An imaging method, apparatus, device, and system

Abstract

The application provides an imaging method, device, equipment and system. When internal imaging of target tissue is needed, the target tissue is fixed, a slicing machine is controlled to slice the target tissue at a preset step, after each slicing, an image acquisition device is used to acquire an image of the sliced target tissue, an image of a tissue section of each sliced target tissue section is obtained, the image of the tissue section is preprocessed, continuous image registration is performed on the image of the tissue section, an image stack is obtained, and three-dimensional display is performed on the image stack. In the process, the size of the preset step is adjusted to obtain high-resolution imaging of the target tissue, and the process is physical cutting and does not cause ionization damage to the cells in the target tissue.

Description

Technical Field

[0001] This invention relates to the field of image system technology, and more specifically to an imaging method, apparatus, device, and system. Background Technology

[0002] Reconstruction of tissue sections plays a crucial role in scientific research, clearly revealing functional regions within the tissue and aiding in analysis. Currently, there are two main methods for reconstructing tissue sections: the first utilizes magnetic resonance imaging (MRI) for internal tissue reconstruction, and the second uses X-rays for three-dimensional reconstruction.

[0003] The applicant found through research that, regardless of whether it was the first or the second method, the reconstructed tissue slices had low resolution and that the reconstruction process could potentially cause ionization damage to the cells inside the tissue. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide an imaging method, apparatus, device, and system to improve the resolution of a model of a target tissue.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] An imaging method, comprising:

[0007] Control the microtome to slice the target tissue at a preset step size;

[0008] After each slicer operation is completed, the image acquisition device is controlled to acquire images of the sliced ​​target tissue, thereby obtaining cross-sectional images of each section of the target tissue.

[0009] Preprocess the acquired tissue cross-sectional images;

[0010] The preprocessed tissue cross-sectional images are continuously registered to obtain axially continuous tissue cross-sectional images, denoted as image stack;

[0011] The image stack is then displayed in three dimensions.

[0012] Corresponding to the above method, the control of the microtome to slice the target tissue at a preset step size specifically includes:

[0013] Determine whether a slicing command has been received. When a slicing command is received, control the slicer head to move along a preset direction by a preset step length, and control the slicer head to slice the target tissue.

[0014] Corresponding to the above method, determining whether a slice instruction has been obtained includes:

[0015] Determine whether a slicing instruction generated based on user operation has been obtained, or whether a slicing instruction output by the image acquisition device after the image acquisition action is completed.

[0016] Corresponding to the above method, the above method also includes:

[0017] After acquiring the cross-sectional image of the tissue, it is determined whether there is an interference region in the cross-sectional image. If there is no interference region, a slicing command is generated. If there is an interference region, the cleaning device is controlled to clean the cross-section of the target tissue, and the image acquisition device is controlled again to acquire images of the cleaned target tissue.

[0018] Corresponding to the above method, the step of performing continuous image registration on the preprocessed tissue cross-sectional image includes:

[0019] The mutual information algorithm is used to perform continuous image registration on the preprocessed tissue cross-sectional image.

[0020] Corresponding to the above method, the above method also includes:

[0021] Based on the setting parameters, set the specific value of the preset step size.

[0022] An imaging device, comprising:

[0023] The slicer control unit is used to control the slicer to slice the target tissue at a preset step size;

[0024] The image acquisition unit is used to control the image acquisition device to acquire images of the sliced ​​target tissue after each slice action is detected to be completed, so as to obtain tissue cross-sectional images of each section of the target tissue;

[0025] The preprocessing unit is used to preprocess the acquired tissue cross-sectional images;

[0026] The registration unit is used to perform continuous image registration on the preprocessed tissue cross-sectional image to obtain an axially continuous tissue cross-sectional image, denoted as the image stack.

[0027] The model display unit is used to display the image stack in three dimensions.

[0028] An imaging device, comprising:

[0029] A memory and a processor; the memory stores a program suitable for execution by the processor, the program being used for:

[0030] Control the microtome to slice the target tissue at a preset step size;

[0031] After each slicer operation is completed, the image acquisition device is controlled to acquire images of the sliced ​​target tissue, thereby obtaining cross-sectional images of each section of the target tissue.

[0032] Preprocess the acquired tissue cross-sectional images;

[0033] The preprocessed tissue cross-sectional images are continuously registered to obtain axially continuous tissue cross-sectional images, denoted as image stack;

[0034] The image stack is then displayed in three dimensions.

[0035] An imaging system, comprising:

[0036] Magnetic base;

[0037] An image acquisition device, wherein the image acquisition device is mounted on the magnetic base via a bracket;

[0038] A slicer, used to hold a target tissue and slice the target tissue;

[0039] The host computer is used for:

[0040] Control the microtome to slice the target tissue at a preset step size;

[0041] After each slicer operation is completed, the image acquisition device is controlled to acquire images of the sliced ​​target tissue, thereby obtaining cross-sectional images of each section of the target tissue.

[0042] Preprocess the acquired tissue cross-sectional images;

[0043] The preprocessed tissue cross-sectional images are continuously registered to obtain axially continuous tissue cross-sectional images, denoted as image stack;

[0044] The image stack is then displayed in three dimensions.

[0045] Optionally, in the above imaging system, the support is a three-dimensionally movable support.

[0046] Based on the above technical solution, in the solution provided by the embodiments of the present invention, when it is necessary to perform internal imaging of the target tissue, after fixing the target tissue, the microtome is controlled to slice the target tissue at a preset step size. After each slicing, an image acquisition device is used to acquire images of the sliced ​​target tissue, obtaining a tissue cross-sectional image of the target tissue after each slice. After preprocessing the tissue cross-sectional images, continuous image registration is performed on the tissue cross-sectional images to obtain an image stack, and the image stack is displayed in three dimensions. In this process, high-resolution imaging of the target tissue can be obtained by adjusting the size of the preset step size, and since this process is a physical cutting, it will not cause ionization damage to the cells inside the target tissue. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0048] Figure 1 This is a schematic flowchart of the imaging method disclosed in the embodiments of this application;

[0049] Figure 2 This is a flowchart illustrating the preprocessing of cross-sectional images of tissues disclosed in an embodiment of this application.

[0050] Figure 3 This is a schematic diagram of the imaging device disclosed in the embodiments of this application;

[0051] Figure 4 This is a schematic diagram of the imaging device disclosed in the embodiments of this application;

[0052] Figure 5 This is a schematic diagram of the imaging system disclosed in an embodiment of this application. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] To address the issues of low resolution and potential ionization damage to cells within the tissue in existing tissue reconstruction techniques, this application discloses an imaging scheme. This scheme involves multiple slicing of the target tissue, followed by image acquisition to obtain cross-sectional images of each section. Based on these cross-sectional images, a three-dimensional image of the target tissue can be reconstructed. The resolution of the reconstructed three-dimensional image can be adjusted according to the number of slicing operations. Furthermore, since a microtome is used to slice the target tissue, ionization damage to cells within the tissue is avoided during the process.

[0055] For details, see Figure 1 An imaging method disclosed in this application embodiment may include steps S101-S105.

[0056] Step S101: Control the microtome to slice the target tissue at a preset step size.

[0057] In this solution, the target tissue is fixed to the tray of the slicer's incubator using the slicer's clamping tool. By adjusting the position and angle of the tray, the pitch angle of the target tissue can be adjusted to a suitable position, which refers to the position suitable for the slicer's cutting head. Then, the slicer is controlled to slice the target tissue using a preset step size. The preset step size refers to the step size of the slicer's cutting head between two adjacent slicing processes, or it can be considered as the thickness of the sliced ​​target tissue. The specific value of the preset step size can be adjusted according to user needs. That is, in this solution, before controlling the slicer to slice the target tissue with the preset step size, the user can also input the preset step size setting parameter to the device using this method through an interactive device. After obtaining the setting parameter, the device using this method sets the specific value of the preset step size based on the setting parameter. For example, the preset step size can be set to 8 micrometers, 9 micrometers, 10 micrometers, 11 micrometers, or other values ​​based on the setting parameter.

[0058] Step S102: After each slicer operation is completed, the image acquisition device is controlled to acquire images of the sliced ​​target tissue to obtain cross-sectional images of each section of the target tissue.

[0059] In this solution, a base is rigidly connected to the inner wall of the slicer's constant temperature chamber. A three-dimensional adjustable bracket is connected to the base, and an image acquisition device is connected to the bracket via a robotic arm. The image acquisition device can be moved in three dimensions via the bracket to adjust its shooting angle, thereby enabling better image acquisition of the cross-section of the sliced ​​target tissue. The type of image acquisition device can be selected according to the user's needs, such as a mobile phone with image acquisition function or a digital camera.

[0060] The base can be a magnetic base. When the control switch of the magnetic base is turned on, the magnetic base generates magnetism, which allows the magnetic base to be attracted to the metal inner wall of the constant temperature chamber. Then, the image acquisition device is fixed on the magnetic base by the bracket, and the angle and pitch of the image acquisition device are adjusted by the bracket so that the focal plane of the image acquisition device falls on the upper surface of the target tissue.

[0061] The slicer's slicing action is monitored in real time. Whenever the slicer completes a slicing action, an image acquisition command is sent to the image acquisition device. This controls the image acquisition device to quickly acquire images of the sliced ​​target tissue after the slicing action is completed. This prevents the target tissue cross-section from being exposed to air for too long, which could cause the tissue to oxidize or cause internal fluid to seep out, making it impossible for the camera to capture a clear cross-sectional image.

[0062] Step S103: Preprocess the acquired tissue cross-sectional images.

[0063] In this scheme, to improve the model effect of the constructed 3D model of the image stack, it is necessary to preprocess the tissue cross-sectional image to make the structure of the target tissue in the image clearer. The specific preprocessing method can refer to existing image processing schemes; for example, in this scheme, see... Figure 2 The preprocessing may include:

[0064] Step S201: Remove the background image from the tissue cross-sectional image;

[0065] Step S202: Convert the tissue cross-section image after removing the background image to the color model (Hue, Saturation, Value, abbreviated as HSV) space;

[0066] Step S203: Extract the H channel and convert it to a grayscale image;

[0067] Step S204: Binarize the grayscale image using the Li algorithm;

[0068] Step S205: Obtain the binarized result contour map;

[0069] Step S206: Select the profile using the first moment of the profile;

[0070] Step S207: Combine with the original image to obtain the target region, which is the region where the target tissue is located in the tissue interface image.

[0071] Steps S201-S207 are an image preprocessing procedure in the existing scheme. For specific steps, please refer to the existing scheme.

[0072] Step S104: Perform continuous image registration on the preprocessed tissue cross-section image to obtain an axially continuous tissue cross-section image, denoted as image stack.

[0073] In this scheme, the target tissue will be sliced ​​multiple times. After each slice, an image acquisition device will be used to acquire an image of the cross-section of the target tissue. The whole process will obtain multiple cross-sectional images of the target tissue. In order to construct a three-dimensional model of the target tissue, it is necessary to perform continuous image registration on each tissue cross-sectional image to obtain axially continuous tissue cross-sectional images. The axial direction refers to the movement direction of the slicer's blade.

[0074] Step S105: Perform a three-dimensional display of the image stack;

[0075] In this step, 3D software loaded in the computer system can be used to display the image stack in three dimensions, thereby obtaining a three-dimensional structural view of the target tissue.

[0076] In the technical solutions disclosed in the above embodiments of this application, when it is necessary to perform internal imaging of a target tissue, after fixing the target tissue, the microtome is controlled to slice the target tissue at a preset step size. After each slice, an image acquisition device is used to acquire an image of the sliced ​​target tissue, obtaining a cross-sectional image of the target tissue after each slice. After preprocessing the cross-sectional images, continuous image registration is performed on the cross-sectional images to obtain an image stack, which is then displayed in three dimensions. In this process, high-resolution imaging of the target tissue can be obtained by adjusting the size of the preset step size. Moreover, since this process is a physical cutting, it does not cause ionizing damage to the cells inside the target tissue.

[0077] In another embodiment of this application, the slicing action of the slicer is triggered by a slicing command. Each time a slice is performed, the slicer's blade moves a preset step length along the axial direction before the slicing action is performed. Specifically, controlling the slicer to slice the target tissue at a preset step length includes: determining whether a slicing command has been obtained; when a slicing command is obtained, controlling the slicer's blade to move a preset step length along a preset direction and controlling the slicer's blade to slice the target tissue. The slicing command can be generated by user operation or by detecting the acquisition result of an image acquisition device. That is, the slicing command is generated when a user triggers a preset control operation, or when a signal representing the completion of the image acquisition action is detected from the image acquisition device. Therefore, in the above solution, determining whether a slicing command has been obtained can specifically include: determining whether a slicing command generated based on user operation has been obtained, or whether a slicing command output by the image acquisition device after the image acquisition action is completed.

[0078] In another embodiment of the technical solution disclosed in this application, if tissue fragments or other interfering fragments exist on the cross-sectional surface of the target tissue during the slicing process, these fragments will exist in the tissue cross-sectional image. If a three-dimensional model of the target tissue is constructed based on these fragmented images, it will affect the accurate understanding of the structure of the target tissue during the research process. Therefore, it is necessary to clean the fragments on the cross-sectional surface of the target tissue. After cleaning, the cross-sectional image of the target tissue is re-acquired. When the cross-sectional image is clean and free of interference, a slicing instruction is generated to control the slicer to continue performing the slicing operation. Therefore, in the above solution, after the tissue cross-sectional image is acquired, it also includes: determining whether there is an interfering region in the tissue cross-sectional image (the interfering region is the interfering region formed by fragments on the cross-section of the target tissue). When there is no interfering region, a slicing instruction is generated. When there is an interfering region, the cleaning device is controlled to clean the cross-section of the target tissue, and the image acquisition device is controlled again to acquire the image of the cleaned target tissue.

[0079] In another embodiment of the technical solution disclosed in this application, in order to construct a three-dimensional model of the target tissue, it is necessary to perform continuous image registration on each of the acquired tissue cross-sectional images. Through continuous image registration, the edge parts of the target tissue in two adjacent tissue cross-sectional images at the time node are aligned with each other, and the three-dimensional model of the target tissue is finally constructed with a smooth transition in structure. The specific registration scheme can be selected according to the user's needs. For example, in this solution, the mutual information algorithm can be used to perform continuous image registration on the preprocessed tissue cross-sectional images to obtain an axially continuous image stack.

[0080] Corresponding to the above method, this application discloses an imaging device. In this embodiment, for the specific working content of each unit in the imaging device, please refer to the content of the above method embodiment.

[0081] The imaging apparatus provided in the embodiments of the present invention will be described below. The imaging apparatus described below can be referred to in correspondence with the imaging method described above.

[0082] For details, see Figure 3 The imaging device may include: a slicer control unit A, an image acquisition unit B, a preprocessing unit C, a registration unit D, and a model display unit E.

[0083] The slicer control unit, corresponding to step S101 in the above method, is used to control the slicer to slice the target tissue at a preset step size.

[0084] The image acquisition unit, corresponding to step S102 in the above method, is used to control the image acquisition device to acquire images of the sliced ​​target tissue after each slice action is detected to be completed, so as to obtain tissue cross-sectional images of each section of the target tissue.

[0085] The preprocessing unit, corresponding to step S103 in the above method, is used to preprocess the acquired tissue cross-sectional images;

[0086] The registration unit, corresponding to step S104 in the above method, is used to perform continuous image registration on the preprocessed tissue cross-sectional image to obtain an axially continuous tissue cross-sectional image, denoted as image stack;

[0087] The model display unit E, corresponding to step S105 in the above method, performs a three-dimensional display of the image stack.

[0088] Corresponding to the above method, the above device may also include a cleaning control unit, which is used to determine whether there is an interference region in the tissue cross-section image after the tissue cross-section image is acquired. When there is no interference region, a slicing instruction is generated. When there is an interference region, the cleaning device is controlled to clean the cross-section of the target tissue, and the image acquisition device is controlled again to acquire an image of the cleaned target tissue.

[0089] The specific working methods of each unit in the imaging device described in this application can be found in the above method embodiments, and will not be repeated here.

[0090] Corresponding to the above method, this application also discloses an imaging device. Figure 4 For a hardware structure diagram of the imaging device provided in an embodiment of the present invention, see [link / reference]. Figure 4As shown, it may include: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400;

[0091] In this embodiment of the invention, the number of processor 100, communication interface 200, memory 300, and communication bus 400 is at least one, and the processor 100, communication interface 200, and memory 300 communicate with each other through communication bus 400; obviously, Figure 4 The communication connections shown for the processor 100, communication interface 200, memory 300, and communication bus 400 are optional.

[0092] Optionally, the communication interface 200 can be an interface of a communication module, such as the interface of a GSM module;

[0093] Processor 100 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0094] The memory 300 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0095] Specifically, processor 100 is used for:

[0096] Control the microtome to slice the target tissue at a preset step size;

[0097] After each slicer operation is completed, the image acquisition device is controlled to acquire images of the sliced ​​target tissue, thereby obtaining cross-sectional images of each section of the target tissue.

[0098] Preprocess the acquired tissue cross-sectional images;

[0099] The preprocessed tissue cross-sectional images are continuously registered to obtain axially continuous tissue cross-sectional images, denoted as image stack;

[0100] The image stack is then displayed in three dimensions.

[0101] Corresponding to the above method, this application also discloses an imaging system, see [link to relevant documentation]. Figure 5 The system may include: a base, an image acquisition device, a slicer (not shown), and a host computer.

[0102] The base can be a magnetic base or other mechanical structure that can fix the robotic arm. In this solution, a magnetic base is preferred. The magnetic base is set on the inner wall of the slicer's constant temperature chamber. The magnetic base is equipped with a magnetic base switch. The magnetic base switch can control the opening and closing of the magnetic base. When the magnetic base switch is turned on, the magnetic base can be attracted to the metal inner wall of the slicer's constant temperature chamber.

[0103] An image acquisition device is mounted on a magnetic base via a bracket or a robotic arm. The bracket and robotic arm are three-dimensionally movable, meaning that the position of the image acquisition device located on the bracket and robotic arm can be adjusted so that the focal plane of the image acquisition device falls on the cross-section of the target tissue.

[0104] A slicer is used to hold a target tissue and slice the target tissue. The slicer slices the target tissue through a slicer head, wherein the slicer head is a movable head, and by moving the slicer head, the slicer can slice the target tissue at a preset step size.

[0105] The host computer is used for:

[0106] Control the microtome to slice the target tissue at a preset step size;

[0107] After each slicer operation is completed, the image acquisition device is controlled to acquire images of the sliced ​​target tissue, thereby obtaining cross-sectional images of each section of the target tissue.

[0108] Preprocess the acquired tissue cross-sectional images;

[0109] The preprocessed tissue cross-sectional images are continuously registered to obtain axially continuous tissue cross-sectional images, denoted as image stack;

[0110] The image stack is then displayed in three dimensions.

[0111] The host computer can be a computer or other intelligent terminal with data processing capabilities.

[0112] For ease of description, the above system is described by dividing it into various modules based on their functions. Of course, in implementing this invention, the functions of each module can be implemented in one or more software and / or hardware components.

[0113] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0114] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0115] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0116] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0117] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An imaging method, characterized in that, include: The microtome is controlled to slice the target tissue at a preset step size; wherein, the target tissue is fixed on a tray by the microtome's clamping tool, and the pitch angle of the target tissue is adjusted to a suitable position by adjusting the position and angle of the tray, so as to position the target tissue suitable for the microtome's cutting head; the image acquisition device is mounted on the base by a bracket on the base, and the angle and pitch of the image acquisition device are adjusted by the bracket so that the focal plane of the image acquisition device falls on the upper surface of the target tissue; The slicing action of the slicer is monitored in real time. After each slicing action is completed, an image acquisition command is sent to the image acquisition device to control the image acquisition device to acquire images of the sliced ​​target tissue, thereby obtaining cross-sectional images of each section of the target tissue; the acquired cross-sectional images of the tissue are then preprocessed. The preprocessed tissue cross-sectional images are continuously registered to obtain axially continuous tissue cross-sectional images, denoted as image stack; The image stack is displayed in three dimensions; Controlling the microtome to slice the target tissue at a preset step size includes: Determine whether a slicing command is obtained after the image acquisition action of the image acquisition device is completed. When a slicing command is obtained, control the blade of the slicer to move a preset step length in a preset direction and control the blade of the slicer to slice the target tissue. Also includes: After acquiring the cross-sectional image of the tissue, it is determined whether there is an interference region in the cross-sectional image. If there is no interference region, a slicing command is generated. If there is an interference region, the cleaning device is controlled to clean the cross-section of the target tissue, and the image acquisition device is controlled again to acquire images of the cleaned target tissue. The interference region is the interference region formed by fragments on the cross-section of the target tissue.

2. The imaging method according to claim 1, characterized in that, The step of performing continuous image registration on the preprocessed tissue cross-sectional image includes: The mutual information algorithm is used to perform continuous image registration on the preprocessed tissue cross-sectional image.

3. The imaging method according to claim 1, characterized in that, Also includes: Based on the setting parameters, set the specific value of the preset step size.

4. An imaging device, characterized in that, include: A slicer control unit is used to control the slicer to slice the target tissue at a preset step size. The target tissue is fixed to a tray by the slicer's clamping tool. The position and angle of the tray are adjusted to adjust the pitch angle of the target tissue to a suitable position for the slicer's cutting head. An image acquisition device is mounted on a base via a bracket. The angle and pitch of the image acquisition device are adjusted via the bracket so that the focal plane of the image acquisition device falls on the upper surface of the target tissue. The image acquisition unit is used to monitor the slicing action of the slicer in real time. After each slicing action of the slicer is completed, the image acquisition device sends an image acquisition command to control the image acquisition device to acquire images of the sliced ​​target tissue and obtain tissue cross-sectional images of each section of the target tissue. The preprocessing unit is used to preprocess the acquired tissue cross-sectional images; The registration unit is used to perform continuous image registration on the preprocessed tissue cross-sectional image to obtain an axially continuous tissue cross-sectional image, denoted as the image stack. A model display unit is used to display the image stack in three dimensions; The slicer control unit controls the slicer to slice the target tissue at preset step sizes, including: Determine whether a slicing command is obtained after the image acquisition action of the image acquisition device is completed. When a slicing command is obtained, control the blade of the slicer to move a preset step length in a preset direction and control the blade of the slicer to slice the target tissue. It also includes determining whether there is an interference region in the tissue cross-section image after the tissue cross-section image is acquired. If there is no interference region, a slicing command is generated. If there is an interference region, the cleaning device is controlled to clean the cross-section of the target tissue, and the image acquisition device is controlled again to acquire an image of the cleaned target tissue. The interference region is the interference region formed by fragments on the cross-section of the target tissue.

5. An imaging device, characterized in that, include: Memory and processor; The memory stores a program suitable for execution by the processor, the program being used for: The microtome is controlled to slice the target tissue at a preset step size; wherein, the target tissue is fixed on a tray by the microtome's clamping tool, and the pitch angle of the target tissue is adjusted to a suitable position by adjusting the position and angle of the tray, so as to position the target tissue suitable for the microtome's cutting head; the image acquisition device is mounted on the base by a bracket on the base, and the angle and pitch of the image acquisition device are adjusted by the bracket so that the focal plane of the image acquisition device falls on the upper surface of the target tissue; The slicing action of the slicer is monitored in real time. After each slicing action of the slicer is completed, the image acquisition device sends an image acquisition command to control the image acquisition device to acquire images of the sliced ​​target tissue, thereby obtaining tissue cross-sectional images of each section of the target tissue; the acquired tissue cross-sectional images are preprocessed. The preprocessed tissue cross-sectional images are continuously registered to obtain axially continuous tissue cross-sectional images, denoted as image stack; The image stack is displayed in three dimensions; Controlling the microtome to slice the target tissue at a preset step size includes: Determine whether a slicing command is obtained after the image acquisition action of the image acquisition device is completed. When a slicing command is obtained, control the blade of the slicer to move a preset step length in a preset direction and control the blade of the slicer to slice the target tissue. It also includes determining whether there is an interference region in the tissue cross-section image after the tissue cross-section image is acquired. If there is no interference region, a slicing command is generated. If there is an interference region, the cleaning device is controlled to clean the cross-section of the target tissue, and the image acquisition device is controlled again to acquire an image of the cleaned target tissue. The interference region is the interference region formed by fragments on the cross-section of the target tissue.

6. An imaging system, characterized in that, include: Magnetic base; An image acquisition device is mounted on a magnetic base via a bracket; the angle and pitch of the image acquisition device are adjusted via the bracket so that the focal plane of the image acquisition device falls on the upper surface of the target tissue. A slicer is used to hold a target tissue and slice the target tissue; the target tissue is fixed on a tray by the clamping tool of the slicer, and the pitch angle of the target tissue is adjusted to a suitable position by adjusting the position and angle of the tray, so as to adjust the target tissue to a position suitable for the slicer's blade to cut; The host computer is used for: Control the microtome to slice the target tissue at a preset step size; The slicing action of the slicer is monitored in real time. After each slicing action of the slicer is completed, an image acquisition command is sent to the image acquisition device to control the image acquisition device to acquire images of the sliced ​​target tissue and obtain tissue cross-sectional images of each section of the target tissue. Preprocess the acquired tissue cross-sectional images; The preprocessed tissue cross-sectional images are continuously registered to obtain axially continuous tissue cross-sectional images, denoted as image stack; The image stack is displayed in three dimensions; Controlling the microtome to slice the target tissue at a preset step size includes: Determine whether a slicing command is obtained after the image acquisition action of the image acquisition device is completed. When a slicing command is obtained, control the blade of the slicer to move a preset step length in a preset direction and control the blade of the slicer to slice the target tissue. It also includes determining whether there is an interference region in the tissue cross-section image after the tissue cross-section image is acquired. If there is no interference region, a slicing command is generated. If there is an interference region, the cleaning device is controlled to clean the cross-section of the target tissue, and the image acquisition device is controlled again to acquire an image of the cleaned target tissue. The interference region is the interference region formed by fragments on the cross-section of the target tissue.

7. The imaging system according to claim 6, characterized in that, The support is a three-dimensionally movable support.

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