Fully automatic scanner device and working method

Abstract

The present invention provides a fully automatic scanner device and a working method, including loading a pathological section onto a section rack; a first driving component drives a rotating disk to rotate, so that the pathological section moves to a first position; a third driving component drives a slide pushing plate to send the pathological section to an intermediate bridge; a second driving component drives the intermediate bridge to move up and down; a fourth driving component drives a slice taking clamp to put the pathological section located on the intermediate bridge onto an XY platform; a Z-axis lifting mechanism drives the XY platform to move vertically up and down to complete the focusing of the objective lens of a CCD camera; the CCD camera scans the pathological section; after the scanning is completed, the pathological section returns to the original section rack of the storage box along the original path. A sheet feeding mechanism pushes the pathological section on the rotating section rack mechanism to the intermediate bridge, then uses the slice taking clamp to put the pathological section onto the XY platform, and uses the CCD camera located above the XY platform to scan the pathological section, which can achieve fully automatic operation and a scanner device that does not jam cards.

Description

Technical Field

[0001] The present invention relates to the field of pathological scanning. Specifically, it relates to a fully automatic scanner device and a working method, and particularly to a fully automatic pathological section scanner. Background Art

[0002] For the pathological morphology examination method, first observe the pathological changes of the gross specimen, then cut a certain size of diseased tissue, place the diseased tissue on a glass slide, and the diseased tissue can be observed under a microscope to further examine the disease.

[0003] A section scanner is an analytical instrument based on the fields of basic medicine, clinical medicine, and biology.

[0004] Currently, most of the scanners on the market have low throughput and are semi-automatic, and are prone to problems such as card jams and fragmentation.

[0005] The existing Chinese patent application document with the publication number CN105929188B discloses a slice automatic unloading device for a batch digital slice scanner, including an unloading slice box, an unloading tray mechanism, and an unloading slice box holder; the unloading slice box includes a slice box body, a slice box cover, a slice box cover buckle, a telescopic elastic column, a compression spring, an electromagnet iron, a photodetector, and a telescopic circuit board. The slice box body and the slice box cover are snap-connected through the slice box cover buckle; the unloading tray mechanism includes a guide rail, a tray seat, and a tray. The tray seat is arranged in the guide rail, the tray is fixedly arranged on the tray seat, and a cam is arranged in the guide rail and the tray seat; the unloading slice box holder includes a slice box front seat, a slice box rear seat, an electromagnet, and a circuit board. It is difficult to achieve fully automatic operation of the scanner without card jams.

[0006] There is an urgent need in the prior art for a scanner device that can achieve fully automatic operation and does not jam. Summary of the Invention

[0007] Aiming at the defects in the prior art, the purpose of the present invention is to provide a fully automatic scanner device and a working method.

[0008] A fully automatic scanner device provided by the present invention includes: a rotating section rack mechanism, including a rotating disk and a first driving component, the first driving component driving the rotating disk to rotate, and a plurality of material storage boxes for carrying pathological sections being arranged on the circumferential side of the rotating disk; an intermediate transfer section mechanism, arranged on the side of the rotating disk, including an intermediate bridge and a second driving component, the second driving component driving the intermediate bridge to move vertically up and down, and the position of the rotating disk close to the intermediate bridge being a first designated position; a section feeding mechanism, including a section pushing plate and a third driving component, the third driving component driving the section pushing plate to feed the section located at the first designated position into the intermediate bridge; a section picking and placing mechanism, including a section picking clamp and a fourth driving component, the fourth driving component driving the section picking clamp to place the section located on the intermediate bridge onto the XY platform, or to push the section away from the XY platform. The XY platform drives the section located on the XY platform to move in the X direction or the Y direction, and the X direction is perpendicular to the Y direction, and both the X direction and the Y direction are perpendicular to the vertical direction; a Z-axis lifting mechanism drives the XY platform to move vertically up and down; a CCD camera is used for scanning pathological sections and is located above the XY platform.

[0009] Preferably, the rotating section rack mechanism further includes a fixing plate, the first driving component includes a servo motor and a first driving gear, the servo motor is fixedly installed on the fixing plate, and the output shaft of the servo motor is fixedly connected to the first driving gear; an internal gear ring is coaxially arranged on the rotating disk, and the first driving gear meshes with the internal gear ring.

[0010] Preferably, a radial positioning and guiding wheel and a bottom supporting and guiding wheel are installed on the fixing plate, the bottom supporting and guiding wheel is arranged between the fixing plate and the rotating disk, and the positioning and guiding wheel meshes with the internal gear ring.

[0011] Preferably, the second driving component includes a first stepping motor and a first ball screw, the output shaft of the first stepping motor is fixedly connected to the first ball screw, and the first ball screw is arranged vertically; one end of the intermediate bridge is in threaded connection with the first ball screw to form a ball screw pair.

[0012] Preferably, the section feeding mechanism further includes a fixing frame, a second stepping motor and a second ball screw are arranged on the fixing frame, the output shaft of the second stepping motor is fixedly connected to the second ball screw, and the second ball screw is arranged vertically; a lifting frame is in threaded connection with the second ball screw, and the section pushing plate and the third driving component are arranged on the lifting frame.

[0013] Preferably, the third driving assembly includes a third stepper motor, a synchronous belt, and a synchronous pulley. The third stepper motor is fixedly installed at one end of the lifting frame. One synchronous pulley is respectively arranged on the output shaft of the third stepper motor and the other end of the lifting frame. The synchronous belt is drivingly connected to the two synchronous pulleys, and the pushing plate is connected to the synchronous belt.

[0014] Preferably, the fourth driving assembly includes a fourth stepper motor, a second driving gear, and a rack. The output shaft of the fourth stepper motor is connected to the second driving gear. The second driving gear meshes with the rack, and the rack is horizontally arranged. One end of the slice-taking clamp is connected to the rack, and the other end of the slice-taking clamp extends towards the direction close to the middle bridge.

[0015] Preferably, the slice-taking and placing mechanism further includes a mounting plate, a fifth stepper motor, and a third ball screw. The mounting plate is fixedly arranged on one side of the middle bridge. Both the fifth stepper motor and the third ball screw are arranged on the mounting plate, and the output shaft of the fifth stepper motor is connected to the third ball screw. The fourth driving assembly is drivingly connected to the third ball screw.

[0016] Preferably, a slice rack is arranged at the material storage box, and the pathological slice is loaded onto the slice rack through a spring pressing device.

[0017] According to a full-automatic scanner device and working method provided by the present invention, the working method includes the following steps: S1, loading the pathological slice onto the slice rack at the material storage box; S2, the first driving assembly drives the rotating disk to rotate and moves the pathological slice to the first position; S3, the third driving assembly drives the pushing plate to send the pathological slice to the middle bridge; S4, the second driving assembly drives the middle bridge to move up and down until the height of the middle bridge is the same as the height of the XY platform; S5, the fourth driving assembly drives the slice-taking clamp to place the pathological slice located on the middle bridge onto the XY platform; S6, the Z-axis lifting mechanism drives the XY platform to move vertically up and down to complete the focusing of the objective lens of the CCD camera; S7, the CCD camera scans the pathological slice; S8, after the scanning is completed, the pathological slice returns to the original slice rack of the material storage box along the original path.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention can realize a full-automatic working and non-card scanner device by pushing the pathological slice on the rotating slice rack mechanism to the middle bridge through the slice feeding mechanism, using the slice-taking clamp of the slice-taking and placing mechanism to place the pathological slice onto the XY platform, scanning the pathological slice by the CCD camera located above the XY platform, and returning along the original path after scanning.

[0020] 2. By adopting a spring pressing device to fix the pathological section on the section rack and placing it on the XY platform for scanning, the present invention completely solves the problem that pathological sections are easily stuck and broken.

[0021] 3. The present invention drives the XY platform to approach or move away from the CCD camera through a Z-axis lifting mechanism to complete the objective lens focusing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] By reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings, other features, objects, and advantages of the present invention will become more apparent:

[0023] Figure 1 The front view of the full-automatic scanner of the present invention;

[0024] Figure 2 The front view of the rotating section rack mechanism of the present invention;

[0025] Figure 3 The side view of the rotating section rack mechanism of the present invention;

[0026] Figure 4 The top view of the rotating section rack mechanism of the present invention;

[0027] Figure 5 The front view of the sheet feeding mechanism of the present invention;

[0028] Figure 6 The side view of the sheet feeding mechanism of the present invention;

[0029] Figure 7 The front view of the intermediate transfer mechanism of the present invention;

[0030] Figure 8 The side view of the intermediate transfer mechanism of the present invention;

[0031] Figure 9 The front view of the section picking and placing mechanism of the present invention;

[0032] Figure 10 The top view of the section picking and placing mechanism of the present invention;

[0033] Figure 11 The front view of the XY platform and the Z-axis lifting mechanism of the present invention;

[0034] Figure 12 The top view of the XY platform and the Z-axis lifting mechanism of the present invention.

[0035] As shown in the figure:

[0036] Rotating section rack mechanism 1, First fixed support column 24, Second bearing seat 46

[0037] Sheet feeding mechanism 2, Fixed frame 25, Mounting plate 47

[0038] Intermediate transfer slicing mechanism 3, third optoelectronic position sensor 26, support plate 48

[0039] Pick-and-place slicing mechanism 4, second ball screw 27, guide rail 49, XY platform 5, slicing pusher plate 28, slicing gripper 50, Z-axis lifting mechanism 6, synchronous belt 29, rack 51, CCD camera 7, synchronous pulley 30, low-noise magnetic levitation linear motor 52, preview camera 8, second stepping motor 23, third ball screw 45

[0040] Switching power supply 9, third stepping motor 31, upper panel of the platform 53

[0041] Motor driver 10, first stepping motor 32, intermediate plate of the XY platform 54

[0042] Servo motor 11, first ball screw 33, grating reader 55

[0043] First driving gear 12, second fixing plate 34, high-precision linear guide rail 56, internal gear ring 13, guide rail plate 35, bottom panel of the XY platform 57

[0044] Slicing rack 14, bearing seat 36, voice coil motor 58

[0045] Pathological section 15, intermediate bridge 37, high-precision linear bearing 59, positioning block 16, linear guide rail 38, mounting base 60

[0046] Radial positioning and orientation wheel 17, fixed connecting plate 39, second fixed support column 61, fixed support column 18, second optoelectronic position sensor 40, adapter box 62

[0047] First fixing plate 19, fifth stepping motor 41, guide rail seat 63

[0048] Bottom support orientation wheel 20, fourth stepping motor 42, linear guide rail 64

[0049] Rotating disk 21, second driving gear 43, grating scale 65

[0050] First optoelectronic position sensor 22, fourth photoelectric sensor 44, guide rail connecting plate 66 Specific embodiments

[0051] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those of ordinary skill in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0052] Such as Figure 1As shown, a fully automatic scanner device and working method provided by the present invention include a rotary section rack mechanism 1, an intermediate transfer section mechanism 3, a sheet feeding mechanism 2, a section picking and placing mechanism 4, an XY platform 5, a Z-axis lifting mechanism 6, and a CCD camera 7. It also includes a preview camera 8, a switching power supply 9, and a motor driver 10. The preview camera 8 scans two-dimensional codes, and the switching power supply 9 and the motor driver 10 control the on-off power supply.

[0053] As Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the rotary section rack mechanism 1 includes a rotary disk 21 and a first driving component. The first driving component drives the rotary disk 21 to rotate. A plurality of storage boxes for carrying pathological sections 15 are arranged on the circumferential side of the rotary disk 21. A section rack 14 is installed at the storage box. The pathological section 15 is loaded onto the section rack 14 through a spring pressing device. The section rack 14 is fixedly installed at the storage box through a positioning block 16.

[0054] A feasible implementation is that eight storage boxes are equidistantly arranged on the rotary disk 21, and twenty-five section racks 14 are loaded on each upper storage box. The twenty-five section racks 14 are arranged in sequence at the storage box.

[0055] Specifically, the rotary section rack 14 mechanism 1 further includes a first fixing plate 19. The first fixing plate 19 is horizontally placed on the ground, and the rotary disk 21 is in a circular ring shape. The first driving component includes a servo motor 11 and a first driving gear 12. The servo motor 11 is fixedly installed on the first fixing plate 19 through fasteners. The output shaft of the servo motor 11 is vertically arranged and is fixedly connected to the first driving gear 12. An internal gear ring 13 is coaxially arranged on the rotary disk 21, and the first driving gear 12 meshes with the internal gear ring 13.

[0056] A radial positioning and guiding wheel 17 and a bottom supporting and guiding wheel 20 are installed on the first fixing plate 19. Both the radial positioning and guiding wheel 17 and the bottom supporting and guiding wheel 20 are fixedly connected to the first fixing plate 19 through fasteners. The bottom supporting and guiding wheel 20 is installed between the first fixing plate 19 and the rotary disk 21 to support the rotary disk 21 and prevent the rotary disk 21 from swinging. The radial positioning and guiding wheel 17 meshes with the internal gear ring 13. Three radial positioning and guiding wheels 17 are equidistantly installed along the circumferential direction of the internal gear ring 13 for radial positioning of the rotary disk 21.

[0057] During installation, first, manually load the pathological section 15 with a bar code or two-dimensional code onto the section rack 14 through a spring pressing device, and then load the section rack 14 with the loaded pathological section 15 onto the storage box, and start the machine to return to zero.

[0058] The servo motor 11 drives the first driving gear 12 to rotate, thereby driving the rotating disk 21 to rotate. Through the signal feedback and control instructions of the first photoelectric position sensor 22 installed on the rotating disk 21, the storage box is rotated to the first position.

[0059] As Figure 5 , Figure 6 , Figure 7 and Figure 8 shown, the intermediate transfer slicing mechanism 3 is arranged on the side of the rotating disk 21 and includes an intermediate bridge 37 and a second driving component. The second driving component drives the intermediate bridge 37 to move vertically up and down, and the position of the rotating disk 21 close to the intermediate bridge 37 is the first designated position.

[0060] Specifically, the second driving component includes a first stepping motor 32 and a first ball screw 33. The output shaft of the first stepping motor 32 is fixedly connected to the first ball screw 33, and the first ball screw 33 is arranged vertically. One end of the intermediate bridge 37 is threadedly connected to the first ball screw 33 to form a ball screw pair.

[0061] More specifically, the intermediate transfer slicing mechanism 3 further includes a second fixing plate 34, a guide rail plate 35, a bearing seat 36, a linear guide rail 38, a fixed connecting plate 39 and a second photoelectric position sensor 40. The second fixing plate 34 and the guide rail plate 35 are cooperatively connected to form a rectangular seat for installing the first ball screw 33. The rectangular seat is arranged vertically. The first stepping motor 32 is fixedly installed at the lower end of the rectangular seat. The bearing seat 36 is installed at the upper end of the rectangular seat, and the bearing seat 36 is rotationally connected to the second ball screw 27 and the rectangular seat.

[0062] One end of the intermediate bridge 37 horizontally penetrates into the rectangular seat. The linear guide rail 38 and the fixed connecting plate 39 cooperatively connect the intermediate bridge 37 and the rectangular seat, and the length direction of the linear guide rail 38 is parallel to the length direction of the first ball screw 33. The second photoelectric position sensor 40 is installed on the rectangular seat.

[0063] The sheet feeding mechanism 2 includes a sheet pushing plate 28 and a third driving component. The third driving component drives the sheet pushing plate 28 to feed the slices located at the first designated position into the intermediate bridge 37. The sheet feeding mechanism 2 is installed inside the rotating disk 21.

[0064] Specifically, the sheet feeding mechanism 2 further includes a fixing frame 25. The fixing frame 25 is installed on the second fixing plate 34 inside the rotating disk 21 through the first fixed support column 24. A second stepping motor 23 and a second ball screw 27 are installed on the fixing frame 25. The output shaft of the second stepping motor 23 is fixedly connected to the second ball screw 27, and the second ball screw 27 is arranged vertically. The second ball screw 27 is threadedly connected to a lifting frame. Both the sheet pushing plate 28 and the third driving component are installed on the lifting frame. And a third photoelectric position sensor 26 is also installed on the fixing frame 25.

[0065] The third driving assembly includes a third stepping motor 31, a synchronous belt 29, and a synchronous pulley 30. The third stepping motor 31 is fixedly installed at one end of the lifting frame. One synchronous pulley 30 is provided at the output shaft of the third stepping motor 31 and the other end of the lifting frame respectively. The synchronous belt 29 is drivingly connected to the two synchronous pulleys 30, and the slice pushing plate 28 is connected to the synchronous belt 29.

[0066] After the storage box moves to the first position, the sheet feeding mechanism 2 is driven by the second stepping motor 23 to drive the second ball screw 27 to drive the slice pushing plate 28 to move up and down to the position to be measured. The third stepping motor 31 is started, and the synchronous belt 29 is driven by the synchronous pulley 30, thereby driving the slice pushing plate 28 to move horizontally forward and backward. Its vertical position and horizontal forward and backward positions are both completed by the signal feedback of the third photoelectric sensor and the control command.

[0067] The first stepping motor 32 drives the first ball screw 33, thereby driving the intermediate bridge 37 to move up and down to the first position, which is completed by the signal feedback of the second photoelectric sensor and the control command. At the same time, the slice pushing plate pushes the slice rack 14 containing the pathological slice 15 to be measured onto the intermediate bridge 37.

[0068] Such as Figure 9 and Figure 10 As shown, the slicing picking and placing mechanism 4 includes a slice picking clamp 50 and a fourth driving assembly. The fourth driving assembly drives the slice picking clamp 50 to place the slice located on the intermediate bridge 37 onto the XY platform 5, or push the slice away from the XY platform 5.

[0069] Specifically, the fourth driving assembly includes a fourth stepping motor 42, a second driving gear 43, and a rack 51. The output shaft of the fourth stepping motor 42 is connected to the second driving gear 43. The second driving gear 43 meshes with the rack 51, and the rack 51 is horizontally arranged. One end of the slice picking clamp 50 is connected to the rack 51, and the other end of the slice picking clamp 50 extends towards the intermediate bridge 37.

[0070] The slicing picking and placing mechanism 4 further includes a mounting plate 47, a fifth stepping motor 41, and a third ball screw 45. The mounting plate 47 is fixedly arranged on one side of the intermediate bridge 37. The mounting plate 47 is vertically and fixedly installed through a support plate 48. The fifth stepping motor 41 is installed at one end of the mounting plate 47. A second bearing seat 46 is installed at the other end of the mounting plate 47. The output shaft of the fifth stepping motor 41 is connected to one end of the third ball screw 45. The other end of the third ball screw 45 is rotatably connected to the mounting plate 47 through the second bearing seat 46.

[0071] The fourth driving component is in transmission connection with the third ball screw 45. A guide rail 49 is laid on the mounting plate 47. The length direction of the guide rail 49 is parallel to the length direction of the mounting plate 47. The slice taking clamp 50 reciprocates along the length direction of the guide rail 49. A fourth photoelectric sensor 44 is also installed on the mounting plate 47.

[0072] The fourth stepping motor 42 drives the second driving gear 43, and drives the slice taking clamp 50 to extend towards the direction close to the middle bridge 37 by engaging with the rack 51. Then, the fifth stepping motor 41 drives the third ball screw 45 to drive the slice taking clamp 50 to move leftward, and moves the slice rack 14 with the pathological slice 15 to the fixed position of the XY platform 5. Then, the fifth stepping motor 41 reversely drives the third ball screw 45 to drive the slice taking clamp 50 to move rightward to the original position. At the same time, the fourth stepping motor 42 reversely drives the slice taking clamp 50 to retract backward to the original position. The position positioning is all completed by the signal feedback of the fourth photoelectric sensor 44 and the control instruction.

[0073] As Figure 11 and Figure 12 shown, the XY platform 5 drives the pathological slice 15 located on the XY platform 5 to move in the X direction or the Y direction, and the X direction and the Y direction are perpendicular to each other, and both the X direction and the Y direction are perpendicular to the vertical direction.

[0074] The XY platform 5 includes a low-noise magnetic levitation linear motor 52, a platform top panel 53, an XY platform intermediate panel 54, a grating reader 55, a high-precision linear guide 56, an XY platform bottom panel, a voice coil motor 58, a high-precision linear bearing 59, a mounting base 60, a second fixed support column 61, a adapter box 62, a guide rail seat 63, a linear guide 64, a grating scale 65 and a guide rail connecting plate 66.

[0075] The Z-axis lifting mechanism 6 drives the XY platform 5 to move vertically up and down. The Z-axis direction is the vertical direction. The CCD camera 7 is used to scan the pathological slice 15 and is located above the XY platform 5.

[0076] Driven by the low-noise magnetic levitation linear motor 52, through the linear guide 64, the XY platform 5 is driven to move in the Y direction. Similarly, the movement of the XY platform 5 in the Y direction is also completed by the drive of the linear motor and the guidance of the guide rail. The movement distance in each direction is completed by the signal feedback of the grating reader 55 and the grating scale 65 and the control instruction.

[0077] The fixed CCD camera 7 cooperates with the movement of the XY platform 5 to complete the scanning of the pathological slice 15. There are two scanning methods, line-by-line scanning or Z-shaped scanning.

[0078] Driven by a voice coil motor 58, and guided by a linear guide rail 64 and a linear bearing, the up-and-down movement of the XY platform 5 is driven to complete the focusing work for imaging of the pathological section 15. The position positioning is all completed by the signal feedback of the grating head 55 and the grating scale 65 and the control instruction.

[0079] Since the spring pressing device is adopted to fix the pathological section 15 on the section rack 14 and the way of placing it on the XY platform 5 for scanning is adopted, the problem that the pathological section 15 is easily stuck and broken is completely solved. At the same time, the high-throughput way of loading and unloading the pathological section 15 once can make the fully automatic pathological section 15 instrument truly unattended, thereby improving the efficiency and reducing the cost.

[0080] It should be noted that the driving components of the present application can all be replaced by the structures of the commonly used driving components in the prior art. When replacing, it only needs to ensure that their movement directions are the same.

[0081] According to a fully automatic scanner device and working method provided by the present invention, the working method includes the following steps: S1. Load the pathological section 15 onto the section rack 14 at the storage box; S2. The first driving component drives the rotating disk 21 to rotate and makes the pathological section 15 move to the first position; S3. The third driving component drives the pushing plate to send the pathological section 15 to the middle bridge 37; S4. The second driving component drives the middle bridge 37 to move up and down until the height of the middle bridge 37 is the same as the height of the XY platform 5; S5. The fourth driving component drives the slice clamping device 50 to put the pathological section 15 located on the middle bridge 37 into the XY platform 5; S6. The Z-axis lifting mechanism 6 drives the XY platform 5 to move vertically up and down to complete the focusing of the objective lens of the CCD camera 7; S7. The CCD camera 7 scans the pathological section 15; S8. After the scanning is completed, the pathological section 15 returns to the original section rack 14 of the storage box along the original path.

[0082] It includes a software system, and its working principle is: the CCD or CMOS imaging system is fixed, and the upper computer software issues instructions, and the lower computer software drives the motors in the X direction and Y direction of the XY platform 5, so as to realize the row-by-row movement of the pathological section 15 fixed on the XY platform 5, thereby completing the row-by-row scanning of the sample. The upper computer software performs processing work such as stitching and packing and compressing the collected images. The software system is composed of a software control system, an automatic focusing system, and an image processing system.

[0083] The recognition of each pathological section 15 is achieved by scanning a bar code or a QR code with a preview camera 8. After placing the pathological section 15 into the pathological section rack 14, and then successively into the storage box, high-throughput fully automatic efficient scanning of the pathological section 15 can be achieved, and unattended operation can be realized. After the scanning is completed, the scanned images and the images after mosaic processing are saved in a specified folder on the computer hard disk or uploaded to the corresponding cloud server for pathologists to consult and diagnose.

[0084] Those skilled in the art know that in addition to implementing the system and its various devices, modules, and units provided by the present invention in the form of pure computer-readable program code, the method steps can be logically programmed to enable the system and its various devices, modules, and units provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers, etc. to achieve the same functions. Therefore, the system and its various devices, modules, and units provided by the present invention can be regarded as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be regarded as the structures within the hardware component; the devices, modules, and units for implementing various functions can also be regarded as software modules for implementing the method and the structures within the hardware component.

[0085] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0086] The specific embodiments of the present invention have been described above. 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. Without conflict, the embodiments of the present application and the features in the embodiments can be combined arbitrarily with each other.

Claims

1. An automatic scanner device, characterized in that, Comprising: Rotating slicing rack mechanism (1): including a rotating disk (21) and a first driving component, the first driving component drives the rotating disk (21) to rotate, and a plurality of storage boxes for carrying pathological sections (15) are arranged on the circumferential side of the rotating disk (21); Intermediate transfer slicing mechanism (3): arranged on the side of the rotating disk (21), including an intermediate bridge (37) and a second driving component, the second driving component drives the intermediate bridge (37) to move vertically up and down, and the position of the rotating disk (21) close to the intermediate bridge (37) is the first designated position; Slice feeding mechanism (2): including a slice pushing plate (28) and a third driving component, the third driving component drives the slice pushing plate (28) to send the slice located at the first designated position into the intermediate bridge (37); Slice picking and placing mechanism (4): including a slice picking clamp (50) and a fourth driving component, the fourth driving component drives the slice picking clamp (50) to place the pathological section (15) located on the intermediate bridge (37) onto the XY platform (5), or push the pathological section (15) away from the XY platform (5); XY platform (5): drives the pathological section (15) located on the XY platform (5) to move in the X direction or the Y direction, and the X direction and the Y direction are perpendicular to each other, and both the X direction and the Y direction are perpendicular to the vertical direction; Z-axis lifting mechanism (6): drives the XY platform (5) to move vertically up and down; CCD camera (7): used for scanning the pathological section (15), located above the XY platform (5); The slice feeding mechanism (2) further includes a fixing frame (25), a second stepping motor (23) and a second ball screw (27) are arranged on the fixing frame (25), the output shaft of the second stepping motor (23) is fixedly connected to the second ball screw (27), and the second ball screw (27) is arranged vertically; The second ball screw (27) is threadedly connected to a lifting frame, and both the slice pushing plate (28) and the third driving component are arranged on the lifting frame; A slicing rack (14) is arranged at the storage box, and the pathological section (15) is loaded onto the slicing rack (14) through a spring pressing device.

2. The fully automatic scanner device according to claim 1, wherein, The rotating slicing rack mechanism (1) further includes a fixing plate (19), the first driving component includes a servo motor (11) and a first driving gear (12), the servo motor (11) is fixedly installed on the fixing plate (19), and the output shaft of the servo motor (11) is fixedly connected to the first driving gear (12); An internal gear ring (13) is coaxially arranged on the rotating disk (21), and the first driving gear (12) meshes with the internal gear ring (13).

3. The fully automatic scanner device according to claim 2, wherein, A radial positioning and guiding wheel (17) and a bottom supporting and guiding wheel (20) are installed on the fixing plate (19), the bottom supporting and guiding wheel (20) is arranged between the fixing plate (19) and the rotating disk (21), and the radial positioning and guiding wheel (17) meshes with the internal gear ring (13).

4. The fully automatic scanner device according to claim 1, characterized in that, The second driving component includes a first stepping motor (32) and a first ball screw (33). The output shaft of the first stepping motor (32) is fixedly connected to the first ball screw (33), and the first ball screw (33) is vertically arranged; One end of the intermediate bridge (37) is threadedly connected to the first ball screw (33) to form a ball screw pair.

5. The fully automatic scanner device according to claim 4, characterized in that, The third driving component includes a third stepping motor (31), a synchronous belt (29) and a synchronous pulley (30). The third stepping motor (31) is fixedly installed at one end of the lifting frame. One synchronous pulley (30) is provided at the output shaft of the third stepping motor (31) and the other end of the lifting frame respectively. The synchronous belt (29) drives and connects the two synchronous pulleys (30), and the pushing plate (28) is connected to the synchronous belt (29).

6. The full-automatic scanner device according to claim 1, characterized in that, The fourth driving component includes a fourth stepping motor (42), a second driving gear (43) and a rack (51). The output shaft of the fourth stepping motor (42) is connected to the second driving gear (43). The second driving gear (43) meshes with the rack (51), and the rack (51) is horizontally arranged; One end of the slice taking clamp (50) is connected to the rack (51), and the other end of the slice taking clamp (50) extends towards the direction close to the intermediate bridge (37).

7. The fully automatic scanner device according to claim 1, wherein The slice taking and placing mechanism (4) further includes a mounting plate (47), a fifth stepping motor (41) and a third ball screw (45). The mounting plate (47) is fixedly arranged on one side of the intermediate bridge (37). Both the fifth stepping motor (41) and the third ball screw (45) are arranged on the mounting plate (47), and the output shaft of the fifth stepping motor (41) is connected to the third ball screw (45); The fourth driving component is drivingly connected to the third ball screw (45).

8. A working method of a full-automatic scanner device, characterized in that, When the full-automatic scanner device according to any one of claims 1-7 is adopted, the working method includes the following steps: S1. Load the pathological slice (15) onto the slice rack (14) at the storage box; S2. The first driving component drives the rotating disk (21) to rotate and moves the pathological slice (15) to the first position; S3. The third driving component drives the pushing plate (28) to send the pathological slice (15) onto the intermediate bridge (37); S4. The second driving component drives the intermediate bridge (37) to move up and down until the height of the intermediate bridge (37) is the same as the height of the XY platform (5); S5. The fourth driving component drives the slice taking clamp (50) to put the pathological slice (15) located on the intermediate bridge (37) into the XY platform (5); S6. The Z-axis lifting mechanism (6) drives the XY platform (5) to move vertically up and down to complete the focusing of the objective lens of the CCD camera (7); S7. The CCD camera (7) scans the pathological slice (15); S8. After the scanning is completed, the pathological slice (15) returns to the original slice rack (14) of the storage box along the original path.

Images