Tissue section automatic collection system and automatic collection method

Abstract

This invention relates to the field of biomedical technology, providing an automated tissue slide collection system and method. The automated tissue slide collection system includes a collection device, a pressing device, an execution device, and a moving device. Multiple glass slides are stacked within the collection device. The pressing device includes a base, a pressing rod, and an adjustment mechanism. The adjustment mechanism and the collection device are mounted on the base. The pressing rod is connected to the adjustment mechanism, which drives the pressing rod to move laterally and longitudinally, guiding the tissue slides onto the glass slides. The execution device moves the collection device and the pressing device, and also removes the glass slides containing the tissue slides. The moving device supports the pressing device, pushes the glass slides, and stores the glass slides containing the tissue slides in an orderly manner. This automated tissue slide collection system can automatically guide cut tissue slides onto glass slides, automatically remove the slides, and store them in an orderly manner, achieving automated tissue slide collection, improving collection efficiency, reducing manual workload and error probability, and decreasing the difficulty and workload of re-spreading slides. It also facilitates subsequent processing such as slide staining and brain tissue clearing.

Description

Technical Field

[0001] This invention relates to the field of biomedical technology, and in particular to an automated tissue section collection system and method. Background Technology

[0002] Biological sectioning is an important research tool in the biomedical field. By performing special treatments on the sections, such as clearing and staining brain tissue sections, optical microscopy can be used to observe the microscopic tissue structure, cell distribution and arrangement, and even obtain three-dimensional reconstructed images of complete biological tissues, providing an important data foundation for studying biological mechanisms.

[0003] Vibratory sectioning is a sectioning technique with relatively low requirements for sample processing. It can preserve the original characteristics of tissues to the greatest extent and can more realistically reveal the biological mysteries within tissues. Traditional collection methods involve manual collection, which is inefficient, labor-intensive, and requires a high level of professional skills from the operators. Summary of the Invention

[0004] This invention provides an automated tissue section collection system and method to address the shortcomings of manual tissue section collection in the prior art, which results in low collection efficiency and high workload.

[0005] This invention provides an automated tissue slide collection system, comprising: a collection device having multiple glass slides stacked within it; a pressing device including a base, a pressing rod, and an adjusting mechanism, wherein the adjusting mechanism and the collection device are disposed on the base, the pressing rod is connected to the adjusting mechanism, and the adjusting mechanism is used to drive the pressing rod to move laterally and longitudinally, so that the pressing rod guides the tissue slides onto the glass slides; an execution device for moving the collection device and the pressing device, and the execution device is also used to remove the glass slides carrying the tissue slides; and a moving device for carrying the pressing device, and the moving device is also used to push the glass slides to move and to store the glass slides carrying the tissue slides in an orderly manner.

[0006] According to the present invention, an automated tissue slide collection system includes a collection box with an open top surface, a plurality of glass slides disposed inside the collection box, the plurality of glass slides being stacked along the height direction of the collection box; and a reset mechanism disposed on the bottom surface of the collection box, on which the plurality of glass slides are placed, the reset mechanism being used to push the current topmost glass slide back to the position of the topmost glass slide after the topmost glass slide has been removed.

[0007] According to the present invention, an automatic tissue slide collection system includes a resetting mechanism comprising: a hanging plate disposed on the bottom surface of the collection box, wherein a gap exists between the hanging plate and the bottom surface of the collection box; a plurality of hinge shafts disposed at the gap; and a plurality of pull plates disposed on both sides of the hanging plate, wherein a first end of each pull plate is connected to the hinge shaft to allow the pull plate to rotate, and a second end of each pull plate is connected to the hanging plate via an elastic element, wherein a plurality of glass slides are stacked on the plurality of pull plates.

[0008] According to an automatic tissue section collection system provided by the present invention, the top surface of the collection box is further provided with a pair of pressure strips, the bottom surface of the pressure strips can abut against the top glass slide, and the extension direction of the length of the pressure strips is consistent with the moving direction of the glass slide.

[0009] According to the present invention, an automatic tissue section collection system includes a pressure bar comprising a first rod and a second rod, wherein the first rod and the second rod are perpendicularly connected, the first rod is connected to the adjustment mechanism, and the surface of the second rod has a concave-convex structure.

[0010] According to the present invention, an automated tissue slide collection system includes a base comprising: a seat body, an adjustment mechanism connected to the seat body, the seat body having a through groove aligned with the top glass slide so that the top glass slide can pass through; and a support plate disposed on one side of the seat body and connected to the seat body, the support plate being used to support the collection box.

[0011] According to the present invention, an automated tissue slide collection system includes a moving device comprising: a clamping mechanism for clamping the slide pressing device; a moving plate and a first driver, wherein the first driver is used to drive the moving plate to move, and the clamping mechanism is also used to limit the position of the slide pressing device so that the moving plate can push away the top slide.

[0012] According to an automatic tissue slide collection system provided by the present invention, the mobile device further includes a storage box for storing the glass slides carrying tissue slides. The storage box has a plurality of grooves symmetrically arranged on opposite sides, and each pair of grooves is used to accommodate one glass slide.

[0013] According to the present invention, an automated tissue slide collection system includes an actuator comprising: a robotic arm connected to an actuator for gripping the slide pressing device and the top slide; and a controller electrically connected to the robotic arm for controlling the movement of the robotic arm.

[0014] The present invention also provides an automatic collection method based on the above-described automatic tissue section collection system, comprising: controlling the movement of an adjustment mechanism based on a preset tissue section thickness so that a pressure bar is positioned above the slide; generating a first motion trajectory coordinate based on a received sectioning command, controlling the execution mechanism to move to the top of the pressing device based on the first motion trajectory coordinate, and gripping the pressing device into a pool; controlling the movement of the adjustment mechanism so that the pressure bar is positioned at the end of the sample; receiving a sectioning completion command, controlling the movement of the adjustment mechanism based on the sectioning completion command to move the pressure bar away from the sample, thereby guiding the tissue section onto the slide; parsing the sectioning completion command to generate a second motion trajectory coordinate, controlling the execution mechanism to grip the pressing device to the moving device based on the second motion trajectory coordinate; controlling a portion of the moving device to push the slide, and having the execution mechanism orderly store the slide within the moving device.

[0015] The automatic tissue slide collection system provided by this invention, by setting up a collection device, a pressing device, and an execution device, can automatically guide the cut tissue slides onto a glass slide, automatically remove the glass slides, and store them in an orderly manner. This achieves automatic collection of tissue slides, improves collection efficiency, reduces manual labor intensity and the probability of errors, reduces the difficulty and workload of re-spreading slides, and facilitates subsequent processing such as slide staining and brain tissue clearing, providing a foundation for further scientific research. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a block diagram of the automated tissue slide collection system provided by the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of the automatic tissue section collection system provided by the present invention during the sectioning process;

[0019] Figure 3 This is a schematic diagram of the structure of the automatic tissue section collection system provided by the present invention when collecting tissue sections;

[0020] Figure 4 yes Figure 1 The diagram shows the structure of the collection device.

[0021] Figure 5This is a schematic diagram of the reset mechanism;

[0022] Figure 6 yes Figure 1 The diagram shows the structure of the tableting device.

[0023] Figure 7 yes Figure 6 The diagram shows the structure of the adjustment mechanism.

[0024] Figure 8 yes Figure 1 The diagram shows the structure of the mobile device.

[0025] Figure 9 This is a schematic diagram of the storage box structure;

[0026] Figure label:

[0027] 1: Collection device; 2: Compressing device; 3: Moving device; 4: Execution device; 5: Host computer; 6: Pool; 7: Sample; 8: Knife; 9: Tissue section;

[0028] 11: Collection box; 12: Pressure strip; 13: Glass slide; 21: Pressure rod; 22: Time controller; 23: Base; 24: Adjustment mechanism; 25: Connecting plate; 31: Mounting bracket; 32: First actuator; 33: Moving plate; 34: Placement stage; 35: Clamping mechanism; 36: Storage box; 37: Base plate; 38: Column; 41: Controller; 42: Robotic arm; 43: Actuator;

[0029] 141: Hanging plate; 142: Hinge shaft; 143: Pull plate; 144: Elastic element; 231: Bearing plate; 232: Base; 233: Through groove; 241: First motor; 242: First slider; 243: First lead screw; 244: Second motor; 245: Second slider; 246: Second lead screw; 351: Second driver; 352: Gripper; 361: Groove;

[0030] 2311: Limiting groove. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0032] The terms "first" and "second" in the specification and claims of this invention may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0033] The following is combined Figures 1-9 The present invention describes an automated tissue section collection system and method.

[0034] like Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the automated tissue slide collection system includes: a collection device 1, a pressing device 2, a moving device 3, and an execution device 4. The collection device 1 has multiple glass slides 13 stacked inside. The pressing device 2 includes: a pressing rod 21, a base 23, and an adjusting mechanism 24. The adjusting mechanism 24 and the collection device 1 are disposed on the base 23. The pressing rod 21 is connected to the adjusting mechanism 24, which drives the pressing rod 21 to move laterally and longitudinally, so that the pressing rod 21 guides the tissue slides 9 onto the glass slides 13. The execution device 4 is used to move the collection device 1 and the pressing device 2. The execution device 4 is also used to remove the glass slides 13 carrying the tissue slides 9. The moving device 3 is used to support the pressing device 2, and also to push the glass slides 13 to move, and to store the glass slides 13 carrying the tissue slides in an orderly manner.

[0035] Specifically, the collecting device 1 is mounted on the base 23 of the pressing device 2, and the collecting device 1 moves along with the pressing device 2. The collecting device 1 contains a glass slide 13, which is used to hold the tissue slices. The adjusting mechanism 24 adjusts the position of the pressing rod 21 in the horizontal and vertical directions so that the pressing rod 21 can abut against the end of the sample 7. When the tissue slice 9 detaches from the end of the sample 7, the pressing rod 21 moves away from the sample 7, thereby guiding the tissue slice 9 onto the glass slide 13.

[0036] like Figure 2 As shown, the pool 6 contains a buffer solution, and the sample 7 is placed in the buffer solution. A blade 8 is used to cut the sample 7 to form a tissue section 9. At the start of slicing, the actuator 4 grasps the collection device 1 and the pressing device 2 into the pool 6. The adjusting mechanism 24 drives the pressing rod 21 to move laterally, moving it to the end position of the sample 7 at the end of the slicing process. After slicing, the tissue section 9 detaches from the end of the sample 7. The adjusting mechanism 24 drives the pressing rod 21 to move in the opposite direction, carrying the tissue section 9 onto the glass slide 13 and spreading it out. The actuator 4 moves the pressing device 2 to the moving device 3. The moving device 3 clamps the pressing device 2 and pushes the glass slide 13 carrying the tissue section. The actuator 4 removes the glass slide 13 and stores it in the moving device 3, thus completing one-time section collection.

[0037] Furthermore, in an embodiment of the present invention, the collecting device 1 may be provided with a plurality of glass slides 13, which are stacked together. After the executing device 4 removes one glass slide 13, the next glass slide 13 can continue to carry the tissue slice 9, thereby realizing the continuous collection and orderly storage of the tissue slice 9.

[0038] The automatic tissue slide collection system provided in this invention, by setting up a collection device, a pressing device, and an execution device, can automatically guide the cut tissue slides onto a glass slide and automatically remove the glass slide, realizing automatic collection and orderly storage of tissue slides, improving collection efficiency, reducing manual labor intensity and error probability, reducing the difficulty and workload of re-spreading slides, and facilitating subsequent slide staining, brain tissue clearing, and other processing, thus providing a foundation for further scientific research.

[0039] like Figure 4 and 5 As shown, in an embodiment of the present invention, the collecting device 1 includes a collecting box 11 and a resetting mechanism. The top surface of the collecting box 11 is open, and a plurality of glass slides 13 are disposed inside the collecting box 11, with the plurality of glass slides 13 stacked along the height direction of the collecting box 11. The resetting mechanism is disposed on the bottom surface of the collecting box 11, and the plurality of glass slides 13 are disposed on the resetting mechanism. The resetting mechanism is used to push the currently uppermost glass slide 13 to the position of the top glass slide after the top glass slide is removed.

[0040] Specifically, multiple slides 13 are stacked above the resetting mechanism. After the tissue slide 9 detaches from the sample 7, the pressure rod 21 guides the tissue slide 9 onto the top slide. After the actuator 4 removes the top slide, the resetting mechanism moves upward, causing multiple slides 13 in the collection box 11 to move upward simultaneously, and the upper slide 13 moves to the original position of the top slide. At this time, the pressure rod 21 continues to guide the newly cut tissue slide 9 onto the new top slide, realizing the second collection of the tissue slide 9. By operating in this way, the continuous collection of the tissue slide 9 can be achieved.

[0041] Furthermore, such as Figure 4As shown, in an embodiment of the present invention, the collection box 11 includes a bottom plate, a front plate, a rear plate, a left side plate, and a right side plate, which together form the collection box 11. The front and rear plates are of equal height, as are the left and right side plates. The height of the left and right side plates is greater than the height of the front and rear plates. The bottom surface of the top slide is flush with or higher than the top surface of the front plate, allowing the top slide to slide outside the collection box 11 under external force. Further, in this embodiment, the height difference between the left side plate and the front plate should be greater than the thickness of one slide 13 but less than the thickness of two slides 13. Optionally, if the thickness of the slide 13 is 1.2 mm, the height difference between the left side plate and the front plate can be 1.5 mm, 1.6 mm, etc., to ensure that only one slide 13 moves outside the collection box 11 each time it is pushed.

[0042] like Figure 4 As shown, in an embodiment of the present invention, the top surface of the collection box 11 is also provided with a pair of pressure strips 12, the bottom surface of the pressure strips 12 can abut against the top glass slide, and the extension direction of the length of the pressure strips 12 is consistent with the moving direction of the glass slide 13.

[0043] Specifically, in this embodiment, a pair of pressure strips 12 are respectively disposed on the left and right side plates, with portions of the two pressure strips 12 extending above the accommodating space of the collection box 11 to limit the position of the top slide. Specifically, after the top slide is removed, the reset mechanism moves upward, causing multiple slides 13 in the collection box 11 to move upward simultaneously. At this time, the pair of pressure strips limit the movement of the top slide, thereby fixing the position of the top slide so that the pressure rod 21 can guide the tissue section 9 onto the top slide. Optionally, in an embodiment of the present invention, the width of each pressure strip 12 is 3.5 mm.

[0044] Furthermore, in this embodiment, the slicing is performed in a liquid. After the slicing is completed, the tablet pressing device 2 and the collection box 11 need to be transferred to the moving device 3. The front plate, rear plate, bottom plate, left side plate and right side plate of the collection box 11 are provided with multiple slots so that the liquid in the collection box 11 can be quickly drained during the transfer of the collection box 11.

[0045] The automatic tissue slide collection system provided in this invention improves collection efficiency by controlling the height difference between the left and front plates of the collection box to be greater than the thickness of one slide but less than the thickness of two slides. This ensures that only one slide can be removed after each slide has carried a tissue slide, preventing slides without tissue slides from being removed. A reset mechanism automatically moves the remaining slides upwards after the top slide is removed. A pressure bar limits the position of the top slide, allowing the pressure bar to guide the tissue slides onto it without repeatedly adjusting the pressure bar's height.

[0046] like Figure 5 As shown, in one embodiment of the present invention, the reset mechanism includes: a hanging plate 141, a plurality of hinge shafts 142, a plurality of pull plates 143, and a plurality of elastic elements 144. The hanging plate 141 is disposed on the bottom surface of the collection box 11, and there is a gap between the hanging plate 141 and the bottom surface of the collection box 11. The plurality of hinge shafts 142 are disposed at the gap. The plurality of pull plates 143 are respectively disposed on both sides of the hanging plate 141. The first end of each pull plate 143 is connected to the hinge shaft 142 so that the pull plate 143 can rotate. The second end of each pull plate 143 is connected to the hanging plate 141 through the elastic element 144. A plurality of glass slides 13 are stacked on the plurality of pull plates 143.

[0047] Specifically, a hanging plate 141 is provided in the middle of the bottom plate of the collection box 11. Both ends of the hanging plate 141 are connected to the bottom plate, and there is a gap between the middle of the hanging plate 141 and the bottom plate. Multiple hinge shafts 142 are arranged sequentially within this gap. Specifically, in... Figure 5 In the illustrated embodiment, there are four hinge shafts 142 and four pull plates 143. The four pull plates 143 are divided into two pairs, with each pair of two pull plates 143 respectively disposed on both sides of the hanging plate 141. Each pair of pull plates 143 is connected to two hinge shafts 142 and can rotate around the hinge shafts 142. The other end of the pull plate 143 is connected to the hanging plate 141 through an elastic element 144, which provides damping for the rotation of the pull plate 143, thereby allowing the two pull plates 143 in each pair to move closer to or further away from each other. When multiple glass slides 13 are stacked on the two pairs of pull plates 143, under the weight of the glass slides 13 and the limiting action of the pressure strip 12, each pair of pull plates 143 is in an unfolded state. When the top glass slide is removed, each pair of pull plates 143 moves closer to each other, thereby causing the remaining multiple glass slides 13 to move upward, so that the top glass slide always abuts against the pressure strip 12, thus keeping the top glass slide in a fixed position.

[0048] Optionally, in another embodiment of the present invention, the reset mechanism includes a plurality of elastic elements and a support plate. The plurality of elastic elements are disposed on the bottom plate of the collection box 11, the support plate is disposed on the plurality of elastic elements, and the plurality of glass slides are disposed on the support plate. After the top glass slide is removed, the elastic elements use elastic force to push the remaining plurality of glass slides 13 upward, so that the upper glass slide 13 is located at the position of the top glass slide. Further, in this embodiment, the support plate is a rectangular plate, and each side of the rectangular plate is reserved 2mm relative to the glass slide 13.

[0049] like Figure 6 As shown, in an embodiment of the present invention, the pressure rod 21 includes a first rod body and a second rod body, the first rod body and the second rod body are vertically connected, the first rod body is connected to the adjustment mechanism 24, and the surface of the second rod body has a concave-convex structure.

[0050] Specifically, in this embodiment, the pressure rod 21 is an L-shaped rod, with its first body connected to the adjustment mechanism 24 to adjust the position of the pressure rod 21. The surface of the second body has a concave-convex structure to increase the surface roughness of the second body, thereby preventing the tissue slice 9 from adhering to the second body. Optionally, in this embodiment, the surface of the second body is machined with gear grooves.

[0051] like Figure 6 As shown, in an embodiment of the present invention, the base 23 includes a support plate 231 and a seat body 232. An adjustment mechanism 24 is connected to the seat body 232, which has a through groove 233 aligned with the position of the top glass slide so that the top glass slide can pass through. The support plate 231 is disposed on one side of the seat body 232 and connected to it, and is used to support the collection box 11.

[0052] Specifically, the support plate 231 is disposed on one side of the base 232 and connected to the base 232. The collection box 11 is disposed on the support plate 231, so that when the pressing device 2 moves, the collection box 11 can move together. The position of the top slide is aligned with the position of the through groove 233 on the base 232, so that after the tissue section is placed on the top slide, the top slide can be moved away through the through groove 233 when the top slide is pushed.

[0053] Furthermore, such as Figure 7As shown, the adjusting mechanism 24 includes: a first motor 241, a first slider 242, a first lead screw 243, a second motor 244, a second slider 245, and a second lead screw 246. The first motor 241 drives the first lead screw 243 to rotate. The first slider 242 is mounted on the first lead screw 243 and connected to the second slider 245 via a connecting plate 25. The second motor 244 drives the second lead screw 246 to rotate. The second slider 245 is mounted on the second lead screw 246, and the pressure rod 21 is connected to the second slider 245. When the first motor 241 rotates, the first slider 242 moves along the first lead screw 243, causing the second slider 245 to move laterally, which in turn causes the pressure rod 21 to move laterally. When the second motor rotates, it drives the second slider 245 to move longitudinally, which in turn causes the pressure rod 21 to move longitudinally, thereby adjusting the lateral and longitudinal positions of the pressure rod 21.

[0054] Specifically, controlling the first motor 241 to rotate forward can move the pressure rod 21 closer to the sample 7, and controlling the first motor 241 to rotate in reverse can move the pressure rod 21 away from the sample 7, so as to guide the tissue slice 9 onto the glass slide 13.

[0055] Optionally, in embodiments of the present invention, the adjusting mechanism 24 may also be a gear and rack transmission structure driven by a motor. When the motor rotates, it drives the gear to rotate, and the gear and rack drive each other. The slider is disposed on the rack, and when the rack moves, it drives the slider to move, thereby driving the pressure rod 21 to move.

[0056] Furthermore, the tablet pressing device 2 also includes a time controller 22. The time controller 22 can receive and parse instructions from the host computer 5, and control the first motor 241 and the second motor 244 to rotate forward or reverse according to the slice status, so as to adjust the position of the pressing rod 21. Optionally, in the embodiments of the present invention, the time controller 22 can be any programmable controller such as a PLC controller, a microcontroller, an embedded controller (Advanced RISC Machines ARM), or an FPGA. It controls the first motor 241 to rotate forward or reverse through a timing program so that the pressing rod 21 moves closer to or further away from the sample 7, so as to achieve the guided collection and stable transfer of the tissue slice 9.

[0057] like Figure 3 As shown, in an embodiment of the present invention, after the top slide carries the tissue section 9, the execution device 4 grabs the pressing device 2 and the collecting device 1 to the moving device 3. The moving device 3 pushes the top slide out of the through groove 233 of the base 23, and then the execution device 4 removes the top slide.

[0058] like Figure 8As shown, in an embodiment of the present invention, the moving device 3 includes: a first driver 32, a moving plate 33, and a clamping mechanism 35. The clamping mechanism 35 is used to clamp the pressing device 2, the first driver 32 is used to drive the moving plate 33 to move, and the moving plate 33 is used to push the top glass slide to move.

[0059] Specifically, the moving device 3 also includes a mounting frame 31, a placement platform 34, a base plate 37, and columns 38. A first driver 32 is mounted on the mounting frame 31 and is used to move the moving plate 33. The mounting frame 31 is connected to the base plate 37, and multiple columns 38 are provided on the base plate 37. The placement platform 34 is located on the top surface of the multiple columns 38 and is connected to the multiple columns 38. The placement platform 34 is used to place the tablet pressing device 2. The clamping mechanism 35 includes a second driver 351 and two pairs of grippers 352. The second driver 351 is mounted on the base plate 37, and the two pairs of grippers 352 are connected to the second driver 351. The second driver 351 is used to drive two of the grippers 352 in each pair to move towards or away from each other to clamp or release the tablet pressing device 2. After the top slide carries the tissue section 9, the actuator 4 grips the pressing device 2 onto the placement stage 34. A limiting groove 2311 is provided on the support plate 231. A pair of grippers 352 firmly clamp the collection box 11 in the width direction through the limiting groove 2311, thus limiting the position of the pressing device 2. This positions the moving plate 33 in front of the top slide, with its end abutting against the side of the top slide. Under the action of the first actuator 32, the moving plate 33 can push the top slide to move and pass through the through groove 233 of the base 23. Another pair of grippers 352 clamps the collection box 11 in the length direction to prevent the collection box 11 from moving in the direction of the top slide's movement when the moving plate 33 pushes the top slide. Optionally, in embodiments of the present invention, the first actuator 32 and the second actuator 351 can be electric cylinders, pneumatic cylinders, or hydraulic cylinders.

[0060] The automatic tissue slide collection system provided in this embodiment of the invention can limit the clamping position of the support plate by setting a limiting groove on the support plate, so that the end of the moving plate abuts against the side of the top slide to push the top slide to move.

[0061] Furthermore, such as Figure 9 As shown, the moving device 3 also includes a storage box 36, which is used to orderly store glass slides 13 containing tissue sections 9. The storage box 36 has multiple symmetrical grooves 361 on opposite sides, each pair of grooves 361 accommodating one glass slide 13. When the moving plate 33 pushes the top glass slide through the through slot 233, the actuator 4 grabs the top glass slide and orderly stores it into the storage box 36.

[0062] Optionally, in an embodiment of the present invention, the height of each groove 361 is 4mm, and the storage box 36 has 20 grooves 361 on each side.

[0063] like Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the execution device 4 includes a controller 41, a robotic arm 42, and an actuator 43. The robotic arm 42 is connected to the actuator 43, which is used to grip the pressing device 2 and the top glass slide. The controller 41 is electrically connected to the robotic arm 42 and is used to control the movement of the robotic arm 42.

[0064] Specifically, the controller 41 generates motion trajectory coordinates according to the instructions sent by the host computer 5, and controls the movement of the robotic arm 42 based on the motion trajectory coordinates to drive the actuator 43 to move to the target position. Optionally, in this embodiment, the robotic arm 42 is a six-degree-of-freedom robotic arm, and the actuator 43 can be an electric or pneumatic gripper to grasp the tablet pressing device 2 or the top glass slide.

[0065] This invention also provides an automated method for collecting tissue sections, specifically including the following steps:

[0066] Step 01: Based on the preset tissue section thickness, control the adjustment mechanism 24 to move so that the pressure rod 21 is above the slide 13; generate a first motion trajectory coordinate based on the received sectioning command, and control the execution mechanism 4 to move to the top of the pressing device 2 based on the first motion trajectory coordinate, and grab the pressing device 2 into the pool 6; control the adjustment mechanism 24 to move so that the pressure rod 21 is at the end of the sample 7; receive the sectioning completion command, and control the adjustment mechanism 24 to move based on the sectioning completion command, driving the pressure rod 21 to move away from the sample 7, so as to guide the tissue section onto the slide 13; parse the sectioning completion command to generate a second motion trajectory coordinate, and control the execution mechanism 4 to grab the pressing device 2 to the moving device 3 based on the second motion trajectory coordinate; control the moving device 3 to partially push the slide 13, and the execution mechanism 4 to orderly store the slide 13 in the moving device 3.

[0067] Specifically, based on the set slice thickness, the host computer 5 controls the second motor 244 to rotate, thereby adjusting the height of the pressure rod 21 so that the pressure rod 21 is 1.5mm-2mm higher than the top glass slide. At this time, the clamping mechanism 35, actuator 43, and driver 32 are all in their initial state before slice collection.

[0068] When slicing begins, the host computer 5 sends slicing instructions to the controller 41 and the time controller 22 respectively. The controller 41 receives and parses the slicing instructions to generate the first motion trajectory coordinates. The robotic arm 42 moves to the top of the tablet pressing device 2 according to the first motion trajectory coordinates, grabs the tablet pressing device 2, and puts the tablet pressing device 2 into the pool body 6, and places the pressing rod 21 at the end of the sample 7.

[0069] After tissue section 9 is completed, the host computer 5 sends section completion commands to the controller 41 and the time controller 22 respectively. At this time, the time controller 22 interprets the completion command and controls the first motor 241 to rotate, and the pressure rod 21 moves away from the sample 7, guiding the tissue section 9 onto the top slide. The controller 41 interprets the completion command and generates a second motion trajectory coordinate. The robotic arm 42 grabs the pressing device 2 to the moving device 3 according to the second motion trajectory coordinate. When the pressing device 2 is placed on the placement stage 34, the clamping mechanism 35 clamps the pressing device 2, and the driver 32 drives the moving plate 33 to move. The moving plate 33 pushes the top slide to move and passes through the through slot 233. The actuator 43 grabs the top slide and stores it in the storage box 36 to complete one section collection. By repeating the above process, multiple slides 13 can be collected continuously and orderly.

[0070] The automated tissue section collection system provided in this invention ensures accurate collection of tissue sections onto glass slides and maintains stability within the collection cassette during liquid transfer, significantly improving the reliability of tissue section collection. Furthermore, the direct collection of tissue sections onto the glass slide and their unfolding in the liquid medium reduces the difficulty and workload of secondary unfolding. This automated tissue section collection system is suitable for the timely and orderly collection of tissue sections in vibratory sectioning techniques for large-sized samples with varying thicknesses. It overcomes the limitations imposed by existing tissue section collection methods regarding section medium, sample size, and section thickness, thereby improving collection efficiency.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatically collecting tissue sections, characterized in that, include: Based on the preset thickness of the tissue section, the movement of the adjustment mechanism is controlled so that the pressure bar is positioned above the glass slide; Based on the received slicing instruction, a first motion trajectory coordinate is generated. Based on the first motion trajectory coordinate, the actuator is controlled to move to the top of the tableting device and grab the tableting device into the pool, which is equipped with a buffer solution. Control the movement of the adjustment mechanism so that the pressure bar is located at the end of the sample; Upon receiving a section completion command, the adjustment mechanism is controlled to move based on the section completion command, causing the pressure rod to move away from the sample, so as to guide the tissue section onto the glass slide; The slice completion command is parsed to generate a second motion trajectory coordinate. Based on the second motion trajectory coordinate, the actuator is controlled to grab the tablet pressing device to the moving device. The moving device is controlled to push the glass slide, and the actuator stores the glass slide in the moving device in an orderly manner; The automated tissue section collection method is implemented based on an automated tissue section collection device, which includes: A collection device, comprising a collection box, the top surface of which is open, and a plurality of glass slides stacked along the height direction inside the collection box; A slide pressing device, comprising a base, a pressing rod, and an adjusting mechanism, wherein the adjusting mechanism and the collecting device are disposed on the base, the pressing rod is connected to the adjusting mechanism, and the adjusting mechanism is used to drive the pressing rod to move laterally and longitudinally so that the pressing rod guides the tissue section onto the glass slide; An actuator is used to move the collecting device and the pressing device, and the actuator is also used to remove the glass slide containing tissue sections; A moving device is used to carry the slide pressing device, and the moving device is also used to push the glass slide to move and to store the glass slide containing tissue sections in an orderly manner; The base includes: a base body, the adjustment mechanism being connected to the base body, the base body having a through groove aligned with the top glass slide so that the top glass slide can pass through; and a support plate disposed on one side of the base body and connected to the base body, the support plate being used to support the collection box. The mobile device includes: A clamping mechanism for clamping the tablet pressing device; A movable plate and a first driver, wherein the first driver is used to move the movable plate; The clamping mechanism is also used to limit the position of the pressing device so that the moving plate can push away the top glass slide.

2. The method for automatically collecting tissue sections according to claim 1, characterized in that, The collection device also includes: A reset mechanism is provided on the bottom surface of the collection box. Multiple slides are placed on the reset mechanism. The reset mechanism is used to push the current topmost slide to the position of the topmost slide after the top slide is removed.

3. The method for automatically collecting tissue sections according to claim 2, characterized in that, The reset mechanism includes: A hanging plate is provided on the bottom surface of the collection box, and there is a gap between the hanging plate and the bottom surface of the collection box; Multiple hinge axes are disposed at the gap; Multiple pull plates are respectively disposed on both sides of the hanging plate. The first end of each pull plate is connected to the hinge shaft so that the pull plate can rotate. The second end of each pull plate is connected to the hanging plate through an elastic element. Multiple glass slides are stacked on the multiple pull plates.

4. The method for automatically collecting tissue sections according to claim 2, characterized in that, The top surface of the collection box is also provided with a pair of pressure strips, the bottom surface of which can abut against the top glass slide, and the extension direction of the length of the pressure strip is consistent with the moving direction of the glass slide.

5. The method for automatically collecting tissue sections according to claim 1, characterized in that, The moving device also includes a storage box for storing the glass slides containing tissue sections. The storage box has a plurality of grooves symmetrically arranged on opposite sides, and each pair of grooves is used to accommodate one glass slide.

6. The method for automatically collecting tissue sections according to claim 2, characterized in that, The actuator includes: A robotic arm, which is connected to an actuator, is used to grasp the pressing device and the top glass slide; A controller, electrically connected to the robotic arm, is used to control the movement of the robotic arm.

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