Slide imaging apparatus

Abstract

A method for autonomous teaching of at least one target position of a supply device (120) of a slide imaging apparatus (110) is disclosed. The slide imaging apparatus (110) includes at least one imaging device (126, 128) configured to generate an image of a sample seated on a slide (140). The target location is a location on the imaging device (126, 128). The slide imaging apparatus (110) comprises at least one operating system (170) configured to control the operation of the supply device (120). The method comprises the steps of i) (196) providing at least six predefined locations by using the operating system (170); ii) (88) driving the supply device (120) to the six predefined positions by using the operating system (170) until a collision with the imaging device (126, 128) and detecting a collision with the imaging device (126, 128); iii) (190) determining the target location by evaluating the detected collision using the operating system (170).

Description

Technical Field

[0001] The present disclosure relates to a method for autonomous teaching of at least one target position of a supply device of a slide imaging device and to a slide imaging device. In this context, the slide imaging device can preferably be used for digital pathology; however, other uses are also possible. Background Art

[0002] The slide imaging apparatus comprises an imaging device configured to generate an image of a sample mounted on a slide. The image generated by modern imaging devices is typically a digital image, and thus such an image may be referred to as a "digital slide". Typically, the sample mounted on the slide is a biological specimen, such as a tissue sample. Typically, the slide is a glass slide. Typically, the slide imaging apparatus is used in digital pathology, which may be understood as an image-based information environment that enables the management of information generated from digital slides.

[0003] The imaging device can generate such an image, for example, by using a scanning method, which can cover most or the entire surface of the slide, and the corresponding slide imaging device can be called a "full slide imaging" device. The slide imaging device can use a 2D (two-dimensional) camera or a line scan detector to generate an image of a sample placed on a slide. Examples of slide imaging devices are described in, for example, EP 0 053 4247 B1, EP 0 245 089 A2, US 6 118 582 A, US 6 522 774 B1, US 6 640 014 B1, US 6 711 283 B1, US 7 682 573 B1, WO 2013 / 017855, US 8712 116 B2, and US 9 116 035 B2.

[0004] In general, an imaging device has the capability to process between 1 and 1,000 slides simultaneously. Typically, a distinction can be made between imaging devices with a low throughput, which involves processing less than 10 slides simultaneously, and imaging devices with a high throughput, which refers to processing more than 100 slides simultaneously, wherein an imaging device configured to process 10 to 100 slides simultaneously may therefore be denoted as an imaging device with a medium throughput. In order to load the imaging device with one or more slides, the individual slides are typically inserted manually or automatically into a slide storage reservoir, in particular selected from a slide tray or a slide rack, which is subsequently introduced into the imaging device for generating the desired image of the sample mounted on the slide.

[0005] WO 2021 / 191411 describes a slide imaging device and a method for imaging multiple slides. The slide imaging device includes: - at least one first imaging device and at least one second imaging device, each of which is configured to generate an image of a sample mounted on a slide; - a storage device capable of loading multiple slides and configured to store the slides; and - a supply device, which is configured to selectively supply slides from the storage device to at least one first imaging device or at least one second imaging device, wherein at least one first imaging device and at least one second imaging device include at least one visual indicator, which is configured to indicate the operating status of at least one first imaging device and at least one second imaging device, wherein the slide imaging device further includes at least one visual sensor, which is configured to detect the operating status of at least one first imaging device and at least one second imaging device using at least one visual indicator.

[0006] WO 2021 / 191410 describes a slide imaging device and a method for imaging multiple slides. The slide imaging device comprises: - at least one imaging device configured to generate an image of a sample mounted on a slide, wherein the imaging device comprises at least one operating button; - a storage device that can load multiple slides and is configured to store the slides; and - a supply device configured to supply the slides from the storage device to the imaging device, wherein the supply device is configured to press the operating button. The slide imaging device and the method for imaging multiple slides can improve the processing of slides to be processed in the imaging device, wherein the slides are provided to be introduced into a slide receiving portion of the imaging device.

[0007] US2002 / 068992 A1 describes a robot calibration system for calibrating a workpiece handling robot relative to a workstation. US2009 / 302795A1 describes a robot teaching tool for automatically teaching pick and place positions for a robot. US 6,323,616 B1 describes a wafer handling apparatus having an input and output robotic system guided by a programmed controller. US 2019 / 301980A1 describes a system and method for transporting and processing sliced ​​biological samples, in particular characterizing sliced ​​tissue samples using multiple imaging and processing modalities.

[0008] The automatic supply of slides within the slide imaging apparatus, for example from a storage device to an imaging device, may be performed by a supply device. Such a supply device may include a robot or a robotic arm.

[0009] For robot programming, the positions are usually taught by a human. If the position of the system changes, the robot must be taught again by a human in the appropriate position. However, this process is complex and difficult.

[0010] Issues to be resolved

[0011] Therefore, it is desirable to provide a slide imaging apparatus and a method for autonomous teaching of at least one target position of a supply device of a slide imaging apparatus, which enables autonomous teaching of the target position of the supply device. Summary of the invention

[0012] This problem is solved by a method for autonomously teaching at least one target position of a supply device of a slide imaging device and a slide imaging device having the features of the independent claims. In the dependent claims and throughout the description, advantageous embodiments are listed which can be realized individually or in any combination.

[0013] As used below, the terms "having", "comprising" or "including" or any grammatical variations thereof are used in a non-exclusive manner. Thus, these terms may refer to the absence of other features in the entity described in this context in addition to the features introduced by these terms, or the presence of one or more other features. As an example, the expressions "A has B", "A includes B" and "A contains B" may refer to the absence of other elements in A in addition to B (i.e., the presence of A solely and exclusively consisting of B); or to the presence of one or more other elements in entity A in addition to B (such as element C, element C and element D, or even other elements).

[0014] Further, it should be noted that the terms "at least one", "one or more" or similar expressions indicating that a feature or element may be present once or more than once are usually used only once when introducing the corresponding feature or element. In the following, in most cases, when referring to the corresponding feature or element, the expression "at least one" or "one or more" is not repeated even though the corresponding feature or element may be present only once or more than once.

[0015] Further, as used hereinafter, the terms "preferably", "more preferably", "particularly", "more particularly", "specifically", "more specifically" or similar terms are used in conjunction with optional features without limiting the possibilities of alternatives. Therefore, the features introduced by these terms are optional features and are not intended to limit the scope of the claims in any way. As the skilled person will recognize, the present invention can be implemented by using alternative features. Similarly, features introduced by "in one embodiment of the present invention" or similar expressions are intended to be optional features without any limitation on alternative embodiments of the present invention, without any limitation on the scope of the present invention, and without any limitation on the possibility of combining features introduced in this manner with other optional or non-optional features of the present invention.

[0016] In a first aspect of the invention, a method for autonomous teaching of at least one target position of a supply device of a slide imaging apparatus is disclosed. The slide imaging apparatus comprises at least one imaging device configured to generate an image of a sample mounted on a slide. The target position is a position on the imaging device. The slide imaging apparatus comprises at least one operating system configured to control the operation of the supply device.

[0017] As used herein, the term "sample" is a broad term and is given a common and customary meaning to those of ordinary skill in the art, and is not limited to a special or customary meaning. The term may specifically refer to, but is not limited to, a biological sample, such as a tissue or a smear. However, other types of samples may also be feasible.

[0018] As used herein, the term "slide" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, a substrate designated for placing a sample on the surface of a slide. The substrate may be mechanically stable. The substrate may include any material that provides sufficient mechanical stability. The substrate may be configured to carry the sample without any change during the processing of the slide. The substrate may present a surface that is configured to be compatible with biological materials. For example, the slide is a glass slide. It is known that glass provides sufficient mechanical stability on the one hand, and has high compatibility with biological materials on the other hand. However, other types of materials for the slide are also feasible.

[0019] The slide may have a form that enables imaging of a sample placed on the slide. The slide may be a plate having a 2D extension and a thickness. The 2D extension of the plate may exhibit a rectangular or circular form. The thickness of the plate may be smaller than the size of the extension, such as 20%, 10%, or 5%, or a measure of the linear range of the 2D extension of the plate. Such a design may allow and / or support the generation of a desired image of the sample.

[0020] As used herein, the terms "imaging" or "generating an image" are broad terms and are given the ordinary and customary meaning to those of ordinary skill in the art and are not limited to a special or customary meaning. These terms may specifically refer to, but are not limited to, providing a 2D two-dimensional representation of at least one attribute of a sample, the two-dimensional representation also represented by the term "image", which can generally be processed and displayed on a screen for viewing by a viewer through the eyes, for example, without any further aids other than the viewer's glasses. For this purpose, an imaging device may be used.

[0021] As used herein, the term "slide imaging device" is a broad term and is to be given the ordinary and customary meaning to one of ordinary skill in the art, and is not limited to a special or customary meaning. The term may specifically refer to, but is not limited to, any device configured to image a sample mounted on a slide. In addition, as used herein, the terms "device" and "slide imaging device" are broad terms and are to be given the ordinary and customary meaning to one of ordinary skill in the art, and are not limited to a special or customary meaning. These terms may specifically refer to, but are not limited to, a device having multiple components (e.g., as disclosed in more detail below).

[0022] As used herein, the term "imaging device" is a broad term and should be given its ordinary and customary meaning to those of ordinary skill in the art, and should not be limited to a special or customary meaning. The term may specifically refer to, but is not limited to, a device configured to generate a 2D representation of at least one visual attribute of a sample. For example, the imaging device may be one or more of a 2D camera or a line scan detector. However, other types of imaging devices may also be feasible.

[0023] The slide imaging apparatus may include at least one first imaging device and at least one second imaging device, each of which is configured to generate an image of a sample mounted on a slide. The slide imaging apparatus may include one, two, three, four, five, six or even more individual imaging devices. The supply device may be configured to selectively supply the slide to the first imaging device or the second imaging device. The individual imaging devices may be individually addressable by the supply device.

[0024] The slide imaging apparatus may include a modular arrangement. The slide imaging apparatus may further include a frame, such as a frame with wheels and at least one plate connected to the frame, wherein one or more imaging devices may be arranged on the at least one plate. At least one plate herein may extend from the frame independently of another plate, thereby improving the access of the service personnel to each imaging device. However, in embodiments where the at least one imaging device may be considered too fragile to be moved, these plates may be optional. Two or more imaging devices may be arranged adjacent to each other, in particular one vertically above the other, or alternatively, adjacent to each other horizontally. In general, the adjacent arrangement of at least two imaging devices may facilitate the robotic arm of the supply device to reach the second imaging device. In addition, the slide imaging apparatus may include a table, wherein at least the storage device and the supply device may be mounted to the table. The slide imaging apparatus may include a housing, the housing at least partially surrounding the supply device, wherein the housing may include a safety door and a safety switch, the safety switch being configured to detect the state of the safety door. In addition, the slide imaging apparatus may include an emergency stop switch, and further include an emergency stop button, wherein the emergency stop switch may be operated using the emergency stop button. For additional details regarding further preferred arrangements of the slide imaging device, reference may be made to WO 2021 / 191411 and WO 2021 / 191410, the disclosures of which are incorporated herein by reference.

[0025] The slide imaging device may include at least one monitor configured to display at least one image, such as a plurality of images, in a presentation viewable by a user of the slide imaging device. For example, the monitor may be mounted to a pivotable holder to facilitate viewing of the at least one image by the user from different positions.

[0026] As used herein, the term "supply device" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. The term specifically may refer to, but is not limited to, a device configured to transfer a slide (e.g., from a storage device) to an imaging device.

[0027] The supply device may include at least one robotic arm. As used herein, the term "robotic arm" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, a programmable mechanical unit that has the form of at least one of a hand or an arm and is configured to move in a manner similar to a hand or an arm using an electric drive and / or a pneumatic drive, including but not limited to gripping at least one object, particularly a slide or a slide holder, and transferring it to a defined destination.

[0028] The supply device may include a protrusion. As used herein, the term "protrusion" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term specifically may refer to, but is not limited to, an element of the supply device that protrudes onto another element of the supply device. For example, the protrusion is spear-shaped or finger-shaped. However, more types of shapes may also be feasible. The protrusion may be arranged at the robotic arm, for example at one end of the robotic arm. The protrusion may be arranged at the robotic arm, by mounting the protrusion to the robotic arm or by forming the protrusion at the robotic arm.

[0029] The mechanical arm may include a clamping device. As used herein, the term "clamping device" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, a mechanical element that is generally designed to grasp an object, transfer it to a desired position, and release the object at a desired position. A specific clamping device may be configured to clamp a slide or a slide holder to transfer it to a slide receiving portion of an imaging device in a tight manner (thereby avoiding instability or loss during transportation) and release it, preferably to a slide tray as described elsewhere herein. The protrusion herein may be arranged at the clamping device so that the clamping device can insert a slide into a slide receiving portion of an imaging device and simultaneously press an operating button of the imaging device, such as an eject button, thereby ejecting a slide tray (configured to hold a slide during scanning of a slide in an imaging device). The clamping device may include a first clamping portion and a second clamping portion. The first clamping portion and the second clamping portion may move relative to each other, for example, may move relative to each other in a linear manner. The first clamping part and the second clamping part may have surfaces facing each other. These surfaces may be substantially planar, thus supporting a tight clamping. However, more types of arrangements of the protrusions are still conceivable.

[0030] The supply device may be configured to press the operating button by using the protrusion. The operating button may be hit by the protrusion in various situations, which may cause wear of at least one of the protrusion or the operating button. The supply device may include a protective cover configured to cover the protrusion. As used herein, the term "protective cover" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, a preferably flexible object that can be arranged to separate the part to be covered from the surrounding objects. The shape of the protective cover herein may be formed to cover the spear-shaped or finger-shaped protrusion in a particularly tight manner. Therefore, the protective cover may therefore be configured to protect at least one of the protrusion and / or the operating button from wear.

[0031] The slide imaging device may include at least one storage device that may be loaded with a plurality of slides and configured to store the slides. The storage device may be loaded with a slide holder. The slide holder may be configured to hold a plurality of slides. The supply device may be configured to transport the slides from the imaging device to the storage device. The supply device may be configured to supply the slides from the storage device to the imaging device. As used herein, the term "storage device" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, a slide storage library that is designated to receive a single slide holder, or alternatively to receive more than one slide holder simultaneously, wherein each slide holder is configured to hold more than one slide. For example, the storage device may include at least two compartments, wherein each compartment is configured to store a portion of the slides. In this article, the compartment may include at least two rows placed in an adjacent manner, so that the slides are stored adjacent to each other. The storage device can be selected from a slide tray or a slide rack, however, another type of storage device may also be feasible. However, another kind of arrangement of slides and / or slide holders in the storage device may also be feasible. Thus, the storage device can be loaded with a plurality of slides, for example manually, however, automatic loading of the storage device is also conceivable.

[0032] The slide imaging apparatus may be configured to orderly introduce slides into an imaging device for generating a desired image of a sample mounted on the slide. In the slide imaging apparatus, a plurality of slides may be loaded into a storage device, where the slides are stored until they are supplied from the storage device to the imaging device. Supplying the slides from the storage device to at least one imaging device may be performed in an automated manner by applying a supply device.

[0033] As used herein, the terms "in an automated manner" and "automatically" are broad terms and are given ordinary and customary meanings to those of ordinary skill in the art and are not limited to special or customized meanings. These terms may specifically refer to, but are not limited to, a method that is performed based on an algorithm without direct interaction with a user of a slide imaging device. For example, the transfer of a slide may be performed without manual execution by a user.

[0034] The supply device may further be configured to transport the slides from the at least one imaging device back to the storage device after the scanning process is completed, for example to an associated location within the storage device (where the slides were loaded). In other words, the supply device may be configured to transport the slides from the imaging device to the same location within the storage device into which the slides were loaded before being transferred from the storage device to the imaging device. Thus, a user of the slide imaging apparatus may receive the slides back in the same order in which they were provided to the storage device, thereby facilitating subsequent identification and possible further processing of the slides.

[0035] As described above, the imaging device includes an operation button. As used herein, the term "operation button" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, a component of a device that is typically located on a surface of a corresponding device accessible to a person or object and can be pressed or released, wherein a piece of information is sent to the device and the device can then perform an operation. Therefore, the term "press (verb prototype)", "press (past participle)" or "press (present participle)" may specifically refer to, but is not limited to, a person or object hitting a button, and the term "release (verb prototype)", "release past participle)" or "release (present participle)" may specifically refer to, but is not limited to, removing pressure from a button, each in a manner that the position of the button relative to the surface of the device can undergo changes that may exceed a predefined threshold.

[0036] The operating button may be or include an eject button. As used herein, the term "eject button" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customary meaning. The term may specifically refer to, but is not limited to, a particular type of button that may be designed to present an object, particularly a component of a device, to a user or object pressing the button. In particular with respect to the present disclosure, the eject button is configured to eject a slide tray when the eject button is pressed. As used herein, the term "slide tray" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customary meaning. The term may specifically refer to, but is not limited to, an element configured to hold at least one slide or a slide holder, such as during scanning of a slide in an imaging device.

[0037] As described above, the slide imaging apparatus comprises an operating system. The operating system may be configured to control the operation of at least one component of the slide imaging apparatus, which component may be selected from, for example, at least one of the supply devices and at least one imaging device.

[0038] The operating system may include at least one processing device. As used herein, the term "processing device" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, any logic circuit system configured to perform basic operations of a computer or system; and / or, in general, a device configured to perform calculations or logical operations. The processing device may be configured to process basic instructions that drive a computer or system. As an example, the processing device may include at least one arithmetic logic unit (ALU), at least one floating point unit (FPU) (such as a math coprocessor or a numerical coprocessor), a plurality of registers (specifically registers configured to provide operands to the ALU and store operation results) and memory (such as L1 and L2 cache memories). The processing device may be a multi-core processor. Specifically, the processing device may be or may include a central processing unit (CPU). Additionally or alternatively, the processing device may be or may include a microprocessor, and therefore, specifically, the elements of the processing device may be contained in a single integrated circuit (IC) chip. Additionally or alternatively, the processing device may be or may include one or more application specific integrated circuits (ASICs) and / or one or more field programmable gate arrays (FPGAs) or the like.

[0039] The operating system may include at least one communication interface. As used herein, the term "communication interface" is a broad term and will be given a common and customary meaning for a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, an item or element forming a boundary that is configured to transmit information. In particular, a communication interface may be configured to transmit information from a computing device (e.g., a computer), such as sending or outputting information to, for example, another device. Additionally or alternatively, a communication interface may be configured to transmit information to a computing device (e.g., on a computer), such as, in order to receive information. A communication interface may specifically provide a means for transmitting or exchanging information. In particular, a communication interface may provide a data transmission connection, such as Bluetooth, NFC, inductive coupling, etc. As an example, a communication interface may be or may include at least one port, including one or more of a network or Internet port, a USB port, and a disk drive. The communication interface may be at least one Web interface.

[0040] The operating system may include at least one human-machine interface. As used herein, the term "human-machine interface" is a broad term and will be given the ordinary and customary meaning to a person of ordinary skill in the art and is not limited to a special or customized meaning. The term specifically may refer to, but is not limited to, an interface configured for human-machine interaction, such as, for example, a keyboard, a display device, a screen, a touch screen, gesture and / or voice recognition, etc. For example, the human-machine interface may include a keyboard and a display device, such as the above-mentioned monitor or another display device. For example, the display may be configured to present to a user at least one item of information related to the operating status of the slide imaging device.

[0041] The position of the elements of the slide imaging device can be one or more of variable, adaptive and adjustable within the framework. For example, the height of the plate of at least one imaging device and / or the plate of multiple imaging devices is adjustable. In this case, the position, such as the translation and / or orientation of one or more imaging devices can be changed, and the position of the operating buttons and other elements of the imaging device also changes accordingly. In addition or alternatively, the position of the slide receiving portion of the imaging device can be one or more of variable, adaptive and adjustable. However, knowledge of one or more of these positions (also expressed as target positions) may be necessary for the supply device to properly supply slides and / or introduce slides and / or remove slides from the imaging device. As used herein, the term "target position" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, the position of the imaging device and / or the position of the elements of the imaging device. The target position may be a position for operating the supply device. The target position may be the position at which the supply device is driven to perform a predetermined action (e.g., one or more of clamping at least one slide, pressing a button, releasing at least one slide, etc.). The target position may be the position of at least one operating button of the imaging device and / or the position of at least one slide receiving portion of the imaging device. The relative position of an element of the imaging device (e.g., an operating button and / or a slide receiving portion) relative to the imaging device may be known in advance. For example, the relative position may be stored in a database of the operating system. Therefore, when the position of the imaging device in space (i.e., translation and orientation) is known, the position of the element of the imaging device is also known.

[0042] Usually, in order to program the supply device, the target position can be taught to the supply device by a person. However, in the event of changes in the system, the teaching process must be repeated, which is complex, time-consuming and difficult. Therefore, the present invention proposes autonomous teaching of at least one target position.

[0043] The method comprises the following steps, which may be performed in a given order as an example. However, it should be noted that different orders are possible. Further, one or more method steps may be performed once or repeatedly. Further, two or more method steps may be performed simultaneously or in a timely overlapping manner. The method may include other method steps not listed.

[0044] The method comprises the following steps

[0045] i) providing at least six predefined locations by using an operating system;

[0046] ii) driving the supply device to six predefined positions by using an operating system until colliding with the imaging device, and detecting the collision with the imaging device;

[0047] iii) Determine the target position by evaluating the detected collision using the operating system.

[0048] As used herein, the term "teaching" is a broad term and should be given its ordinary and customary meaning for ordinary technicians in the field, and should not be limited to a special or customized meaning. The term may specifically refer to, but is not limited to, a program for programming the robot. As used herein, the term "automatic teaching" is a broad term and should be given its ordinary and customary meaning for ordinary technicians in the field, and should not be limited to a special or customized meaning. The term may specifically refer to, but is not limited to, the fact that the teaching of the robot is performed without manual or human interaction with the robot during teaching. For this purpose, at least six predefined positions can be provided to the operating system, and the supply device is driven to the predefined position until it collides with the imaging device. Coordinates, such as points reached in this way, can be stored by the operating system, such as in at least one database of the operating system. The program sequence for driving the supply device to the six predefined positions may include the supply device autonomously moving to all predefined positions.

[0049] As used herein, the term "providing" is a broad term and should be given its ordinary and customary meaning for a person of ordinary skill in the art, and should not be limited to a special or custom meaning. The term may specifically refer to, but is not limited to, retrieving and / or selecting a predefined position. Providing six predefined positions may include user input of predefined positions via a human-machine interface and / or receiving six predefined positions from a database (e.g., an operating system and / or an external database such as another computer or cloud). In addition, other parameters may be input by the user and / or may be retrieved from a database, for example, for movement between various positions such as speed and / or acceleration and / or accuracy. The predefined positions may be distributed, for example, uniformly distributed at the expected positions of the imaging device in space. For example, the predefined positions may be distributed on at least one expected plane on at least one side of the imaging device where the target position is located. In the case of multiple imaging devices, more than 6 predefined positions may be used, for example, 6 predefined positions per imaging device.

[0050] Driving the supply device to each of the six predefined positions may include moving the robot arm from the initial position along a path. The path may be predefined, such as preprogrammed. The operating system may drive the supply device along the path until a collision with the imaging device is detected. In step ii), the supply device may be driven successively along the path from the initial position to the six predefined positions, respectively, until a collision with the imaging device is detected. The supply device is driven along the corresponding path until a collision with the imaging device is also detected outside the corresponding predefined position. The operating system may be configured to limit the driving of the supply device along the path (e.g., a path taking into account a time limit). In the case where no collision is detected within the predefined time limit of driving along the path, the driving may be stopped and / or the driving may continue in different directions. For example, in the case where no collision is detected within the predefined time limit, an indication, such as a message and / or a request for a user action, may be issued by the operating system via a human-machine interface.

[0051] The driving of the supply device in step ii) can be performed by point-to-point (P2P) driving and / or by using a continuous path (CP). In the case of P2P, the supply device can be driven from position n to position n+1. The path between the points can be preprogrammed or can be calculated online, i.e., taking into account the detected collision points during teaching. In the case of CP, the supply device can take into account predefined paths between six predefined positions.

[0052] In step ii), the supply device may be driven at a speed such that a collision with the imaging device is deformation-free for the supply device and the imaging device.

[0053] As used herein, the term "collision" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, interaction between an imaging device and a supply device, such as contact and / or collision.

[0054] Detection of a collision with the imaging device may be performed using at least one collision sensor. The collision sensor may include one or more of at least one optical sensor, at least one tactile sensor. The tactile sensor may be a mechanical tactile sensor and / or an inductive tactile sensor and / or a capacitive tactile sensor. The collision sensor may be an element of the supply device, such as a protruding element. Additionally or alternatively, the sensor may be an external sensor, such as an imaging sensor of a slide imaging device. The slide imaging device may include at least one wired and / or wireless connection between the sensor and the operating system for exchanging data (e.g., sensor data for operating system evaluation) and / or commands (e.g., for controlling the sensor). The point in space where the collision is detected may be represented as a collision location.

[0055] Step iii) may comprise determining the coordinates of each collision position i, for example 3D coordinates, where i ranges from 1 to n, where n is the number of predefined positions. The evaluation of the detected collision may comprise solving a system of linear equations taking into account the coordinates of the determined collision positions, thereby determining the target position. The target position may be defined by a six-dimensional pose comprising a translation on three perpendicular axes x, y, z and three orientation values ​​rot(x), rot(y), rot(z), denoted hereinafter as rotx, roty, rotz. For example, the positions of the six collision positions may be (X1', X2', Y1', Y2', Z1', Z2'), where each collision position has six values, where X1', Y1', Z1', X2', Y2', Z2' define the initial position and X1, Y1, Z1, X2, Y2, Z2 define the detected collision position. The system of equations may be defined as

[0056] x=(X1.x-X2.x) / 2+X2.x

[0057] y=(Y1.y-Y2.y) / 2+Y2.y

[0058] z=(Z1.z-Z2.z) / 2+Z2.z

[0059] rotx=atan 2 ((Y2.y-Y1.y),(Y2.x-Y1.x))

[0060] roty=0

[0061] rotz=atan 2((Z2.z-Z1.z),(Z2.x-Z1.x))

[0062] Step iii) may further comprise at least one coordinate transformation to an Euler orientation. For example, the operating system may be used to control the supply device Euler orientations q1, q2, q3, q4. For example, the following transformation may be performed:

[0063] x1_:=cos(rotz)*cos(roty);

[0064] x2_:=sin(rotz)*cos(roty);

[0065] x3_:=-sin(roty);

[0066] y1_:=cos(rotz)*sin(roty)*sin(rotx)-sin(rotz)*cos(rotx);

[0067] y2_:=sin(rotz)*sin(roty)*sin(rotx)+cos(rotz)*cos(rotx);

[0068] y3_:=cos(roty)*sin(rotx);

[0069] z1_:=cos(rotz)*sin(roty)*cos(rotx)+sin(rotz)*sin(rotx);

[0070] z2_:=sin(rotz)*sin(roty)*cos(rotx)-cos(rotz)*sin(rotx);

[0071] z3_:=cos(roty)*cos(rotx);

[0072] x1:=-z1_;

[0073] x2:=-z2_;

[0074] x3:=-z3_;

[0075] y1:=x1_;

[0076] y2:=x2_;

[0077] y3:=x3_;

[0078] z1:=-y1_;

[0079] z2:=-y2_;

[0080] z3:=-y3_;

[0081] If y3-z2>=0 then

[0082] sigQ2:=1;

[0083] otherwise

[0084] sigQ2:=-1;

[0085] Finish

[0086] If z1-x3>=0 then

[0087] sigQ3:=1;

[0088] otherwise

[0089] sigQ3:=-1;

[0090] Finish

[0091] If x2-y1>=0 then

[0092] sigQ4:=1;

[0093] otherwise

[0094] sigQ4:=-1;

[0095] Finish

[0096] q1:=sqrt(x1+y2+z3+1) / 2;

[0097] q2:=sigQ2*sqrt(x1-y2-z3+1) / 2;

[0098] q3:=sigQ3*sqrt(y2-x1-z3+1) / 2;

[0099] q4:=sigQ4*sqrt(z3-x1-y2+1) / 2;

[0100] After carrying out step iii), the target position and its degrees of freedom are known to the operating system. The method allows teaching to be performed autonomously, in particular fully autonomously. Thus, adjustments to the position of the imaging device and changes in the implementation can be performed more quickly and with less complexity. For example, in the case of a slide imaging device with two imaging devices at two different positions, during commissioning and / or after maintenance operations, the position of one or both of the imaging devices relative to the supply device may change. The operating system may carry out the method as described above and may autonomously calculate the target position of the operating button and / or the slide receiving portion and teach the supply device.

[0101] The method may be computer-implemented. As used herein, the term "computer-implemented" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customary meaning. The term may specifically refer to, but is not limited to, a process that is fully or partially implemented using a data processing device, such as a data processing device including at least one processing unit device. Thus, the term "computer" may generally refer to a device having at least one data processing device, such as at least one processing unit, or to a combination or network of devices. In addition, a computer may include one or more other components, such as at least one of a data storage device, an electronic interface, or a human-computer interface.

[0102] In another aspect of the present invention, a slide imaging device is disclosed. The slide imaging device comprises

[0103] at least one imaging device configured to generate an image of a sample mounted on a slide, wherein the imaging device comprises at least one operating button, wherein the imaging device comprises at least one slide receiving portion configured to receive a slide for generating an image;

[0104] - at least one supply device configured to supply a slide to a slide receiving portion of the imaging device, wherein the supply device is configured to press an operation button;

[0105] - at least one operating system configured to control the operation of the supply device, wherein the operating system is configured to

[0106] driving the supply device to at least six predefined positions until colliding with the imaging device, and detecting the collision with the imaging device;

[0107] By using the operating system to evaluate the detected collision, determine the action button and / or

[0108] Or the position of the slide receiver.

[0109] The slide imaging device may be configured for performing the method according to the invention as described above or in more detail below.Therefore, for possible definitions, options or embodiments, reference is made to the description given above or given in further detail below.

[0110] This article further discloses and proposes a computer program, which includes computer executable instructions, which, when executed on a computer or computer network, are used to perform the method according to the present invention in one or more embodiments attached hereto. Specifically, the computer program can be stored on a computer readable data carrier and / or a computer readable storage medium.

[0111] As used herein, the terms "computer-readable data carrier" and "computer-readable storage medium" may specifically refer to a non-transitory data storage device, such as a hardware storage medium having computer-executable instructions stored thereon. A computer-readable data carrier or storage medium may specifically be or may include a storage medium such as a random access memory (RAM) and / or a read-only memory (ROM).

[0112] Thus, in particular, one, more than one or even all of the method steps i) to iii) as indicated above may be performed by using a computer or a computer network, preferably by using a computer program.

[0113] This article further discloses and proposes a computer program product with program code means, so that when the program is executed on a computer or computer network, the method according to the present invention is performed in one or more embodiments attached hereto. Specifically, the program code means can be stored on a computer-readable data carrier and / or on a computer-readable storage medium.

[0114] The present invention further discloses and proposes a data carrier having a data structure stored thereon, which, after being loaded into a computer or a computer network, such as after being loaded into a working memory or a main memory of the computer or the computer network, can execute a method according to one or more embodiments disclosed herein.

[0115] Further disclosed and proposed herein is a non-transitory computer readable medium comprising instructions which, when executed by one or more processors, cause the one or more processors to perform a method according to the present invention. The non-transitory computer readable medium may be configured to control an operating system.

[0116] This article further discloses and proposes a computer program product having a program code tool stored on a machine-readable carrier so that when the program is executed on a computer or computer network, a method according to one or more embodiments disclosed herein is performed. As used herein, a computer program product refers to a program that is a tradable product. The product can generally exist in any format (such as in paper format) or on a computer-readable data carrier and / or on a computer-readable storage medium. Specifically, the computer program product can be distributed on a data network.

[0117] Further disclosed and proposed herein is a modulated data signal containing instructions readable by a computer system or a computer network for performing a method according to one or more embodiments disclosed herein.

[0118] With reference to the computer-implemented aspects of the present invention, one or more method steps or even all method steps of the method according to one or more embodiments disclosed herein may be performed using a computer or a computer network. Therefore, generally speaking, any method step including providing and / or manipulating data may be performed using a computer or a computer network. Generally speaking, these method steps may include any method step other than method steps that typically require manual operation (such as providing samples and / or performing certain aspects of actual measurement).

[0119] Specifically, this article further discloses the following:

[0120] - a computer or a computer network comprising at least one processor, wherein the processor is adapted to perform a method according to one of the embodiments described in this specification,

[0121] - a computer-loadable data structure adapted to carry out a method according to one of the embodiments described in this specification when the data structure is executed on a computer,

[0122] - a computer program, wherein the computer program is adapted to carry out a method according to one of the embodiments described in the present description when the program is executed on a computer,

[0123] - a computer program comprising program means for executing, when executed on a computer or

[0124] When the computer program is executed on a computer network, the computer program is executed according to the method described in this specification.

[0125] A method according to one of the embodiments described above,

[0126] - a computer program comprising program means according to the preceding embodiment,

[0127] The program device is stored on a computer-readable storage medium.

[0128] - a storage medium, wherein a data structure is stored on the storage medium and wherein the data structure

[0129] The computer program product is adapted to carry out a method according to one of the embodiments described in the present description after being loaded into a main memory and / or a working memory of a computer or a computer network, and

[0130] - A computer program product having program code means, wherein the program code means

[0131] The program code tool can be stored or stored on a storage medium for executing the method according to one of the embodiments described in this specification if the program code tool is executed on a computer or a computer network.

[0132] To summarize and without excluding other possible embodiments, the following embodiments may be envisaged:

[0133] Embodiment 1. A supply device for a slide imaging device having at least one target position

[0134] A method for autonomous teaching of a slide arrangement, wherein the slide imaging apparatus comprises at least one imaging device configured to generate an image of a sample mounted on a slide, wherein the target position is a position on the imaging device, wherein the slide imaging apparatus comprises at least one operating system configured to control the operation of a supply device, wherein the method comprises the steps of i) providing at least six predefined positions by using an operating system;

[0135] ii) driving the supply device to six predefined positions by using an operating system until colliding with the imaging device, and detecting the collision with the imaging device;

[0136] iii) Determine the target position by evaluating the detected collision using the operating system.

[0137] Embodiment 2. The method according to the preceding embodiment, wherein the target position is a position of at least one operating button of the imaging device and / or a position of at least one slide receiving portion of the imaging device.

[0138] Embodiment 3. A method according to any one of the preceding embodiments, wherein six pre-

[0139] Defining the positions includes user input of predefined positions via at least one human-machine interface and / or receiving six predefined positions from a database.

[0140] Embodiment 4. A method according to any one of the preceding embodiments, wherein the predefined

[0141] The positions are distributed on at least one expected plane of at least one side of the imaging device where the target position is located.

[0142] Embodiment 5. The method according to any of the preceding embodiments, wherein in step ii), the supply device is driven at a speed such that the collision with the imaging device is deformation-free for the supply device and the imaging device.

[0143] Embodiment 6. A method according to any one of the preceding embodiments, wherein, in step ii), the supply device is driven successively along paths from an initial position to six predefined positions respectively until it collides with an imaging device, wherein the supply device is driven along the corresponding path until a collision with the imaging device is also detected outside the corresponding predefined position.

[0144] Embodiment 7. The method according to any one of the preceding embodiments, wherein by using

[0145] At least one collision sensor is used to detect the collision with the imaging device, wherein the collision sensor includes one or more of at least one or more optical sensors and at least one tactile sensor.

[0146] Embodiment 8. The method according to any one of the preceding embodiments, wherein step iii) comprises

[0147] Coordinates of the respective collision locations are determined, wherein the evaluation of the detected collision comprises solving a system of linear equations taking into account the coordinates of the determined collision locations in order to determine the target position.

[0148] Embodiment 9. The method according to any one of the preceding embodiments, wherein step iii) comprises

[0149] At least one coordinate transformation to an Euler orientation.

[0150] Embodiment 10. The method according to any one of the preceding embodiments, wherein the method is a

[0151] Computer implemented.

[0152] Embodiment 11. A slide imaging device comprising

[0153] at least one imaging device configured to generate an image of a sample mounted on a slide, wherein the imaging device comprises at least one operating button, wherein the imaging device comprises at least one slide receiving portion configured to receive a slide for generating an image;

[0154] - at least one supply device configured to supply a slide to a slide receiving portion of the imaging device, wherein the supply device is configured to press an operation button;

[0155] - at least one operating system configured to control the operation of the supply device, wherein the operating system is configured to

[0156] driving the supply device to at least six predefined positions until colliding with the imaging device, and detecting the collision with the imaging device;

[0157] The detected collision is evaluated by using the operating system in order to determine the position of the operating button and / or the slide receptacle.

[0158] Embodiment 12. The slide imaging device according to the above embodiment, wherein the slide

[0159] The imaging device is configured to perform a method according to any of the preceding embodiments relating to a method.

[0160] Embodiment 13. A slide imaging device according to any one of the aforementioned embodiments relating to the slide imaging device, wherein the operation button is or includes an eject button, and wherein the imaging device is configured to eject the slide tray when the eject button is pressed.

[0161] Embodiment 14. A slide imaging device according to any one of the preceding embodiments relating to a slide imaging device, wherein the slide imaging device comprises at least one first imaging device and at least one second imaging device, each of which is configured to generate an image of a sample mounted on a slide, wherein a supply device is configured to selectively supply the slide to the first imaging device or the second imaging device.

[0162] Embodiment 15. According to any one of the above embodiments related to the slide imaging device

[0163] The slide imaging apparatus wherein the supply device comprises at least one robotic arm.

[0164] Embodiment 16. The slide imaging apparatus according to the preceding embodiment, wherein the supply device

[0165] A protrusion configured to press an operation button is included, wherein the protrusion is spear-shaped or finger-shaped, wherein the protrusion is arranged at the robot arm.

[0166] Embodiment 17. The slide imaging device according to the preceding embodiment, wherein the slide is

[0167] The imaging device includes a protective cover, wherein the protective cover is configured to protect at least one of the protrusion and the operation button.

[0168] Embodiment 18. A slide imaging device according to any one of the preceding three embodiments,

[0169] Wherein the robotic arm comprises a clamping device configured to clamp at least one of the slides or a slide holder configured to accommodate more than one slide.

[0170] Embodiment 19. A slide imaging device according to the preceding embodiment, wherein the clamping

[0171] The apparatus includes a first clamping portion and a second clamping portion, wherein the first clamping portion and the second clamping portion are movable relative to each other to clamp at least one of the slides or a slide holder configured to accommodate a plurality of slides.

[0172] Embodiment 20. A slide imaging device according to any one of the preceding embodiments relating to a slide imaging device, wherein the slide imaging device comprises at least one storage device capable of being loaded with a plurality of slides and configured for storing the slides, wherein the supply device is configured for supplying the slides from the storage device to the imaging device.

[0173] Embodiment 21. The slide imaging apparatus of the preceding embodiment, wherein the storage device is capable of being loaded with a slide holder, wherein the slide holder is configured to accommodate a plurality of slides.

[0174] Embodiment 22. The slide imaging apparatus according to any one of the two preceding embodiments, wherein the supply device is configured to transport the slide from the imaging device to the storage device.

[0175] Embodiment 23. A computer program comprising instructions which, when executed by a slide imaging device according to any one of the preceding embodiments relating to slide imaging devices, cause the slide imaging device to perform a method according to any one of the preceding embodiments relating to methods.

[0176] Embodiment 24. A computer-readable storage medium comprising instructions, which, when executed by a slide imaging device according to any of the aforementioned embodiments involving slide imaging devices, cause the slide imaging device to perform a method according to any of the aforementioned embodiments involving methods.

[0177] Embodiment 25. A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform a method according to any of the preceding embodiments relating to methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0178] Other optional features and embodiments will be disclosed in more detail in the subsequent description of embodiments, preferably in conjunction with the dependent claims. Wherein, as will be appreciated by those skilled in the art, each optional feature can be implemented in a separate manner and in any arbitrarily feasible combination. The scope of the present invention is not limited by the preferred embodiments. Embodiments are schematically depicted in the accompanying drawings. Wherein, the same reference numerals in these drawings refer to the same or functionally equivalent elements.

[0179] In the attached picture:

[0180] Figure 1 An embodiment of a slide imaging apparatus is schematically shown in side view; and

[0181] Figure 2An exemplary embodiment of a method for the autonomous teaching of at least one target position of a supply device of a slide imaging apparatus is schematically shown. DETAILED DESCRIPTION

[0182] Figure 1 An embodiment of a slide imaging device 110 according to the present disclosure is schematically shown in side view. Figure 1 As shown, the slide imaging device 110 may include a frame 112. The frame 112 may include wheels 114 so that the slide imaging device 110 can be moved to a desired position. Figure 1 As further shown, the frame 112 further comprises a table 116. At least a storage device 118 and a supply device 120 can be placed on the table 116. However, other kinds of arrangements of the storage device 118 and the supply device 120 are also conceivable.

[0183] Further according to Figure 1 In the embodiment shown in FIG. 1 , a first plate 122 and a second plate 124 are connected to the frame 112, wherein a first imaging device 126 is arranged on the first plate 122 and a second imaging device 128 is arranged on the second plate 124. Further embodiments of the slide imaging device 110 (not depicted here) including only a single imaging device or three, four, five, six or more individual imaging devices may also be feasible, wherein at least one imaging device 126, 128 may be handled individually by the supply device 120 as disclosed in more detail below. Due to the Figure 1 In the particular arrangement shown, the first imaging device 126 and the second imaging device 128 are arranged one above the other. However, more types of arrangements with respect to the first imaging device 126 and the second imaging device 128 are also conceivable, in particular as long as they can be reached by the supply device 120. In addition, the first plate 122 and the second plate 124 can be extendable from the frame 112 in an independent manner, in particular by using telescopic rails (not depicted here), in particular in order to facilitate access in the event of maintenance. In this embodiment, precise positioning can be achieved by recesses in the plates 122, 124, which are designed to receive the corresponding bases of the imaging devices 126, 128, respectively. However, other types of arrangements may also be feasible.

[0184] like Figure 1 As further depicted in FIG. 1 , the slide imaging apparatus 110 may include a housing 130 that at least partially surrounds the supply 120, thereby supporting undisturbed operation of the supply 120. Figure 1As schematically shown in FIG. 1 , the housing 130 has a safety door 132 and a safety switch 134, wherein the safety switch 134 is configured to detect a state of the safety door 132, such as an open state or a closed state of the safety door 132. However, other kinds of safety measures may also be possible.

[0185] In addition, if Figure 1 The embodiment of the slide imaging apparatus 110 depicted in FIG. 1 includes an emergency stop switch 136, wherein the emergency stop switch 136 is operable using an emergency stop button 138. However, other types of emergency measures may also be possible. If maintenance personnel deem it necessary, the emergency stop switch 136 can cause the operation of the slide imaging apparatus 110 to stop immediately when the emergency stop button 138 is pressed.

[0186] like Figure 1 As schematically shown in FIG. 1 , the storage device 118 may be loaded with a plurality of slides 140 and configured to store the slides 140. The plurality of slides 140 may be manually loaded into the storage device 118. To this end, the storage device 118 may be loaded with at least one of individual slides and slide holders 142, wherein each slide holder 142 is configured to hold more than one slide 140. Figure 1 As further depicted in FIG. 1 , the storage device 118 is configured to store slides 140 or slide holders 142, respectively, in rows 144 that are positioned adjacent to one another in an adjacent manner. However, other arrangements of the storage device 118 are also conceivable.

[0187] Generally speaking, the supply device 120 can be configured to process the slides 140 or slide holders 142, respectively, along a predetermined routine route (e.g., starting from the top row 146 of the storage device 118 and continuing to the bottom row 148 of the storage device). In a specific embodiment as depicted herein, the storage device 118 can include an express lane 150, wherein the express lane 150 can be configured to store at least one sample mounted on a designated slide 152, wherein each designated slide 152 as located in the express lane 150 is determined for special processing outside of the predetermined routine route as normally used by the supply device 120.

[0188] like Figure 1 As further schematically shown in FIG. 1 , the supply device 120 may be configured to selectively supply the slide 140 from the storage device 118 to the first imaging device 126 or the second imaging device 128. The supply device 120 may be configured to selectively supply the slide 140 from the storage device 120 to the first imaging device 126 or the second imaging device 128 automatically.

[0189] As schematically depicted, the supply device 120 may include a robot 154, which may in particular be configured to introduce a slide 140 into a slide receiving portion 156, in particular a slit, as each of the first imaging device 126 and the second imaging device 128 comprises, wherein the slide receiving portion 156 is configured to receive the slide 140 for imaging purposes. The robot 154 may include a gripping device 158, which is configured to grip the slide 140 or the holder 142, respectively. The gripping device 158 may have a protrusion (not depicted here), in particular a spear-like or finger-like protrusion, which is configured to press a first operating button 160 of the first imaging device 126 or of the second imaging device 128. However, further kinds of arrangements of the supply device 120 may still be possible.

[0190] In addition, the supply device 120 can be configured to transfer the slides 140 from the first imaging device 126 or from the second imaging device 128 back to the storage device 118 after scanning to the storage device 118. Thereafter, the slides 140 can be manually removed from the storage device 118, thereby making room for additional slides 140. The supply device 120 can be configured to transfer the slides 140 from the first imaging device 126 or from the second imaging device 128 back to the storage device 118 to the associated location within the storage device 118 into which the slides 140 had been previously loaded prior to scanning. As a result, the user can receive the slides 140 back to the storage device 118 in the same order in which they were provided to the storage device 118.

[0191] As mentioned above, Figure 1 The exemplary slide imaging apparatus 110 shown includes a first imaging device 126 and a second imaging device 128, wherein each of the imaging devices 126, 128 is configured to generate an image 162 of a sample mounted on a slide 140. To this end, each of the imaging devices 126, 128 may preferably be selected from a 2D camera or a line scan detector. However, other types of imaging devices may also be feasible.

[0192] In certain embodiments, at least one of the first imaging device 126 and the second imaging device 128 may include at least one indicator, for example in the form of one or more LEDs 164, which are configured to indicate the operating status of the first imaging device 126 or the second imaging device 128, respectively. Figure 1 As shown, the slide imaging apparatus 110 may further include at least one visual sensor 166 configured to detect an operating state of at least one of the first imaging device 126 and the second imaging device 128 using an indication provided by an indicator (e.g., by one or more LEDs 164). To this end, the visual sensor 166 may include, for example, Figure 1168 schematically depicted in FIG. 16 . In a further embodiment (not depicted here), the slide imaging device 110 may include at least two separate visual sensors 166, wherein each separate visual sensor 166 may include a separate optical recording device 168, wherein each separate optical recording device 168 may be assigned to detect the operating state of a separate imaging device 126, 128. However, further embodiments are still possible.

[0193] As such, the slide imaging apparatus 110 may independently access the operating status of the first imaging device 126 or the second imaging device 128, respectively, without having to obtain this information in a direct manner from the first imaging device 126 and the second imaging device 128. However, direct communication between the first imaging device 126 or the second imaging device 128 (on the one hand) and the operating system 170 (on the other hand) for providing the operating status of the first imaging device 126 and the second imaging device 128 may also be feasible.

[0194] As described above, the slide imaging apparatus 110 may include an operating system 170 , which may be configured to control the operation of one or more of the supply device 120 , the first imaging device 126 , and the second imaging device 128 .

[0195] Herein, the operating system 170 may preferably include: a processing device such as a computer 172; a human-computer interaction interface such as an input device 174 configured to input instructions to the computer 170, wherein the input device 174 may include a keyboard 176; and at least one display device 178. In addition, the slide imaging apparatus 110 may include at least one monitor 180, which may preferably be mounted to a pivotable holder (not depicted here) to facilitate viewing of the image 162 of the sample mounted thereon after the slide 140 is scanned by the user from different positions through the first imaging device 126 or through the second imaging device 128.

[0196] According to this, the mechanical arm 154 included by the supply device 120 has a protrusion 182 arranged at the mechanical arm 154. The protrusion 182 can be mounted to or formed on the mechanical arm 154 in any conceivable manner. The mechanical arm may include a clamping device 158, which is configured to clamp a slide holder 142, as shown in the figure, wherein the slide holder 142 is configured to hold a plurality of slides 140, wherein the protrusion 182 is arranged at the clamping device 158. However, further arrangements of the protrusion 182 at the supply device 120 are feasible. The protrusion 182 included by the supply device 120, in particular by the clamping device 158, is configured to press the operation button 160 of the imaging device 126, 128. For this purpose, the protrusion 182 may be spear-shaped or finger-shaped. The operation button 160 may be or include an eject button, wherein the imaging device 126, 128 may be configured to eject a slide tray (not depicted here) when the eject button is pressed. The slide tray herein may be configured to hold the slide 140 or the slide holder 142, respectively, during scanning of at least one slide 140.

[0197] The clamping device 158 may include a first clamping portion and a second clamping portion. Figure 1 126, 128. The first clamping portion and the second clamping portion may be movable relative to each other, for example in a linear manner relative to each other. Furthermore, the first clamping portion and the second clamping portion may have surfaces facing each other, wherein the surfaces may be substantially planar and thus be adopted to adjacent surfaces of the slide 140 or the slide holder 142, respectively. In this way, the clamping device 158 may be able to transfer the slide 140 or the slide holder 142 to the slide receiving portion 156 of the imaging device 126, 128 in a tight manner, thereby avoiding instability or loss of the slide 140 or the slide holder 142, respectively, during transportation.

[0198] The positions of the elements of the slide imaging apparatus 110 within the frame 112 may be one or more of variable, adaptive, and adjustable. For example, the height of the plate and / or plates 122, 124 of at least one imaging device 126, 128 may be adjustable. In this case, the position (e.g., the translation and / or orientation of one or more imaging devices) may be changed, and the position of the operating button 160 and other elements of the imaging devices 126, 128 may also change accordingly. Additionally or alternatively, the position of the slide receiving portion 156 of the imaging device 126, 128 may be one or more of variable, adaptive, and adjustable. However, knowledge of one or more of these positions (also denoted as target positions) may be necessary for the supply device 120 to properly supply and / or introduce slides and / or remove slides from the imaging device 126, 128. The target position may be the position of the imaging device 126, 128 and / or an element of the imaging device 126, 128. The target position may be a position for operating the supply device. The target position may be a position where the supply device 120 is driven to perform a predetermined action (e.g., one or more of clamping at least one slide 140, pressing a button, releasing at least one slide 140, etc.). The target position may be a position of at least one operating button 160 of the imaging device 126, 128 and / or a position of at least one slide receiving portion 156 of the imaging device 126, 128. The relative position of the elements of the imaging device 126, 128 (e.g., the operating button 160 and / or the slide receiving portion 156) relative to the imaging device 126, 128 may be known in advance. For example, the relative position may be stored in a database of the operating system 170. Therefore, when the position (i.e., translation and orientation) of the imaging device 126, 128 in space is known, the position of the elements of the imaging device 126, 128 is also known.

[0199] Usually, in order to program the supply device 120, the target position can be taught to the supply device 120 by a person. However, in the case of changes in the system, the teaching process must be repeated, which is complicated, time-consuming and difficult. Therefore, the present invention proposes autonomous teaching of at least one target position.

[0200] Figure 2 An embodiment of an autonomous teaching of at least one target position of a supply device 120 for a slide imaging device 110 is shown. The method comprises the following steps, which, by way of example, may be performed in a given order. However, it should be noted that a different order is also possible. Further, one or more method steps may also be performed once or repeatedly. Further, two or more method steps may be performed simultaneously or in a timely overlapping manner. The method may include other method steps not listed.

[0201] The method comprises the following steps

[0202] i) (indicated by reference numeral 186) providing at least six predefined locations by using the operating system 170;

[0203] ii) (indicated by reference numeral 188) driving the supply device 120 to six predefined positions until colliding with the imaging devices 126, 128 by using the operating system 170, and detecting the collision with the imaging devices 126, 128;

[0204] iii) (indicated by reference numeral 190) evaluating the detected collision using the operating system 170 to determine the target position.

[0205] Teaching may be or include a process for programming the supply device 120. The teaching of the supply device 120 is performed without manual or human interaction with the robot during teaching. For this purpose, the operating system 170 may be provided with at least six predefined positions to which the supply device 120 is driven until colliding with the imaging devices 126, 128. Coordinates, e.g., points reached in this manner, may be stored by the operating system 170, e.g., in at least one database of the operating system 170. The program sequence for driving the supply device 120 to the six predefined positions may include the supply device 120 autonomously moving to all predefined positions.

[0206] Providing 186 may include retrieving and / or selecting predefined positions. Providing 186 six predefined positions may include user input of predefined positions via a human-machine interface and / or receiving six predefined positions from a database (e.g., of the operating system 170 and / or an external database such as another computer or cloud). In addition, other parameters may be input by the user and / or may be retrieved from the database, for example, for movement between the various positions such as speed and / or acceleration and / or accuracy. The predefined positions may be distributed, for example, evenly distributed at the expected positions of the imaging devices 126, 128 in space. For example, the predefined positions may be distributed on at least one expected plane on at least one side of the imaging devices 126, 128 where the target position is located.

[0207] Driving the supply device 120 to each of the six predefined positions may include moving the mechanical arm 154 from the initial position along a path. The path may be predefined, such as preprogrammed. The operating system 170 may drive the supply device 120 along the path until a collision with the imaging devices 126, 128 is detected. In step ii) 188, the supply device 120 may be driven successively along the path from the initial position to the six predefined positions, respectively, until a collision with the imaging devices 126, 128 is detected. The supply device 120 is driven along the corresponding path until a collision with the imaging devices 126, 128 is also detected outside the corresponding predefined position. The operating system 170 may be configured to drive the limited supply device 120 along a path (e.g., a path taking into account a time limit). In the case where no collision is detected within the predefined time limit of driving along the path, the driving may be suspended and / or continued in a different direction. For example, in the case where no collision is detected within the predefined time limit, an indication, such as a message and / or a request for a user action, may be issued by the operating system 170 via a human-machine interface.

[0208] The driving of the supply device 120 in step ii) 188 can be performed by point-to-point (P2P) driving and / or by using a continuous path (CP). In the case of P2P, the supply device 120 can be driven from position n to position n+1. The path between the points can be preprogrammed or can be calculated online, i.e., taking into account the detected collision points during teaching. In the case of CP, the supply device 120 can take into account predefined paths between six predefined positions.

[0209] In step ii) 188, the supply device 120 may be driven at a speed such that a collision with the imaging device is non-deformational for the supply device and the imaging device. The collision may be or may include an interaction between the imaging device 126, 128 and the supply device 120, such as contact and / or collision.

[0210] Detection of a collision with the imaging devices 126, 128 can be performed using at least one collision sensor (not shown here). The collision sensor may include one or more of at least one optical sensor, at least one tactile sensor. The tactile sensor may be a mechanical tactile sensor and / or an inductive tactile sensor and / or a capacitive tactile sensor. The collision sensor may be an element of a supply device, such as a protruding element. Additionally or alternatively, the sensor may be an external sensor, such as an imaging sensor of a slide imaging device. The slide imaging device 110 may include at least one wired and / or wireless connection between the sensor and the operating system 170 for exchanging data (e.g., sensor data for evaluation by the operating system 170) and / or commands (e.g., for controlling the sensor). The point in space where the collision is detected may be represented as a collision location.

[0211] Step iii) 190 may comprise determining the coordinates of each collision position i, for example 3D coordinates, where i ranges from 1 to n, where n is the number of predefined positions. The evaluation of the detected collision may comprise solving a system of linear equations taking into account the coordinates of the determined collision positions, thereby determining the target position. The target position may be defined by a six-dimensional pose comprising a translation on three perpendicular axes x, y, z and three orientation values ​​rot(x), rot(y), rot(z), denoted hereinafter as rotx, roty, rotz. For example, the positions of the six collision positions may be (X1', X2', Y1', Y2', Z1', Z2'), where each collision position has six values, where X1', Y1', Z1', X2', Y2', Z2' define the initial position and X1, Y1, Z1, X2, Y2, Z2 define the detected collision position. The system of equations may be defined as

[0212] x=(X1.x-X2.x) / 2+X2.x

[0213] y=(Y1.y-Y2.y) / 2+Y2.y

[0214] z=(Z1.z-Z2.z) / 2+Z2.z

[0215] rotx=atan 2 ((Y2.y-Y1.y),(Y2.x-Y1.x))

[0216] roty=0

[0217] rotz=atan 2 ((Z2.z-Z1.z),(Z2.x-Z1.x))

[0218] Step iii) 190 may further comprise at least one coordinate transformation to an Euler orientation. For example, the operating system 170 may be used to control the supply device 120 to supply the Euler orientations q1, q2, q3, q4.

[0219] For example, you can perform the following transformations:

[0220] x1_:=cos(rotz)*cos(roty);

[0221] x2_:=sin(rotz)*cos(roty);

[0222] x3_:=-sin(roty);

[0223] y1_:=cos(rotz)*sin(roty)*sin(rotx)-sin(rotz)*cos(rotx);

[0224] y2_:=sin(rotz)*sin(roty)*sin(rotx)+cos(rotz)*cos(rotx);

[0225] y3_:=cos(roty)*sin(rotx);

[0226] z1_:=cos(rotz)*sin(roty)*cos(rotx)+sin(rotz)*sin(rotx);

[0227] z2_:=sin(rotz)*sin(roty)*cos(rotx)-cos(rotz)*sin(rotx);

[0228] z3_:=cos(roty)*cos(rotx);

[0229] x1:=-z1_;

[0230] x2:=-z2_;

[0231] x3:=-z3_;

[0232] y1:=x1_;

[0233] y2:=x2_;

[0234] y3:=x3_;

[0235] z1:=-y1_;

[0236] z2:=-y2_;

[0237] z3:=-y3_;

[0238] If y3-z2>=0 then

[0239] sigQ2:=1;

[0240] otherwise

[0241] sigQ2:=-1;

[0242] Finish

[0243] If z1-x3>=0 then

[0244] sigQ3:=1;

[0245] otherwise

[0246] sigQ3:=-1;

[0247] Finish

[0248] If x2-y1>=0 then

[0249] sigQ4:=1;

[0250] otherwise

[0251] sigQ4:=-1;

[0252] Finish

[0253] q1:=sqrt(x1+y2+z3+1) / 2;

[0254] q2:=sigQ2*sqrt(x1-y2-z3+1) / 2;

[0255] q3:=sigQ3*sqrt(y2-x1-z3+1) / 2;

[0256] q4:=sigQ4*sqrt(z3-x1-y2+1) / 2;

[0257] After performing step iii) 190, the operating system 170 can learn the target position and its degrees of freedom. The method allows teaching to be performed autonomously, in particular completely autonomously. As a result, adjustments to the position of the imaging devices and changes in implementation can be performed faster and with less complexity. For example, in the case of a slide imaging device 110 with two imaging devices 126, 128 at two different positions, during commissioning and / or after maintenance operations, the position of one or both of the imaging devices 126, 128 relative to the supply device 120 may change. The operating system 170 can perform the method as described above and can autonomously calculate the target position of the operating button 160 and / or the slide receiving portion 156 and teach the supply device 120.

[0258] Reference numerals list

[0259] 110 Slide Imaging Equipment

[0260] 112 Frame

[0261] 114 Wheels

[0262] 116 Table

[0263] 118 Storage Device

[0264] 120 Supply device

[0265] 122 First Board

[0266] 124 Second Board

[0267] 126 first imaging device

[0268] 128 second imaging device

[0269] 130 Housing

[0270] 132 Security Door

[0271] 134 Safety switch

[0272] 136 Emergency stop switch

[0273] 138 Emergency stop button

[0274] 140 Slides

[0275] 142 Slide Holder

[0276] 144 rows

[0277] 146 Top row

[0278] 148 bottom row

[0279] 150 Fast Track

[0280] 152 Specified slides

[0281] 154 Robotic Arm

[0282] 156 slide receiving part

[0283] 158 Clamping device

[0284] 160 Operation buttons

[0285] 162 images

[0286] 164 light emitting diodes (LEDs),

[0287] 166 Vision Sensor

[0288] 168 Optical recording device

[0289] 170 Operating System

[0290] 172 Computer

[0291] 174 Input Devices

[0292] 176 Keyboard

[0293] 178 Display

[0294] 180 Monitor

[0295] 182 Protrusion

[0296] 186 Step i)

[0297] 188 Step ii)

[0298] 190 Step iii)

Claims

1. A method for autonomous teaching of at least one target position of a supply device (120) of a slide imaging device (110), wherein the slide imaging device (110) comprises at least one imaging device (126, 128) configured to generate an image of a sample mounted on a slide (140), wherein the target position is a position on the imaging device (126, 128), wherein the slide imaging device (110) comprises at least one operating system (170) configured to control the operation of the supply device (120), wherein the method comprises the following steps i) (186) providing at least six predefined locations by using the operating system (170); ii) (188) driving the supply device (120) to the six predefined positions by using the operating system (170) until colliding with the imaging device (126, 128), and detecting the collision with the imaging device (126, 128); iii) (190) determining the target position by evaluating the detected collision using the operating system (170).

2. The method according to claim 1, wherein the target position is a position of at least one operating button (160) of the imaging device (126, 128) and / or at least one slide receiving portion (156) of the imaging device (126, 128).

3. A method according to any one of claims 1 or 2, wherein in step ii)(188), the supply device (120) is driven successively along the paths from the initial position to the six predefined positions respectively until it collides with the imaging device (126, 128), wherein the supply device (120) is driven along the corresponding path until a collision with the imaging device (126, 128) is also detected outside the corresponding predefined position.

4. The method according to any one of claims 1 to 3, wherein the detection of a collision with the imaging device (126, 128) is performed by using at least one collision sensor, wherein the collision sensor comprises one or more of the following: at least one optical sensor, at least one tactile sensor.

5. A method according to any one of claims 1 to 4, wherein step iii) (190) comprises determining the coordinates of the corresponding collision position, wherein the evaluation of the detected collision comprises solving a system of linear equations taking into account the coordinates of the determined collision position in order to determine the target position.

6. The method according to any one of claims 1 to 5, wherein the method is computer-implemented.

7. A slide imaging device (110), comprising at least one imaging device (126, 128) configured to generate an image of a sample mounted on a slide (140), wherein the imaging device (126, 128) comprises at least one operating button (160), wherein the imaging device (126, 128) comprises at least one slide receiving portion (156) configured to receive the slide (140) for generating the image; - at least one supply device (120) configured to supply a slide (140) to the slide receiving portion (156) of the imaging device (126, 128), wherein the supply device (120) is configured to press the operation button (160); - at least one collision sensor configured to detect a collision between the supply device (120) and the imaging device (126, 128); - at least one operating system (170) configured to control the operation of the supply device (120), The operating system (170) is configured to drive the supply device (120) to at least six predefined positions until it is aligned with the imaging device (126, 128), and detecting the collision with the imaging device (126, 128) by using the collision sensor, The operating system (170) is configured to determine the position of the operating button (160) and / or the slide receiving portion (156) by evaluating the detected collision using the operating system (170).

8. The slide imaging device (110) according to claim 7, wherein the slide imaging device (110) is configured to perform the method according to any one of claims 1 to 6.

9. The slide imaging apparatus (110) according to claim 7 or 8, wherein the operation button (160) is or includes an eject button, wherein the imaging device (126, 128) is configured to eject the slide tray when the eject button is pressed.

10. The slide imaging device (110) according to any one of claims 7 to 9, wherein the slide imaging device (110) comprises: At least one first imaging device (126) and at least one second imaging device (128), each of which is configured to generate an image of a sample mounted on a slide (140), wherein the supply device (120) is configured to selectively supply the slide (140) to the first imaging device (126) or the second imaging device (128).

11. The slide imaging device (110) according to any one of claims 7 to 10, wherein the supply device (120) includes at least one robotic arm (154), wherein the supply device (120) includes a protrusion (182) configured to press the operation button (160), wherein the protrusion (182) is spear-shaped or finger-shaped, and wherein the protrusion (182) is arranged at the robotic arm (154).

12. A slide imaging device (110) according to any one of claims 7 to 11, wherein the slide imaging device (110) comprises at least one storage device (118), the storage device being capable of being loaded with a plurality of slides (140) and being configured to store the slides (140), wherein the supply device (120) is configured to supply the slides (140) from the storage device (118) to the imaging device (128, 126), wherein the supply device (120) is configured to transport the slides (140) from the imaging device (126, 128) to the storage device (118).

13. A computer program comprising instructions which, when executed by a slide imaging device (110) according to any one of claims 7 to 12, cause the slide imaging device (110) to perform a method according to any one of claims 1 to 6.

14. A computer-readable storage medium comprising instructions which, when executed by the slide imaging device (110) according to any one of claims 7 to 12, cause the slide imaging device (110) to perform the method according to any one of claims 1 to 6.

15. A non-transitory computer readable medium comprising instructions which, when executed by one or more processors, cause the one or more processors to perform the method according to any one of claims 1 to 6.

Images