A drive apparatus, method, computing device, and media for slide movement

Abstract

The application provides a driving device, a method, a computing device and a medium for moving a slide. The driving device comprises a transmission structure for moving a slide platform in a direction substantially parallel to a first plane according to a preset step distance, wherein a surface of the slide platform substantially parallel to the first plane is used for placing a slide; and an encoder connected to the transmission structure, which generates a negative feedback acting on the transmission structure with a moved distance of the transmission structure or a number of preset step distances moved as an input stimulus, wherein the encoder is programmable and the encoder generates the negative feedback according to the input stimulus based on an inherent minimum step distance of the encoder and a programmable deviation parameter. At least before the transmission structure moves the slide platform, the encoder is programmed according to a route plan of the slide platform so that the deviation parameter of the encoder changes at least once during the movement of the transmission structure according to the route plan to move the slide platform. In this way, the overall scanning speed is improved.

Description

Technical Field

[0001] This application relates to the field of Internet technology, specifically to the field of data processing technology, and in particular to a driving device, method, computing device, and medium for moving a glass slide. Background Technology

[0002] Digital slide scanning technology has wide applications in pathological analysis and telemedicine. Digital slide scanning refers to placing a glass slide containing tissue sections on a high-resolution optical camera to obtain a high-resolution, magnified optical image, which is then converted into digital image data that can be stored and processed by a computer. One type of digital slide scanning technology acquires panoramic images of the slide, also known as whole slide imaging (WSI). Digital slide scanning is generally performed using specially designed devices, such as digital pathology slide scanning systems and slide acquisition systems. The working principle of these devices is as follows: a high-resolution camera and light source are provided; the slide to be scanned is placed on a platform; a drive motor and focusing module move the platform, positioning the area to be scanned on the slide between the high-resolution camera and the light source for high-resolution scanning; finally, the images obtained from the high-resolution scans are stitched together to obtain a digital slide.

[0003] Because a high-resolution camera is required for high-resolution scanning, each high-resolution scan can only cover one area of ​​the slide. During the entire slide scanning process, the platform holding the slide needs to be moved multiple times to place each area under the camera one by one. Therefore, precise control of the platform's movement is required. For example, if the area to be scanned is 0.2 mm (200 micrometers), the step size control when moving the platform must be reliable within 0.3 mm. That is, when the platform needs to be translated by 0.3 mm or even smaller steps, such as 0.2 mm, the translational distance deviation must be within an acceptable range. In existing technologies, one approach is to drive the platform using a gear combination. However, due to the inherent structure of the gear combination, it is difficult to adjust the movement accuracy and change the path planning. Another approach is to use a lead screw drive to drive the platform. However, lead screw drives have instability on the Z-axis, and the mechanical transmission mechanism of lead screw drives is relatively complex, requiring adjustment during use, increasing control complexity and cost.

[0004] Therefore, embodiments of this application provide a driving device, method, computing device, and medium for moving glass slides, in order to address the technical challenges in the prior art. Summary of the Invention

[0005] This application provides a driving device, method, computing device, and medium for moving a glass slide, which addresses the problems existing in the prior art.

[0006] In a first aspect, this application provides a driving device for moving a glass slide. The driving device includes: a transmission structure for moving a glass slide platform in a direction substantially parallel to a first plane according to a preset step distance, wherein a surface of the glass slide platform substantially parallel to the first plane is used to place a glass slide; and an encoder connected to the transmission structure, the encoder taking the distance already moved by the transmission structure or the number of preset step distances moved as input excitation to generate negative feedback acting on the transmission structure, wherein the encoder is programmable and the encoder generates the negative feedback based on the input excitation based on the encoder's inherent minimum step distance and programmable deviation parameters. At least before the transmission structure moves the glass slide platform, the encoder is programmed according to a path planning of the glass slide platform such that the encoder's deviation parameters change at least once during the movement of the glass slide platform by the transmission structure according to the path planning.

[0007] In one possible implementation of the first aspect of this application, the preset step distance of the transmission structure is not less than the inherent minimum step distance of the encoder.

[0008] In one possible implementation of the first aspect of this application, the preset step distance of the transmission structure is equal to the inherent minimum step distance of the encoder, and the programmable deviation parameter of the encoder is used to indicate the degree of deviation of the encoder in generating the negative feedback according to the input excitation.

[0009] In one possible implementation of the first aspect of this application, the slide includes multiple regions, and the path planning of the slide platform is used to instruct the transmission structure to move the slide platform to scan the multiple regions one by one.

[0010] In one possible implementation of the first aspect of this application, the path planning of the slide platform includes a first part and a second part. The deviation parameter of the encoder is a first deviation parameter when the transmission structure moves the slide platform according to the first part, and the deviation parameter of the encoder is a second deviation parameter when the transmission structure moves the slide platform according to the second part. The first deviation parameter is different from the second deviation parameter.

[0011] In one possible implementation of the first aspect of this application, the first part corresponds to the merged part, edge part, or spliced ​​part of the sample on the glass slide, the second part corresponds to the region of interest (ROI) of the sample, and the first deviation parameter is greater than the second deviation parameter.

[0012] In one possible implementation of the first aspect of this application, at least before the encoder is programmed according to the path plan of the slide platform, the slide is initially scanned to determine one or more portions of the path plan of the slide platform, each of the one or more portions corresponding to a different deviation parameter of the encoder, and the encoder is programmed according to the path plan of the slide platform such that the deviation parameter of the encoder is a deviation parameter corresponding to each of the one or more portions when the transmission structure moves the slide platform according to the one or more portions.

[0013] In one possible implementation of the first aspect of this application, the one or more parts include a first part and a second part, wherein the first part corresponds to the merged part, edge part, or spliced ​​part of the sample on the glass slide, and the second part corresponds to the key part of the sample.

[0014] In one possible implementation of the first aspect of this application, the transmission structure is a synchronous belt having a planar flexible structure substantially parallel to the first plane.

[0015] Secondly, this application provides a driving method for moving a glass slide. The driving method is applied to a driving device, which includes a transmission structure and an encoder. The transmission structure moves a glass slide platform in a direction substantially parallel to a first plane according to a preset step distance. A surface of the glass slide platform substantially parallel to the first plane is used to place a glass slide. The encoder is connected to the transmission structure. The encoder uses the distance already moved by the transmission structure or the number of preset step distances moved as input excitation to generate negative feedback acting on the transmission structure. The encoder is programmable, and the encoder generates the negative feedback based on the input excitation, which is based on the encoder's inherent minimum step distance and programmable deviation parameters. The driving method includes: programming the encoder according to a path plan of the glass slide platform so that the encoder's deviation parameters change at least once during the process of the transmission structure moving the glass slide platform according to the path plan; and moving the glass slide platform according to the path plan via the transmission structure.

[0016] Thirdly, embodiments of this application also provide a computer device, the computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a method according to any of the above-mentioned implementations.

[0017] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer instructions that, when executed on a computer device, cause the computer device to perform a method according to any of the above-described implementations.

[0018] Fifthly, embodiments of this application also provide a computer program product, characterized in that the computer program product includes instructions stored on a computer-readable storage medium, which, when executed on a computer device, cause the computer device to perform a method according to any of the above-described aspects. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of a driving device for moving a glass slide provided in an embodiment of this application;

[0021] Figure 2 An embodiment provided in this application Figure 1 A schematic diagram illustrating the working principle of the encoder in the drive device shown;

[0022] Figure 3 A schematic flowchart illustrating a driving method for moving a glass slide, provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0024] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0025] This application provides a driving device, method, computing device, and medium for moving a glass slide, addressing problems existing in the prior art. The methods and devices provided in this application are based on the same inventive concept. Since the principles by which the methods and devices solve problems are similar, embodiments, implementation methods, examples, or approaches of the methods and devices can be referred to mutually, and repeated details will not be repeated.

[0026] It should be understood that in the description of this application, "at least one" means one or more, and "multiple" means two or more. In addition, the words "first," "second," etc., unless otherwise stated, are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance or order.

[0027] Figure 1 This is a schematic diagram of a driving device for moving a glass slide, provided as an embodiment of this application. Figure 1 As shown, camera 102 and light source 104 are used to perform high-resolution scanning to obtain high-resolution scanned images. Camera 102 can be any suitable high-resolution optical camera and can include any suitable focusing module and optical magnification module. Light source 104 is used to provide light suitable for high-resolution scanning. Figure 1 The diagram also exemplarily illustrates that a slide platform 110 is positioned under a camera 102 for being captured by the camera 102 to complete a high-resolution scan. Figure 1 In this process, the light emitted by the light source 104 is captured by the camera 102 after passing through the slide 112. The light source 104 can also be located on the same side as the camera 102, and the light emitted by the light source 104 is reflected by the slide 112 and then captured by the camera 102. It should be understood that the driving device and method for moving the slide provided in this application embodiment can be applied to any digital slide scanning technology, including transmissive, reflective, or any other possible slide scanning methods, and are not specifically limited herein. The slide platform 110 is used to place the slide 112 on it. The slide platform 110 is moved by the drive of the transmission structure 120, which is connected to the encoder 122. It should be understood that... Figure 1 Although not explicitly shown, the slide platform 110 moves under the drive of the transmission structure 120, and there are necessary mechanical and electronic devices to enable the transmission structure 120 to drive the slide platform 110 to move in a specific manner, such as guide rails, mechanical components, circuits, etc. Furthermore, the transmission structure 120 can employ any suitable mechanical transmission mechanism, as long as it can drive the slide platform 110 to move in a specific manner and satisfy the operating principles mentioned in the embodiments of this application.

[0028] Continue reading Figure 1The driving device includes a transmission structure 120 and an encoder 122. It should be understood that in some embodiments, the driving device further includes additional mechanical and electronic circuitry to enable the transmission structure 120 and encoder 122 to meet the operating principles mentioned in the embodiments of this application, including driving the slide platform 110 to move. These additional mechanical and electronic circuitry may also be provided separately. The transmission structure 120 is used to move the slide platform 110 in a direction substantially parallel to a first plane by a preset step distance, wherein the surface of the slide platform 110 substantially parallel to the first plane is used to place a slide 112. It should be understood that the slide platform 110 can have any suitable geometry, wherein one surface is used to place the slide 112, and this surface for placing the slide 112 is substantially parallel to the first plane. Assuming that the slide platform 110 moves along a horizontal plane under the drive of the transmission structure 120, or that the slide 112 is displaced along a horizontal plane under the movement of the slide platform 110, this means that the horizontal plane is the first plane. The preset step distance of the transmission structure 120 is the step distance by which the transmission structure 120 drives the slide platform 110 to move each time, or in other words, the distance the slide platform 110 moves on the first plane each time under the drive of the transmission structure 120. The lower limit of the preset step distance of the transmission structure 120, or in other words, the minimum preset step distance that the transmission structure 120 can achieve, i.e., the minimum distance the slide platform 110 moves on the first plane each time under the drive of the transmission structure 120, is affected by several factors. The step distance control accuracy of the transmission structure 120 itself is one of these factors. If the transmission structure 120 is a synchronous belt, the physical structural characteristics of the synchronous belt itself determine that the step distance control accuracy of the synchronous belt is about 0.3 mm, or about 300 micrometers. That is to say, when the displacement accuracy of the slide platform 110 is required to be below 0.3 mm, it is difficult to maintain a sufficiently stable and good step distance control accuracy by relying solely on the synchronous belt as the transmission structure 120. In other words, there may be a large distance deviation, which will affect the scanning effect and scanning accuracy. It should be understood that the preset step distance of the transmission structure 120 represents the displacement accuracy or step distance control accuracy of the slide platform 110 moving in a direction substantially parallel to the first plane under the drive of the transmission structure 120. The preset step distance of the transmission structure 120 can be the same as the lower limit of the preset step distance of the transmission structure 120, that is, the minimum step distance control accuracy that the transmission structure 120 can stably provide within an acceptable distance deviation range. However, in some embodiments, the preset step distance of the transmission structure 120 can be greater than the lower limit of the preset step distance of the transmission structure 120. For example, the preset step distance can be set to two times, three times, or other integer multiples of the lower limit of the preset step distance, depending on the specific scanning requirements and scanning arrangements. Another factor affecting the lower limit of the preset step distance of the transmission structure 120 is the influence of the encoder, which will be explained in detail below.

[0029] The encoder 122 is connected to the transmission structure 120. The encoder 122 uses the distance the transmission structure 120 has moved or the number of preset steps it has moved as input excitation to generate negative feedback acting on the transmission structure 120. The encoder 122 is programmable, and the encoder 122 generates the negative feedback based on the input excitation, which is based on the encoder 122's inherent minimum step size and programmable deviation parameters. Here, the encoder 122 can employ any suitable technical means, as long as it can provide the required negative feedback mechanism. That is, the encoder 122 uses the distance the transmission structure 120 has moved or the number of preset steps it has moved as input excitation to generate negative feedback acting on the transmission structure 120. Furthermore, the encoder 122's inherent minimum step size represents the minimum step size control accuracy that the encoder 122 can achieve in its design, and also represents the minimum step size control accuracy that the transmission structure 120 can achieve under the action of the encoder 122's negative feedback mechanism. As mentioned above, the lower limit of the preset step distance of the transmission structure 120 represents the minimum displacement of the slide platform 110 on the first plane each time it is driven by the transmission structure 120. The lower limit of the preset step distance of the transmission structure 120 is affected by both the step distance control accuracy of the transmission structure 120 itself and the inherent minimum step distance of the encoder 122. Generally, the step distance control accuracy of the transmission structure 120 is much greater than the inherent minimum step distance of the encoder 122. For example, if the transmission structure 120 is a synchronous belt, the physical characteristics of the synchronous belt itself determine that its step distance control accuracy is around 0.3 mm or 300 micrometers, while the inherent minimum step distance of the encoder 122, which can generate negative feedback acting on the synchronous belt, can reach 0.1 micrometers. In other words, without the negative feedback mechanism of encoder 122, using a synchronous belt as the transmission structure 120 can only achieve a lower limit of the preset step distance of the transmission structure 120 of 0.3 mm or 300 micrometers; however, with the help of the negative feedback mechanism of encoder 122, using a synchronous belt as the transmission structure 120 can achieve a lower limit of the preset step distance of the transmission structure 120 of 0.1 micrometers. Therefore, by using the number of preset steps or the distance already moved by the transmission structure 120 as input excitation through encoder 122, negative feedback is generated acting on the transmission structure 120. Moreover, the negative feedback generated by encoder 122 based on the input excitation is based on the inherent minimum step distance and programmable deviation parameters of encoder 122. This means that the displacement accuracy of the slide platform 110 moving in a direction substantially parallel to the first plane under the drive of transmission structure 120 is also based on the inherent minimum step distance and programmable deviation parameters of encoder 122. Furthermore, the inherent minimum step pitch of encoder 122 is a fixed parameter, or rather, it is inherent after encoder 122 is manufactured and cannot be adjusted during use.However, the deviation parameter of encoder 122 is adjustable, and the variation pattern of the deviation parameter can be pre-arranged by programming encoder 122. Specifically, each time the slide platform 110 is displaced under the drive of transmission structure 120, the distance of this displacement corresponds to the distance moved by transmission structure 120, or it can be converted into the number of preset step distances moved by transmission structure 120. For example, if the slide platform 110 is displaced once, causing the slide 112 placed on it to shift by an area, such as a translation of 0.2 mm (200 micrometers), this means that the distance moved by transmission structure 120 is 200 micrometers. Assuming that the inherent minimum step distance of encoder 122 is 0.1 micrometers, this means that the number of preset step distances moved by transmission structure 120 is 2000. Therefore, the inherent minimum step size of encoder 122 determines the minimum step size control accuracy that can be achieved, while the programmable deviation parameter of encoder 122 determines the time required for precise movement of the slide platform 110 each time through the drive of transmission structure 120 and the negative feedback mechanism of encoder 122. The programmable deviation parameter of encoder 122 represents the possible degree of deviation under the negative feedback mechanism. The smaller the deviation parameter is set, the smaller the degree of deviation and the smaller the distance deviation, which means better scanning accuracy but also higher time consumption; the larger the deviation parameter is set, the larger the degree of deviation and the larger the distance deviation, which means lower scanning accuracy and lower time consumption. Therefore, by programming encoder 122 and setting the corresponding deviation parameter, scanning accuracy and scanning time can be adjusted, and it can be further coordinated with the path planning of slide 112 to dynamically adjust the deviation parameter of encoder 122. In some embodiments, the characteristic that a larger deviation parameter leads to higher scanning speed and a smaller deviation parameter leads to higher scanning accuracy can be utilized. This, combined with path planning, allows for finer scanning of some areas (i.e., setting a smaller deviation parameter) and faster scanning of other areas (i.e., setting a larger deviation parameter), thereby achieving an optimal balance between overall scanning accuracy and scanning speed. Therefore, at least before the transmission structure 120 moves the slide platform 110, the encoder 122 is programmed according to the path planning of the slide platform 110 so that the deviation parameter of the encoder 122 changes at least once during the movement of the slide platform 110 by the transmission structure 120 according to the path planning. This means that during the overall movement of the slide platform 110 by the transmission structure 120 according to the path planning, the deviation parameter of the encoder 122 changes at least once; that is, the deviation parameter of the encoder 122 is not constant. This implies that the deviation parameter used when scanning some areas differs from the deviation parameter used when scanning other areas.As mentioned above, the ability to achieve higher scanning speeds with larger deviation parameters and higher scanning accuracy with smaller deviation parameters allows for an optimal balance between scanning accuracy and speed when combined with path planning. For example, if scanning 1000 regions initially takes tens of milliseconds per region with a single deviation parameter, setting a larger deviation parameter can reduce the scanning time per region from tens of milliseconds to tens of milliseconds. By setting larger deviation parameters for a subset of the 1000 regions, the overall scanning time can be significantly reduced. The impact on the scanning accuracy of the final slice is relatively insignificant. This is because path planning can select regions with less information, such as unimportant areas on the slide (common parts, seams, edge features, etc.), and assign them larger deviation parameters. In other words, for the final slice scan, scanning unimportant regions or areas containing less useful information can appropriately reduce scanning accuracy without affecting the value of the final result. Furthermore, depending on the specific sample on the slide, the proportion of such unimportant areas or parts in the sample may be relatively high, meaning that the proportion of areas containing useful information on the sample is relatively small. This means that by combining path planning, when the slide platform 110 is translated to place the area containing useful information under the camera 102, the encoder 122 can be pre-programmed to make the deviation parameter smaller at this time, thereby improving the scanning accuracy of the area containing useful information.

[0030] Figure 2 An embodiment provided in this application Figure 1 The diagram shows the working principle of the encoder in the drive device. Figure 2As shown, the path planning 202 is divided into a first part 210, a second part 212, and a third part 214. The first part 210 corresponds to a first deviation parameter 220, the second part 212 corresponds to a second deviation parameter 222, and the third part 214 corresponds to a third deviation parameter 224. The encoder 230 is programmed to use the first deviation parameter 220 when scanning the first part 210 of the path planning 202, the second deviation parameter 222 when scanning the second part 212, and the third deviation parameter 224 when scanning the third part 214. Thus, at least before the transmission structure moves the slide platform, the encoder 230 is programmed according to the path planning 202 such that the deviation parameter of the encoder 230 changes at least once during the movement of the slide platform according to the path planning. Furthermore, the operations of dividing the path planning 202 and setting the corresponding deviation parameters can be collectively referred to as preprocessing operation 240. At least before the transmission structure moves the slide platform, a preprocessing operation 240 is performed, including dividing the path plan 202 into multiple parts such as a first part 210, a second part 212, and a third part 214, and programming the encoder 230 according to the path plan 202 such that a first deviation parameter 220 is used when scanning the first part 210 of the path plan 202, a second deviation parameter 222 is used when scanning the second part 212 of the path plan 202, and a third deviation parameter 224 is used when scanning the third part 214 of the path plan 202.

[0031] See Figure 1 and Figure 2 In one possible implementation, the preset step size of the transmission structure 120 is not less than the inherent minimum step size of the encoder 122. As mentioned above, the preset step size of the transmission structure 120 represents the displacement accuracy or step size control accuracy of the slide platform 110 moving in a direction substantially parallel to the first plane under the drive of the transmission structure 120. The inherent minimum step size of the encoder 122 represents the minimum step size control accuracy that the encoder 122 can achieve in its design, and also represents the minimum step size control accuracy that the transmission structure 120 can achieve under the negative feedback mechanism of the encoder 122. The preset step size of the transmission structure 120 can be greater than the inherent minimum step size of the encoder 122; for example, the preset step size of the transmission structure 120 can be an integer multiple of the inherent minimum step size of the encoder 122.

[0032] In one possible implementation, the preset step size of the transmission structure 120 is equal to the inherent minimum step size of the encoder 122, and the programmable deviation parameter of the encoder 122 is used to indicate the degree of deviation in the generation of the negative feedback by the encoder 122 based on the input excitation. As mentioned above, the preset step size of the transmission structure 120 represents the displacement accuracy, or step size control accuracy, of the slide platform 110 moving in a direction substantially parallel to the first plane under the drive of the transmission structure 120. The inherent minimum step size of the encoder 122 represents the minimum step size control accuracy that the encoder 122 can achieve by design, and also represents the minimum step size control accuracy that the transmission structure 120 can achieve under the negative feedback mechanism of the encoder 122. Here, the inherent minimum step size of the encoder 122 is used as the preset step size of the transmission structure 120.

[0033] In one possible implementation, the slide includes multiple regions, and the path planning of the slide platform is used to instruct the transmission structure to move the slide platform to scan the multiple regions one by one.

[0034] In one possible implementation, the path planning of the slide platform includes a first part and a second part. The encoder's deviation parameter is a first deviation parameter when the transmission structure moves the slide platform according to the first part, and the encoder's deviation parameter is a second deviation parameter when the transmission structure moves the slide platform according to the second part. The first deviation parameter is different from the second deviation parameter. Figure 2 For example, the route planning 202 is divided into a first part 210, a second part 212, and a third part 214. The first part 210 corresponds to a first deviation parameter 220, the second part 212 corresponds to a second deviation parameter 222, and the third part 214 corresponds to a third deviation parameter 224. The encoder 230 is programmed to use the first deviation parameter 220 when scanning the first part 210 of the route planning 202, the second deviation parameter 222 when scanning the second part 212, and the third deviation parameter 224 when scanning the third part 214.

[0035] In one possible implementation, the first portion corresponds to the merged, edge, or spliced ​​portion of the sample on the slide, and the second portion corresponds to the region of interest (ROI) of the sample, with the first deviation parameter being greater than the second deviation parameter. This facilitates the use of route planning to better obtain useful information, such as ROI information.

[0036] In one possible implementation, at least before the encoder 122 is programmed according to the path plan of the slide platform 110, the slide 112 is initially scanned to determine one or more portions of the path plan of the slide platform 110, each of which corresponds to a different deviation parameter of the encoder 122. The encoder 122 is programmed according to the path plan of the slide platform 110 such that the deviation parameters of the encoder 122 are deviation parameters corresponding to the one or more portions respectively when the transmission structure 120 moves the slide platform 110 according to the one or more portions. Figure 2 For example, the path planning 202 is divided into a first part 210, a second part 212, and a third part 214. The first part 210 corresponds to a first deviation parameter 220, the second part 212 corresponds to a second deviation parameter 222, and the third part 214 corresponds to a third deviation parameter 224. The encoder 230 is programmed to use the first deviation parameter 220 when scanning the first part 210 of the path planning 202, the second deviation parameter 222 when scanning the second part 212, and the third deviation parameter 224 when scanning the third part 214. This facilitates improving the overall scanning speed by combining path planning and the initial scan.

[0037] In one possible implementation, the one or more portions include a first portion and a second portion, wherein the first portion corresponds to the merged portion, edge portion, or spliced ​​portion of the sample on the glass slide, and the second portion corresponds to the key portion of the sample.

[0038] In one possible implementation, the transmission structure 120 is a synchronous belt having a planar flexible structure substantially parallel to the first plane. It should be understood that the transmission structure 120 can employ any suitable mechanical transmission mechanism, as long as it can drive the slide platform 110 to move in a specific manner and satisfy the operating principles mentioned in the embodiments of this application.

[0039] Figure 3This is a flowchart illustrating a driving method for moving a glass slide, provided in an embodiment of this application. The driving method is applied to a driving device, which includes a transmission structure and an encoder. The transmission structure moves a glass slide platform in a direction substantially parallel to a first plane according to a preset step distance. A surface of the glass slide platform substantially parallel to the first plane is used to place a glass slide. The encoder is connected to the transmission structure. The encoder uses the distance already moved by the transmission structure or the number of preset step distances moved as input excitation to generate negative feedback acting on the transmission structure. The encoder is programmable, and the encoder generates the negative feedback based on the input excitation using the encoder's inherent minimum step distance and programmable deviation parameters. Figure 3 As shown, the driving method includes the following steps.

[0040] Step S310: Program the encoder according to the path planning of the slide platform so that the deviation parameter of the encoder changes at least once during the process of the transmission structure moving the slide platform according to the path planning.

[0041] Step S320: Move the glass slide platform according to the planned path using the transmission structure.

[0042] Figure 3 The driving method shown, by combining path planning to program the encoder's deviation parameters, helps to improve the overall scanning speed.

[0043] See Figure 4 , Figure 4This is a schematic diagram of a computing device 400 provided in an embodiment of this application. The computing device 400 includes one or more processors 410, a communication interface 420, and a memory 430. The processors 410, communication interface 420, and memory 430 are interconnected via a bus 440. Optionally, the computing device 400 may further include an input / output interface 450, which is connected to input / output devices for receiving user-set parameters, etc. The computing device 400 can be used to implement some or all of the functions of the device embodiment or system embodiment described above in this application; the processor 410 can also be used to implement some or all of the operation steps of the method embodiment described above in this application. For example, the specific implementation of various operations performed by the computing device 400 can be referred to the specific details in the above embodiments, such as the processor 410 being used to execute some or all of the steps or operations in the above method embodiments. For example, in the embodiments of this application, the computing device 400 can be used to implement some or all of the functions of one or more components in the above-described device embodiments. In addition, the communication interface 420 can be used specifically for communication functions necessary to implement the functions of these devices and components, and the processor 410 can be used specifically for processing functions necessary to implement the functions of these devices and components.

[0044] It should be understood that, Figure 4 The computing device 400 may include one or more processors 410, and the multiple processors 410 may collaboratively provide processing power in a parallel connection mode, a serial connection mode, a serial-parallel connection mode, or an arbitrary connection mode; or the multiple processors 410 may form a processor sequence or a processor array; or the multiple processors 410 may be divided into a main processor and an auxiliary processor; or the multiple processors 410 may have different architectures, such as adopting a heterogeneous computing architecture. Furthermore, Figure 4 The structural and functional descriptions of the computing device 400 shown are exemplary and non-limiting. In some exemplary embodiments, the computing device 400 may include... Figure 4 The diagram shows more or fewer components, or combinations of some components, or splitting of some components, or different arrangements of components.

[0045] The processor 410 can have various specific implementations. For example, it can include one or more combinations of a central processing unit (CPU), a graphics processing unit (GPU), a neural network processing unit (NPU), a tensor processing unit (TPU), or a data processing unit (DPU). This application embodiment does not impose specific limitations. The processor 410 can also be a single-core or multi-core processor. The processor 410 can be a combination of a CPU and hardware chips. The aforementioned hardware chips can be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The aforementioned PLDs can be complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), generic array logic (GALs), or any combination thereof. The processor 410 can also be implemented using logic devices with built-in processing logic, such as FPGAs or digital signal processors (DSPs). The communication interface 420 can be a wired interface or a wireless interface, used to communicate with other modules or devices. The wired interface can be an Ethernet interface, a local interconnect network (LIN), etc., and the wireless interface can be a cellular network interface or a wireless LAN interface, etc.

[0046] Memory 430 may be non-volatile memory, such as read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Memory 430 may also be volatile memory, which may be random access memory (RAM) used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM). The memory 430 can also be used to store program code and data, so that the processor 410 can call the program code stored in the memory 430 to execute some or all of the operation steps in the above method embodiments, or to execute the corresponding functions in the above device embodiments. Furthermore, the computing device 400 may include, compared to... Figure 4 The number of components displayed may be more or less, or there may be different component configurations.

[0047] Bus 440 can be a Peripheral Component Interconnect Express (PCIe) bus, or an Extended Industry Standard Architecture (EISA) bus, a Unified Bus (Ubus or UB), a Compute Express Link (CXL) bus, a Cache Coherent Interconnect for Accelerators (CCIX) bus, etc. Bus 440 can be divided into address bus, data bus, control bus, etc. In addition to the data bus, bus 440 can also include a power bus, control bus, and status signal bus. However, for clarity, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0048] This application also provides a system comprising multiple computing devices, the structure of each computing device being similar to that described above. The functions or operations achievable by this system can be implemented with reference to the specific implementation steps in the method embodiments and / or the specific functions described in the device embodiments, and will not be repeated here. This application also provides a computer-readable storage medium storing computer instructions. When the computer instructions are executed on a computer device (such as one or more processors), they can implement the method steps in the method embodiments described above. The specific implementation of the processor of the computer-readable storage medium in executing the method steps can be similar to the specific operations described in the method embodiments and / or the specific functions described in the device embodiments, and will not be repeated here. This application also provides a computer program product comprising instructions stored on a computer-readable storage medium. When the instructions are executed on a computer device, they cause the computer device to execute the method steps in the method embodiments described above.

[0049] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. This application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Embodiments of this application can be implemented wholly or partially by software, hardware, firmware, or any other combination. When implemented in software, the above embodiments can be implemented wholly or partially as a computer program product. This application can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. The computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. Computer-readable storage media can be any available medium that a computer can access, or a data storage device such as a server or data center that contains one or more sets of available media. Available media can be magnetic media (such as floppy disks, hard disks, and magnetic tapes), optical media, or semiconductor media. Semiconductor media can be solid-state drives, random access memory, flash memory, read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, or any other suitable form of storage medium.

[0050] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. Each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0051] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments. Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of the embodiments of this application. The steps in the methods of the embodiments of this application can be adjusted in order, combined, or deleted according to actual needs; the modules in the systems of the embodiments of this application can be divided, combined, or deleted according to actual needs. If these modifications and variations of the embodiments of this application fall within the scope of the claims of this application and their equivalents, then this application also intends to include these modifications and variations.

Claims

1. A driving device for moving a glass slide, characterized in that, The driving device includes: A transmission structure is used to move a slide platform in a direction substantially parallel to a first plane according to a preset step distance, wherein the surface of the slide platform substantially parallel to the first plane is used to place a slide. An encoder, connected to the transmission structure, uses the distance the transmission structure has moved or the number of preset steps as input excitation to generate negative feedback acting on the transmission structure. The encoder is programmable, and the negative feedback generated based on the input excitation is based on the encoder's inherent minimum step size and programmable deviation parameters. Specifically, at least before the transmission structure moves the slide platform, the encoder is programmed according to the path plan of the slide platform so that the deviation parameter of the encoder changes at least once during the process of the transmission structure moving the slide platform according to the path plan.

2. The driving device according to claim 1, characterized in that, The preset step distance of the transmission structure is not less than the inherent minimum step distance of the encoder.

3. The driving device according to claim 1, characterized in that, The preset step distance of the transmission structure is equal to the inherent minimum step distance of the encoder, and the programmable deviation parameter of the encoder is used to indicate the degree of deviation of the encoder in generating the negative feedback according to the input excitation.

4. The driving device according to claim 3, characterized in that, The slide includes multiple regions, and the path planning of the slide platform is used to instruct the transmission structure to move the slide platform so as to scan the multiple regions one by one.

5. The driving device according to claim 3, characterized in that, The path planning of the slide platform includes a first part and a second part. The deviation parameter of the encoder is a first deviation parameter when the transmission structure moves the slide platform according to the first part, and the deviation parameter of the encoder is a second deviation parameter when the transmission structure moves the slide platform according to the second part. The first deviation parameter is different from the second deviation parameter.

6. The driving device according to claim 5, characterized in that, The first part corresponds to the merged part, edge part, or spliced ​​part of the sample on the glass slide, and the second part corresponds to the region of interest (ROI) of the sample. The first deviation parameter is greater than the second deviation parameter.

7. The driving device according to claim 3, characterized in that, At least before the encoder is programmed according to the path plan of the slide platform, the slide is initially scanned to determine one or more parts of the path plan of the slide platform, each of the one or more parts corresponding to a different deviation parameter of the encoder. The encoder is programmed according to the path plan of the slide platform such that the deviation parameter of the encoder is a deviation parameter corresponding to each of the one or more parts when the transmission structure moves the slide platform according to the one or more parts.

8. The driving device according to claim 7, characterized in that, The one or more parts include a first part and a second part, wherein the first part corresponds to the merged part, edge part or spliced ​​part of the sample on the glass slide, and the second part corresponds to the key part of the sample.

9. The driving device according to any one of claims 1 to 8, characterized in that, The transmission structure is a synchronous belt, which has a planar flexible structure that is substantially parallel to the first plane.

10. A driving method for moving a glass slide, characterized in that, The driving method is applied to a driving device, which includes a transmission structure and an encoder. The transmission structure moves a slide platform in a direction substantially parallel to a first plane according to a preset step distance. A surface of the slide platform substantially parallel to the first plane is used to place a slide. The encoder is connected to the transmission structure. The encoder uses the distance moved by the transmission structure or the number of preset step distances moved as input excitation to generate negative feedback acting on the transmission structure. The encoder is programmable, and the encoder generates the negative feedback based on the input excitation using the encoder's inherent minimum step distance and programmable deviation parameters. The driving method includes: The encoder is programmed according to the path plan of the slide platform so that the deviation parameter of the encoder changes at least once during the process of the transmission structure moving the slide platform according to the path plan; The slide platform is moved according to the planned path via the transmission structure.

Images