the top center of the lower rotating turntable.

[0040] The CCD module of the present invention comprises a linear array CCDa and a linear array CCDb, and can collect and store three-dimensional data of a sample at high speed.

[0041] The acceptor wax block rack of the present invention can hold a plurality of acceptor wax blocks at the same time.

[0042] The core making method of the tissue chip core making system based on CCD positioning of the present invention comprises the following specific steps:

[0043] The first step is to open the core making system control software, click the placement button, and place the numbered and pre-frozen receptor wax blocks on the receptor wax block rack;

[0044] In the second step, click the point button, and the XYZ-axis translation table starts to move until the characteristic images of the outer frame of the acceptor wax block placed on the acceptor wax block holder fixed on the XYZ-axis translation table are successfully identified respectively; at the same time, the computer automatically stores the coordinate information of each characteristic image;

[0045] The third step is to collect the image of the receptor wax block through the linear array image recognition a and the linear array image recognition b, and process the image collected by the image recognition and positioning module through a specific algorithm to obtain a three-dimensional image of the receptor wax block;

[0046] The fourth step is to process the three-dimensional image acquired by image recognition to obtain the sample tissue area and sample tissue thickness in the receptor wax block, and set the core-making area of ​​the area;

[0047] The fifth step is to control the CNC cutting machine to calibrate before cutting and set reasonable cutting parameters;

[0048] The sixth step is cutting, using a cutting machine to cut the recipient wax block along a predetermined trajectory to obtain a tissue core.

[0049] The seventh step is to visually identify the obtained tissue core to obtain its characteristic value; and to establish a database to store the characteristic value information of the tissue core and other information of the tissue sample for subsequent use and query.

[0050] The tissue chip core making system of the present invention is provided with a 360-degree rotating turntable on the XYZ axis translation worktable, so that the acceptor wax block rack can realize circumferential movement, laying a foundation for cutting wax cores of different shapes and sizes. A single or multiple different acceptor wax blocks can be placed on the acceptor wax block rack, laying a foundation for batch preparation of tissue cores. The image of the acceptor wax block is recognized by an image recognition and positioning module; the boundary features of the sample tissue are automatically extracted by grayscale processing of the image, and the sample tissue area is automatically divided into core making areas according to the number and cross-sectional size of the required tissue cores. Both image acquisition and image analysis are realized by a computer control system, which greatly reduces the error and work intensity of manual operation. Using a CNC wire cutting machine to cut the sample tissue can effectively reduce the damage to the sample tissue, which is conducive to improving the yield of the tissue core; because the wire cutting machine can cut a single or multiple acceptor wax blocks at a time, the efficiency of core making is greatly improved. After the core making is completed, the characteristic value of the prepared tissue core is obtained by visual recognition, and a database is established to store the characteristic value and other information of the tissue core, which provides convenience for subsequent query and use.

[0051] The control principle of the tissue chip core making system of the present invention is as follows: first, the donor wax block rack extends out of the chassis through the Y-axis slide, and after the donor wax block is fixed, it returns to the chassis through the Y-axis slide. At this time, the linear array image recognition a starts to work. Through the movement of the donor wax block rack on the X-axis and Y-axis slides, the linear array image recognition a collects the characteristic image on the donor wax block rack from above the wax block to determine the relative position of each recipient wax block, gives the coordinate information and automatically stores it. Then, the donor wax block rack moves in the XY plane to collect the image on the donor wax block, and the gray-scaled summary image is segmented using the histogram threshold segmentation algorithm, and its mathematical expression is (1). The gray-scaled summary image is relatively simple, and the histogram is obviously bimodal. Using the grayscale mean as the segmentation threshold can obtain a better segmentation effect. Driven by the Z-axis AC servo motor, the XY work platform moves upward, allowing the donor wax block to enter the working area of ​​the cutting module. At this time, the donor wax block rack also moves to the side of the linear array image recognition b, and the threshold segmentation algorithm is also applied to segment the grayscale summary image to determine the sampling depth. After determining the relative position parameters of the cutting, the computer controls the up and down movement of the XYZ axis translation table and the front and back, left and right movement of the donor wax block rack through the three-axis linkage control card to complete the core cutting on the online cutting table. After the cutting is completed, the obtained tissue cores are visually identified one by one to obtain the characteristic value information of each tissue core, and a database is established to store the characteristic value information and other information of the tissue core.

[0052]

[0053] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0054] The core making system of the present invention replaces the traditional sampling needle core making technology with the wire cutting core making technology based on CCD three-dimensional positioning, and has the advantages of high positioning accuracy and small error by visually identifying the core making area and core making depth. The tissue core is obtained by cutting the receptor block with a CNC wire cutting machine. When the CNC wire cutting machine is used to make the core, the core making position is selected through the linear array CCDa, and the core making depth is selected through the linear array CCDb; finally, the CNC wire cutting machine is controlled by programming to coincide with the wire walking trajectory of the core making area, which has the characteristics of high processing accuracy, high efficiency, and little damage to the sample tissue, and effectively improves the core making efficiency and yield rate. A database is established for the information of the prepared tissue cores to manage the information, thereby improving the integrity and traceability of the information of the tissue cores. BRIEF DESCRIPTION OF THE DRAWINGS

[0055]

Figure 1

[0056]

Figure 2

[0057]

Figure 3

[0058]

Figure 4

[0059]

Figure 5

[0060]

Figure 6

[0061] Among them, 1 is a cutter of the CNC cutting machine; 2 is an upper rotating turntable, 3 is a lower rotating turntable, 4 is an operating handle, 5 is a linear array CCDa, 6 is a linear array CCDb, 7 is a receptor wax block rack, 8 is a workbench of the CNC cutting machine, 9 is an X-axis translation worktable, 10 is a Y-axis translation worktable, 11 is a Z-axis translation worktable, 12 is an X-axis sliding device, 13 is a Y-axis sliding device, 14 is a lifting stud, 15 is an X-axis stepper motor connection part, 16 is a Y-axis stepper motor connection part, 17 is a Z-axis stepper motor connection part, 18 is an angle scale of the lower rotating turntable, 19 is an angle scale of the upper rotating turntable, and 20 is a freezing table. DETAILED DESCRIPTION

[0062] In order to make the technical solution of the present invention clearer, the system and method for making tissue chips based on CCD positioning are described in detail below in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to explain the present invention and are not used to limit the scope of protection of the claims of the present invention.

[0063] The core making system of the present invention mainly comprises a cutting system and a computer control system; the cutting system is as follows: Figure 1As shown. The cutting system includes a CNC cutting machine, an XYZ axis translation table, a 360-degree rotating turntable, a receptor wax block rack 7, a freezing table 20 and an image recognition and positioning module; the CNC cutting machine includes a cutting machine table 8 and a cutter 1, an XYZ axis translation table is installed on the cutting machine table, a 360-degree rotating turntable is provided on the XYZ axis translation table, the 360-degree rotating turntable is a cylindrical structure, and a freezing table is provided on the 360-degree rotating turntable, the freezing table is a circular plate structure, the size of which is consistent with the cross-sectional size of the 360-degree rotating turntable, and it is fixed on the 360-degree rotating turntable by screws for easy disassembly. The cutter is arranged directly above the freezing table. The XYZ axis translation table is, from top to bottom, an X-axis translation table 9, a Y-axis translation table 10 and a Z-axis translation table 11. An X-axis sliding device 12 is provided between the X-axis translation table and the Y-axis translation table, a Y-axis sliding device 13 is provided between the Y-axis translation table and the Z-axis translation table, and a lifting stud 14 is provided at the bottom of the Z-axis translation table. The X-axis sliding device mainly controls the X-axis translation table to translate along the X-axis direction. The Y-axis sliding device mainly controls the Y-axis translation table to translate along the Y-axis direction together with the X-axis translation table. The X-axis sliding device or the Y-axis sliding device is a set of slides, guide rails and ball screws; the slide of the X-axis sliding device is set at the bottom of the X-axis translation table, the guide rail of the X-axis sliding device is set at the top of the Y-axis translation table, and a ball screw is provided between the slide and the guide rail of the X-axis sliding device; the slide of the Y-axis sliding device is set at the bottom of the Z-axis translation table, the guide rail of the Y-axis sliding device is set at the top of the Z-axis translation table, and a ball screw is provided between the slide and the guide rail of the Y-axis sliding device. The lifting stud mainly controls the entire XYZ-axis translation table to move vertically along the Z-axis. The side of the X-axis translation table is provided with an X-axis stepper motor (the X-axis stepper motor is not shown in the figure, and its connection part is as shown in the figure). Figure 1 15), the Y-axis translation table is provided with a corresponding Y-axis stepper motor on the side (the X-axis stepper motor is not shown in the figure, and its connection part is as shown in FIG. Figure 1 16), the Z-axis translation workbench is provided with a Z-axis stepper motor at the bottom (the X-axis stepper motor is not shown in the figure, and its connection part is as shown in FIG. Figure 117); the X-axis stepper motor controls the X-axis sliding device to drive the X-axis translation table to translate left and right along the X-axis, the Y-axis stepper motor controls the Y-axis sliding device to drive the Y-axis translation table together with the X-axis translation table to translate forward and backward along the Y-axis, and the Z-axis stepper motor controls the lifting stud to drive the XYZ-axis translation table to move up and down along the Z-axis direction; the XYZ-axis translation table can be controlled to any position in the three-dimensional space by the X-axis stepper motor, the Y-axis stepper motor and the Z-axis stepper motor; the travel range of the X-axis, Y-axis and Z-axis is -100 to 100 mm. The X-axis stepper motor, the Y-axis stepper motor and the Z-axis stepper motor are connected to the computer control system through a three-axis linkage control card. The X-axis translation table and the Y-axis translation table of the XYZ-axis translation table are respectively provided with grating rulers and encoders on the slides, and the studs of the Z-axis translation table are provided with grating rulers and encoders, which can accurately control the movement of the XYZ-axis translation table. The 360-degree rotating turntable is fixed on the XYZ axis translation workbench; the 360-degree rotating turntable includes an upper rotating turntable 2 and a lower rotating turntable 3, the lower rotating turntable is fixed on the X axis translation workbench by screws, the upper rotating turntable and the lower rotating turntable are movably connected, and the upper rotating turntable can rotate arbitrarily within a 360° angle relative to the lower rotating turntable; angle scales 19 and 18 are respectively provided on the sides of the upper rotating turntable and the lower rotating turntable to indicate the relative rotation angle between the two. An operating handle is also provided on the side of the upper rotating turntable for rotating and fixing the upper rotating turntable. A receptor wax block rack is placed on the freezing table, and the receptor wax block rack can hold multiple receptor wax blocks; the receptor wax block rack frame is provided with characteristic images around it for easy recognition by the CCD module. When the 360-degree rotating turntable is not in use, the 360-degree rotating turntable is disassembled, and the receptor wax block rack can also be directly placed on the XYZ axis translation workbench. The image recognition and positioning module includes a linear array CCDa5 and a linear array CCDb6. The linear array CCDa5 is arranged above the freezing table and is used to recognize and collect graphics in the XY plane. The linear array CCDb6 is arranged on the side of the 360-degree rotating turntable and is used to recognize and collect graphics in the Z-axis direction. Both the linear array CCDa5 and the linear array CCDb6 are connected to a computer control system. The computer control system is connected to the CCD module through a Matrox Solis ECL / XCL-B image acquisition card for control and data storage.

[0064] The core making method of the tissue chip core making system based on CCD positioning, the computer control system (the software system provided by the camera manufacturer → ProgRes CapturePro image acquisition and analysis software of Jena, Germany) executes the following process Figure 3 The detailed steps are as follows:

[0065] 1) Precool the sample wax block to 0-4°C, enter the control system interface, click the placement button, move the donor wax block rack to the outside through the Y-axis translation table, fix the sample wax block on the donor wax block rack, and the donor wax block rack enters the working area through the Y-axis translation table.

[0066] 2) Click the positioning button in the computer software, the linear array image recognition a is turned on, and the four corners of the outer frame of each acceptor wax block on the wax block rack are provided with specific images for the linear array image recognition a to recognize. At the same time, the specific images are used as image acquisition boundaries to improve the image acquisition rate; the linear array image recognition a recognizes the specific images at the four corners of the donor wax block rack and automatically stores the specific image position information in the computer.

[0067] 3) Determine the position of the donor wax block, click on image acquisition, and move the XYZ axis translation table in the XY plane. Linear image recognition a acquires images of the recipient wax block in the XY plane; Linear image recognition b acquires the side image of the recipient wax block by moving the Z axis lifting table. After the image acquisition of linear image recognition a and linear image recognition b is completed, the three-dimensional spatial coordinate values ​​corresponding to each in the coordinate system are calculated according to the internal and external parameters calculated by the Tsia algorithm with the help of the CCD camera imaging mathematical model. The calculation process is as follows Figure 6 , obtain a three-dimensional image of the recipient wax block.

[0068] 4) The operation interface displays the collected image by calculating the grayscale of the collected image, or manually selecting the imaging area to extract the boundary features of the tissue sample in the recipient wax block. The coring control system will automatically calculate the relative position of the boundary area of ​​the tissue sample and the specific icon on the donor wax block rack.

[0069] 5) The operator enters the number of tissue cores to be cut and the cross-sectional size of the tissue cores in the operation interface, and the coring control system will automatically divide the sample tissue area automatically; according to the thickness of the sample tissue obtained by the linear array image recognition b9, the cutting thickness of the tissue core is set to be slightly larger than the sample tissue thickness of the visual recognition; if no input is made, the system defaults to a cross-sectional area of ​​4mm for the cut tissue core 2 , thickness is 0.5mm.

[0070] 6) The cutting position is calibrated by manually controlling the cutting machine 1, and the cutting line is moved to any point on the wax block boundary. The computer automatically stores the coordinate information of the cutting line. After the calibration is completed, the wire trajectory is set according to the divided coring area. The wire speed of the cutting line is set according to the characteristics of the sample tissue (the system default is 0.5 m / s).

[0071] 7) Click the Start Cutting button on the operation interface. The donor wax block is moved forward, backward, left, and right on the XY translation work platform by the X-axis AC servo motor and the Y-axis AC servo motor so that the recipient wax block is in the working platform of the cutting module. The XY translation work platform controls the Z-axis lifting work platform to move up and down through the elevator to achieve cutting.

[0072] 8) After the coring is completed, each tissue core is visually identified to obtain its characteristic value, and the coring system automatically stores its characteristic value information. The operator also adds other information of the corresponding sample tissue.

[0073] 9) After the tissue core information is identified, the donor wax block rack will return to its initial position before cutting. Click the sampling button, and the recipient wax block rack will slide to the outside of the Y-axis translation table. The sample can be taken out by a manipulator or manually. Then click the placement button, and the recipient wax block rack will return to the work platform, and the operation is completed.

Claims

1. A tissue chip core making system based on image recognition and positioning, Features: Including cutting system and computer control system; The cutting system includes a CNC cutting machine, an XYZ axis translation worktable, a 360-degree rotating turntable, a freezing table, a receptor wax block rack and an image recognition and positioning module; The CNC cutting machine comprises a cutting machine workbench and a cutter, an XYZ-axis translation workbench is installed on the cutting machine workbench, the acceptor wax block rack is arranged on the XYZ-axis translation workbench, a 360-degree rotating turntable is arranged on the XYZ-axis translation workbench, a freezing table is arranged on the 360-degree rotating turntable, the acceptor wax block rack is arranged on the freezing table, and the cutter is arranged above the freezing table; The image recognition and positioning module includes a linear array CCDa and a linear array CCDb. The linear array CCDa is arranged above the freezing table and is used to recognize and collect graphics in the XY plane. The linear array CCDb is arranged on the side of the 360-degree rotating turntable and is used to recognize and collect graphics in the Z-axis direction. Both the linear array CCDa and the linear array CCDb are connected to a computer control system. The XYZ-axis translation table is composed of an X-axis translation table, a Y-axis translation table and a Z-axis translation table from top to bottom; an X-axis sliding device is provided between the X-axis translation table and the Y-axis translation table, a Y-axis sliding device is provided between the Y-axis translation table and the Z-axis translation table, and a lifting stud is provided at the bottom of the Z-axis translation table; an X-axis stepping motor is provided on the side of the X-axis translation table, a Y-axis stepping motor is provided on the side of the Y-axis translation table, and a Z-axis stepping motor is provided at the bottom of the Z-axis translation table; the X-axis stepping motor and the Y-axis stepping motor respectively control the X-axis sliding device and the Y-axis sliding device, and are used to drive the X-axis translation table and the Y-axis translation table to translate at any angle in the XY plane; The Z-axis stepper motor drives the Z-axis translation table to move up and down along the Z-axis direction by controlling the lifting stud; The 360-degree rotating turntable includes an upper rotating turntable and a lower rotating turntable. The lower rotating turntable is fixed on the XYZ axis translation worktable. The upper rotating turntable and the lower rotating turntable are movably connected. The upper rotating turntable can rotate arbitrarily within a 360-degree angle relative to the lower rotating turntable.

2. The tissue chip core making system based on image recognition and positioning according to claim 1, Features: The CNC cutting machine is a CNC diamond wire cutting machine or a CNC fiber laser cutting machine.

3. The tissue chip core making system based on image recognition and positioning according to claim 1, Features: The travel range of the X-axis, Y-axis and Z-axis is -100mm~100mm.

4. The tissue chip core making system based on image recognition and positioning according to claim 1, Features: The X-axis sliding device or the Y-axis sliding device is a combination of a slide table, a guide rail and a ball screw; The slide table of the X-axis sliding device is arranged at the bottom of the X-axis translation worktable, the guide rail of the X-axis sliding device is arranged at the top of the Y-axis translation worktable, and a ball screw is arranged between the slide table and the guide rail of the X-axis sliding device; The slide table of the Y-axis sliding device is arranged at the bottom of the Z-axis translation workbench, the guide rail of the Y-axis sliding device is arranged at the top of the Z-axis translation workbench, and a ball screw is arranged between the slide table and the guide rail of the Y-axis sliding device.

5. The tissue chip core making system based on image recognition and positioning according to claim 4, Features: The slides of the X-axis translation table and the Y-axis translation table are both equipped with grating scales and encoders.

6. The tissue chip core making system based on image recognition and positioning according to claim 1, Features: The lifting stud of the Z-axis translation table is provided with a grating ruler and an encoder.

7. The tissue chip core making system based on image recognition and positioning according to claim 1, Features: The freezing table is a circular plate-shaped structure, the radius of which is the same as the radius of the cross-section of the 360-degree rotating turntable. The freezing table is fixed to the 360-degree rotating turntable by screws.

8. The tissue chip core making system based on image recognition and positioning according to claim 1, Features: The 360-degree rotating turntable is provided with angle scales on the side walls of the upper rotating turntable and the lower rotating turntable. The side wall of the upper rotating turntable is provided with an operating handle for controlling its rotation and fixation. The lower rotating turntable is fixed on the XYZ axis translation workbench by screws.

9. The tissue chip core making system based on image recognition and positioning according to claim 1, Features: The receptor wax block rack is provided with characteristic images for the image recognition and positioning module to identify and position at four corners of each outer frame on which the receptor wax block is placed.

10. The tissue chip core making system based on image recognition and positioning according to claim 1, Features: The computer control system controls the movement of the XYZ axis translation worktable, controls the image recognition and positioning module to collect and process information, and controls the cutting position calibration of the CNC cutting machine.

11. The tissue chip core making system based on image recognition and positioning according to claim 10, Features: The computer control system is connected to each AC servo motor and the grating ruler of the XYZ axis translation worktable through a three-axis linkage control card; the computer control system is connected to the image recognition and positioning module through a Matrox Solis ECL / XCL-B image acquisition card.

12. A method for making a core using the tissue chip core making system according to any one of claims 1 to 11, Features: The following steps are involved: 1) Fix the acceptor wax block on the acceptor wax block holder, and drive the XYZ axis translation table to move through the computer control system until the characteristic image on the acceptor wax block holder is recognized by the image recognition and positioning module, and the computer saves the position of the characteristic image as the origin; 2) The image recognition and positioning module is used to collect images and process information of the recipient wax block to obtain a three-dimensional image of the recipient wax block; 3) Process the three-dimensional image of the receptor wax block, obtain the sample tissue area and sample tissue thickness in the receptor wax block, and then set the core-making area; 4) The CNC cutting machine is controlled by a computer control system to perform cutting calibration, and then the cutting parameters are set to cut the receptor wax block to obtain the wax core.

13. The method for making cores based on the tissue chip core making system according to claim 12, Features: The wax core is visually identified to obtain its characteristic value, and a database is established to store the characteristic value information of the tissue core and other information of the sample tissue for subsequent use and query.

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