Fully automatic cytological smear fixing instrument and method for making cytological smear

Abstract

A fully automatic cytological smear fixing instrument, comprising a conveying device, a slide lifting device, a slide making device, a smear fixing device and a recycling device; the slide lifting device and the slide making device cooperate to complete the production of cytological sample smears, and the smear fixing device completes the wet fixing of cytological sample smears. A preparation method for a fully automatic cytological smear, in which the equipment completes the instant cytological fluid smear and rapid wet fixing at the interventional ultrasound puncture site, with higher efficiency in completing cytological smears and more stable smear quality. The fully automatic cytological smear fixing instrument completely replaces the traditional steps that require manual operation, realizes one-key operation of smearing and fixing, so that on the basis of not increasing the number of personnel, it can be independently supervised by ultrasound doctors, efficiently complete more thyroid FNA cytological collection work, and assist in obtaining high-quality cytological pathological diagnosis results.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary instruments, and in particular to a fully automatic cytological smear fixing instrument and a method for making cytological smears. Background Art

[0002] In recent years, the incidence of thyroid cancer has been rising rapidly at home and abroad, becoming the fastest growing tumor globally; the incidence of thyroid cancer in China also shows an obvious upward trend, and the incidence of thyroid cancer in Chinese women ranks fourth in the world. Thyroid fine needle aspiration cytology (thyroid FNA) under ultrasound guidance is also a mature technology applied to the differential diagnosis of benign and malignant thyroid diseases in recent years, and it has been widely used clinically. Through it, the puncture success rate can be effectively improved, and micro nodules that cannot be detected by palpation in the early stage can be obtained. Therefore, it has important clinical significance for the preoperative screening and diagnosis of different types of thyroid diseases. It has the advantages of simple operation, safety, economy, minimally invasive, and fast and accurate diagnosis, and is more easily accepted by patients.

[0003] After thyroid fine needle aspiration under ultrasound guidance, after smear, fixation, staining and other slide-making steps, a pathologist makes a pathological diagnosis on the cell smear. Therefore, the slide-making work requires the cooperation of pathologists or pathological technicians. After the ultrasound doctor quickly punctures the local lesion, the pathologist collects traditional cell smears at the ultrasound-guided puncture site, immediately makes a cell fluid smear and performs rapid wet fixation to keep the specimen fresh, and then the pathology department further stains and prepares it for reading and diagnosis under the microscope. The whole process requires certain pathological professional technical requirements. Especially the early cell smear and rapid wet fixation are the premise and important links for the subsequent specimen preparation and accurate reading and diagnosis by the pathologist under the microscope.

[0004] Clinically, the incidence of thyroid cancer is increasing rapidly, and the number of patients requiring thyroid FNA has increased sharply. However, the shortage of pathologists has intensified the workload of existing pathologists, making it impossible to complete slide-making and fixation at the puncture site in a timely and effective manner; if the ultrasound department trains medical staff for cytopathology sampling and smear by itself, it will increase the workload and labor cost of ultrasound. Summary of the Invention

[0005] In order to overcome the deficiencies in the background art, the present invention discloses a fully automatic cytological smear fixing instrument and a method for making cytological smears.

[0006] To achieve the above invention purpose, the present invention adopts the following technical solutions:

[0007] The fully automatic cytological smear fixing instrument of the present invention includes a conveying device, a slide lifting device, a slide making device, a smear fixing device and a recycling device; wherein the conveying device supports and conveys the glass slides; the slide lifting device includes a slide lifting mechanical forceps and a slide lifting robotic arm, the slide lifting mechanical forceps is movably arranged at the lower end of the slide lifting robotic arm, the slide lifting robotic arm drives the slide lifting mechanical forceps to move, and when making a slide, the slide lifting mechanical forceps clamps the tail end of the glass slide and keeps the glass slide horizontal; the slide making device includes a slide making mechanical forceps, a slide making robotic arm and a slide making guide rail, the slide making mechanical forceps is arranged at the lower end of the slide making robotic arm, the slide making robotic arm drives the slide making mechanical forceps to move, the slide making robotic arm moves along the slide making guide rail, and when making a slide, the slide making mechanical forceps clamps the tail end of the upper glass slide and moves the upper glass slide above the glass slide, and the setting direction of the slide making guide rail is the same as the setting direction of the glass slide when making a slide; the smear fixing device is arranged on one side of the slide lifting device, and the smear fixing device includes a plurality of card slots filled with fixing reagents, and the robotic arm drives the mechanical forceps to release the glass slide after making a slide and place it into the card slot; the recycling device is arranged below the rear end of the slide making guide rail, and the upper glass slide after making a slide falls into the recycling device.

[0008] The following technical measures can also be adopted in this technical solution:

[0009] The fully automatic cytological smear fixing instrument also includes a glass slide storage device, which includes a glass slide storage box, an information printing device and a glass slide pushing device. A plurality of glass slides are stored in the glass slide storage box. An outlet is arranged on the side wall at the upper end of the glass slide storage box. An elastic slide supporting device is arranged at the bottom of the glass slide storage box to lift the glass slide upward. The information printing device is arranged above the glass slide storage box to print the cytological smear information in the marking area at the tail end of the top glass slide. The glass slide pushing device is arranged on the opposite side of the glass slide storage box corresponding to the outlet to push the top glass slide in the glass slide storage box out from the outlet, and the position of the outlet corresponds to the conveying device.

[0010] The conveying device includes a conveyor belt and conveying rollers, and the conveying rollers drive the conveyor belt to run; slide grooves are arranged on the conveyor belt, and the setting direction of the slide grooves is perpendicular to the running direction of the conveyor belt; an arc-shaped notch penetrating the conveyor belt is arranged on one side of the slide groove corresponding to the tail end of the glass slide.

[0011] The slide lifting device includes a slide lifting assembly and a front-back guide rail, the slide lifting assembly moves in the front-back direction along the front-back guide rail, a horizontal guide rail is arranged in the slide lifting assembly, and the slide lifting robotic arm cooperates with the horizontal guide rail and moves in the horizontal direction along the horizontal guide rail.

[0012] The described slide-lifting mechanical forceps clamp the end of the glass slide in the vertical direction. During slide preparation, the two forceps heads of the slide-lifting mechanical forceps are arranged on the upper and lower sides of the glass slide respectively, and the plane where the two forceps heads of the slide-lifting mechanical forceps are located is perpendicular to the glass slide; the slide-lifting mechanical forceps are connected to the slide-lifting mechanical arm through a rotating joint, and the slide-lifting mechanical forceps rotate axially relative to the connected slide-lifting mechanical arm.

[0013] The described slide-preparing mechanical forceps clamp the two side edges at the end of the upper glass slide, and the plane where the two forceps heads of the slide-preparing mechanical forceps are located is parallel to the upper glass slide; the slide-preparing mechanical arm adjusts the distance between the upper glass slide and the glass slide; the slide-preparing mechanical forceps are connected to the slide-preparing mechanical arm through a rotating joint, and the slide-preparing mechanical forceps rotate axially relative to the connected slide-preparing mechanical arm.

[0014] Buffer layers are respectively arranged on the opposite surfaces of the forceps heads of the described slide-lifting mechanical forceps and the slide-preparing mechanical forceps.

[0015] Behind the slide-preparing guide rail, an upper glass slide storage device is arranged within the movable gripping range of the slide-preparing mechanical forceps. The upper glass slide storage device includes an upper glass slide storage box, an upper glass slide pushing device, and an upper glass slide platform. A plurality of upper glass slides are stored in the upper glass slide storage box. An outlet is arranged on the upper side wall at the upper end of the upper glass slide storage box. An elastic slide supporting device is arranged at the bottom of the upper glass slide storage box to lift the upper glass slide upward. The upper glass slide pushing device is arranged on the opposite side corresponding to the outlet within the upper glass slide storage box to push the topmost upper glass slide in the upper glass slide storage box out through the outlet. An upper glass slide platform is arranged at the position corresponding to the outlet outside the upper glass slide storage box.

[0016] A device for detecting the particle thickness of the cell sample and the viscosity of the cell suspension is arranged corresponding to the position of the glass slide during slide preparation.

[0017] The method for preparing a full-automatic cytological smear of the present invention includes the following steps:

[0018] A. Set the corresponding information of the cytological smear to be prepared;

[0019] B. The information printing device in the glass slide storage device prints the corresponding cytological smear information onto the marking area at the end of the topmost glass slide in the glass slide storage box at this time. After printing, the glass slide pushing device pushes the glass slide out through the outlet, and the glass slide falls into the glass slide groove of the conveying device;

[0020] C. The conveyor belt in the conveying device transports the glass slide in the glass slide groove to the gripping range of the slide-lifting forceps in the slide-lifting device;

[0021] D. The slide-lifting mechanical forceps clamp the marking area at the end of the glass slide vertically from top to bottom, lift the glass slide to the horizontal position, and the setting direction of the glass slide is consistent with the direction of the slide-preparing guide rail in the slide-preparing device at this time;

[0022] E. Drop the cell sample suspension containing cells and blood water in the puncture needle onto a glass slide;

[0023] F. Detect the particle thickness of the cell sample and the viscosity of the cell suspension, and set the spacing between the upper glass slide and the glass slide and the preparation speed according to the above sample information;

[0024] G. The upper glass slide pushing device in the upper glass slide storage device pushes the upper glass slide out from the slide outlet, and the upper glass slide reaches the upper glass slide platform;

[0025] H. The preparation robotic arm drives the preparation forceps to clamp the two sides of the upper glass slide from the tail end on the left and right, and the robotic arm moves on the preparation guide rail and drives the upper glass slide to the upper part of the glass slide until the position of the upper glass slide corresponds to the glass slide;

[0026] I. The preparation robotic arm and the preparation forceps drive the upper glass slide to approach and cover the droplet of the cell sample suspension, the upper glass slide and the glass slide are parallel and reach the set spacing, and the preparation robotic arm and the preparation forceps pull the upper glass slide to move along the glass slide in the setting direction from the tail end to the head end, and spread the cell sample suspension on the glass slide;

[0027] J. The preparation robotic arm drives the preparation forceps to reach above the recycling device, and the preparation forceps release the upper glass slide, so that it falls into the recycling device;

[0028] K. The slide lifting robotic arm drives the slide lifting forceps to place the prepared glass slide in the card slot of the smear fixation device, the glass slide and the card slot correspond one by one, and the card slot is filled with a fixing reagent to complete the rapid wet fixation of the cytological smear.

[0029] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0030] In the full-automatic cytological smear fixation instrument and the cytological smear making method of the present invention, the equipment completes the instant cell liquid smear and rapid wet fixation at the interventional ultrasound puncture site, the cell smear completion efficiency is higher, and the smear quality is more stable. The full-automatic cytological smear fixation instrument completely replaces the traditional steps that require manual operation, realizes the one-key operation of smear and fixation, so that on the basis of not increasing personnel, it is supervised by the ultrasound doctor independently, and more thyroid FNA cytological collection work can be efficiently completed, assisting in obtaining high-quality cytological pathological diagnosis results. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic structural diagram of the full-automatic cytological smear fixation instrument of the present invention;

[0032] Figure 2 is a schematic structural diagram of another perspective of the full-automatic cytological smear fixation instrument of the present invention;

[0033] Figure 3 Schematic diagram of the local structure of the conveying device in the fully automatic cytology smear fixing instrument of the present invention;

[0034] Figure 4 Schematic diagram of the structure of the forceps head of the slide-lifting forceps in the fully automatic cytology smear fixing instrument of the present invention;

[0035] Figure 5 Schematic diagram of the structure of the slide storage device in the fully automatic cytology smear fixing instrument of the present invention;

[0036] Figure 6 Schematic diagram of the structure of the slide-lifting device in the fully automatic cytology smear fixing instrument of the present invention;

[0037] Figure 7 Schematic diagram of the structure of the slide-making device in the fully automatic cytology smear fixing instrument of the present invention. Detailed implementation manners

[0038] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0039] For the convenience of describing the structure, in the following embodiments, the side facing and approaching the operator during the use of the instrument is defined as the front, and the side away from the operator is defined as the rear. The descriptions of the upper, lower, left, right and other orientations in the embodiments also start from the perspective of the operator.

[0040] Such as Figures 1 to 7As shown in the figure, the full-automatic cytological smear fixing instrument of the present invention includes a conveying device 1, a slide lifting device 2, a slide making device 3, a smear fixing device 4 and a recycling device 24; wherein the conveying device supports and conveys the glass slide; the slide lifting device includes a slide lifting mechanical forceps 5 and a slide lifting robotic arm 6. The slide lifting mechanical forceps are movably arranged at the lower end of the slide lifting robotic arm. The slide lifting robotic arm drives the slide lifting mechanical forceps to move. During slide making, the slide lifting mechanical forceps clamp the tail end of the glass slide 10 and keep the glass slide horizontal; the slide making device includes a slide making mechanical forceps 7, a slide making robotic arm 8 and a slide making guide rail 9. The slide making mechanical forceps are arranged at the lower end of the slide making robotic arm. The slide making robotic arm drives the slide making mechanical forceps to move. The slide making robotic arm moves along the slide making guide rail. The slide making robotic arm is fixed to a moving base. The moving base is matched with the slide making guide rail. A lead screw in the same direction as the setting direction of the slide making guide rail drives the moving base to move along the slide making guide rail under the drive of a motor, so as to drive the slide making robotic arm and the slide making mechanical forceps to translate in the front-back direction. The structure and transmission mode between the moving base and the slide making guide rail can adopt a common lead screw guide rail drive structure. During slide making, the slide making mechanical forceps clamp the tail end of the upper glass slide 11 and move the upper glass slide above the glass slide. The setting direction of the slide making guide rail is the same as the setting direction of the glass slide during slide making; the smear fixing device is arranged on one side of the slide lifting device. The smear fixing device includes a plurality of card slots 12 filled with a fixing reagent. The robotic arm drives the mechanical forceps to release the glass slide after slide making and place it into the card slot. The fixing reagent can be a 95% ethanol fixing solution; the opening of the recycling device 24 is arranged below the rear end of the slide making guide rail. The upper glass slide after slide making falls into the recycling device. The recycling device can be a waste collection box or a waste collection bag.

[0041] The full-automatic cytology smear fixing instrument further includes a slide storage device 13. The slide storage device is arranged on the left side of the conveying device. The slide storage device includes a slide storage box 13a, an information printing device 13b, and a slide pushing device 13c. Multiple slides 10 are stored in the slide storage box. An outlet 14 is arranged on the upper side wall of the slide storage box. An elastic slide supporting device is arranged at the bottom of the slide storage box. The elastic slide supporting device holds the slide upward. The information printing device is arranged above the slide storage box and prints the cytology smear information in the marking area at the end of the top slide. The cytology smear information may include patient information, puncture site information, sample number, etc. The slide pushing device is arranged on the opposite side of the slide storage box corresponding to the outlet, and pushes the top slide in the slide storage box out through the outlet. The slide pushing device can drive a slider to move through a lead screw to push the slide to translate out of the outlet, or an electric push rod is arranged on the side corresponding to the slide printing position of the information printing device, and after printing, the electric push rod pushes the slide out of the outlet. The structure of the electric push rod is adopted in the attached drawing; the position of the outlet corresponds to the conveying device, and the slide reaches the conveying device when it exits from the outlet. The elastic slide supporting device includes a slide supporting platform 15a, a spring 15b, platform guide rods 15c, a locking device 15d, and a slide supporting installation groove 15e. The slide is placed on the slide supporting platform. When the slide is placed, the spring is compressed downward, and the spring provides an upward thrust to the slide supporting platform, so that the slide supporting platform has an upward movement tendency. The platform guide rods are two parallelly arranged ones, and the platform guide rods respectively penetrate through the slide supporting platform, and the slide supporting platform slides up and down along the platform guide rods. The locking devices are respectively arranged on both sides of the slide supporting platform, and the actions of the locking devices are respectively controlled by a motor or an electric push rod. The slide supporting platform 15a, the spring 15b, and the platform guide rods 15c are all arranged in the slide supporting installation groove, and there is a gap between the slide supporting platform and the slide supporting installation groove. When the locking devices extend outward under the drive of the motor or the electric push rod, they respectively abut against the inner wall of the slide supporting installation groove, so as to complete the position limitation of the slide supporting platform according to the requirements of printing and slide pushing operations, facilitate maintaining the distance between the top slide on the slide supporting platform and the information printing device, and ensure that the slide pushing device can work smoothly and then push the slide out.

[0042] The conveying device 1 includes a conveyor belt and conveying rollers (not shown). The conveying rollers drive the conveyor belt to operate. The transmission structure of the conveyor belt and the conveying rollers is a prior art; a slide groove 1a is arranged on the conveyor belt. The arrangement direction of the slide groove is perpendicular to the running direction of the conveyor belt. The slide pushed out from the slide storage box falls into the slide groove, and the conveyor belt transports the slide to the slide lifting device on the right side; an arc-shaped notch 16 penetrating the conveyor belt is arranged on one side of the slide groove corresponding to the end of the slide, so that the two tips of the slide lifting forceps can clamp the slide from the up and down directions, avoiding interference of the conveyor belt with the clamping action.

[0043] The film lifting device includes a film lifting assembly 17 and front and rear guide rails 18. The film lifting assembly moves in the front and rear direction along the front and rear guide rails. A horizontal guide rail 19 is provided in the film lifting assembly. The film lifting robotic arm is matched with the horizontal guide rail and moves in the horizontal direction along the horizontal guide rail. The film lifting assembly is matched with the front and rear guide rails. A lead screw in the same direction as the setting direction of the front and rear guide rails drives the film lifting assembly to move along the front and rear guide rails under the drive of a motor, thereby driving the horizontal guide rail, the film lifting robotic arm, and the film lifting forceps to translate in the front and rear direction. The structure and transmission mode between the film lifting assembly and the front and rear guide rails can adopt a general lead screw guide rail drive structure; the film lifting robotic arm is fixed to a moving base, and this moving base is matched with the horizontal guide rail. A lead screw in the same direction as the setting direction of the horizontal guide rail drives the moving base to move along the horizontal guide rail under the drive of a motor, thereby driving the film lifting robotic arm and the film lifting forceps to translate in the horizontal direction. The structure and transmission mode between the moving base and the horizontal guide rail can adopt a general lead screw guide rail drive structure. After the cell sample smear is completed, the film lifting robotic arm translates to the right along the horizontal guide rail to above the smear fixing device. The film lifting robotic arm and the film lifting forceps change the angle of the glass slide, so that the glass slide after smearing is correspondingly inserted into the card slot in the smear fixing device. The film lifting forceps open to release the glass slide, and the glass slide falls into the fixing reagent for wet fixing. The film lifting robotic arm and the film lifting forceps reset to prepare for the production of the next cell sample smear. The film lifting assembly can move along the front and rear guide rails, thereby expanding the range for the film lifting robotic arm and the film lifting forceps to insert the glass slide into the smear fixing device.

[0044] The film lifting forceps clamp the tail end of the glass slide in the vertical direction. During film production, the two forceps heads of the film lifting forceps are arranged on the upper and lower sides of the glass slide respectively. The plane where the two forceps heads of the film lifting forceps are located is perpendicular to the glass slide; the film lifting forceps are connected to the film lifting robotic arm through a rotating joint 25, and the film lifting forceps rotate axially relative to the connected film lifting robotic arm. The film lifting robotic arm can be a multi-segment movable structure, and multiple movable joints are adopted at the same time to improve the degree of freedom of movement.

[0045] The film production forceps clamp the two side edges of the tail end of the upper glass slide. The plane where the two forceps heads of the film production forceps are located is parallel to the upper glass slide; the film production robotic arm adjusts the distance between the upper glass slide and the glass slide; the film production forceps are connected to the film production robotic arm through a rotating joint 25, and the film production forceps rotate axially relative to the connected film production robotic arm. The film lifting robotic arm can be a multi-segment movable structure, and multiple movable joints are adopted at the same time to improve the degree of freedom of movement.

[0046] The structures of the film lifting robotic arm and the film production robotic arm can also adopt mature clamping and moving solutions in the existing technology, as long as the corresponding functional requirements can be achieved. The specific structures and implementation methods will not be elaborated here.

[0047] Buffer layers 20 are respectively arranged on the opposite surfaces of the forceps heads of the slide-lifting mechanical forceps and the slide-making mechanical forceps to improve the stability and accuracy when clamping the glass slide and placing the cover glass. The buffer layer can be made of rubber, silica gel or similar materials.

[0048] At the rear side of the slide-making guide rail, a cover glass storage device 21 is arranged within the movable clamping range of the slide-making mechanical forceps. The cover glass storage device includes a cover glass storage box, a cover glass pushing device and a cover glass platform 22. A plurality of cover glasses are stored in the cover glass storage box. An outlet 23 is arranged on the upper side wall of the cover glass storage box. An elastic sheet supporting device is arranged at the bottom of the cover glass storage box to lift the cover glass upward. The cover glass pushing device is arranged on the opposite side of the outlet in the cover glass storage box to push the topmost cover glass in the cover glass storage box out from the outlet. A cover glass platform is arranged at the position corresponding to the outlet outside the cover glass storage box. When slide-making is required, the cover glass storage device pushes the clean and clear cover glass to the cover glass platform for the slide-making mechanical forceps to clamp. The internal structure of the cover glass storage device is similar to that of the glass slide storage device. The information printing device is cancelled, and the principles and operation modes of other mechanisms can refer to the glass slide storage device.

[0049] A device for detecting the particle thickness of the cell sample and the viscosity of the cell suspension is arranged corresponding to the position of the glass slide during slide-making. According to the corresponding values, the ideal sample thickness on the cell sample smear is judged, such as the sample thickness is 0.5mm, 1mm, 2mm or 3mm, etc. The distance between the cover glass and the glass slide during slide-making is set according to the sample thickness, and the corresponding pulling speed is obtained at the same time. The sample thickness judgment, distance setting and pulling speed are set according to the corresponding requirements during traditional manual slide-making.

[0050] A ceiling can be arranged above the slide-lifting device and the slide-making device to shield or partially enclose the operation area to avoid contamination.

[0051] The method for preparing a full-automatic cytological smear of the present invention includes the following steps:

[0052] A. Set the corresponding information of the cytological smear to be prepared;

[0053] B. The information printing device in the glass slide storage device prints the corresponding cytological smear information onto the marking area at the tail end of the topmost glass slide in the glass slide storage box at this time. After printing is completed, the glass slide pushing device pushes the glass slide out from the outlet, and the glass slide falls into the glass slide groove of the conveying device;

[0054] C. The conveyor belt in the conveying device transports the glass slide in the glass slide groove to the clamping range of the slide-lifting mechanical forceps in the slide-lifting device;

[0055] D. The slide-lifting mechanical forceps clamp the marked area at the tail end of the glass slide vertically from top to bottom, lift the glass slide to the horizontal position, and the setting direction of the glass slide is consistent with the direction of the slide-making guide rail in the slide-making device at this time;

[0056] E. Drop the cell sample suspension with cells and blood water in the puncture needle onto the glass slide;

[0057] F. Detect the particle thickness of the cell sample and the viscosity of the cell suspension, and set the distance between the upper glass slide and the glass slide and the slide-making speed according to the above sample information;

[0058] G. The upper glass slide pushing device in the upper glass slide storage device pushes the upper glass slide out from the slide outlet, and the upper glass slide reaches the upper glass slide platform;

[0059] H. The slide-making robotic arm drives the slide-making mechanical forceps to clamp the two side edges from the tail end of the upper glass slide left and right. The robotic arm moves on the slide-making guide rail and drives the upper glass slide to reach above the glass slide until the position of the upper glass slide corresponds to the glass slide;

[0060] I. The slide-making robotic arm and the slide-making mechanical forceps drive the upper glass slide to approach and cover the droplet of the cell sample suspension. The upper glass slide is parallel to the glass slide and reaches the set distance. The slide-making robotic arm and the slide-making mechanical forceps pull the upper glass slide to move along the glass slide in the setting direction from the tail end to the head end, and spread the cell sample suspension on the glass slide;

[0061] J. The slide-making robotic arm drives the slide-making mechanical forceps to reach above the recycling device, and the slide-making mechanical forceps release the upper glass slide, allowing it to fall into the opening of the recycling device;

[0062] K. The slide-lifting robotic arm drives the slide-lifting mechanical forceps to place the slide-made glass slide into the card slot of the smear fixation device. The glass slides and the card slots correspond one by one, and the card slots are filled with a fixing reagent to complete the rapid wet fixation of the cytological smear.

[0063] For the same patient, multiple cell sample smears can be made in sequence to correspond to different puncture sites.

[0064] The parts not detailed in the present invention are prior art. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention, and any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A fully automatic cytological smear fixing instrument, characterized in that, it includes a conveying device, a slide lifting device, a slide making device, a smear fixing device and a recycling device; wherein the conveying device supports and conveys the glass slide; the slide lifting device includes a slide lifting mechanical forceps and a slide lifting robotic arm, the slide lifting mechanical forceps is movably arranged at the lower end of the slide lifting robotic arm, the slide lifting robotic arm drives the slide lifting mechanical forceps to move, and during slide making, the slide lifting mechanical forceps clamps the tail end of the glass slide and keeps the glass slide horizontal; the slide making device includes a slide making mechanical forceps, a slide making robotic arm and a slide making guide rail, the slide making mechanical forceps is arranged at the lower end of the slide making robotic arm, the slide making robotic arm drives the slide making mechanical forceps to move, the slide making robotic arm moves along the slide making guide rail, and during slide making, the slide making mechanical forceps clamps the tail end of the upper glass slide and moves the upper glass slide above the glass slide, and the setting direction of the slide making guide rail is the same as the setting direction of the glass slide during slide making; the smear fixing device is arranged on one side of the slide lifting device, and the smear fixing device includes a plurality of card slots filled with fixing reagents, and the robotic arm drives the mechanical forceps to release the glass slide after slide making and place it into the card slot; the recycling device is arranged below the rear end of the slide making guide rail, and the upper glass slide after slide making falls into the recycling device; it further includes a glass slide storage device, and the glass slide storage device includes a glass slide storage box, an information printing device and a glass slide pushing device. A plurality of glass slides are stored in the glass slide storage box. An outlet is arranged on the side wall at the upper end of the glass slide storage box. An elastic slide supporting device is arranged at the bottom of the glass slide storage box to lift the glass slide upward. The information printing device is arranged above the glass slide storage box to print the cytological smear information in the marking area at the tail end of the top glass slide. The glass slide pushing device is arranged on the opposite side of the glass slide storage box corresponding to the outlet to push the top glass slide in the glass slide storage box out from the outlet, and the position of the outlet corresponds to the conveying device; The conveying device includes a conveyor belt and a conveying roller, and the conveying roller drives the conveyor belt to run; a slide groove is arranged on the conveyor belt, and the setting direction of the slide groove is perpendicular to the running direction of the conveyor belt; an arc-shaped notch penetrating the conveyor belt is arranged on one side of the slide groove corresponding to the tail end of the glass slide; The slide lifting device includes a slide lifting assembly and a front and rear guide rail, the slide lifting assembly moves in the front and rear direction along the front and rear guide rail, a horizontal guide rail is arranged in the slide lifting assembly, and the slide lifting robotic arm cooperates with the horizontal guide rail and moves in the horizontal direction along the horizontal guide rail; The slide lifting mechanical forceps clamps the tail end of the glass slide in the vertical direction. During slide making, the two forceps heads of the slide lifting mechanical forceps are arranged on the upper and lower sides of the glass slide respectively, and the plane where the two forceps heads of the slide lifting mechanical forceps are located is perpendicular to the glass slide; the slide lifting mechanical forceps is connected to the slide lifting robotic arm through a rotating joint, and the slide lifting mechanical forceps rotates axially relative to the connected slide lifting robotic arm; The slide making mechanical forceps clamps the two side edges at the tail end of the upper glass slide, and the plane where the two forceps heads of the slide making mechanical forceps are located is parallel to the upper glass slide; the slide making robotic arm adjusts the distance between the upper glass slide and the glass slide; the slide making mechanical forceps is connected to the slide making robotic arm through a rotating joint, and the slide making mechanical forceps rotates axially relative to the connected slide making robotic arm.

2. The fully automatic cytological smear fixing instrument according to claim 1, characterized in that: Buffer layers are respectively arranged on the opposite surfaces of the forceps heads of the slide lifting mechanical forceps and the slide making mechanical forceps.

3. The fully automatic cytological smear fixing instrument according to claim 1 or 2, characterized in that: A upper glass slide storage device is arranged behind the preparation guide rail within the movable clamping range of the preparation mechanical forceps. The upper glass slide storage device includes an upper glass slide storage box, an upper glass slide pushing device and an upper glass slide platform. A plurality of upper glass slides are stored in the upper glass slide storage box. An outlet is arranged on the upper side wall of the upper glass slide storage box. An elastic slide supporting device is arranged at the bottom of the upper glass slide storage box to lift the upper glass slide upwards. The upper glass slide pushing device is arranged on the opposite side of the upper glass slide storage box corresponding to the outlet to push the topmost upper glass slide in the upper glass slide storage box out from the outlet. An upper glass slide platform is arranged at the position corresponding to the outlet outside the upper glass slide storage box.

4. The fully automatic cytological smear fixing instrument according to claim 3, characterized in that: A device for detecting the particle thickness of the cell sample and the viscosity of the cell suspension is arranged corresponding to the position of the glass slide during preparation.

5. A method for preparing a cytological smear based on the fully automatic cytological smear fixing instrument according to claim 1, comprising the following steps: A. Set the corresponding information of the cytological smear to be prepared; B. The information printing device in the glass slide storage device prints the corresponding cytological smear information to the marking area at the end of the topmost glass slide in the glass slide storage box at this time. After printing, the glass slide pushing device pushes the glass slide out from the outlet, and the glass slide falls into the glass slide groove of the conveying device; C. The conveyor belt in the conveying device transports the glass slide in the glass slide groove to the clamping range of the lifting mechanical forceps in the lifting device; D. The lifting mechanical forceps clamp the marking area at the end of the glass slide vertically up and down, lift the glass slide to the horizontal position, and the setting direction of the glass slide is consistent with the direction of the preparation guide rail in the preparation device at this time; E. Drop the cell sample suspension with cells and blood water in the puncture needle onto the glass slide; F. Detect the particle thickness of the cell sample and the viscosity of the cell suspension, and set the distance between the upper glass slide and the glass slide and the preparation speed according to the above sample information; G. The upper glass slide pushing device in the upper glass slide storage device pushes the upper glass slide out from the outlet, and the upper glass slide reaches the upper glass slide platform; H. The preparation robotic arm drives the preparation mechanical forceps to clamp the two side edges from the end of the upper glass slide left and right. The robotic arm moves on the preparation guide rail and drives the upper glass slide to reach above the glass slide until the position of the upper glass slide corresponds to the glass slide; I. The preparation robotic arm and the preparation mechanical forceps drive the upper glass slide to approach and cover the droplet of the cell sample suspension. The upper glass slide and the glass slide are parallel and reach the set distance. The preparation robotic arm and the preparation mechanical forceps pull the upper glass slide to move along the glass slide in the setting direction from the end to the head, and spread the cell sample suspension on the glass slide; J. The preparation robotic arm drives the preparation mechanical forceps to reach above the recovery device, and the preparation mechanical forceps release the upper glass slide, so that it falls into the recovery device; K. The lifting robotic arm drives the lifting mechanical forceps to place the prepared glass slide into the card slot of the smear fixing device. The glass slide and the card slot correspond one by one. The card slot is filled with a fixing reagent to complete the rapid wet fixing of the cytological smear.

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