A sampling control method

Abstract

This invention discloses a sample addition control method with efficient interactive operation. This method can control the sample addition terminal to perform sample addition operations in a designated area of ​​the sample slide and can feed back the operation results to the user, forming a complete interactive operation closed loop. By transforming coordinate information, the influence of errors in the specific placement of sample slices on the sample slide can be fully considered, making the sample addition point more accurate and reliable. When adding a new sample point, the already reacted area is identified by comparing the color values ​​of the photograph. Machine vision analysis is used to fine-tune the position of the new sample point selected by the user, ensuring it avoids the already reacted area.

Description

Technical Field

[0001] This invention relates to the field of experimental instrument control technology, and in particular to a technical solution for the positioning and control of immunohistochemical sample loading points in automated slide processing instruments. Background Technology

[0002] Immunohistochemistry (IHC) is a detection method that utilizes the principle of specific binding between antigens and antibodies. Through a chemical reaction, the substrate labeled with antibodies is colored, allowing the presence and expression of target antigens in tissues to be determined. It combines the specificity of immune reactions with the visibility of histochemistry, using the imaging and magnification capabilities of microscopes (including fluorescence microscopes and electron microscopes) to detect various antigenic substances at the cellular and subcellular levels, enabling their localization, qualitative, and quantitative studies. Because immunohistochemistry reactions are time-consuming and cumbersome, those skilled in the art have long sought to replace manual immunohistochemistry experiments with fully automated processing instruments, and have developed a series of automated slide processing instruments and equipment.

[0003] These instruments use a robotic arm to add samples to glass slides. For typical sample addition experiments, the sample only needs to be placed in the center of the slide; there are no stricter requirements for the placement position. The control scheme for the robotic arm only needs to be set with fixed interval movement distances to meet the needs of batch slide addition, and it will not change due to different batches of experiments.

[0004] However, in experiments requiring sample addition at multiple precise points on the slide, the aiming operation of the sample application terminal cannot be directly controlled. Therefore, a sample application control method with efficient interactive operation is needed. This method should be able to control the sample application terminal to perform sample application operations in designated areas of the sample slide and provide feedback to the user, forming a complete interactive operation loop. Additionally, based on the immunohistochemical reaction results, it may be necessary to add new sample points outside the original application points, ensuring that these new points do not interfere with the reaction area of ​​the original application points. Summary of the Invention

[0005] The present invention aims to overcome the above-mentioned shortcomings in the prior art by providing a sample addition control method. This method features efficient interactive operation, enabling the sample addition terminal to perform sample addition operations in a designated area of ​​the sample slide and to feed back the operation results to the user, thus forming a complete interactive operation closed loop.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides a sample loading control method for controlling an automatic sample loading device. The automatic sample loading device includes a control terminal, a sample loading terminal, and a slide holder. The sample loading terminal is equipped with a sample loading needle and a camera. The method is used to control the sample loading terminal to perform sample loading actions on sample slides on the slide holder via the control terminal. The method includes the following steps:

[0008] The control terminal displays interactive slide icons with rectangular areas, and each slide icon corresponds one-to-one with a sample slide on the slide holder;

[0009] The control terminal reads the operation instructions marked by the sample application point within the rectangular area of ​​the slide icon. The operation instructions include the control terminal obtaining the user's operation instruction to select a sample application point within the rectangular area of ​​the slide icon, and the preset instruction for the default sample application point within the area of ​​the slide icon.

[0010] The control terminal generates a control command containing the actual sample location information on the glass slide according to the location information of the sample application point mark in the glass slide icon in the operation command and sends it to the sample application terminal. The sample application terminal moves to the corresponding sample application location according to the control command and applies the sample.

[0011] The control terminal displays the sample application point mark at the corresponding position on the slide icon, and the sample application terminal completes the sample application.

[0012] Preferably, the step of displaying interactive slide icons with rectangular areas on the control terminal, wherein each slide icon corresponds one-to-one with a sample slide on the slide holder, further includes:

[0013] Each sample slide is equipped with an identification QR code. The control terminal sequentially photographs each actual sample slide, identifies the identification QR code on all sample slides, and parses the slide identification information.

[0014] The control terminal generates a slide icon that corresponds one-to-one with the sample slide based on the identified sample slide identity information. The slide icon is an interactive slide icon with a rectangular area, which also identifies the slide identity.

[0015] Based on the slide identification information, the control terminal retrieves the sample dispensing reagent information corresponding to the slide identification information and the preset instructions for the default sample dispensing point from the preset database.

[0016] Preferably, the step of controlling the sample loading terminal to sequentially photograph each actual sample slide, identify the identification QR codes on all sample slides, and parse the slide identification information further includes:

[0017] The control terminal extracts the first coordinate information of each sample slide on the preset slide holder. The first coordinate information is used for the camera of the sample loading terminal to move above the QR code of each sample slide.

[0018] The camera captures the identification QR code on the sample slide, identifies the identification QR code on all sample slides, and parses the slide identification information.

[0019] After the camera captures the QR code on the sample slide, it moves a preset adjustment distance to one side of the sample slide to capture the first image of the sample slide.

[0020] Preferably, the control terminal generates a control command containing the actual sample slide's location information based on the location information of the sample application point marker within the slide icon in the operation command, and sends it to the sample application terminal. The step of the sample application terminal moving to the corresponding sample application location and applying the sample according to the control command further includes:

[0021] The control terminal extracts the first coordinate information of each sample slide on the preset slide holder, controls the sample loading terminal to take pictures of each actual sample slide in sequence, and analyzes the second coordinate information of the sample slices in the actual sample slide in the pictures taken by the sample loading terminal.

[0022] By combining the first coordinate information and the second coordinate information, the position information of the sample slice in the actual sample slide within the coordinate system of the sample loading terminal is determined, and the position information of the sample loading point mark is converted into the sample slice position information to generate the third coordinate information of the position to be loaded.

[0023] A control command containing third coordinate information is generated and sent to the sample dispensing terminal. The sample dispensing terminal moves to the corresponding sample dispensing position according to the control command and dispenses the sample.

[0024] Preferably, the slide holder of the automatic sample loading device is equipped with a light source that can illuminate the sample slides; the step of the control terminal extracting the first coordinate information of each sample slide on the preset slide holder, controlling the sample loading terminal to sequentially take pictures of each actual sample slide, and analyzing the second coordinate information of the sample slices within the actual sample slides in the pictures taken by the sample loading terminal further includes:

[0025] The control terminal extracts the first coordinate information of each sample slide on the preset slide holder, and controls the sample loading terminal to move to the sample slide according to the first coordinate information; the light source is turned on to illuminate the sample slice of the sample slide, and the camera of the sample loading terminal takes a picture of the sample slide, and the picture of each sample slide is completed in sequence.

[0026] The photograph of the sample slide is converted into a grayscale image. The grayscale difference between the pixels in adjacent columns of each row in the grayscale image is calculated. The grayscale difference between the pixels in adjacent columns of each row in the image is analyzed. If the absolute value of the difference is greater than the judgment threshold, it is identified as a boundary pixel. By identifying the boundary pixels, the outline of the sample slice within the sample slide is identified.

[0027] The contour line of the sample slice is fitted into a rectangular contour, and the coordinate information of the rectangular contour relative to the sample slide photograph taken by the camera is calculated as the second coordinate information.

[0028] Preferably, the camera of the sample addition terminal is a high-resolution camera; the method further includes the following steps:

[0029] The control terminal obtains user operation instructions, identifies the newly added sample point selected by the user within the slide marking, and generates the position information of the newly added sample point on the sample slide corresponding to the newly added sample point based on the relative position of the newly added sample point on the slide marking.

[0030] Based on the location information of the sampling point, the sampling terminal moves to a position above the sampling point on the sample slide and takes a second photograph of the sample slide; at the same time, it recalls the first photograph of the sample slide taken in the previous sampling operation.

[0031] Extract the first and second photos respectively, and generate the first and second region photos by taking the image of the region near the newly added sampling points;

[0032] Identify the areas in the second region photograph where the color value changes relative to the first region photograph, and mark the areas where the color value changes as the reacted areas;

[0033] If there is a reacted area on one side of the area near the sampling point, the sampling terminal is moved to the other side of the reacted area. The moving distance is the shortest distance between the reacted area and the sampling point.

[0034] If there are already reacted areas on both sides of the area near the sample application point, a mark indicating that the sample application point cannot be applied will be displayed at the corresponding position on the slide marking on the control end.

[0035] Therefore, the technical solution of this invention, by displaying an interactive slide icon on the control terminal, allows the user to select a sample application point on the slide icon, and the sample application terminal will perform a sample application operation at the corresponding position in the actual sample slide and feed back the sample application point to the slide icon for display, thus forming a control closed loop. Attached Figure Description

[0036] Figure 1 This is a first flowchart of an embodiment of this application.

[0037] Figure 2 This is a second flowchart of an embodiment of this application.

[0038] Figure 3 This is a design diagram of the interactive interface of the control terminal in an embodiment of this application.

[0039] Figure 4 This is a schematic diagram of an automatic sample dispensing device.

[0040] The diagram is labeled as follows: 1. Control interface; 2. Slide icon; 3. Sample application point marker; 4. Slide thumbnail icon; 5. Function button; 601. Sample application terminal; 602. Slide holder; 603. Sample application needle; 604. Camera; 605. Sample slide; 606. QR code; 607. Light source. Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0042] like Figure 1 As shown, the present invention provides a sample loading control method for controlling an automatic sample loading device. The automatic sample loading device includes a control terminal, a sample loading terminal, and a slide holder. The sample loading terminal is equipped with a sample loading needle and a camera. The slide holder of the automatic sample loading device is equipped with a light source that can illuminate the sample slide.

[0043] like Figure 4 The diagram shown is a structural schematic of the automatic sample dispensing device in this embodiment, and is only used as a specific example for illustration. The automatic sample dispensing device includes a control terminal, a sample dispensing terminal 601, a slide holder 602, a sample dispensing needle 603, a camera 604, a sample slide 605, a QR code 606, and a light source 607.

[0044] The method is used to control the sample loading terminal to load sample slides onto the slide holder via a control terminal.

[0045] The method described in this application includes the following steps:

[0046] Step S1: The control terminal displays interactive slide icons with rectangular areas, and each slide icon corresponds one-to-one with a sample slide on the slide holder.

[0047] Step S2: The control terminal reads the operation instructions marked by the sample application point within the rectangular area of ​​the slide icon. The operation instructions include the control terminal obtaining the user's operation instruction to select a sample application point within the rectangular area of ​​the slide icon, and the preset instruction for the default sample application point within the area of ​​the slide icon.

[0048] Step S3: The control terminal generates a control command containing the actual sample location information on the glass slide according to the location information of the sample application point mark in the glass slide icon in the operation command, and sends it to the sample application terminal. The sample application terminal moves to the corresponding sample application location according to the control command and applies the sample.

[0049] In step S4, the control terminal displays the sample application point mark at the corresponding position on the slide icon, and the sample application terminal completes the sample application.

[0050] The control terminal for this solution can be a touchscreen mounted on the device casing. The interactive slide icons displayed on the control terminal correspond one-to-one with the actual sample slides. For ease of explanation, as follows... Figure 3 The example shown is a case study of an interactive interface for a control terminal. Figure 3 This is a design diagram for an example of the interactive interface on the control terminal. The control interface 1 displays interactive elements such as slide icons 2, sample application point markers 3, slide thumbnail icons 4, and function buttons 5. Slide thumbnail icons 4 display all slides already in the device ready for operation, allowing users to view the status of all slides or select the slide to be operated on. Users can select a slide by clicking on a slide thumbnail icon 4, and the corresponding slide icon 2 will appear below, featuring a rectangular area. Within the rectangular area of ​​slide icon 2, clicking allows selection of the sample application point, which will display the sample application point marker 3. For easy differentiation, the sample application point marker 3 indicates negative or positive quality control, i.e., the sample application type; changes in the marker 3 are presented using a color-changing interactive display.

[0051] Users simply select the sample application point on the slide icon, and the application terminal will perform the sample application operation at the corresponding location on the actual sample slide, displaying the application point on the slide icon. This allows for convenient control of the application terminal within a closed enclosure, while also providing a clear display of the feedback results on the control panel. Displaying the results via slide icons not only clearly shows the location of the application point and the progress of the application, but also requires less system configuration compared to directly displaying photos of the application process, thus reducing costs.

[0052] Specifically, in step S1, the step of displaying interactive slide icons with rectangular areas on the control terminal, where each slide icon corresponds one-to-one with a sample slide on the slide holder, further includes:

[0053] Step S101: The sample slides are equipped with identification QR codes. The control terminal sequentially photographs each actual sample slide, identifies the identification QR codes on all sample slides, and parses the slide identification information.

[0054] In step S102, the control terminal generates a slide icon that corresponds one-to-one with the sample slide based on the identified sample slide identity information. The slide icon is an interactive slide icon with a rectangular area, which also identifies the slide identity.

[0055] In step S103, the control terminal retrieves the sample dispensing reagent information corresponding to the slide identity information and the preset instruction for the default sample dispensing point from the preset database based on the slide identity information.

[0056] The sample slide has a QR code on its side that can be captured by the camera of the sample application terminal. The QR code is associated with preset instructions on the sample slide, such as sample type, reagent information, and default application point. This default application point scheme enables automated batch sample application. Users only need to monitor and manage the application process from the control terminal.

[0057] Furthermore, step S101, which involves controlling the sample application terminal to sequentially photograph each actual sample slide, identifying the QR codes on all sample slides, and parsing the slide identity information, further includes:

[0058] Step S1011: The control terminal extracts the first coordinate information of each sample slide on the preset slide holder. The first coordinate information is used for the camera of the sample loading terminal to move above the QR code of each sample slide.

[0059] Step S1012: The camera captures the identification QR code on the sample slide, identifies the identification QR code on all sample slides, and parses the slide identification information.

[0060] In step S1013, after the camera captures the QR code on the sample slide, it moves a preset adjustment distance to one side of the sample slide to capture the first image of the sample slide.

[0061] The identification QR code is an easily captured identifier by the camera. It is placed at one end of the sample slide, with a controllable distance between it and the sample slice. The first coordinate information is based on preset fixed parameters according to the fixed positions of the device's sample application terminal and slide holder. The sample application terminal and camera can easily capture the identification QR code using this first coordinate information. After recognizing the identification QR code, the sample application terminal and camera can easily capture the first image of the sample by shifting a short distance, providing an analytical basis for further precise positioning of the sample slice in subsequent operations.

[0062] In specific step S3, the control terminal generates a control command containing the actual sample slide's location information based on the location information of the sample application point marker within the slide icon in the operation command, and sends it to the sample application terminal. The step of the sample application terminal moving to the corresponding sample application location and applying the sample according to the control command further includes:

[0063] Step S301: The control terminal extracts the first coordinate information of each sample slide on the preset slide holder, controls the sample loading terminal to take the first photo of each actual sample slide in sequence, and analyzes the second coordinate information of the sample slice in the actual sample slide in the photo taken by the sample loading terminal.

[0064] The analysis of the second coordinate information of the sample slice within the actual sample slide in the photograph taken at the sample application terminal further includes:

[0065] In step S3011, the control terminal extracts the first coordinate information of each sample slide on the preset slide holder, and controls the sample application terminal to move to the sample slide according to the first coordinate information; the light source is turned on to illuminate the sample slice of the sample slide, and the camera of the sample application terminal takes a picture of the sample slide, and the imaging of each sample slide is completed in sequence. Similarly, the imaging step here can also be based on the method of steps S1011 to S1013 above, only requiring the light source to be turned on simultaneously to illuminate the sample slice of the sample slide.

[0066] Step S3012: Convert the photograph of the sample slide into a grayscale image, calculate the grayscale difference between the pixels in adjacent columns of each row in the grayscale image, analyze the grayscale difference between the pixels in adjacent columns of each row in the image, and if the absolute value of the difference is greater than the judgment threshold, it is identified as a boundary pixel. By identifying the boundary pixels, the outline of the sample slice within the sample slide is identified.

[0067] Step S3013: Fit the outline of the sample slice to a rectangular outline, and calculate the coordinate information of the rectangular outline relative to the sample slide photograph taken by the camera as the second coordinate information.

[0068] Step S302: Combine the first coordinate information and the second coordinate information to determine the position information of the sample slice in the actual sample slide within the coordinate system of the sample application terminal, and convert the position information of the sample application point mark into the sample slice position information to generate the third coordinate information of the position to be applied.

[0069] Step S303: A control command containing third coordinate information is generated and sent to the sample dispensing terminal. The sample dispensing terminal moves to the corresponding sample dispensing position according to the control command and dispenses the sample.

[0070] Steps S301 to S303 involve using a photograph of the sample slide and employing grayscale recognition to mark the specific location and outline of the sample slices within the sample slide.

[0071] The purpose of sample slide loading is generally to allow the reagent to react with the sample section on the slide. As long as the center position of the sample section is roughly determined, and the reagent dosage is appropriately increased, the reaction can be guaranteed. However, one practical application of this invention is for adding control samples. The purpose of controlling the loading position is to prevent the reagent from avoiding the existing sample section on the slide, requiring more precise positioning to prevent contamination. Therefore, in this solution, the loading point position marked by the user on the slide icon 2 on the control terminal needs to be converted into coordinate information to determine the specific actual position of the loading needle on the loading terminal. If only the slot on the slide holder or the sample slide is roughly matched with the loading point position on the slide icon, it is difficult to accurately reflect the true position of the sample section on the slide, affecting the final result.

[0072] Therefore, this scheme locates the sample slide using the first coordinate information, then locates the position of the sample slice within the sample slide using the second coordinate information, and finally determines the coordinate information of the sample slice relative to the sample application terminal by superimposing the two. The sample slice corresponds to the slide icon on the control terminal. The position information of the sample application point mark on the slide icon is converted into the position information of the sample application point on the sample slice, which is the third coordinate information.

[0073] By converting the coordinate information described above, the impact of errors in the specific placement of sample slices on the sample slide can be fully considered, making the sample application point more accurate and reliable.

[0074] like Figure 2 As shown, this is an optimized implementation scheme of this application. The camera of the sample addition terminal can be a high-resolution camera, which can realize the function of scanning specific sample slice images on the glass slide. On this basis, for the operation of adding new sample points, machine vision can be used to avoid the new sample points from overlapping and contaminating the previously reacted area.

[0075] This solution, following steps S1 to S4, specifically includes the following steps:

[0076] Step S5: The control terminal obtains the user's operation command, identifies the newly added sample point selected by the user within the slide marking, and generates the position information of the newly added sample point on the sample slide corresponding to the newly added sample point based on the relative position of the newly added sample point on the slide marking.

[0077] Step S6: The sample application terminal moves to the sample slide above the sample application point according to the location information of the sample application point, and takes a second photograph of the sample slide; at the same time, it recalls the first photograph of the sample slide taken in the previous sample application operation.

[0078] Step S7: Extract the first and second photos respectively, and generate the first and second region photos from the area image near the newly added sampling points.

[0079] Step S8: Identify the areas in the second region photo where the color value changes relative to the first region photo, and mark the areas with the color value changes as the reacted areas.

[0080] Step S9: If there is a reacted area on one side of the area near the sample application point, the sample application terminal is moved to the other side of the reacted area. The moving distance is the shortest distance between the reacted area and the sample application point. If there are reacted areas on both sides of the area near the sample application point, a mark indicating that the sample application point cannot be applied is displayed at the corresponding position of the slide marking on the control terminal.

[0081] In practice, a single sample addition operation sometimes cannot meet experimental requirements. It is necessary to add new sample points depending on the reaction conditions. In this case, it is essential to prevent overlap and conflict with already reacted areas. Therefore, this application provides the aforementioned optimization scheme. When adding new sample points, the already reacted areas are identified through photo color value comparison, and the location of the user-selected new sample point is fine-tuned through machine vision analysis to ensure it avoids already reacted areas.

Claims

1. A sample loading control method, the method being used to control an automatic sample loading device, the automatic sample loading device comprising a control terminal, a sample loading terminal, and a slide holder, the sample loading terminal being equipped with a sample loading needle and a camera, the method being used to control the sample loading terminal to perform a sample loading action on a sample slide on the slide holder via the control terminal, characterized in that... The method includes the following steps: The control terminal displays interactive slide icons with rectangular areas, and each slide icon corresponds one-to-one with a sample slide on the slide holder; The control terminal reads the operation instructions marked by the sample application point within the rectangular area of ​​the slide icon. The operation instructions include the control terminal obtaining the user's operation instruction to select a sample application point within the rectangular area of ​​the slide icon, and the preset instruction for the default sample application point within the area of ​​the slide icon. The control terminal generates a control command containing the actual sample location information on the glass slide according to the location information of the sample application point mark in the glass slide icon in the operation command and sends it to the sample application terminal. The sample application terminal moves to the corresponding sample application location according to the control command and applies the sample. The control terminal displays the sample application point mark at the corresponding position on the slide icon, and the sample application terminal completes the sample application.

2. The sampling control method according to claim 1, characterized in that, The step of displaying interactive slide icons with rectangular areas on the control terminal, where each slide icon corresponds one-to-one with a sample slide on the slide holder, further includes: Each sample slide is equipped with an identification QR code. The control terminal sequentially photographs each actual sample slide, identifies the identification QR code on all sample slides, and parses the slide identification information. The control terminal generates a slide icon that corresponds one-to-one with the sample slide based on the identified sample slide identity information. The slide icon is an interactive slide icon with a rectangular area, which also identifies the slide identity. Based on the slide identification information, the control terminal retrieves the sample dispensing reagent information corresponding to the slide identification information and the preset instructions for the default sample dispensing point from the preset database.

3. The sampling control method according to claim 2, characterized in that, The steps of controlling the sample loading terminal to sequentially photograph each actual sample slide, identify the identification QR codes on all sample slides, and parse the slide identification information further include: The control terminal extracts the first coordinate information of each sample slide on the preset slide holder. The first coordinate information is used for the camera of the sample loading terminal to move above the QR code of each sample slide. The camera captures the identification QR code on the sample slide, identifies the identification QR code on all sample slides, and parses the slide identification information. After the camera captures the QR code on the sample slide, it moves a preset adjustment distance to one side of the sample slide to capture the first image of the sample slide.

4. The sample addition control method according to claim 3, characterized in that, The control terminal generates a control command containing the actual sample placement location information on the glass slide based on the location information of the sample placement point marker within the slide icon in the operation command, and sends it to the sample placement terminal. The step of the sample placement terminal moving to the corresponding sample placement location and applying the sample according to the control command further includes: The control terminal extracts the first coordinate information of each sample slide on the preset slide holder, controls the sample loading terminal to take pictures of each actual sample slide in sequence, and analyzes the second coordinate information of the sample slices in the actual sample slide in the pictures taken by the sample loading terminal. By combining the first coordinate information and the second coordinate information, the position information of the sample slice in the actual sample slide within the coordinate system of the sample loading terminal is determined, and the position information of the sample loading point mark is converted into the sample slice position information to generate the third coordinate information of the position to be loaded. A control command containing third coordinate information is generated and sent to the sample dispensing terminal. The sample dispensing terminal moves to the corresponding sample dispensing position according to the control command and dispenses the sample.

5. The sampling control method according to claim 3, characterized in that, The automatic sample loading device is equipped with a light source on its slide holder, which illuminates the sample slides. The control terminal extracts the first coordinate information of each sample slide on the preset slide holder, controls the loading terminal to sequentially capture images of each actual sample slide, and analyzes the second coordinate information of the sample slices within the actual sample slides in the images captured by the loading terminal. The steps further include: The control terminal extracts the first coordinate information of each sample slide on the preset slide holder, and controls the sample loading terminal to move to the sample slide according to the first coordinate information; the light source is turned on to illuminate the sample slice of the sample slide, and the camera of the sample loading terminal takes a picture of the sample slide, and the picture of each sample slide is completed in sequence. The photograph of the sample slide is converted into a grayscale image. The grayscale difference between the pixels in adjacent columns of each row in the grayscale image is calculated. The grayscale difference between the pixels in adjacent columns of each row in the image is analyzed. If the absolute value of the difference is greater than the judgment threshold, it is identified as a boundary pixel. By identifying the boundary pixels, the outline of the sample slice within the sample slide is identified. The contour line of the sample slice is fitted into a rectangular contour, and the coordinate information of the rectangular contour relative to the sample slide photograph taken by the camera is calculated as the second coordinate information.

6. The sampling control method according to claim 1, characterized in that, The sample addition terminal has a high-resolution camera; the method further includes the following steps: The control terminal obtains user operation instructions, identifies the newly added sample point selected by the user within the slide marking, and generates the position information of the newly added sample point on the sample slide corresponding to the newly added sample point based on the relative position of the newly added sample point on the slide marking. Based on the location information of the sampling point, the sampling terminal moves to a position above the sampling point on the sample slide and takes a second photograph of the sample slide; at the same time, it recalls the first photograph of the sample slide taken in the previous sampling operation. Extract the first and second photos respectively, and generate the first and second region photos by taking the image of the region near the newly added sampling points; Identify the areas in the second region photograph where the color value changes relative to the first region photograph, and mark the areas where the color value changes as the reacted areas; If there is a reacted area on one side of the area near the sampling point, the sampling terminal is moved to the other side of the reacted area. The distance the sampling terminal moves is the shortest distance between the reacted area and the sampling point. If there are already reacted areas on both sides of the area near the sample application point, a mark indicating that the sample application point cannot be applied will be displayed at the corresponding position on the slide marking on the control end.

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