Slice scanning device

Abstract

The present invention provides a slice scanning device related to the field of digital image microscopic scanning technology of biological tissue samples, including a fully automatic microscopic scanner, a slice tray transport mechanism, a slice warehouse and a slice tray, wherein the slice tray is placed in the slice warehouse, and the slice tray transport mechanism is respectively connected to the fully automatic microscopic scanner and the slice warehouse; the slice tray transport mechanism places the slice tray in the slice warehouse into the fully automatic microscopic scanner, the fully automatic microscopic scanner scans the slices in the slice tray, and the slice tray transport mechanism places the scanned slice tray into the slice warehouse. The high-throughput slice scanning device provided by the present invention has slices placed in the slice tray; fully automatic high-throughput slice scanning is achieved by transporting the slice tray between the scanning workbench and the warehouse; the problem of fragmentation in scanning can be effectively avoided, and the success rate of scanning the slices once can be improved.

Description

Technical Field

[0001] The present invention relates to the field of biological tissue sample digital image microscopic scanning technology, and in particular, to a high-throughput slice scanning device suitable for a microscopic scanner, and in particular to a fully automatic microscopic scanner suitable for high-throughput microscopic scanning, and the storage and transportation of slices. Background Art

[0002] In recent years, the development of artificial intelligence (AI) in the field of medical imaging has promoted the application of AI in digital pathology. To promote the widespread application of AI in digital pathology, first of all, it is necessary to realize the digital scanning of the whole slice, digitize all the image information on the traditional glass slide, and form a digital slice; secondly, it is necessary to realize the standardization of microscopic imaging, provide consistent images for AI to identify images for diagnosis, and improve the accuracy of interpretation; thirdly, it is necessary to realize the automated collection of a large number of pathological slices and the preliminary interpretation of the results to reduce the duplication of doctors. This requires a digital pathology scanner with unified high-throughput standards. At present, high-throughput digital pathology scanners mostly use direct loading and scanning of slices, such as the "High-throughput Digital Pathology Slice Automatic Scanning Device" disclosed in CN202021955273.9. Its disadvantage is that it is easy to generate cards and fragments during the process of loading and unloading slices. The fragmentation of slices is clinically unacceptable. In addition, cards and fragments also make it difficult to achieve unattended high-throughput scanning, which also makes it difficult to promote high-throughput in hospitals.

[0003] The development of a high-throughput slice scanning device that can avoid fragmentation and improve stability is of great significance for the promotion of high-throughput slice scanners in hospitals and the development of digital pathology and pathology AI intelligent diagnosis. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a slice scanning device.

[0005] A slice scanning device provided by the present invention comprises a fully automatic microscopic scanner, a slice tray transport mechanism, a slice warehouse and a slice tray, wherein the slice tray is placed in the slice warehouse, and the slice tray transport mechanism is respectively connected to the fully automatic microscopic scanner and the slice warehouse;

[0006] The slice tray conveying mechanism places the slice tray in the slice warehouse into the fully automatic microscopic scanner, the fully automatic microscopic scanner scans the slices in the slice tray, and the slice tray conveying mechanism places the scanned slice tray into the slice warehouse.

[0007] In some embodiments, the fully automatic microscope scanner includes an XY scanning worktable, an imaging system, a slice preview module, a focus Z axis and a microscope illumination. The imaging system is connected to the XY scanning worktable, the XY scanning worktable is connected to the microscope illumination, and the imaging system is respectively connected to the slice preview module and the focus Z axis.

[0008] In some embodiments, the XY scanning workbench includes a workbench surface, a guide bar, and a first magnet, wherein the guide bar and the first magnet are respectively connected to two adjacent side edges of the workbench surface.

[0009] In some embodiments, the slice tray transport mechanism includes a carrying platform, a hooking mechanism, a three-dimensional force sensor and a photoelectric sensor. The carrying platform is connected to the hooking mechanism, the bottom of the hooking mechanism is connected to the three-dimensional force sensor, the photoelectric sensor is connected to the side of the hooking mechanism, and the hooking mechanism is provided with a cylindrical pin;

[0010] The hook mechanism realizes the picking and placing of the slice tray by moving forward and backward. The three-dimensional force sensor monitors the force of the hook mechanism and / or the slice tray, and detects the picking and placing of the slice tray by the photoelectric sensor.

[0011] In some embodiments, the slice warehouse includes a warehouse support, an infrared reflection photoelectric detection module, an infrared opposite-shooting photoelectric detection sensor, and a storage position, wherein a plurality of storage positions are evenly distributed on the warehouse support, the top and the bottom of the warehouse support are respectively connected to the infrared opposite-shooting photoelectric detection sensor, and the infrared reflection photoelectric detection module is connected to one side of the warehouse support;

[0012] The infrared reflection photoelectric detection module detects whether the slice tray is connected to the bin, and the infrared reflection photoelectric detection sensor detects the fixed position of the slice tray in the front and back directions on the bin.

[0013] In some embodiments, the slice tray includes a tray body, a slice placement position, a V-shaped fixing groove, a round hole, a second magnet and a waist hole. The slice placement position is evenly distributed in the middle of the tray body, the V-shaped fixing groove is symmetrically distributed on both sides of the tray body, one end of the tray body is respectively connected with a round hole and a waist hole, the second magnet is evenly distributed at both ends of the back of the tray body, and the second magnet is attracted to the first magnet.

[0014] In some embodiments, the round hole and the waist hole are respectively connected to the cylindrical pin.

[0015] In some embodiments, the V-shaped fixing groove includes a first V-shaped fixing groove and a second V-shaped fixing groove, the first V-shaped fixing groove and the second V-shaped fixing groove are arranged obliquely symmetrically on the pallet body, and the first V-shaped fixing groove or the second V-shaped fixing groove has a slope in the left and right direction.

[0016] In some embodiments, a spring sheet pressing roller is further included, the spring sheet pressing roller is connected to the guide bar and the warehouse bracket, and the spring sheet pressing roller is engaged with the V-shaped fixing groove one by one;

[0017] When the spring pressing roller is connected to the first V-shaped fixing groove or the second V-shaped fixing groove with a slope, the first V-shaped fixing groove or the second V-shaped fixing groove forms a lateral thrust, so that the slice tray is fixed front, back, left, and right at the same time.

[0018] In some embodiments, the spring sheet pressing down the roller includes an elastic sheet, a roller and a core shaft, one end of the core shaft is connected to the elastic sheet, and the other end of the core shaft is connected to the roller.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The high-throughput slice scanning device provided by the present invention has slices placed in a slice tray; fully automatic high-throughput slice scanning is achieved by transporting the slice tray between a scanning workbench and a warehouse; the problem of fragmentation during scanning can be effectively avoided, and the success rate of a single slice scan is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 It is a schematic diagram of the fully automatic microscopic scanner of the present invention;

[0024] Figure 3 It is a schematic diagram of an XY scanning workbench of the present invention;

[0025] Figure 4 It is a front schematic diagram of the slice tray of the present invention;

[0026] Figure 5 It is a schematic diagram of the back side of the slice tray of the present invention;

[0027] Figure 6 It is a schematic diagram of the XY scanning workbench of the present invention when a slice tray is loaded;

[0028] Figure 7 This is a schematic diagram of the slice warehouse structure of the present invention;

[0029] Figure 8 It is a schematic diagram of a slice tray support platform of the present invention;

[0030] Fig. 9 It is a schematic diagram of the structure of the spring pressing roller of the present invention.

[0031] Numbers in the figure:

[0032] Fully automatic microscope scanner 1, XY scanning workbench 11, work table 111, guide strip 112, first magnet 113, imaging system 12, slice preview module 13, focusing Z axis 14, microscope illumination 15, slice tray transport mechanism 2, carrier platform 21, hooking mechanism 22, three-dimensional force sensor 23, photoelectric sensor 24, cylindrical pin 25, slice warehouse 3 warehouse bracket 31, infrared reflection photoelectric detection module 32, infrared opposite photoelectric detection sensor 33, storage position 34, slice tray 4, tray body 41, slice placement position 42, V-shaped fixing groove 43, first V-shaped fixing groove 431, second V-shaped fixing groove 432, round hole 44, second magnet 45, waist hole 46, spring sheet pressing roller 5, elastic sheet 51, roller 52, mandrel 53. DETAILED DESCRIPTION

[0033] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0034] Example 1

[0035] According to a slice scanning device provided by the present invention, Figure 1-2 As shown, it includes a fully automatic microscope scanner 1, a slice tray transport mechanism 2, a slice warehouse 3 and a slice tray 4. The slice tray 4 is placed in the slice warehouse 3. The slice tray transport mechanism 2 is respectively connected to the fully automatic microscope scanner 1 and the slice warehouse 3. The fully automatic microscope scanner 1, the slice tray transport mechanism 2 and the slice warehouse 3 are respectively connected to the base.

[0036] The fully automatic microscope scanner 1 can complete fully automatic scanning, photographing and imaging of loaded slices; when the scanning workbench 11 in the fully automatic microscope scanner 1 moves to the far right, the slice tray transporting mechanism 2 can complete the taking and placing of the slice tray 4 on the scanning workbench 11; the slice warehouse 3 can hold multiple slice trays 4, and the slice tray transporting mechanism 2 can load the slice trays 4 onto the scanning workbench 11 in sequence for scanning, photographing and imaging; therefore, by manually loading multiple slice trays 4 in the slice warehouse 3 at one time, unattended, high-throughput slice microscope scanning imaging can be achieved.

[0037] Example 2

[0038] This embodiment 2 is completed on the basis of embodiment 1. Figure 1-3 As shown in Figure 6, a fully automatic microscopic scanner 1 is provided, more specifically:

[0039] The fully automatic microscopy scanner 1 includes an XY scanning workbench 11, an imaging system 12, a slice preview module 13, a focusing Z axis 14, a microscope illumination 15, and a spring pressing roller 5. The imaging system 12 is connected to the XY scanning workbench 11, the XY scanning workbench 11 is connected to the microscope illumination 15, and the imaging system 12 is respectively connected to the slice preview module 13 and the focusing Z axis 14.

[0040] The XY scanning workbench 11 includes a workbench 111, a guide bar 112 and a first magnet 113, wherein the guide bar 112 and the first magnet 113 are respectively connected to two adjacent sides of the workbench 111. The workbench 111 is made of magnetic materials such as steel and iron, or the first magnet 113 is installed at a position corresponding to the second magnet 45 provided on the slice tray 4; there is a hole in the middle of the workbench 111 for light transmission; low-friction guide bars 112 are provided on both sides of the workbench 111 for guiding the slice tray 4 in and out; and spring-type pressing rollers 5 are provided on both sides of the workbench 111, and the spring-type pressing rollers 5 are engaged with the V-shaped fixing grooves 43 one by one to realize auxiliary fixing and precise positioning of the slice tray 4.

[0041] like Fig. 9 As shown, the spring sheet pressing roller 5 comprises an elastic sheet 51, a roller 52 and a core shaft 53, one end of the core shaft 53 is fastened to the elastic sheet 51, and the other end of the core shaft 53 is fastened to the inner ring of the roller 52. Preferably, the elastic sheet 51 is made of a spring steel sheet.

[0042] like Figure 3 The XY scanning workbench also includes displacement modules in the X-axis direction and the Y-axis direction. The X-displacement module is connected to the Y-axis displacement module. The workbench 111 is connected to the slide of the X-axis displacement module. The movement of the XY displacement module can drive the workbench 111 to move in the XY plane. The workbench 111 drives the slice tray 4 on it to move in the XY plane. The preview camera on the slice preview module 13 can obtain the full picture of the slice by multiple shots. The imaging system 12 can shoot the target area on the slice in sequence through the two-dimensional movement of the objective lens and the XY scanning workbench 11. If necessary, the focal plane is adjusted by focusing the Z axis 14 to obtain a clear image and splice it into a large picture. The slice warehouse 3 is used to store the slice tray 4 to be scanned; the slice tray transport mechanism 2 transports the slice tray to be scanned to the scanning platform and transports the scanned slice tray 4 back to the slice warehouse 3.

[0043] The slice tray 4 to be scanned is manually loaded into the slice warehouse 5, and the infrared reflection photoelectric module 32 on the slice warehouse 5 can detect which tray positions have the slice tray 4 placed thereon, and the corresponding infrared photoelectric detection sensor 33 can detect whether the loading of the slice tray 4 is correct; the fully automatic microscope scanner 1 can preview the entire slice of the slice tray 4 on the XY scanning workbench 11 and scan, photograph and splice the target area on the slice; the slice tray conveying mechanism 2 is used for conveying the slice tray 4 between the slice warehouse 3 and the XY scanning workbench 11; when scanning a single slice, the slice tray 4 can also be manually loaded directly onto the scanning workbench 11; therefore, the present invention can realize high-throughput digital imaging scanning of slices through the integrated design of the slice warehouse 3, the fully automatic microscope scanner 1 and the slice tray conveying mechanism 2.

[0044] Example 3

[0045] This embodiment 3 is completed on the basis of embodiment 1-2. Figure 1 and 8 As shown, a slice tray transport mechanism 2 is provided, more specifically:

[0046] The slice tray transport mechanism 2 includes a carrying platform 21, a hooking mechanism 22, a three-dimensional force sensor 23, a photoelectric sensor 24 and a cylindrical pin 25. The carrying platform 21 is connected to the hooking mechanism 22, the bottom of the hooking mechanism 22 is connected to the three-dimensional force sensor 23, the photoelectric sensor 24 is connected to the side of the hooking mechanism 22, and the hooking mechanism 22 is provided with a cylindrical pin 25.

[0047] The carrier 21 is connected to the XYZ three-axis motion module. The three-dimensional motion of the module can drive the carrier to move in the XYZ directions. The hooking mechanism 22 extends, and the cylindrical pin 25 of the hooking mechanism 22 is engaged with the round hole 44 and the waist hole 46 of the slice tray 4. A slice tray 4 is hooked from the slice warehouse 3 and placed on the carrier 21. Figure 7 It is a schematic diagram of a loaded slice tray; the reverse action can place the slice tray 4 on the scanning workbench 11 or the slice warehouse 3; the three-dimensional force sensor 23 can monitor the force on the hook mechanism 22 or the slice tray 4 during the entire transportation process, and the three-dimensional force sensor 23 can sense the magnitude of the force in the three directions of XYZ, for example: for normal pallet picking and placing, the resistance on the hook mechanism 22 or the reaction force of the pallet is 5N, and we can set the force threshold to 8N. If the set force threshold is exceeded, the three-dimensional force sensor 23 can send a control signal to control all motors to lose power and all mechanisms to stop moving to prevent collisions; the photoelectric sensor 24 is used to detect whether the slice tray 4 is successfully taken or put back.

[0048] Example 4

[0049] This embodiment 4 is completed on the basis of embodiments 1-3. Figure 6 As shown, a slice warehouse 3 is provided, more specifically:

[0050] The slice warehouse 3 includes a warehouse support 31, an infrared reflection photoelectric detection module 32, an infrared counter-shooting photoelectric detection sensor 33, a storage position 34 and a spring-loaded pressing roller 5. The top and bottom of the warehouse support 31 are respectively connected to the infrared counter-shooting photoelectric detection sensor 33, the infrared reflection photoelectric detection module 32 is connected to one side of the warehouse support 31, and the two sides of the storage position 34 are respectively connected to the spring-loaded pressing roller 5.

[0051] The slice tray 4 is placed on the storage position 34 on the warehouse support 31, and the spring-loaded rollers 5 on both sides are used to position and press the slice tray 4; the infrared reflection photoelectric detection module 32 can sense whether the corresponding storage position 34 has been loaded with the slice tray 4; the infrared reflection photoelectric detection sensor 33 is installed on the top and bottom of the warehouse, and is arranged at the front and rear ends to detect whether the position of the installed slice tray 4 is correct.

[0052] Example 5

[0053] This embodiment 5 is completed on the basis of embodiments 1-4. Figure 4-6 As shown, a slice tray 4 is provided, more specifically:

[0054] like Figure 4-5 As shown, the slice tray 4 includes a tray body 41, a slice placement position 42, a V-shaped fixing groove 43, a round hole 44, a second magnet 45 and a waist hole 46. The slice placement position 42 is evenly distributed in the middle of the tray body 41, the V-shaped fixing groove 43 is symmetrically distributed on both sides of the tray body 41, one end of the tray body 41 is respectively connected with a round hole 44 and a waist hole 46, the second magnet 45 is evenly distributed at both ends of the back of the tray body 41, and the round hole 44 and the waist hole 46 are respectively connected to the cylindrical pin 25. The first magnet 113 and the second magnet 45 are attracted to each other by opposite sex.

[0055] The V-shaped fixing groove 43 includes a first V-shaped fixing groove 431 and a second V-shaped fixing groove 432 . The first V-shaped fixing groove 431 and the second V-shaped fixing groove 432 are arranged obliquely symmetrically on the tray body 41 . The first V-shaped fixing groove 431 has a slope in the left-right direction.

[0056] like Figure 6As shown, when the spring sheet presses the roller 5 in the second V-shaped fixing groove 432, downward pressure is formed, and when the first V-shaped fixing groove 431 is pressed, a lateral thrust is formed, so that the slice tray 4 can be fixed in front, back, left and right directions at the same time. A magnet 45 is embedded in the lower surface of the slice tray 4, which assists in fixing the slice tray 4 through the suction force of the work surface 111 made of magnetic materials such as steel or iron, or the first magnet 113 of opposite sex embedded in the work surface 111 at a position corresponding to the slice tray 4.

[0057] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0058] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A slice scanning device, characterized in that: It comprises a fully automatic microscopic scanner (1), a slice tray transport mechanism (2), a slice warehouse (3) and a slice tray (4), wherein the slice tray (4) is placed in the slice warehouse (3), and the slice tray transport mechanism (2) is connected to the fully automatic microscopic scanner (1) and the slice warehouse (3) respectively; The slice tray transport mechanism (2) places the slice tray (4) in the slice warehouse (3) into the fully automatic microscopic scanner (1), the fully automatic microscopic scanner (1) scans the slices in the slice tray (4), and the slice tray transport mechanism (2) places the scanned slice tray (4) into the slice warehouse (3); The fully automatic microscopy scanner (1) comprises an XY scanning workbench (11), an imaging system (12), a slice preview module (13), a focus Z axis (14) and a microscope illumination (15); the imaging system (12) is connected to the XY scanning workbench (11); the microscope illumination (15) is connected to the XY scanning workbench (11); the slice preview module (13) and the focus Z axis (14) are respectively connected to the imaging system (12); the XY scanning workbench (11) further comprises a guide bar (112); The slice warehouse (3) comprises a warehouse support (31), an infrared reflection photoelectric detection module (32), an infrared counter-radiation photoelectric detection sensor (33) and a storage position (34); a plurality of the storage positions (34) are evenly distributed on the warehouse support (31); the top and bottom of the warehouse support (31) are respectively connected to the infrared counter-radiation photoelectric detection sensor (33); and the infrared reflection photoelectric detection module (32) is connected to one side of the warehouse support (31); The infrared reflection photoelectric detection module (32) detects whether the slice tray (4) is connected to the bin (34), and the infrared reflection photoelectric detection sensor (33) detects the fixed position of the slice tray (4) in the front-rear direction on the bin (34); The slicing tray (4) further comprises a V-shaped fixing groove (43) and a tray body (41); the V-shaped fixing groove (43) comprises a first V-shaped fixing groove (431) and a second V-shaped fixing groove (432); the first V-shaped fixing groove (431) and the second V-shaped fixing groove (432) are arranged obliquely symmetrically on the tray body (41); the first V-shaped fixing groove (431) or the second V-shaped fixing groove (432) has a slope in the left-right direction; It also includes a spring-type pressing roller (5), the spring-type pressing roller (5) being connected to the guide bar (112) and the warehouse support (31), the spring-type pressing roller (5) being engaged one by one with the V-shaped fixing groove (43); When the spring sheet pressing roller (5) is connected to the first V-shaped fixing groove (431) or the second V-shaped fixing groove (432) having a slope, the first V-shaped fixing groove (431) or the second V-shaped fixing groove (432) forms a lateral thrust, so that the slice tray (4) is fixed simultaneously in the front, back, left and right directions; The spring sheet pressing roller (5) comprises an elastic sheet (51), a roller (52) and a core shaft (53); one end of the core shaft (53) is connected to the elastic sheet (51), and the other end of the core shaft (53) is connected to the roller (52).

2. The slice scanning device according to claim 1, characterized in that: The XY scanning workbench (11) further comprises a workbench surface (111) and a first magnet (113), and the guide bar (112) and the first magnet (113) are respectively connected to two adjacent side edges of the workbench surface (111).

3. The slice scanning device according to claim 2, characterized in that: The slice tray transport mechanism (2) comprises a carrying platform (21), a hooking mechanism (22), a three-dimensional force sensor (23) and a photoelectric sensor (24); the carrying platform (21) is connected to the hooking mechanism (22); the bottom of the hooking mechanism (22) is connected to the three-dimensional force sensor (23); the photoelectric sensor (24) is connected to the side of the hooking mechanism (22); and the hooking mechanism (22) is provided with a cylindrical pin (25); The hooking mechanism (22) achieves the placement and removal of the slice tray (4) by moving forward and backward, the three-dimensional force sensor (23) monitors the force applied to the hooking mechanism (22) and / or the slice tray (4), and detects the placement and removal of the slice tray (4) by means of the photoelectric sensor (24).

4. The slice scanning device according to claim 3, characterized in that: The slice tray (4) further comprises a slice placement position (42), a circular hole (44), a second magnet (45) and a waist hole (46); the slice placement position (42) is evenly distributed in the middle of the tray body (41); the V-shaped fixing groove (43) is symmetrically distributed on both sides of the tray body (41); one end of the tray body (41) is respectively connected to the circular hole (44) and the waist hole (46); the second magnet (45) is evenly distributed at both ends of the back of the tray body (41); and the second magnet (45) and the first magnet (113) attract each other.

5. The slice scanning device according to claim 4, characterized in that: The circular hole (44) and the waist hole (46) are respectively connected to the cylindrical pin (25).

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