Intelligent pathological section low-temperature preservation system and control method thereof

Abstract

The application relates to an intelligent pathological section low-temperature preservation system which adopts an intelligent low-temperature storage pathological section mode, can quickly and accurately find out pathological sections needed for experimental operation from the equipment, and quickly and individually transport the pathological sections to a designated working area, so that laboratory operators can carry out various experimental work, and biological exposure hazards of laboratory workers are avoided. Meanwhile, the pathological section low-temperature preservation system can improve sample storage efficiency, meet a large number of experimental and inspection demands, bring efficient and massive biological sample storage services, standardize laboratory operation processes, and accelerate the output of inspection and scientific research achievements.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent medical technology, and in particular to an intelligent pathological slide cryopreservation system, its control method, and electronic equipment. Background Technology

[0002] In the biomedical field, the ultimate means of determining the condition of a patient has always been pathological slides.

[0003] In traditional techniques, the storage of pathological slides has always been a very challenging technical problem. This is mainly because: the storage of pathological slides not only needs to avoid biological exposure hazards, but also needs to address the storage space requirements of the massive amounts of samples accumulated over time.

[0004] In traditional techniques, the management of pathology slides in various medical institutions is extremely chaotic. They are either discarded at will or simply piled together in makeshift wooden or metal boxes. When conducting further testing or research, finding the pathology slides becomes a major headache and a tedious process, significantly delaying the efficiency of testing or research.

[0005] Therefore, existing technologies for the storage, management, and use of pathological slides still have problems such as non-standard storage and use, easy exposure that could harm staff, and inability to manage them in a standardized manner. Summary of the Invention

[0006] To address the aforementioned issues, this application proposes an intelligent low-temperature preservation system for pathological slides, its control method, and electronic equipment.

[0007] This application proposes an intelligent pathological slide cryopreservation system for intelligent storage and retrieval of pathological slides in a low-temperature environment, comprising:

[0008] Controllers are used for logic control and calculation.

[0009] Low-temperature preservation equipment 2 is used to store pathological slides and interact with the selection mechanism to achieve the storage and retrieval of target pathological slides.

[0010] The selection mechanism is used to interact with the pathological slide stage 4 and the low-temperature preservation equipment to realize the storage and retrieval of the target pathological slide;

[0011] The ring track assembly 1 is installed at the door of the low-temperature preservation equipment to provide a ring track for the pathological slide stage 4 to travel to or out of the low-temperature preservation equipment.

[0012] The pathological slide stage 4 is installed on the ring rail assembly and is used to temporarily store the target pathological slides selected by the sorting mechanism.

[0013] The host computer is used to record the temperature and humidity status inside the low-temperature preservation equipment, the changes in the storage space of pathological slides, and update data reports in real time through the database; and to interact with the controller to realize the access control of the target pathological slides.

[0014] The cryogenic preservation equipment, the sorting mechanism, the ring rail assembly, and the host computer are all electrically connected to the controller.

[0015] As an optional implementation of this application, it may also include:

[0016] A temperature sensor is installed inside the low-temperature preservation equipment to collect temperature values ​​within the low-temperature storage area of ​​the equipment.

[0017] A humidity sensor is installed inside the low-temperature preservation equipment to collect humidity values ​​within the low-temperature storage area of ​​the equipment.

[0018] An air conditioning compressor is installed inside the low-temperature storage equipment. It is activated by the controller when the controller determines that the temperature and humidity values ​​in the low-temperature storage area of ​​the equipment have reached preset values, thereby achieving low-temperature control.

[0019] The temperature sensor, the humidity sensor, and the air conditioning compressor are all electrically connected to the controller.

[0020] As an optional implementation of this application, it may also include:

[0021] A communication interface is provided for data communication between the controller and the host computer.

[0022] The communication interface is electrically connected to the controller.

[0023] As an optional embodiment of this application, the cryogenic preservation device 2 may optionally include:

[0024] 11 load-bearing wheels;

[0025] A cryogenic preservation frame consisting of a first aluminum profile steel frame 41 and side baffles 42, wherein the cryogenic preservation frame is covered by a sealed shell;

[0026] Several glass slide frames 5 are arranged in a matrix on the low-temperature preservation frame for storing the pathological sections;

[0027] A QR code scanner is installed at the door of the low-temperature preservation equipment. It is used to scan the target pathological slides that are transmitted or sent to the door of the low-temperature preservation equipment, obtain the basic information of the target pathological slides and feed it back to the controller, and then the controller reports it to the host computer.

[0028] The sorting mechanism is fitted onto the low-temperature preservation frame;

[0029] The QR code scanner is electrically connected to the controller.

[0030] As an optional embodiment of this application, the slide frame 5 may optionally include:

[0031] Second aluminum profile steel frame 51;

[0032] Several movable clamps 53 are provided on the second aluminum profile steel frame 51 to divide the second aluminum profile steel frame 51 into several storage spaces;

[0033] Several static unit boxes 52 are arranged in the storage space to store pathological slides in a stacked structure.

[0034] As an optional implementation of this application, the selection agency may optionally include:

[0035] The z-axis lead screw power assembly 43 is arranged in pairs on the cryogenic preservation frame of the cryogenic preservation equipment to provide z-axis movement;

[0036] The y-axis power assembly is mounted on the z-axis lead screw power assembly 43 to provide y-axis motion;

[0037] The x-axis powertrain is mounted on the axis powertrain to provide x-axis motion;

[0038] The gripper 6, mounted on the x-axis power assembly, is used to remove the target pathological slide from the movable clamp 53 of the slide frame 5 and place it onto the pathological slide stage under the multi-axis linkage control of the controller; or, to clamp the target pathological slide from the pathological slide stage and place it onto the movable clamp 53 inside the low-temperature preservation device.

[0039] The z-axis lead screw power assembly 43 is electrically connected to the controller.

[0040] As an optional embodiment of this application, the y-axis power assembly may optionally include: a y-axis synchronous belt power assembly 31, a third aluminum profile frame 32, and a y-axis cable chain 33, wherein:

[0041] The third aluminum profile frame 32 is fixed between the left and right z-axis lead screw power assemblies 43, and the y-axis synchronous belt power assembly 31 is mounted on the third aluminum profile frame 32 and is drivenly connected to the y-axis drag chain 33.

[0042] The x-axis power assembly includes: an x-axis synchronous belt power assembly 21, a fourth aluminum profile steel frame 22, and an a-axis rotary power assembly 23 for driving the gripper 6 to rotate to the required delivery angle, wherein:

[0043] The fourth aluminum profile steel frame 22 is fixed on the third aluminum profile frame 32 of the y-axis power assembly, the x-axis synchronous belt power assembly 21 is disposed on the fourth aluminum profile steel frame 22, and the a-axis rotation power assembly 23 is disposed on the fourth aluminum profile steel frame 22 and is connected to the gripper 6.

[0044] The y-axis synchronous drive assembly 31, the x-axis synchronous drive assembly 21, and the a-axis rotational drive assembly 23 are electrically connected to the controller.

[0045] As an optional embodiment of this application, the gripper 6 may optionally include a plurality of clamping plates 61, a glass slide 62, a solenoid valve 63, and a long shaft 64, wherein:

[0046] The long shaft 64 is mounted on the a-axis rotation power assembly 23. The clamping plate 61 is fixedly mounted on the long shaft 64. The glass slide 62 is disposed inside the clamping plate 61. The solenoid valve 63 is disposed on the clamping plate 61 and located directly above the glass slide 62.

[0047] The solenoid valve 63 and the long shaft 64 are electrically connected to the controller, respectively.

[0048] As an optional embodiment of this application, the ring rail assembly 1 may optionally include: a load-bearing wheel 11, a ring rail power assembly 12, a ring rail, a fifth aluminum profile frame 13, a stop cylinder 14, and a mechanical positioning rod 15, wherein:

[0049] The load-bearing wheel 11 is located at the bottom of the fifth aluminum profile frame 13;

[0050] The ring rail power assembly 12 and the ring rail are both mounted on the fifth aluminum profile frame 13, and the ring rail power assembly 12 is connected to the ring rail. Under the control of the controller, the ring rail transmits or sends the pathological slide stage 4 to the door of the low-temperature preservation equipment.

[0051] The stop cylinder 14 is located at the bottom of the fifth aluminum profile frame 13 and is used to brake the ring rail under the control of the controller.

[0052] The mechanical positioning rod 15 is provided on the chain of the ring rail and at least one is provided, for mounting the pathological slide stage 4;

[0053] The ring track power assembly 12 and the stop cylinder 14 are electrically connected to the controller.

[0054] In another aspect, this application proposes a control method for an intelligent low-temperature preservation system for pathological sections, comprising the following steps:

[0055] The host computer is activated, and the system is initialized.

[0056] The temperature and humidity values ​​in the low-temperature storage area of ​​the low-temperature preservation equipment are collected and fed back to the controller. The controller determines whether the temperature and humidity values ​​in the low-temperature storage area of ​​the equipment have reached the preset values. If the preset values ​​are reached, the controller starts the air conditioning compressor to achieve low-temperature control.

[0057] The process of storing pathological slides:

[0058] The pathological slide, intended as the target pathological slide, is placed on the pathological slide stage 4. An instruction is input, and the controller activates the ring rail power assembly 12. The ring rail moves the pathological slide stage 4 from the door of the cryogenic preservation equipment to a preset standby position. Simultaneously, a QR code scanner at the door scans the passing target pathological slide, obtaining its basic information and feeding it back to the controller, which then reports it to the host computer. The host computer queries the database, finds the position coordinates of the static unit box 52 that allows the storage of the target pathological slide, calculates the movement information of the selection mechanism to reach that position coordinates, and sends it to the controller. The controller controls the selection mechanism to move to the position of the pathological slide stage 4, and the clamping plate 61 of the gripper 6 picks up the target pathological slide to be stored and places it on the slide 62, activating the solenoid valve 63. Based on the movement information, the controller moves the selection mechanism to the position coordinates of the static unit box 52. Upon arrival, the target pathological slide is pushed into the static unit box 52 using x-axis motion, and the solenoid valve 63 is closed.

[0059] The system will reset, update the database, and notify the user.

[0060] The process of extracting pathological slides:

[0061] The host computer queries the database to find the position coordinates of the static unit box 52 where the target pathological slide is stored, calculates the movement information of the selection mechanism to reach the position coordinates, and sends it to the controller. The controller controls the pathological slide platform 4 to reach the preset standby position, and simultaneously controls the selection mechanism to move to the position coordinates of the static unit box 52. The gripper 6 picks up the target pathological slide stored in the static unit box 52, activates the solenoid valve 63 to clamp the target pathological slide, and controls the selection mechanism to move to the standby position. Upon arrival, the a-axis rotation power assembly 23 is controlled to rotate, driving the clamping plate 61 to rotate to the preset placement angle and align with the pathological slide platform 4. The solenoid valve 63 is released, and the target pathological slide is placed onto the pathological slide platform 4. The pathological slide platform 4 is controlled to return to the preset standby position through the hatch. As it passes through, the QR code scanner at the hatch scans the target pathological slide to obtain the basic information of the target pathological slide and feeds it back to the controller, which then reports it to the host computer.

[0062] The system is reset, the database is updated, and the user is notified.

[0063] In another aspect, this application also proposes an electronic device comprising:

[0064] processor;

[0065] Memory used to store processor-executable instructions;

[0066] The processor is configured to implement the control method of the intelligent pathological slide cryopreservation system when executing the executable instructions.

[0067] Technical effects of the present invention:

[0068] This application employs an intelligent, low-temperature storage method for pathological slides, enabling rapid and accurate retrieval of slides needed for experimental procedures from the equipment and quick, individual transport to designated work areas. This allows laboratory personnel to conduct various experiments while avoiding biological exposure hazards. Simultaneously, it improves sample storage efficiency, meeting substantial experimental and testing needs, providing efficient and high-volume biological sample storage services, standardizing laboratory operating procedures, and accelerating the output of testing and research results.

[0069] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0070] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this disclosure together with the specification and serve to explain the principles of this disclosure.

[0071] Figure 1 The diagram shown is a three-dimensional schematic diagram of the device application structure of the present invention;

[0072] Figure 2 The diagram shown is a schematic diagram of the application control of the controller of the present invention;

[0073] Figure 3 The diagram shown is a schematic representation of the frame structure of the cryogenic preservation device of the present invention.

[0074] Figure 4 The diagram shows a schematic of the frame structure of the glass slide frame of the present invention;

[0075] Figure 5 The diagram shown is a three-dimensional structural schematic of the y-axis powertrain of the present invention;

[0076] Figure 6 The diagram shown is a three-dimensional structural schematic of the x-axis powertrain of the present invention;

[0077] Figure 7 The diagram shows a three-dimensional structural schematic of the gripper of the present invention;

[0078] Figure 8 The diagram shows a three-dimensional structural schematic of the ring rail assembly of the present invention;

[0079] Figure 9 The diagram shows an application schematic of the electronic device of the present invention. Detailed Implementation

[0080] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0081] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0082] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0083] Example 1

[0084] In this embodiment, the pathological slide is a card-shaped object, and its specific details are not described or limited.

[0085] This intelligent pathological slide cryopreservation system can be used in biological laboratories, hospitals, and other departments to provide cryopreservation services for pathological slides.

[0086] like Figure 1 and 2 As shown, this application proposes, in one aspect, an intelligent pathological slide cryopreservation system for intelligent storage and retrieval of pathological slides in a low-temperature environment, comprising:

[0087] Controllers are used for logic control and calculation.

[0088] Low-temperature preservation equipment 2 is used to store pathological slides and interact with the selection mechanism to achieve the storage and retrieval of target pathological slides.

[0089] The selection mechanism is used to interact with the pathological slide stage 4 and the low-temperature preservation equipment to realize the storage and retrieval of the target pathological slide;

[0090] The ring track assembly 1 is installed at the door of the low-temperature preservation equipment to provide a ring track for the pathological slide stage 4 to travel to or out of the low-temperature preservation equipment.

[0091] The pathological slide stage 4 is installed on the ring rail assembly and is used to temporarily store the target pathological slides selected by the sorting mechanism.

[0092] The host computer is used to record the temperature and humidity status inside the low-temperature preservation equipment, the changes in the storage space of pathological slides, and update data reports in real time through the database; and to interact with the controller to realize the access control of the target pathological slides.

[0093] The cryogenic preservation equipment, the sorting mechanism, the ring rail assembly, and the host computer are all electrically connected to the controller.

[0094] Combined with appendix Figure 1 and 2 As shown, this system mainly consists of pathological slides, a cryopreservation device, and a host computer. The cryopreservation device comprises a controller, a cryopreservation unit 2, a sorting mechanism, and a cryogenic system inside the cryopreservation unit. The cryopreservation unit contains a controller and a power supply, etc. The controller communicates with the host computer via a communication interface such as USB, CAN bus, or other types of communication (or a wireless module such as a 5G module).

[0095] The circuit board containing the controller is located inside the low-temperature storage equipment and can be used for data monitoring and control.

[0096] The cryogenic preservation equipment is a movable box structure that is sealed from the outside environment. It has a built-in compressor system that can be started under the temperature monitoring of the controller to provide a low-temperature environment for the cryogenic preservation of pathological slides stored inside.

[0097] The cryogenic preservation equipment is equipped with a sorting mechanism. This mechanism consists of a multi-axis linkage system (X-axis motor, Y-axis motor, Z-axis motor). The grippers on this mechanism, under the control of a host computer and controller, reach the corresponding storage / retrieval position for the pathological slide (target pathological slide). During storage and retrieval, the pathological slide platform 4 (with a stepped platform structure and several vertically upward-facing storage boxes for placing pathological slides) on the cooperating ring track assembly 1 (a ring track with a ring-moving chain or belt that drives the pathological slide platform 4 in a ring motion) is used to transfer the target pathological slide. The entire process is controlled by the host computer, enabling intelligent storage and retrieval of the pathological slides.

[0098] The enclosure containing the low-temperature storage equipment requires a compressor system controlled by a controller to provide a low-temperature environment. The sealing and insulation structure of the enclosure will not be described in detail in this embodiment; refer to the sealing and insulation of existing low-temperature storage equipment.

[0099] To facilitate monitoring of the temperature inside the equipment and to maintain a certain low temperature.

[0100] like Figure 2 As shown, as an optional embodiment of this application, it may also include:

[0101] A temperature sensor is installed inside the low-temperature preservation equipment to collect temperature values ​​within the low-temperature storage area of ​​the equipment.

[0102] A humidity sensor is installed inside the low-temperature preservation equipment to collect humidity values ​​within the low-temperature storage area of ​​the equipment.

[0103] An air conditioning compressor is installed inside the low-temperature storage equipment. It is activated by the controller when the controller determines that the temperature and humidity values ​​in the low-temperature storage area of ​​the equipment have reached preset values, thereby achieving low-temperature control.

[0104] The temperature sensor, the humidity sensor, and the air conditioning compressor are all electrically connected to the controller.

[0105] The installation locations of the temperature sensor, humidity sensor, and air conditioning compressor inside the low-temperature preservation equipment 2 are not limited in this embodiment. The control of the air conditioning compressor follows the working principle of existing air conditioning compressors.

[0106] This application uses a temperature control circuit board and temperature and humidity sensors connected to the low-temperature area of ​​the equipment to collect temperature and humidity values ​​in the low-temperature storage area of ​​the equipment, and uses the internal compressor refrigeration unit of the equipment to keep the temperature of the low-temperature area of ​​the equipment constant.

[0107] When the entire system is working in practice:

[0108] 1. Through a computer system and supporting intelligent software system, the internal temperature and humidity status of the equipment, changes in storage space, and updated data reports of the LIMS / LIS system are recorded in real time.

[0109] 2. The circuit board (controller) embedded inside the equipment controls the X-axis motor, Y-axis motor, and Z-axis motor inside the equipment to move the pathology slide stage 4 to the selection area (a predetermined position area inside the equipment, which is set in advance by the administrator on the host computer; the equipment parameters and the stroke of each assembly need to be stored in the database of the host computer in advance so that the controller can calculate the data based on the motion parameters of each motor). In the selection area, a single pathology slide (target pathology slide) is selected by the selection mechanism. The single pathology slide can be transferred to the pathology slide in / out hatch (the hatches set on the left and right sides of the equipment to facilitate the entry and exit of the pathology slide stage 4, realizing the input and output of the pathology slides on it) through the mechanical system.

[0110] 3. The system software retrieves permitted storage location information from the database and, through an internal controller, resolves the physical address of the location information. The drive motor then moves the selection mechanism to the corresponding physical coordinates, allowing the pathological slide to enter or exit the designated location. Simultaneously, the software's database subsystem automatically updates location information, pathological sample information, and other data. This completes the process of storing and retrieving pathological slides.

[0111] The following is a further description of the various components and devices of this system.

[0112] like Figure 3 As shown, as an optional embodiment of this application, the cryogenic preservation device 2 may optionally include:

[0113] 11 load-bearing wheels;

[0114] A cryogenic preservation frame consisting of a first aluminum profile steel frame 41 and side baffles 42, wherein the cryogenic preservation frame is covered by a sealed shell;

[0115] Several glass slide frames 5 are arranged in a matrix on the low-temperature preservation frame for storing the pathological sections;

[0116] A QR code scanner is installed at the door of the low-temperature preservation equipment. It is used to scan the target pathological slides that are transmitted or sent to the door of the low-temperature preservation equipment, obtain the basic information of the target pathological slides and feed it back to the controller, and then the controller reports it to the host computer.

[0117] The sorting mechanism is fitted onto the low-temperature preservation frame;

[0118] The QR code scanner is electrically connected to the controller.

[0119] The low-temperature preservation equipment is mainly a box structure made of aluminum profiles and steel frame. The outside of the preservation equipment is equipped with a heat insulation layer, and the inside is a frame structure made of aluminum profiles.

[0120] The frame is equipped with a selection mechanism, featuring three axes and grippers, for grasping the pathological slides stored inside. It also has load-bearing wheels at the bottom, enabling omnidirectional movement.

[0121] The low-temperature preservation frame is constructed from a low-aluminum profile steel frame and side panels welded together, or by bolting, forming a rectangular frame structure. The outer side is a sealed shell, constructed with insulation panels. An internal compressor circulation pipeline or compressor can be installed, with cooling supplied through the circulation pipeline. Specific installation details are not limited in this embodiment.

[0122] Several layers of slide frames 5 are arranged on the frame, which are mainly used to store pathological slides. Similar to a multi-tiered bookshelf structure, it can hold several layers of pathological slides. Each layer of slide frame 5 has multiple static unit boxes, which can be stacked to store individual pathological slides. The position of each pathological slide stored on the slide frame is calculated by a computer (using sensors such as infrared, contact switches, or pressure sensors). The contact switches or sensors inside the boxes can be used to record the storage space position of each pathological slide.

[0123] The cryopreservation equipment in this solution has a hatch on each of its lower left and right sides, and a QR code scanner at each hatch. For each incoming or outgoing target pathological slide, the QR code on its surface is scanned. After scanning, the controller sends feedback to the host computer, which then confirms the basic information of the incoming or outgoing target pathological slide. The host computer's database contains pre-stored information for each pathological slide, facilitating slide information verification.

[0124] A selection mechanism is mounted on the cryopreservation frame. The selection mechanism has X-axis, Y-axis, Z-axis, and jaws, which are fixed to the frame and can move in space inside the frame. Specifically, the host computer calculates the spatial position of the target pathological slide and the controller controls the multi-axis linkage assembly motor to move and drive the jaws to the corresponding pathological slide storage position to store or retrieve the pathological slide.

[0125] The entire process involves the host computer calculating the corresponding spatial motion parameters and the controller controlling the execution.

[0126] like Figure 4 As shown, as an optional embodiment of this application, the slide frame 5 may optionally include:

[0127] Second aluminum profile steel frame 51;

[0128] Several movable clamps 53 are provided on the second aluminum profile steel frame 51 to divide the second aluminum profile steel frame 51 into several storage spaces;

[0129] Several static unit boxes 52 are arranged in the storage space to store pathological slides in a stacked structure.

[0130] A slide frame 5 can be placed on each of the front and back sides inside the device. The slide frame 5 has a multi-layered bookshelf structure. The frame is divided into several storage spaces using movable clamps (frame strips). Each storage space contains a static unit box (each box has a honeycomb structure, divided into multiple smaller boxes, used to store one pathological slide). This static unit box also has a honeycomb structure, is placed horizontally, and can store multiple pathological slides.

[0131] Each static unit box can be stacked to store pathological slides. The material of the static unit boxes and their honeycomb storage structure will not be elaborated upon in this solution.

[0132] On the slide frame 5, several static unit boxes are placed in a unitary manner. The position of the storage window for pathological slides in each static unit box is recorded in the database of the host computer and converted into corresponding three-dimensional spatial coordinates. This allows the controller to control the picking mechanism to go to the corresponding static unit box and the corresponding storage space to pick up and place the corresponding target pathological slides.

[0133] Therefore, this solution's equipment can store a large number of pathological slides. One or several static unit boxes can be used as a single storage unit for a particular type of pathological slide. For pathological slides from multiple departments or of different types, the corresponding static unit box can be selected in the host computer as the storage unit for that department or type of pathological slide. The host computer manages the storage type of each static unit box and independently manages the storage location of the pathological slides within each static unit box, enabling orderly management of massive amounts of pathological slides.

[0134] like Figure 3 , 5 As shown in Figure 8, as an optional embodiment of this application, the selection mechanism may optionally include:

[0135] The z-axis lead screw power assembly 43 is arranged in pairs on the cryogenic preservation frame of the cryogenic preservation equipment to provide z-axis movement;

[0136] The y-axis power assembly 3 is mounted on the z-axis lead screw power assembly 43 to provide y-axis motion;

[0137] The x-axis power assembly 7 is mounted on the axis power assembly to provide x-axis motion;

[0138] The gripper 6, mounted on the x-axis power assembly, is used to remove the target pathological slide from the movable clamp 53 of the slide frame 5 and place it onto the pathological slide stage under the multi-axis linkage control of the controller; or, to clamp the target pathological slide from the pathological slide stage and place it onto the movable clamp 53 inside the low-temperature preservation device.

[0139] The z-axis lead screw power assembly 43 is electrically connected to the controller.

[0140] On the left and right sides inside the cryopreservation frame, a Z-axis lead screw power assembly is vertically mounted. The motor corresponding to the Z-axis lead screw power assembly drives the lead screw, causing the Y-axis power assembly to move up and down along the Z-axis. A Y-axis power assembly is horizontally mounted on top of the Z-axis lead screw power assembly, moving up and down along it. The Y-axis power assembly is horizontally positioned, and an X-axis power assembly is mounted on it, capable of driving the X-axis power assembly to move left and right along the Y-axis. The X-axis power assembly is capable of X-axis movement and also has a gripper with multiple clamping plates (clamped or opened by electromagnets). These clamping plates can dock with the various static unit boxes in the slide frame 5 that store pathological slides, placing the target pathological slide into a storage space of the corresponding static unit box, or clamping and removing the target pathological slide from the corresponding cell of the static unit box.

[0141] This section does not distinguish between uppercase and lowercase XYZ.

[0142] The setup and installation of the three-axis linkage mechanism of XYZ axes should be understood in conjunction with the existing three-axis linkage or multi-axis linkage structure and principle; this embodiment will not elaborate further.

[0143] The servo drive motors that drive the XYZ axes are controlled by a controller.

[0144] like Figure 5 As shown, as an optional embodiment of this application, the y-axis power assembly 3 may optionally include: a y-axis synchronous belt power assembly 31, a third aluminum profile frame 32, and a y-axis cable chain 33, wherein:

[0145] The third aluminum profile frame 32 is fixed between the left and right z-axis lead screw power assemblies 43, and the y-axis synchronous belt power assembly 31 is mounted on the third aluminum profile frame 32 and is drivenly connected to the y-axis drag chain 33.

[0146] like Figure 6 As shown, the x-axis power assembly 7 includes: an x-axis synchronous belt power assembly 21, a fourth aluminum profile steel frame 22, and an a-axis rotary power assembly 23 for driving the gripper 6 to rotate to the required delivery angle, wherein:

[0147] The fourth aluminum profile steel frame 22 is fixed on the third aluminum profile frame 32 of the y-axis power assembly, the x-axis synchronous belt power assembly 21 is disposed on the fourth aluminum profile steel frame 22, and the a-axis rotation power assembly 23 is disposed on the fourth aluminum profile steel frame 22 and is connected to the gripper 6.

[0148] The y-axis synchronous drive assembly 31, the x-axis synchronous drive assembly 21, and the a-axis rotational drive assembly 23 are electrically connected to the controller.

[0149] The Z-axis is driven by a lead screw, which can move the Y-axis power assembly up and down. The Y-axis power assembly enables Y-axis motion. Specifically, the Y-axis synchronous drive power assembly 31, i.e., the Y-axis servo motor, drives the Y-axis cable chain to move left and right. The Y-axis cable chain is mounted on the third aluminum profile frame of the Y-axis power assembly, enabling left and right chain-driven operation, thereby driving the X-axis power assembly mounted on it. The method of driving the Y-axis via the cable chain can refer to existing chain drive structures.

[0150] The x-axis power assembly 7 has a mounting plate, which is mounted on the y-axis cable chain 33. It is set perpendicular to the y-axis cable chain 33 and can move left and right.

[0151] The x-axis synchronous belt power assembly 21, i.e. the x-axis servo motor, on the x-axis power assembly 7 is horizontally fixed on the mounting plate. It cooperates with the fourth aluminum profile steel frame 22 vertically and can drive the fourth aluminum profile steel frame 22 to move back and forth, thereby realizing the x-axis movement.

[0152] The fourth aluminum profile steel frame 22 is horizontally mounted on the mounting plate via a slide rail or other telescopic components. For example, a sleeve (a pair arranged on the left and right) is vertically mounted on it, with a slide rail inside. The fourth aluminum profile steel frame 22 is horizontally mounted on the slide rail. The fourth aluminum profile steel frame 22 is equipped with a rack, chain, or conveyor belt, which connects to the output shaft of the x-axis servo motor. When the x-axis servo motor is driven, it moves the fourth aluminum profile steel frame 22 back and forth along the x-axis, translating it along the slide rail. The slide rail also supports the fourth aluminum profile steel frame 22.

[0153] The specific X-axis movement structure can use a rack and pinion system to drive forward and backward X-axis movement.

[0154] The gripper 6 is mounted on the lower side of the fourth aluminum profile steel frame 22 and is also controlled by a rotary motor, allowing it to rotate at a certain angle. A solenoid valve is installed on it to clamp the clamping plate, thus securing the pathological slide on it. When storing or retrieving the slide, the controller releases the solenoid valve, allowing the clamped pathological slide to be released.

[0155] like Figure 7 As shown, as an optional embodiment of this application, the gripper 6 may optionally include a plurality of clamping plates 61, a glass slide 62, a solenoid valve 63, and a long shaft 64, wherein:

[0156] The long shaft 64 is mounted on the a-axis rotation power assembly 23. The clamping plate 61 is fixedly mounted on the long shaft 64. The glass slide 62 is disposed inside the clamping plate 61. The solenoid valve 63 is disposed on the clamping plate 61 and located directly above the glass slide 62.

[0157] The solenoid valve 63 and the long shaft 64 are electrically connected to the controller, respectively.

[0158] The gripper 6 is fixedly mounted on the lower side of the fourth aluminum profile steel frame, where the X-axis power assembly is located, via a gantry-type mounting frame. An A-axis rotary power assembly 23, consisting of a servo motor, is fixedly mounted on the outer surface of this gantry frame and is also controlled by a controller. Inside the gantry frame, a long shaft 64 is provided, which works in conjunction with the servo motor to allow rotation.

[0159] On the long shaft 64, an inverted mounting plate (with the groove facing downwards and multiple horizontally arranged clamping plates 61 installed in the groove) is fixedly installed through a flange sleeve. The inverted mounting plate is fixed to the long shaft through the flange sleeve and can rotate synchronously.

[0160] The mounting plate has multiple horizontally arranged clamps 61 inside, on which glass slides are placed to support pathological sections and prevent contamination. The top of the inverted mounting plate is equipped with solenoid valves corresponding to each clamp 61. There is a gap between the solenoid valves and the clamps 61, and the solenoid valves are controlled by a controller. Under the control of the controller, the solenoid valves can close and open, and their valve cores can contact the glass slides 62 to clamp the pathological sections. When it is necessary to release the pathological sections, the controller opens the solenoid valves, and after rotating a certain angle, the pathological sections can be lowered from the glass slides and fall onto the pathological section stage 4 below under the guidance of gravity.

[0161] To accommodate the rectangular grid that can be horizontally aligned with the pathological slides, the pathological slides are placed horizontally in the grid of the static unit box 52. The clamping plate 61 aligns with the grid of the static unit box 52, and the head of the pathological slide enters the clamping plate 61. The solenoid valve closes, clamping the pathological slide (which is the target pathological slide) that has entered the clamping plate 61. Under the linkage motion, the clamped pathological slide is moved to the pathological slide stage 4.

[0162] A certain gap is left between the clamp 61 and the lower side of the mounting plate to accommodate pathological slides.

[0163] The servo motor of the A-axis rotation power assembly is controlled by a controller, which rotates the clamping plate 61 by a certain angle to grip the pathological slides from the pathological slide stage 4. Alternatively, the gripped pathological slides can be allowed to fall freely onto the pathological slide stage 4 at a certain angle. The required gripping angle can be set in advance in the system.

[0164] like Figure 8 As shown, as an optional embodiment of this application, the ring rail assembly 1 may optionally include: a load-bearing wheel 11, a ring rail power assembly 12, a ring rail, a fifth aluminum profile frame 13, a stop cylinder 14, and a mechanical positioning rod 15, wherein:

[0165] The load-bearing wheel 11 is located at the bottom of the fifth aluminum profile frame 13;

[0166] The ring rail power assembly 12 and the ring rail are both mounted on the fifth aluminum profile frame 13, and the ring rail power assembly 12 is connected to the ring rail (circular track and chain that cooperates with it). Under the control of the controller, the ring rail transmits or sends the pathological slide stage 4 to the door of the low temperature preservation equipment.

[0167] The stop cylinder 14 is located at the bottom of the fifth aluminum profile frame 13 and is used to brake the ring rail under the control of the controller.

[0168] The mechanical positioning rod 15 is provided on the chain and at least one is provided, for mounting the pathological slide stage 4;

[0169] The ring track power assembly 12 and the stop cylinder 14 are electrically connected to the controller.

[0170] The ring rail assembly 1 is installed below the cryogenic storage equipment. The ring rail assembly 1 primarily provides a movable ring rail, enabling the pathology slide stage 4 to move in a circular motion. It allows the pathology slide stage 4 to be transported from the equipment's hatch into the interior for the transfer of pathology slides. The main body of the ring rail assembly 1 is a fifth aluminum profile frame with load-bearing wheels at the bottom. The ring rail assembly 1 is manually pushed to assemble with the equipment. The upper surface of the fifth aluminum profile frame houses the ring rail and the servo motor containing the ring rail power assembly.

[0171] The fifth aluminum profile frame has a drive wheel on each side. The drive wheel on the left is fixedly connected to the ring rail power assembly 12, and the two drive wheels are connected by a ring chain. A mechanical positioning rod is mounted on the chain, and the pathology slide stage 4 is mounted on it. Under the control and drive of the ring rail power assembly 12, the chain can be driven to move in a ring along the ring rail, thereby synchronously driving the pathology slide stage 4 to move in a ring.

[0172] Combined with appendix Figure 1 As shown, the pathological slide stage can enter and exit the equipment's hatch via a circular track, entering the equipment and reaching the designated standby position area. Specific control parameters are pre-set by the host computer and calculated and controlled by the controller. It can retrieve target pathological slides from inside the equipment and transfer them out; alternatively, it can send target pathological slides to be stored into the equipment, where the grippers 6 grasp them and place them in the corresponding grid of the static unit box 52.

[0173] Therefore, this application solves the difficulties of laboratory procedures such as ensuring the standardized and safe centralized storage of pathological slides within an automated device, while maintaining constant storage temperature, preventing cross-contamination between slides, and avoiding errors from manual handling. It also avoids the inefficiencies and high error rates associated with manual operation; the biological exposure hazards to operators; and the harm to staff caused by low-temperature environments.

[0174] Obviously, those skilled in the art should understand that implementing all or part of the processes in the above embodiments can be accomplished by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the control embodiments described above. Those skilled in the art will understand that implementing all or part of the processes in the above embodiments can be accomplished by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the control embodiments described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0175] Example 2

[0176] Based on the implementation principle of Example 1, this application, in another aspect, proposes a control method for an intelligent pathological slide cryopreservation system, comprising the following steps:

[0177] The host computer is activated, and the system is initialized.

[0178] The temperature and humidity values ​​in the low-temperature storage area of ​​the low-temperature preservation equipment are collected and fed back to the controller. The controller determines whether the temperature and humidity values ​​in the low-temperature storage area of ​​the equipment have reached the preset values. If the preset values ​​are reached, the controller starts the air conditioning compressor to achieve low-temperature control.

[0179] The process of storing pathological slides:

[0180] The pathological slide, intended as the target pathological slide, is placed on the pathological slide stage 4. An instruction is input, and the controller activates the ring rail power assembly 12. The ring rail moves the pathological slide stage 4 from the door of the cryogenic preservation equipment to a preset standby position. Simultaneously, a QR code scanner at the door scans the passing target pathological slide, obtaining its basic information and feeding it back to the controller, which then reports it to the host computer. The host computer queries the database, finds the position coordinates of the static unit box 52 that allows the storage of the target pathological slide, calculates the movement information of the selection mechanism to reach that position coordinates, and sends it to the controller. The controller controls the selection mechanism to move to the position of the pathological slide stage 4, and the clamping plate 61 of the gripper 6 picks up the target pathological slide to be stored and places it on the slide 62, activating the solenoid valve 63. Based on the movement information, the controller moves the selection mechanism to the position coordinates of the static unit box 52. Upon arrival, the target pathological slide is pushed into the static unit box 52 using x-axis motion, and the solenoid valve 63 is closed.

[0181] The system will reset, update the database, and notify the user.

[0182] The process of extracting pathological slides:

[0183] The host computer queries the database to find the position coordinates of the static unit box 52 where the target pathological slide is stored, calculates the movement information of the selection mechanism to reach the position coordinates, and sends it to the controller. The controller controls the pathological slide platform 4 to reach the preset standby position, and simultaneously controls the selection mechanism to move to the position coordinates of the static unit box 52. The gripper 6 picks up the target pathological slide stored in the static unit box 52, activates the solenoid valve 63 to clamp the target pathological slide, and controls the selection mechanism to move to the standby position. Upon arrival, the a-axis rotation power assembly 23 is controlled to rotate, driving the clamping plate 61 to rotate to the preset placement angle and align with the pathological slide platform 4. The solenoid valve 63 is released, and the target pathological slide is placed onto the pathological slide platform 4. The pathological slide platform 4 is controlled to return to the preset standby position through the hatch. As it passes through, the QR code scanner at the hatch scans the target pathological slide to obtain the basic information of the target pathological slide and feeds it back to the controller, which then reports it to the host computer.

[0184] The system is reset, the database is updated, and the user is notified.

[0185] The specific workflow is as follows:

[0186] 1. The circuit board located inside the electrical control box of the equipment contains a microprocessor chip and embedded system motion control software, and is connected to temperature and humidity sensors. Simultaneously, this circuit board includes a network communication interface, through which it can connect to the local area networks of various medical and research institutions, and further exchange information with large-scale database software in hospitals and research institutions, such as LIMS and LIS.

[0187] When the temperature and humidity sensors in the low-temperature zone inside the equipment fluctuate beyond the user-defined allowable operating range, the microprocessor chip embedded in the circuit board inside the electrical control box will automatically control the start and stop of the compressor to restore the temperature and humidity in the low-temperature zone inside the equipment to the user-defined allowable operating range.

[0188] When a user needs to store pathology slides, they or a robot must place the slides onto the slide loading platform at the slide loading / unloading hatch. Then, they click the "Enter" button on the hatch or the "Enter / Exit" button in the software to initiate the slide storage process.

[0189] The QR code scanner located at the hatch will scan the QR code on the handle of the pathology slide.

[0190] The computer's system software searches the database for allowed location coordinates and automatically converts these coordinates into the physical logical distance the motor needs to move.

[0191] The selection mechanism inside the equipment moves to the location of the corresponding glass slide storage unit based on the distance data of each motor inside the equipment that needs to be moved, transmitted by the computer, and pulls the glass slide storage unit from the standby position area to the selection position area.

[0192] At the same time, the mechanical structure automatically transports the pathological slides to be stored to the sorting mechanism inside the equipment.

[0193] The selection process involves placing the slides into the slide storage unit based on the location information allowed for slide storage transmitted from the computer.

[0194] The selection mechanism pushes the slide storage unit from the selection position area back to the slide storage unit standby position area.

[0195] After the above steps are completed, the microprocessor embedded in the circuit board inside the device will automatically update the system status and notify the computer software.

[0196] The user is then notified that the operation has ended.

[0197] 2. Conversely, when a user needs to retrieve a pathology slide, the user only needs to locate the slide in the database on any computer within the medical institution's LIMS / LIS system and export it to form a task form. This task form will be automatically saved in a designated folder on the computer where the device is located. The system's accompanying software will automatically identify the arrival of the retrieval task form by periodically scanning the folder for newly appearing task forms, and will issue task notifications to the circuit boards within the device according to the content of the form.

[0198] After receiving the work order, the microprocessor inside the circuit board will drive the selection mechanism to the location of the corresponding pathological slide storage unit and pull the pathological slide storage unit to the slide selection position.

[0199] The selection mechanism locates and retrieves the pathological slides to be selected from the pulled-out slide storage unit.

[0200] The selection mechanism pushes the slide storage unit back to the standby position. Then, the conveying mechanism transports the user-specified slide to the slide in / out port. Once the slide retrieval operation is complete, the process repeats to complete the next operation.

[0201] Please refer to Example 1 for a better understanding of the above control method.

[0202] For the process of storing and retrieving target pathological slides, please understand and implement it in conjunction with the functions of each module in Example 1. The specific operation steps controlled by the controller can be set by the administrator.

[0203] The modules or steps of the present invention described above can be implemented using a general-purpose computing system. They can be centralized on a single computing system or distributed across a network of multiple computing systems. Optionally, they can be implemented using program code executable by a computing system, thereby storing them in a storage system for execution by the computing system, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps into a single integrated circuit module. Thus, the present invention is not limited to any specific hardware and software combination.

[0204] Example 3

[0205] like Figure 9 As shown, further, in another aspect, this application also proposes an electronic device, comprising:

[0206] processor;

[0207] Memory used to store processor-executable instructions;

[0208] The processor is configured to implement the control method of the intelligent pathological slide cryopreservation system when executing the executable instructions.

[0209] The electronic device of this disclosure includes a processor and a memory for storing processor-executable instructions. The processor is configured to implement the control method of the intelligent pathological slide cryopreservation system described in Embodiment 2 when executing the executable instructions.

[0210] It should be noted here that the number of processors can be one or more. Furthermore, the electronic device in this embodiment may also include an input system and an output system. The processor, memory, input system, and output system can be connected via a bus or other means, without specific limitations herein.

[0211] As a computer-readable storage medium, the memory can be used to store software programs, computer-executable programs, and various modules, such as the program or module corresponding to the control method of the intelligent pathological slide cryopreservation system according to embodiments of this disclosure. The processor executes various functional applications and data processing of the electronic device by running the software programs or modules stored in the memory.

[0212] The input system can be used to receive input digital numbers or signals. These signals can be key signals related to user settings and function control of the device / terminal / server. The output system can include display devices such as screens.

[0213] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A smart pathological slide cryopreservation system for intelligent storage and retrieval of pathological slides in a low-temperature environment, characterized in that, include: Controllers are used for logic control and calculation. Low-temperature preservation equipment is used to store pathological slides and interacts with the selection mechanism to achieve the storage and retrieval of target pathological slides; A selection mechanism is used to interact with the pathological slide stage and the low-temperature preservation equipment to realize the storage and retrieval of the target pathological slide; The selection mechanism includes: a z-axis lead screw power assembly, paired and mounted on the cryogenic preservation frame of the cryogenic preservation equipment, for providing z-axis movement; a y-axis power assembly, fitted onto the z-axis lead screw power assembly, for providing y-axis movement; an x-axis power assembly, fitted onto the y-axis power assembly, for providing x-axis movement; and a gripper, mounted on the x-axis power assembly, for removing the target pathological slide from the movable clamp of the slide frame and placing it onto the pathological slide stage under multi-axis linkage control by the controller; or, for gripping the target pathological slide from the pathological slide stage and placing it into the movable clamp within the cryogenic preservation equipment; the z-axis lead screw power assembly is electrically connected to the controller. A ring track assembly, installed in conjunction with the door of the cryogenic preservation equipment, provides a circular track for the pathological slide stage to travel. The ring track assembly includes: load-bearing wheels, a ring track power assembly, a ring track, a fifth aluminum profile frame, a stop cylinder, and a mechanical positioning rod. The load-bearing wheels are located at the bottom of the fifth aluminum profile frame. Both the ring track power assembly and the ring track are mounted on the fifth aluminum profile frame, and the ring track power assembly is connected to the ring track. Under the control of the controller, the ring track transports or transmits the pathological slide stage to or from the door of the cryogenic preservation equipment. The stop cylinder is located at the bottom of the fifth aluminum profile frame and is used to brake the ring track under the control of the controller. At least one mechanical positioning rod is located on the chain of the ring track and is used to mount the pathological slide stage. The ring track power assembly and the stop cylinder are electrically connected to the controller. The pathology slide stage is mounted on the ring rail assembly and is used to temporarily store the target pathology slides selected by the selection mechanism. The host computer is used to record the temperature and humidity status inside the low-temperature preservation equipment, the changes in the storage space of pathological slides, and update data reports in real time through the database; and to interact with the controller to realize the access control of the target pathological slides. The cryogenic preservation equipment, the sorting mechanism, the ring rail assembly, and the host computer are all electrically connected to the controller.

2. The intelligent pathological slide cryopreservation system according to claim 1, characterized in that, Also includes: A temperature sensor is installed inside the low-temperature preservation equipment to collect temperature values ​​within the low-temperature storage area of ​​the equipment. A humidity sensor is installed inside the low-temperature preservation equipment to collect humidity values ​​within the low-temperature storage area of ​​the equipment. An air conditioning compressor is installed inside the low-temperature storage equipment. It is activated by the controller when the controller determines that the temperature and humidity values ​​in the low-temperature storage area of ​​the equipment have reached preset values, thereby achieving low-temperature control. The temperature sensor, the humidity sensor, and the air conditioning compressor are all electrically connected to the controller.

3. The intelligent pathological slide cryopreservation system according to claim 1, characterized in that, Also includes: A communication interface is provided for data communication between the controller and the host computer. The communication interface is electrically connected to the controller.

4. The intelligent pathological slide cryopreservation system according to claim 1, characterized in that, The low-temperature preservation equipment includes: A cryogenic preservation frame consisting of a first aluminum profile steel frame and side baffles, the cryogenic preservation frame being covered by a sealed shell; Several glass slide frames are arranged in a matrix on the low-temperature preservation frame for storing the pathological sections; A QR code scanner is installed at the door of the low-temperature preservation equipment. It is used to scan the target pathological slides that are transmitted or sent to the door of the low-temperature preservation equipment, obtain the basic information of the target pathological slides and feed it back to the controller, and then the controller reports it to the host computer. The sorting mechanism is fitted onto the low-temperature preservation frame; The QR code scanner is electrically connected to the controller.

5. The intelligent pathological slide cryopreservation system according to claim 1, characterized in that, The slide frame includes: Second aluminum profile steel frame; Several movable clamps are provided on the second aluminum profile steel frame to divide the second aluminum profile steel frame into several storage spaces; Several static unit boxes are arranged in the storage space to store pathological slides in a stacked structure.

6. The intelligent pathological slide cryopreservation system according to claim 1, characterized in that, The y-axis powertrain includes: a y-axis synchronous belt powertrain, a third aluminum profile frame, and a y-axis cable chain, wherein: The third aluminum profile frame is fixed between the left and right z-axis lead screw power assemblies, and the y-axis synchronous belt power assembly is located on the third aluminum profile frame and is connected to the y-axis drag chain drive. The x-axis power assembly includes: an x-axis synchronous belt power assembly, a fourth aluminum profile steel frame, and an a-axis rotary power assembly for driving the gripper to rotate to the required delivery angle, wherein: The fourth aluminum profile steel frame is fixed on the third aluminum profile frame of the y-axis power assembly, the x-axis synchronous belt power assembly is mounted on the fourth aluminum profile steel frame, and the a-axis rotary power assembly is mounted on the fourth aluminum profile steel frame and connected to the gripper. The y-axis synchronous drive assembly, the x-axis synchronous drive assembly, and the a-axis rotary drive assembly are all electrically connected to the controller.

7. The intelligent pathological slide cryopreservation system according to claim 6, characterized in that, The gripper includes several clamping plates, a glass slide, a solenoid valve, and a long shaft, wherein: The long shaft is mounted on the a-axis rotation power assembly, the clamping plate is fixedly mounted on the long shaft, the glass slide is disposed inside the clamping plate, and the solenoid valve is disposed on the clamping plate and located directly above the glass slide. The solenoid valve and the long shaft are electrically connected to the controller, respectively.

8. A control method for the intelligent pathological slide cryopreservation system as described in any one of claims 1-7, characterized in that, Includes the following steps: The host computer is activated, and the system is initialized. The temperature and humidity values ​​in the low-temperature storage area of ​​the low-temperature preservation equipment are collected and fed back to the controller. The controller determines whether the temperature and humidity values ​​in the low-temperature storage area of ​​the equipment have reached the preset values. If the preset values ​​are reached, the controller starts the air conditioning compressor to achieve low-temperature control. The process of storing pathological slides: The pathological slide, intended as the target pathological slide, is placed on the pathological slide stage. An input command activates the ring rail power assembly, which moves the pathological slide stage from the door of the cryogenic preservation equipment to a preset standby position. Simultaneously, a QR code scanner at the door scans the passing target pathological slide, obtaining its basic information and feeding it back to the controller, which then reports it to the host computer. The host computer queries the database, finds the coordinates of the static unit box that allows the storage of the target pathological slide, calculates the movement information of the selection mechanism to reach that coordinate, and sends it to the controller. The controller controls the selection mechanism to move to the location of the pathological slide stage, where the gripper's clamps pick up the target pathological slide to be stored and place it on a glass slide, activating the solenoid valve. Based on the movement information, the controller moves the selection mechanism to the coordinates of the static unit box. Upon arrival, the target pathological slide is pushed into the static unit box using x-axis motion, and the solenoid valve is closed. The system will reset, update the database, and notify the user. The process of extracting pathological slides: The host computer queries the database to find the position coordinates of the static unit box storing the target pathological slide, calculates the movement information of the selection mechanism to reach the position coordinates, and sends it to the controller. The controller controls the pathological slide platform to reach the preset standby position, and simultaneously controls the selection mechanism to move to the position coordinates of the static unit box. The gripper picks up the target pathological slide stored in the static unit box, activates the solenoid valve, and clamps the target pathological slide. The selection mechanism is then controlled to move to the standby position. Upon arrival, the a-axis rotation power assembly is controlled to rotate, driving the clamping plate to rotate to the preset placement angle and align with the pathological slide platform. The solenoid valve is released, and the target pathological slide is placed onto the pathological slide platform. The pathological slide platform is controlled to return to the preset standby position through the hatch. As it passes through, the QR code scanner at the hatch scans the target pathological slide to obtain its basic information and sends it back to the controller, which then reports it to the host computer. The system is reset, the database is updated, and the user is notified.

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