Pathological slide automation system and method

Abstract

The present disclosure provides a slide carrier comprising: a base support; and a slide platform having a surface parallel to a first plane defined by the first vector and the second vector, where the vector extending in a direction opposite to the direction of gravity is normal with respect to a second plane defined by the third vector and the fourth vector, an angle between the first vector and the third vector is greater than zero degrees and less than 90 degrees, and an angle between the second vector and the fourth vector is greater than zero degrees and less than 90 degrees.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of U.S. Provisional Patent Application No. 63 / 327,744, filed on April 5, 2022, and further claims priority to and the benefit of U.S. Provisional Patent Application No. 63 / 456,345, filed on March 31, 2023, the entire disclosure of each of which is incorporated herein by reference. Technical Field

[0003] One or more aspects according to some embodiments of the present disclosure relate to a pathology slide manufacturing system and method. Background Art

[0004] In the field of pathology, the process of manufacturing individual slides with tissue or fluid samples can be complex and time-consuming. Various steps and operations may be involved from the time the sample is collected to when the final slide is ready for examination by a pathologist. Furthermore, the process becomes even more complicated when trying to manufacture multiple slides for multiple tissue or fluid samples and from multiple patients.

[0005] The above information disclosed in this Background section is only for enhancement of understanding of the background technology, and therefore the information discussed in this Background section does not necessarily constitute prior art. Summary of the invention

[0006] According to some embodiments of the present disclosure, a slide carrier comprises: a base support; and a slide platform having a surface parallel to a first plane defined by a first vector and a second vector, wherein a vector extending in a direction opposite to a direction of gravity is relative to a normal to the second plane defined by a third vector and a fourth vector, an angle between the first vector and the third vector is greater than zero and less than 90 degrees, and an angle between the second vector and the fourth vector is greater than zero and less than 90 degrees.

[0007] According to some embodiments, the slide platform includes a first long edge and a second long edge, wherein an elevation of the first long edge is higher than an elevation of the second long edge.

[0008] According to some embodiments, the slide carrier further comprises a barrier protruding from the slide platform at the second long edge.

[0009] According to some embodiments, the slide carrier further comprises a protrusion extending from the barrier.

[0010] According to some embodiments, the slide platform includes a first elongated support portion extending in a length direction of the slide platform and a second elongated support portion extending in the length direction of the slide platform, wherein the first elongated support portion and the second elongated support portion are separated from each other by a gap.

[0011] According to some embodiments, the slide carrier further includes a cross-member support portion extending between and connecting the first elongated support portion and the second elongated support portion.

[0012] According to some embodiments, the slide carrier further includes: a first narrow support portion, which is connected to the top of the first elongated support portion, wherein the top surface of the first narrow support portion is coplanar with the top surface of the first elongated support portion; and a second narrow support portion, which is connected to the top of the second elongated support portion, wherein the top surface of the second narrow support portion is coplanar with the top surface of the second elongated support portion, and the width between the first narrow support portion and the second narrow support portion is smaller than the width between the first elongated support portion and the second elongated support portion.

[0013] According to some embodiments of the present disclosure, a pathology slide manufacturing system includes: a robotic arm; a clamp connected to the robotic arm; and a slide carrier, which is within an accessible vicinity of the clamp, the slide carrier including a slide platform having a surface parallel to a first plane defined by a first vector and a second vector, wherein a vector extending in a direction opposite to the direction of gravity is relative to a normal to the second plane defined by a third vector and a fourth vector, an angle between the first vector and the third vector is greater than zero and less than 90 degrees, and an angle between the second vector and the fourth vector is greater than zero and less than 90 degrees.

[0014] According to some embodiments, the slide platform includes a first long edge and a second long edge, wherein an elevation of the first long edge is higher than an elevation of the second long edge.

[0015] According to some embodiments, the pathology slide manufacturing system further includes a barrier protruding from the slide platform at the second long edge.

[0016] According to some embodiments, the pathology slide manufacturing system further includes a protrusion extending from the barrier.

[0017] According to some embodiments, the slide platform includes a first elongated support portion extending in a length direction of the slide platform and a second elongated support portion extending in the length direction of the slide platform, wherein the first elongated support portion and the second elongated support portion are separated from each other by a gap.

[0018] According to some embodiments, the pathology slide manufacturing system further includes a cross-member support portion extending between and connecting the first elongated support portion and the second elongated support portion.

[0019] According to some embodiments, the pathology slide manufacturing system further includes: a first narrow support portion, which is connected to the top of the first elongated support portion, wherein the top surface of the first narrow support portion is coplanar with the top surface of the first elongated support portion; and a second narrow support portion, which is connected to the top of the second elongated support portion, wherein the top surface of the second narrow support portion is coplanar with the top surface of the second elongated support portion, and the width between the first narrow support portion and the second narrow support portion is smaller than the width between the first elongated support portion and the second elongated support portion.

[0020] According to some embodiments of the present disclosure, in a method for manufacturing pathology slides in a slide processing system, the slide processing system includes: a robotic arm; a clamp connected to the robotic arm; and a slide carrier, which is within an accessible vicinity of the clamp, and the method includes: clamping the slide with the clamp in a first orientation; placing the slide on a slide platform of the slide carrier by the clamp; allowing the slide to shift position on the slide platform to align at a predetermined position on the slide platform; clamping the slide with the clamp in a second orientation corresponding to a component of the slide processing system; and placing the slide in the component of the slide processing system by the clamp with the slide in the second orientation, so that the slide processing operation corresponding to the component can be performed on the slide by the slide processing system.

[0021] According to some embodiments, the slide platform has a surface parallel to a first plane defined by a first vector and a second vector, wherein a vector extending in a direction opposite to a gravity direction is relative to a normal to the second plane defined by a third vector and a fourth vector, an angle between the first vector and the third vector is greater than zero and less than 90 degrees, and an angle between the second vector and the fourth vector is greater than zero and less than 90 degrees.

[0022] According to some embodiments, the slide platform includes a first long edge and a second long edge, wherein an elevation of the first long edge is higher than an elevation of the second long edge.

[0023] According to some embodiments, the slide carrier includes a barrier protruding from the slide platform at the second long edge, and the predetermined position corresponds to the barrier.

[0024] According to some embodiments, the protrusion extends from the barrier.

[0025] According to some embodiments, at least one of the first orientation or the second orientation involves a lateral clamping in which the clamps apply compressive forces to opposing edges of the slide in a width direction.

[0026] According to some embodiments, at least one of the first orientation or the second orientation involves a longitudinal clamp in which the clamps apply compressive forces to opposing edges of the slide in a lengthwise direction.

[0027] According to some embodiments, at least one of the first orientation or the second orientation involves a thickness clamp in which the clamp applies a compressive force to opposing sides of the slide.

[0028] According to some embodiments, the slide platform includes a first elongated support portion extending in a length direction of the slide platform and a second elongated support portion extending in the length direction of the slide platform, wherein the first elongated support portion and the second elongated support portion are separated from each other by a gap.

[0029] According to some embodiments, the cross-member support portion extends between and connects the first elongated support portion and the second elongated support portion.

[0030] According to some embodiments, the slide platform further includes: a first narrow support portion, which is connected to the top of the first elongated support portion, wherein the top surface of the first narrow support portion is coplanar with the top surface of the first elongated support portion; and a second narrow support portion, which is connected to the top of the second elongated support portion, wherein the top surface of the second narrow support portion is coplanar with the top surface of the second elongated support portion, and the width between the first narrow support portion and the second narrow support portion is smaller than the width between the first elongated support portion and the second elongated support portion.

[0031] According to some embodiments of the present disclosure, a clamp includes: a first clamp finger, which has a first groove and a second groove at the inner edge of the first clamp finger; and a second clamp finger, which has a first groove and a second groove at the inner edge of the second clamp finger, wherein the first groove of the first clamp finger faces the first groove of the second clamp finger, so that the clamp is configured to apply a first compression force to the length edge of the slide in a transverse direction at the first groove, and the second groove of the first clamp finger faces the second groove of the second clamp finger, so that the clamp is configured to apply a second compression force to the width edge of the slide in a longitudinal direction at the second groove.

[0032] According to some embodiments, a distance between the first groove of the first gripper finger and the first groove of the second gripper finger is smaller than a distance between the second groove of the first gripper finger and the second groove of the second gripper finger.

[0033] According to some embodiments, the first groove of the first gripper finger is at a first portion of the first gripper finger extending from the actuator in a direction parallel to a centerline between the first gripper finger and the second gripper finger.

[0034] According to some embodiments, the second groove of the first gripper finger is at a second portion of the gripper finger that extends from the first portion at an angle less than 90 degrees and greater than zero degrees relative to the centerline.

[0035] According to some embodiments, the second groove of the first clamp finger is defined by the space between: a protrusion extending from the first clamp finger toward a centerline bisecting the space between the first clamp finger and the second clamp finger; and a body of the first clamp finger.

[0036] According to some embodiments, the first clamp finger and the second clamp finger each include a protrusion at the end of the first clamp finger and the second clamp finger, respectively, which extends in a direction parallel to a center line that bisects the first clamp finger and the second clamp finger, a distance between the protrusion of the first clamp finger and the protrusion of the second clamp finger is greater than a distance between a second groove of the first clamp finger and a second groove of the second clamp finger, and the clamp is configured to apply a third compression force to the width edge of the slide in the longitudinal direction.

[0037] According to some embodiments, the first gripper finger includes a third groove at an outer edge of the first gripper finger, the third groove extending perpendicular to a centerline bisecting a space between the first gripper finger and the second gripper finger.

[0038] According to some embodiments, the first clamp finger has a third groove extending in a direction parallel to the first groove of the first clamp finger, and the second clamp finger has a third groove facing the first clamp finger and extending in a direction parallel to the first groove of the first clamp finger, wherein the distance between the third groove of the first clamp finger and the third groove of the second clamp finger is greater than the distance between the first groove of the first clamp finger and the first groove of the second clamp finger.

[0039] According to some embodiments, the clamp is configured to apply a third compressive force to the width edge of the slide in the longitudinal direction in an orientation in which the slide is rotated 90 degrees about an axis extending parallel to the length of the slide compared to the orientation corresponding to the clamping position of the second groove.

[0040] According to some embodiments of the present disclosure, a pathology slide manufacturing system includes: a robotic arm; and a clamp connected to the robotic arm, the clamp including: a first clamp finger, the first clamp finger having a first groove and a second groove at the inner edge of the first clamp finger; and a second clamp finger, the second clamp finger having a first groove and a second groove at the inner edge of the second clamp finger, wherein the first groove of the first clamp finger faces the first groove of the second clamp finger, so that the clamp is configured to apply a compressive force to the length edge of the slide in a transverse direction at the first groove, and the second groove of the first clamp finger faces the second groove of the second clamp finger, so that the clamp is configured to apply a compressive force to the width edge of the slide in a longitudinal direction at the second groove.

[0041] According to some embodiments, a distance between the first groove of the first gripper finger and the first groove of the second gripper finger is smaller than a distance between the second groove of the first gripper finger and the second groove of the second gripper finger.

[0042] According to some embodiments, the first groove of the first gripper finger is at a first portion of the first gripper finger extending from the actuator in a direction parallel to a centerline between the first gripper finger and the second gripper finger.

[0043] According to some embodiments, the second groove of the first gripper finger is at a second portion of the gripper finger that extends from the first portion at an angle less than 90 degrees and greater than zero degrees relative to the centerline.

[0044] According to some embodiments, the second groove of the first clamp finger is defined by the space between: a protrusion extending from the first clamp finger toward a centerline bisecting the space between the first clamp finger and the second clamp finger; and a body of the first clamp finger.

[0045] According to some embodiments, the first clamp finger and the second clamp finger each include a protrusion at the end of the first clamp finger and the second clamp finger, respectively, which extends in a direction parallel to a center line that bisects the first clamp finger and the second clamp finger, a distance between the protrusion of the first clamp finger and the protrusion of the second clamp finger is greater than a distance between a second groove of the first clamp finger and a second groove of the second clamp finger, and the clamp is configured to apply a third compression force to the width edge of the slide in the longitudinal direction.

[0046] According to some embodiments, the first gripper finger includes a third groove at an outer edge of the first gripper finger, the third groove extending perpendicular to a centerline bisecting a space between the first gripper finger and the second gripper finger.

[0047] According to some embodiments, the first clamp finger has a third groove extending in a direction parallel to the first groove of the first clamp finger, and the second clamp finger has a third groove facing the first clamp finger and extending in a direction parallel to the first groove of the first clamp finger, wherein the distance between the third groove of the first clamp finger and the third groove of the second clamp finger is greater than the distance between the first groove of the first clamp finger and the first groove of the second clamp finger.

[0048] According to some embodiments, the clamp is configured to apply a third compressive force to the width edge of the slide in the longitudinal direction in an orientation in which the slide is rotated 90 degrees about an axis extending parallel to the length of the slide compared to the orientation corresponding to the clamping position of the second groove.

[0049] According to some embodiments of the present disclosure, in a method for manufacturing a slide in a slide processing system, the slide processing system includes: a robotic arm; and a clamp connected to the robotic arm, the clamp including: a first clamp finger-shaped member, the first clamp finger-shaped member having a first groove and a second groove at an inner edge of the first clamp finger-shaped member; and a second clamp finger-shaped member, the second clamp finger-shaped member having a first groove and a second groove at an inner edge of the second clamp finger-shaped member, wherein the first groove of the first clamp finger-shaped member faces the first groove of the second clamp finger-shaped member, so that the clamp is configured to align the length edge of the slide in a lateral direction at the first groove The first clamp finger applies a first compressive force to the width edge of the slide, and the second groove of the first clamp finger faces the second groove of the second clamp finger, so that the clamp is configured to apply a second compressive force to the width edge of the slide in the longitudinal direction at the second groove, and the method includes: using the first groove of the first clamp finger and the first groove of the second clamp finger to clamp the slide in a first orientation; placing the slide in a first part of the slide handling system in the first orientation; using the second groove of the first clamp finger and the second groove of the second clamp finger to clamp the slide in a second orientation; and placing the slide in a second part of the slide handling system in the second orientation.

[0050] According to some embodiments, a distance between the first groove of the first gripper finger and the first groove of the second gripper finger is smaller than a distance between the second groove of the first gripper finger and the second groove of the second gripper finger.

[0051] According to some embodiments, the first groove of the first gripper finger is at a first portion of the first gripper finger extending from the actuator in a direction parallel to a centerline between the first gripper finger and the second gripper finger.

[0052] According to some embodiments, the second groove of the first gripper finger is at a second portion of the gripper finger that extends from the first portion at an angle less than 90 degrees and greater than zero degrees relative to the centerline.

[0053] According to some embodiments, the second groove of the first clamp finger is defined by the space between: a protrusion extending from the first clamp finger toward a centerline bisecting the space between the first clamp finger and the second clamp finger; and a body of the first clamp finger.

[0054] According to some embodiments, the first gripper finger includes a protrusion at an end of the gripper finger and extending in a direction parallel to a centerline bisecting the first gripper finger and the second gripper finger.

[0055] According to some embodiments, wherein the first gripper finger comprises a third groove at an outer edge of the first gripper finger, the third groove extends perpendicular to a centerline bisecting a space between the first gripper finger and the second gripper finger.

[0056] According to some embodiments, the method further comprises: aligning the third groove with an edge of the slide; and applying a horizontal or vertical force relative to the face of the slide to the edge of the slide.

[0057] According to some embodiments, the first clamp finger has a third groove extending in a direction parallel to the first groove of the first clamp finger, and the second clamp finger has a third groove facing the first clamp finger and extending in a direction parallel to the first groove of the first clamp finger, wherein the distance between the third groove of the first clamp finger and the third groove of the second clamp finger is greater than the distance between the first groove of the first clamp finger and the first groove of the second clamp finger.

[0058] According to some embodiments, the method further includes: applying a third compressive force to the width edge of the slide in the longitudinal direction in the following orientation: in this orientation, the slide is rotated 90 degrees about an axis extending parallel to the length of the slide compared to the orientation corresponding to the clamping position of the second groove.

[0059] According to some embodiments of the present disclosure, a slide carrier box system includes: a slide carrier box having a main body; and a plurality of narrow slots in the main body and aligned along an alignment direction, wherein each narrow slot has an opening at a top side of the main body and is configured to receive a slide, and each narrow slot is at an angle less than 90 degrees and greater than 0 degrees relative to the alignment direction.

[0060] According to some embodiments, each slot includes a first portion having a thickness corresponding to the thickness of the slide and a second portion having a thickness greater than the thickness of the first portion.

[0061] According to some embodiments, the slide carrier cassette system further includes a spring at an outer side of the body and configured to engage with the cavity of the slide carrier cassette train to retain the slide carrier cassette in the cavity.

[0062] According to some embodiments, the slide carrier cassette system further comprises a storage queue having a plurality of cavities having a shape such that each cavity is configured to receive a slide carrier cassette.

[0063] According to some embodiments, the cavities are arranged in a matrix of rows and columns.

[0064] According to some embodiments, the queue member has a cylindrical shape and the cavities are arranged around a central axis.

[0065] According to some embodiments, each cavity is rotated clockwise or counterclockwise at an angle less than 90 degrees and greater than 0 degrees relative to a vertical line.

[0066] According to some embodiments, the slide carrier cassette further comprises a tab handle adjacent to the opening of the slot at the top side of the slide carrier cassette.

[0067] According to some embodiments of the present disclosure, a pathology slide manufacturing system includes: a robotic arm; a clamp connected to the robotic arm; and a slide carrier box system, which is within an accessible vicinity of the clamp, the slide carrier box system including: a slide carrier box having a main body; and a plurality of narrow slots in the main body and aligned along an alignment direction, wherein each narrow slot has an opening at a top side of the main body and is configured to receive a slide, and each narrow slot is at an angle less than 90 degrees and greater than 0 degrees relative to the alignment direction.

[0068] According to some embodiments, each slot includes a first portion having a thickness corresponding to the thickness of the slide and a second portion having a thickness greater than the thickness of the first portion.

[0069] According to some embodiments, the pathology slide manufacturing system further includes a spring at an outer side of the body and configured to engage with the cavity of the slide carrier cassette queue to retain the slide carrier cassette in the cavity.

[0070] According to some embodiments, the pathology slide manufacturing system further comprises: a storage queue having a plurality of cavities having a shape such that each cavity is configured to receive a slide carrier cassette.

[0071] According to some embodiments, the cavities are arranged in a matrix of rows and columns.

[0072] According to some embodiments, the queue member has a cylindrical shape and the cavities are arranged around a central axis.

[0073] According to some embodiments, each cavity is rotated clockwise or counterclockwise at an angle less than 90 degrees and greater than 0 degrees relative to a vertical line.

[0074] According to some embodiments, the slide carrier cassette further comprises a tab handle adjacent to the opening of the slot at the top side of the slide carrier cassette.

[0075] According to some embodiments of the present disclosure, in a method for manufacturing pathology slides in a slide processing system, the slide processing system includes: a robotic arm; and a clamp connected to the robotic arm; and a slide carrier box, which is within an accessible vicinity of the clamp, and the method includes: clamping the slide with the clamp; inserting the slide into a narrow slot of the slide carrier box with the clamp; placing the slide carrier box into a queue piece with the clamp, the queue piece having a cavity corresponding to the shape of the slide carrier box; removing the slide from the slide carrier box with the clamp; and placing the slide into a component of the slide processing system with the clamp to enable a slide manufacturing operation to be performed on the slide.

[0076] According to some embodiments, a slide carrier box includes: a body; and a plurality of narrow slots in the body and aligned along an alignment direction, wherein each narrow slot has an opening at a top side of the body and is configured to receive a slide, and each narrow slot is at an angle less than 90 degrees and greater than 0 degrees relative to the alignment direction.

[0077] According to some embodiments, each slot includes a first portion having a thickness corresponding to the thickness of the slide and a second portion having a thickness greater than the thickness of the first portion.

[0078] According to some embodiments, the slide carrier cassette further comprises a spring at an outer side of the body and configured to engage with the cavity of the slide carrier cassette alignment member to retain the slide carrier cassette in the cavity.

[0079] According to some embodiments, the cavities are arranged in a matrix of rows and columns.

[0080] According to some embodiments, the queue member has a cylindrical shape and the cavities are arranged around a central axis.

[0081] According to some embodiments, each cavity is rotated clockwise or counterclockwise at an angle less than 90 degrees and greater than 0 degrees relative to a vertical line.

[0082] According to some embodiments, the slide carrier cassette further comprises a tab handle adjacent to the opening of the slot at the top side of the slide carrier cassette.

[0083] According to some embodiments of the present disclosure, a slide processing system includes: a robotic arm; a slide entrance, which includes a plurality of entrance slots; a processor, which communicates with the robotic arm and the slide entrance; a memory, which communicates with the processor, the memory storing instructions, which when executed by the processor causes the processor to: receive slide information; identify an entrance slot among the entrance slots for receiving a slide corresponding to the slide information; transmit a signal to the robotic arm to insert a rack into the entrance slot, wherein the rack has an inner cavity corresponding to the slide information; transmit a signal to the robotic arm to retrieve the rack from the entrance slot; and transmit a signal to the robotic arm to remove the slide from the rack and store the slide in a storage position.

[0084] According to some embodiments, the slide information includes information indicating whether the slide is located in a slide tray or a slide rack, and information indicating a form factor of the slide tray or the slide rack.

[0085] According to some embodiments, the instructions further cause the processor to transmit a signal indicating that a slide tray or slide rack is inserted into the carrier prior to transmitting a signal to the robotic arm to retrieve the carrier from the entry slot.

[0086] According to some embodiments, the instructions further cause the processor to transmit a signal to the robotic arm to transfer the slide to the slide carrier cassette and to transfer the slide carrier cassette to the slide carrier queue element as a storage location.

[0087] According to some embodiments, the instructions further cause the processor to transmit a signal to the robotic arm to return the carrier to the entry slot after all slides have been removed.

[0088] According to some embodiments, the slide processing system further includes a user interface including a display panel, and the instructions further cause the processor to receive the slide information as user input at the user interface.

[0089] According to some embodiments, the slide handling system further includes a slide position sensor, wherein the instructions further cause the processor to transmit a signal to the slide position sensor to detect a slide position of the slide prior to removing the slide from the carrier.

[0090] According to some embodiments, the instructions further cause the processor to: transmit a signal to a slide position sensor to initiate slide position detection; transmit a signal to the slide position sensor to capture one or more images; identify a position of the slide among the slides based on the one or more images; and transmit a signal to the robotic arm to remove the slide after the position of the slide is identified.

[0091] According to some embodiments of the present disclosure, in a method for processing a slide, the method includes: receiving slide information through a processor; identifying through the processor an entrance slot among the entrance slots for receiving a slide corresponding to the slide information; transmitting through the processor a signal to a robotic arm to insert a rack into the entrance slot, wherein the rack has an inner cavity corresponding to the slide information; transmitting through the processor a signal to the robotic arm to retrieve the rack from the entrance slot; and transmitting through the processor a signal to the robotic arm to remove the slide from the rack and store the slide in a storage position.

[0092] According to some embodiments, the slide information includes information indicating whether the slide is located in a slide tray or a slide rack, and information indicating a form factor of the slide tray or the slide rack.

[0093] According to some embodiments, the method further comprises transmitting, by the processor, a signal indicating that a slide tray or a slide rack is inserted into the carrier prior to transmitting a signal to the robot arm to retrieve the carrier from the entry slot.

[0094] According to some embodiments, the method further includes transmitting, by the processor, a signal to the robot arm to transfer the slide to the slide carrier box and to transfer the slide carrier box to the slide carrier queue as a storage location.

[0095] According to some embodiments, the method further includes transmitting, by the processor, a signal to the robotic arm to return the carrier to the entry slot after all slides have been removed.

[0096] According to some embodiments, the method further comprises receiving, by the processor, the slide information as user input at a user interface, the user interface comprising a display panel.

[0097] According to some embodiments, the method further includes transmitting, by the processor, a signal to a slide position sensor to detect a slide position of the slide prior to removing the slide from the carrier.

[0098] According to some embodiments, the method further includes: transmitting a signal to a slide position sensor by a processor to initiate slide position detection; transmitting a signal to the slide position sensor by a processor to capture one or more images; identifying a position of the slide among the slides based on the one or more images by the processor; and transmitting a signal to a robotic arm by the processor to remove the slide after the position of the slide is identified.

[0099] According to some embodiments of the present disclosure, a slide processing system includes: a robotic arm; a slide entrance, which includes a plurality of entrance slots; a processor, which communicates with the robotic arm and the slide entrance; a memory, which communicates with the processor, the memory storing instructions, which when executed by the processor causes the processor to: receive slide information; identify an entrance slot among the entrance slots for storing a slide corresponding to the slide information; transmit a signal to the robotic arm to retrieve the slide corresponding to the slide information; transmit a signal to the robotic arm to insert the slide corresponding to the slide information into a tray or a rack; and transmit a signal to the robotic arm to transfer the tray or rack with the slide to the entrance slot.

[0100] According to some embodiments, the instructions further cause the processor to transmit a signal to a user interface including a display panel to display a prompt to insert a tray or rack corresponding to the slide information into the entry slot.

[0101] According to some embodiments, the instructions further cause the processor to transmit a signal to the robotic arm to remove the tray or rack from the entry slot and transfer the tray or rack to the nest.

[0102] According to some embodiments, the instructions further cause the processor to transmit a signal to the robotic arm to insert a slide corresponding to the slide information into a tray or shelf in the nest.

[0103] According to some embodiments, the instructions further cause the processor to identify a slide in the slide storage system that corresponds to the slide information.

[0104] According to some embodiments, the slide processing system further comprises a user interface comprising a display panel, wherein the instructions further cause the processor to receive the slide information as user input at the user interface.

[0105] According to some embodiments of the present disclosure, in a method for processing a slide, the method includes: receiving slide information through a processor; identifying through the processor an entrance slot for storing a slide corresponding to the slide information among the entrance slots; transmitting through the processor a signal to a robotic arm to retrieve the slide corresponding to the slide information; transmitting through the processor a signal to the robotic arm to insert the slide corresponding to the slide information into a tray or a shelf; and transmitting through the processor a signal to the robotic arm to transfer the tray or shelf with the slide to the entrance slot.

[0106] According to some embodiments, the method further includes transmitting, by the processor, a signal to a user interface including a display panel to display a prompt to insert a tray or a rack corresponding to the slide information into the entry slot.

[0107] According to some embodiments, the method further includes transmitting, by the processor, a signal to the robotic arm to remove the tray or shelf from the entry slot and transfer the tray or shelf to the nest.

[0108] According to some embodiments, the method further includes transmitting, by the processor, a signal to the robotic arm to insert the slide corresponding to the slide information into a tray or a shelf in the nest.

[0109] According to some embodiments, the method further comprises identifying, by the processor, a slide in the slide storage system corresponding to the slide information.

[0110] According to some embodiments, the method further comprises receiving, by the processor, the slide information as user input at the user interface.

[0111] According to some embodiments of the present disclosure, a clamp includes: an actuator; a first clamp finger, which is coupled to the actuator, the first clamp finger having a first groove at the inner edge of the body of the first clamp finger and a first protrusion extending from the body of the first clamp finger, with a second groove between the first protrusion and the body of the first clamp finger; a second clamp finger, which is coupled to the actuator, the second clamp finger having a second groove at the inner edge of the body of the second clamp finger and a second protrusion extending from the body of the second clamp finger, with a second groove between the second protrusion and the body of the second clamp finger, wherein the first clamp finger and the second clamp finger are configured to: in a first clamping mode, apply a first compressive force to the length edge of the slide in the transverse direction at the first groove, and the first clamp finger and the second clamp finger are configured to: in a second clamping mode, apply a second compressive force to the width edge of the slide in the longitudinal direction at the second groove.

[0112] According to some embodiments, the first gripper finger and the second gripper finger are equidistant from a centerline between the first gripper finger and the second gripper finger and are configured to move toward and away from the centerline in coordination with each other.

[0113] According to some embodiments, a distance between the first grooves of the first gripper finger and the second gripper finger is smaller than a distance between the second grooves of the first gripper finger and the second gripper finger.

[0114] According to some embodiments, the clamp further includes a clamp bracket coupled between the actuator and the first clamp finger, wherein the first clamp finger is configured to connect and disconnect with the bracket.

[0115] According to some embodiments of the present disclosure, a slide handling system includes: a slide holder having a first channel on a first side of the slide holder and a second channel of the slide holder; an actuator; a first clamp rod coupled to the actuator; and a second clamp rod coupled to the actuator, wherein the first clamp rod and the second clamp rod are configured to fit within the first channel and the second channel, respectively.

[0116] According to some embodiments, the first clamp rod includes a plurality of segments separated by a flared portion.

[0117] According to some embodiments, the flared portion includes an O-ring.

[0118] According to some embodiments, the slide handling system further includes a bracket coupled between the actuator and the first clamp rod.

[0119] According to some embodiments, the slide carrier is a tray carrier.

[0120] According to some embodiments, the slide holder is a shelf holder.

[0121] According to some embodiments, the slide carrier includes a plurality of slide carriers, wherein a first slide carrier among the slide carriers has an inner cavity with a first inner form factor corresponding to a first type of slide tray, and a second slide carrier among the slide carriers has an inner cavity with a second inner form factor corresponding to a second type of slide tray, wherein the first inner form factor is different from the second inner form factor, and wherein the first slide carrier and the second slide carrier have the same outer form factor.

[0122] According to some embodiments, the slide holder includes a plurality of slide holders, wherein a first slide holder among the slide holders has an inner cavity with a first inner form factor corresponding to a first type of slide rack, and a second slide holder among the slide holders has an inner cavity with a second inner form factor corresponding to a second type of slide rack, wherein the first inner form factor is different from the second inner form factor, and wherein the first slide holder and the second slide holder have the same outer form factor. BRIEF DESCRIPTION OF THE DRAWINGS

[0123] Non-limiting and non-exhaustive embodiments according to the present disclosure are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various views unless otherwise specified.

[0124] Figure 1is a flow chart illustrating various operations that may occur in a pathology context or environment according to some embodiments;

[0125] Figure 2A A slide processing or manufacturing environment according to some embodiments is shown;

[0126] Figure 2B shows an example of a glass slide after being manufactured according to some embodiments;

[0127] Figure 3A is a right front perspective view of a slide carrier according to some embodiments;

[0128] Figure 3B is a front view of a slide carrier according to some embodiments;

[0129] Figure 3C is a right side view of a slide carrier according to some embodiments;

[0130] Figure 3D is a left side view of a slide carrier according to some embodiments;

[0131] Figure 3E is a left front perspective view of a slide carrier according to some embodiments;

[0132] Figure 3F is a rear right perspective view of a slide carrier according to some embodiments;

[0133] Figure 3G is a rear view of a slide carrier according to some embodiments;

[0134] Figure 3H is a top view of a slide carrier according to some embodiments;

[0135] Fig. 3I is a bottom view of a slide carrier according to some embodiments;

[0136] Figure 3J is a flow chart showing a method of manufacturing a pathology slide in a slide processing system according to some embodiments;

[0137] Figure 4A A clamp is shown holding a slide in a first clamping mode according to some embodiments;

[0138] Figure 4B A clamp holding a slide in a second clamping mode is shown according to some embodiments;

[0139] Figure 4C showing a clamp holding a slide in a third clamping mode according to some embodiments;

[0140] Figure 4D showing a clamp holding a slide in a fourth clamping mode according to some embodiments;

[0141] Figure 4E A gripper using external grooves to manipulate a slide is shown according to some embodiments;

[0142] Figure 4F is a top front perspective view of a clamp finger according to some embodiments;

[0143] Figure 4G is a top rear perspective view of a clamp finger according to some embodiments;

[0144] Figure 4H is a bottom view of a clamp finger according to some embodiments;

[0145] Fig. 4I is a close-up view of section A of FIG. H according to some embodiments;

[0146] Figure 4J is a close-up view of section B of FIG. H according to some embodiments;

[0147] Figure 4K is a left side view of a clamp finger according to some embodiments;

[0148] Figure 4L According to some embodiments Figure 4K A close-up view of section C;

[0149] Figure 4M is a flow chart showing a method of manufacturing a slide in a slide processing system according to some embodiments;

[0150] Figure 5A is a front perspective view of a slide carrier cassette according to some embodiments;

[0151] Figure 5B is a rear perspective view of a slide carrier cassette according to some embodiments;

[0152] Figure 5C is a front view of a slide carrier cassette according to some embodiments;

[0153] Figure 5D According to some embodiments, Figure 5C A cross-sectional view taken along line AA;

[0154] Figure 5E According to some embodiments Figure 5D A close-up view of section B;

[0155] Fig. 5Fis an example showing a queue or storage shelf for a plurality of slide carrier cassettes according to some embodiments;

[0156] Figure 5G shows an example of a queue member or storage shelf having a cylindrical shape according to some embodiments;

[0157] Figure 5H shows an example of queue pieces or storage shelves in a stacked configuration according to some embodiments;

[0158] Fig.5I shows an example of a slide processing environment according to some embodiments;

[0159] Figure 5J is a flow chart showing a method of manufacturing a slide in a slide processing system according to some embodiments;

[0160] Fig. 6A presents aspects of an exemplary automated histology storage system and environment according to some embodiments;

[0161] Figure 6B An exemplary automated histology storage system according to some embodiments is shown;

[0162] Figure 6C shows further details of an exemplary automated histology storage system according to some embodiments;

[0163] Fig.6D shows an exemplary top view of an automated histology storage system according to some embodiments;

[0164] Fig. 7A shows examples of various slide racks according to some embodiments,

[0165] Figure 7B shows examples of various slide trays according to some embodiments;

[0166] Figure 7C illustrates exemplary input or output entries according to some embodiments;

[0167] Fig.7D shows further details of an exemplary tray inlet according to some embodiments;

[0168] Fig. 7E shows further details of the internal components of a tray inlet according to some embodiments;

[0169] Figure 7F shows further details of an exemplary tray carrier according to some embodiments;

[0170] Figure 7GA bottom view showing a portion of an entry slot of a tray entry according to some embodiments;

[0171] Figure 7H shows a close-up view of a track of an exemplary tray carrier according to some embodiments;

[0172] Fig.7I shows a close-up view of a portion of the interior structure of a tray entry slot when the carrier tray is in an extended or pulled-out position according to some embodiments;

[0173] Figure 7J shows a close-up view of a portion of the interior structure of the entry slot when the carrier tray is in a retracted or pushed-in position according to some embodiments;

[0174] Figure 7K shows further details of the interior components of a shelf access according to some embodiments;

[0175] Figure 7L shows further details of an exemplary shelf bracket according to some embodiments;

[0176] Figure 7M An exemplary shelf bracket nest is shown according to some embodiments;

[0177] Figure 7N illustrates an exemplary tray carrier nest according to some embodiments;

[0178] Fig.7O shows a side view of an exemplary shelf nest according to some embodiments;

[0179] Figure 7P shows a perspective view of an exemplary shelf nest according to some embodiments;

[0180] Fig. 8A shows an exemplary slide position detection system according to some embodiments;

[0181] Figure 8B An exemplary image showing a first slide position in a slide position detection system according to some embodiments;

[0182] Figure 8C An exemplary image showing a second slide position in a slide position detection system according to some embodiments;

[0183] Fig.8D An exemplary method for determining the position of one or more slides according to some embodiments is presented;

[0184] Fig. 8E An exemplary method for determining the position of one or more slides according to some embodiments is presented;

[0185] Fig. 9A An example of a clamp holding a slide in a first clamping mode according to some embodiments is shown;

[0186] Fig. 9B An example of a clamp holding a slide in a second clamping mode according to some embodiments is shown;

[0187] Fig. 9C shows further details of an exemplary clamp according to some embodiments;

[0188] Fig.9D shows further details of the inner edge of the clamp finger according to some embodiments;

[0189] Fig.9E shows further details of the clamp fingers according to some embodiments;

[0190] Fig. 10A An example of a clamp according to some embodiments is shown;

[0191] Fig. 10B An exemplary clamp finger bar is shown according to some embodiments;

[0192] Fig. 10C illustrates an exemplary clamping channel of a shelf bracket according to some embodiments;

[0193] Fig. 10D An exemplary clamping channel of a tray carrier according to some embodiments is shown;

[0194] Fig. 10E An example of a clamp for holding a shelf bracket according to some embodiments is shown;

[0195] Fig.10F An example of a clamp for holding a tray carrier according to some embodiments is shown;

[0196] Fig.11A An example of a clamp according to some embodiments is shown;

[0197] Fig. 11B shows a rear view of a clamp according to some embodiments;

[0198] Fig. 12A An exemplary process for receiving a slide from a user or technician for an automated histology storage system according to some embodiments is shown; and

[0199] Fig. 12B An exemplary process is presented for an automated histology storage system to retrieve slides from storage and transfer them to a user or technician, according to some embodiments. DETAILED DESCRIPTION

[0200] Hereinafter, the aspects of some exemplary embodiments will be described in more detail with reference to the accompanying drawings, in which the same reference numerals always refer to the same elements. However, the present invention can be embodied in various different forms and should not be construed as being limited to the embodiments shown herein alone. On the contrary, these embodiments are provided as examples so that the present disclosure will be thorough and complete and will fully convey the aspects and features of the present invention to those skilled in the art. Therefore, processes, elements and techniques that are unnecessary for those of ordinary skill in the art to fully understand the aspects and features of the present invention may not be described. Unless otherwise stated, the same reference numerals throughout the drawings and written descriptions represent the same elements, and therefore descriptions thereof will not be repeated. In the drawings, for clarity, the relative sizes of elements, layers and zones may be exaggerated.

[0201] It should be understood that although the terms "first", "second", "third", etc. may be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms are used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Therefore, without departing from the spirit and scope of the present invention, the first element, component, region, layer or section described below may be referred to as a second element, component, region, layer or section.

[0202] For ease of explanation, spatially relative terms (such as "below", "under", "lower", "below", "above", "upper", etc.) may be used herein to describe the relationship between an element or feature and another element or feature as shown in the accompanying drawings. It should be understood that in addition to the orientations depicted in the accompanying drawings, spatially relative terms are also intended to cover different orientations of the device in use or in operation. For example, if the device in the accompanying drawings is turned over, the elements described as "below" or "below" or "below" other elements or features will be oriented to be "above" other elements or features. Therefore, the exemplary terms "below" and "below" can cover the two orientations of "above" and "below". The device can be oriented in other ways (e.g., rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0203] It should be understood that when an element or layer is referred to as being "on," "connected to," or "coupled to" another element or layer, it can be directly on, connected to, or coupled to the other element or layer, or there can be one or more intervening elements or layers. In addition, it should be understood that when an element or layer is referred to as being "between" two elements or layers, it can be the only element or layer between the two elements or layers, or there can be one or more intervening elements or layers.

[0204] The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "one" and "a kind of" are also intended to include plural forms, unless the context clearly indicates otherwise. It should be further understood that the terms "comprises", "comprising", "includes" and "including" when used in this specification specify the existence of stated features, integers, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, integers, steps, operations, elements, parts and / or their groups. As used herein, the term "and / or" includes any combination and all combinations of one or more of the associated listed items. Statements such as "at least one of..." modify the entire element list when located before the element list and do not modify the individual elements in the list.

[0205] As used herein, the terms "substantially", "about" and similar terms are used as terms of approximation rather than as terms of degree, and are intended to account for inherent deviations in measured or calculated values ​​that will be recognized by those of ordinary skill in the art. Further, when describing embodiments of the present invention, "may" is used to refer to "one or more embodiments of the present invention." As used herein, the terms "use," "using," and "used" may be considered synonymous with the terms "utilize," "utilizing," and "utilized," respectively. In addition, the term "exemplary" is intended to refer to an example or illustration.

[0206] Pathology is a medical discipline that attempts to aid in the diagnosis and treatment of disease by studying tissue, cell, and fluid samples from patients. In many applications, tissue samples can be collected from patients and processed into a form that can be analyzed by a physician (e.g., a pathologist), typically under magnification by a physician, to diagnose and characterize the relevant medical condition based on the tissue sample.

[0207] Figure 11 is a flow chart illustrating various operations that may occur in a pathology environment or pathology system 100. For example, when a treating physician or medical provider identifies a patient for whom analysis of a tissue or fluid sample may be beneficial in diagnosing or treating a medical condition, a tissue or fluid sample may be collected at operation 102. The patient's identity may be collected and matched to the patient's sample, and the sample may be placed in a sterile container and / or collection medium for further processing.

[0208] The sample may then be transported to a pathology registration laboratory at operation 104 where the sample may be received, sorted, organized, and labeled for further processing along with other samples from other patients.

[0209] The sample may be further processed as part of a grossing operation at operation 106. For example, individual tissue samples or specimens may be cut into smaller sections for embedding and subsequent cutting for assembly onto slides.

[0210] The sample or specimen may then be mounted or deposited on one or more glass slides at operation 108. Preparation of the slides may involve applying one or more reagents or stains to the sample, for example, to improve visibility of or contrast between different portions of the sample.

[0211] In some cases, several slides may be assembled or collected in a box or folio during reagent or staining processing or after processing is complete at operation 110. For example, the box may be carefully labeled with identification information for individual patients.

[0212] Between each of operations 102 and 110, at operation 112, samples, specimens, slides may be transported within or between medical facilities (eg, between a physician's office and a laboratory), or may be stored between processing operations.

[0213] Once processing of the sample and slides is complete and the pathologist is ready to examine the sample, the slides corresponding to the patient and / or the box holding multiple slides may again be transported to the pathologist at operation 112. The pathologist may examine the slides, for example, under magnification using a microscope, at operation 114. Individual slides may be placed under the objective of the microscope, and the microscope and slides may be manipulated and adjusted as the pathologist examines the tissue or fluid.

[0214] Once the pathologist has completed review of the slide, the pathologist may attempt to form a medical opinion or diagnosis at operation 116. Meanwhile, the sample or slide may once again be shipped to a long-term storage facility at operation 112. In some cases, the sample or slide may be shipped again to another physician for further analysis, a second opinion, etc., either before or after a certain storage period.

[0215] Therefore, as can be understood based on the above pathology processing flow, the pathology system 100 involves a variety of processing operations. At each operation, the tissue sample may be damaged or contaminated, or information may be lost. In addition, the processing of individual slides may be quite time-consuming and complicated, and the laboratory may have difficulty managing to process a large number of patient samples at the same time. In many cases, there are also time constraints, because early diagnosis of the disease may lead to better patient outcomes, but each operation in the pathology system 100 makes it possible to delay.

[0216] Therefore, the efficiency and productivity of the pathology system 100 may be improved according to embodiments of the present disclosure.

[0217] Figure 2A A slide processing or manufacturing system 200 is shown. According to some embodiments, the slide processing system 200 can be used as Figure 1 108 and 110 ).

[0218] like Figure 2A As shown, the slide handling system 200 may include one or more robotic arms 202. The robotic arms 202 may be used to transfer slides 204 having specimens 206 deposited thereon from a slide carrier 208 to one or more slide handling stations 210a to 210e. Figure 2A The slide processing system 200 is shown to include five slide processing stations 210a to 210e, but embodiments according to the present disclosure are not limited thereto, and the slide processing environment may include fewer slide processing stations or additional slide processing stations without departing from the spirit and scope of embodiments according to the present disclosure. Each of the slide processing stations 210a to 210e may be a mechanical device configured to perform one or more specific processing operations during the process of manufacturing a slide. For example, the slide processing stations 210a to 210e may be configured to apply different and unique reagents or stains to the specimen 206.

[0219] In some embodiments, the slide carrier 208 can operate as a temporary platform or storage area between processing operations and / or between transfers from one of the slide processing stations 210a to 210e to another of the slide processing stations 210a to 210e, and can be configured to accept one or more slides at a time.

[0220] Additionally, various other slide carriers 214a-214b may be utilized in one or more processing operations. Figure 2A 214a-214b are shown for purposes of illustration, but embodiments according to the present disclosure are not limited thereto, and the number and type of slide carriers utilized in any given manufacturing process may vary according to various embodiments depending on the slide processing stations 210a-210e and the particular processing operations involved. For example, in some cases, different slide processing stations 210a-210e may be designed to accommodate slide carriers having a particular shape or design as a function of the processing operation to be performed, the size and shape of the slide processing station, and the chemicals or treatments to be applied to the slides.

[0221] As described above, between each processing operation, the robot 202 can be configured to transfer the slide 204 between different components within the slide processing system 200. For example, the robot 202 can be configured to pick up the slide 204 from the slide carrier 208 by using the gripper 216 and transfer the slide 204 directly to one of the slide processing stations 210a to 210e for insertion therein. The corresponding slide processing station 210a to 210e can then perform a processing operation on the slide 204 (e.g., by applying a reagent or stain to the specimen 206). After completing the processing operation, the robot 202 can remove the slide 204 from the slide processing station 210a to 210e and transfer the slide back to the slide carrier 208, or transfer the slide 204 to another of the slide processing stations 210a to 210e or to one of the slide carriers 214a to 214b. The slide manufacturing process can continue in this manner with the robot 202 transferring slides 204 between different components or stations within the slide processing system 200 until all manufacturing operations have been completed and the slides are ready for storage or to be transferred out of the slide processing system 200 for subsequent pathology operations.

[0222] To physically pick up, maneuver and / or manipulate the slide 204 during various transfer operations, the robot 202 may include one or more grippers 216. Figure 2ATwo opposing clamp fingers 216a and 216b (which may be collectively referred to herein as clamps 216) are shown, but embodiments of the present invention are not limited thereto, and some embodiments may include various clamp configurations or designs. Further details of an exemplary structure of the clamp 216 according to some embodiments are shown and described in more detail below.

[0223] According to some embodiments, the robot 202 can be in electronic communication with a controller system 220 that is configured to control the movement and operation of the robot 202 and the gripper 216 to move the slide 204 between different locations and components within the slide handling system 200 .

[0224] The controller system 220 may include a processor 222 and a memory 224, wherein the memory 224 stores thereon instructions that, when executed by the processor 222, cause the processor 222 to send and receive electronic (e.g., data) signals to and from the robot 202 and the gripper 216 to control movement and operation of the robot 202 (e.g., one or more actuators and motors of the robot 202) and the gripper 216 (e.g., one or more gripper fingers of the gripper 216). The instructions stored in the memory 224 may include, for example, instructions corresponding to one or more slide processing operations described herein, which may include, for example, placing a slide into or onto a slide carrier or handler or station, adjusting a gripping orientation of a gripper, and any other operations involving manipulation and manipulating slides as part of the slide processing system 200 to manufacture pathology slides, as described in more detail below.

[0225] Figure 2B An example of a slide glass after being manufactured according to some embodiments is shown. In some embodiments, the slide glass 204 includes a substrate 230 that can be formed by any suitable transparent material (such as glass). A sample or specimen (e.g., a tissue section, a body fluid, a cavity swap, etc.) 206 can be stored on the front side of the slide glass 204, which is opposite to the back side of the slide glass 204. After the specimen 206 is stored on the front side of the slide glass 204, the specimen can be processed with various manufacturing processes or operations, for example, by applying one or more reagents and / or stains to the specimen 206. A cover glass 232 can be placed on the specimen 206 to protect the integrity of the specimen 206 and prevent or reduce physical impact or contact with the specimen 206, and prevent or reduce contamination by foreign contaminants. Hereinafter, a slide glass with a tissue sample or specimen and a cover glass covering the specimen can be referred to as a "cover glass covered" slide glass.

[0226] Additionally, a label 234 may be affixed to the front of the slide adjacent to the specimen and coverslip. The label 234 may include various information, including unique identifying information about the slide to enable identification of the specimen, patient, etc. For example, the label 234 may include a bar code or other alphanumeric characters that serve as an identifier for the slide.

[0227] The cover sheet 232 may be relatively thin compared to the thickness of the substrate 230. The substrate 230 may have a relatively thin thickness relative to the length and width of the substrate 230. In the present application, the width of a slide refers to the shorter distance across the front of the slide, and the length of a slide refers to the longer distance across the front of the slide. The width or narrow edge of a slide refers to the edge or side of the slide in the width direction, excluding the front or back. The length or long edge of a slide refers to the edge or side of the slide in the length direction, excluding the front or back. The top of a slide refers to the end corresponding to the label 234, and the bottom refers to the end opposite to the top.

[0228] FIG. 3A to FIG. 3J An exemplary slide carrier 300 according to some embodiments of the present disclosure is shown. The slide carrier 300 can be used, for example, as Figure 2A According to some embodiments, slide carrier 300 can be utilized as a temporary or intermediate slide carrier on which a slide (e.g., slide 204) can be temporarily placed in a slide processing environment (e.g., slide processing system 200), for example, between operations of a slide manufacturing process.

[0229] Slide carrier 300 may be formed of any suitable material that is strong enough to support glass slide 204 without significant friction between the glass and the material of slide carrier 300. For example, in some embodiments, slide carrier 300 may be formed of a plastic or polymer material, but embodiments according to the present disclosure are not limited thereto.

[0230] According to some embodiments, Figure 3A , the slide carrier 300 can be mounted on a surface or plane 302. The surface 302 can be, for example, a workbench or table configured to hold one or more slide carriers 300 during the manufacturing process of one or more slides. In some embodiments, the surface 302 can be a planar surface parallel to the plane defined by the x-direction vector and the y-direction vector (i.e., the xy plane). The plane defined by the x-direction vector and the y-direction vector can be perpendicular to the direction of gravity. In other words, the z-direction vector (which is normal or perpendicular to the surface 302 and / or the plane defined by the x-direction vector and the y-direction vector) can extend in a direction opposite to gravity.

[0231] like Figure 3A As shown in FIG. 1 , according to some embodiments, a slide carrier can have one or more base supports 304 configured to be mechanically coupled and secured to a surface 302. Figure 3A Two base supports 304a and 304b are shown, but embodiments according to the present disclosure are not limited thereto, and in some embodiments, the slide carrier 300 may include a single base support 304, or may include more than two base supports, without departing from the spirit and scope of embodiments according to the present disclosure. Additionally, in some embodiments, the bottom of each base support 304 may be coplanar with the bottom of each other base support 304, but embodiments according to the present disclosure are not limited thereto. For example, in some embodiments, the height of the bottom of one base support 304 (e.g., measured from ground level or the xy plane) may be higher or lower than the height of another base support 304.

[0232] In addition to providing a mechanical structure for securing the slide carrier 300 to the surface 302, the base support 304 also provides a platform or structure for supporting one or more posts or vertical supports 306 that provide vertical support in the z-direction for a slide platform 308 configured to receive a slide, such as the slide 204. According to some embodiments, the slide platform 308 can be a planar surface parallel to a plane that is rotated in both the x-direction and the y-direction relative to the xy plane and / or the surface 302.

[0233] Relative to Figure 3B and Figure 3C Further details of the relative orientation of the plane of the slide platform 308 are described. Figure 3B A front view of a slide carrier 300 is shown according to some embodiments (when in Figure 3A When viewed in the y direction). Figure 3B, the plane of the slide platform 308 can rotate about an axis parallel to the y-direction. For example, the plane of the slide platform 308 can be parallel to a plane defined by a vector or direction X' and a vector or direction Y' (the X'-Y' plane). The X' direction can be at an angle relative to an axis parallel to the x-direction such that the plane of the slide platform 308 rotates about an axis parallel to the y-direction at an angle θ relative to the x-direction. According to some embodiments, the angle θ can be greater than 0 degrees and less than 90 degrees, but the angle θ can vary in different embodiments. According to some embodiments, the angle θ is greater than a first predetermined minimum angle and less than a first predetermined maximum angle. In some embodiments, the first predetermined minimum angle can be an angle at which a value equal to or greater than the first predetermined minimum angle causes the slide (e.g., slide 204) to move in the x-direction (and the X' direction) taking into account gravity and friction when the slide is placed on the slide platform 308. The first predetermined maximum angle may be an angle at which a slide (eg, slide 204 ) does not have stability issues or risk of falling off slide platform 308 , at a value equal to or less than the predetermined maximum angle.

[0234] Figure 3C A right side view of a slide carrier 300 is shown according to some embodiments (when in contact with Figure 3A When viewed in the direction opposite to the x direction. Figure 3C , the plane X'-Y' plane of the slide platform 308 can be rotated about an axis parallel to the x-direction. For example, the Y' direction can be at a certain angle relative to the axis parallel to the y-direction, so that the X'-Y' plane of the slide platform 308 rotates about the axis parallel to the x-direction at an angle α relative to the y-direction. According to some embodiments, the angle α can be greater than 0 degrees and less than 90 degrees, but the angle α can vary in different embodiments. According to some embodiments, the angle α can be greater than a second predetermined minimum angle and less than a second predetermined maximum angle. In some embodiments, the second predetermined minimum angle can be an angle at which, taking into account gravity and friction when the slide is placed on the slide platform 308, a value equal to or greater than the second predetermined minimum angle causes the slide (e.g., slide 204) to move in a direction opposite to the y-direction (and opposite to the Y' direction). The second predetermined maximum angle may be an angle at which a slide (eg, slide 204 ) does not have stability issues or risk of falling off slide platform 308 , at a value equal to or less than the second predetermined maximum angle.

[0235] refer to Figure 3B and Figure 3C, the slide platform 308 can include an elongated support portion 310 extending or elongated in the Y' direction, and can include one or more cross-member support portions 312 extending between the support portions 310 in the X' direction. According to some embodiments, the top surfaces of each of the support portions 310 and the cross-member support portions 312 can be coplanar with each other and with the X'-Y' plane. Together, the top surfaces of each of the support portions 310 and the cross-member support portions 312 can provide a platform or surface on which a slide (e.g., slide 204) can be placed. In addition to gravity, which can exceed frictional reaction forces according to some embodiments, the relative angle of the X'-Y' plane of the slide platform 308 can also cause the slide (e.g., slide 204) to move toward or align at the lowest corner or intersection C due to gravity. That is, because the X′-Y′ plane of the slide stage 308 rotates or tilts about the x-axis and the y-axis, the slide may drift or migrate toward the lowest point at the corner C on the slide stage 308 when the slide is placed on the slide stage 308 .

[0236] According to some embodiments, width W1 (which is the width measured from the outermost edge of support portion 310 in the x-direction) can be greater than the width of a slide (e.g., slide 204) to be placed on slide platform 308. In addition, width W2 (which is the width measured from the outer portion of the lower long edge of slide platform 308 (e.g., the outer edge of support portion 310b) to the inner or closest edge of the opposing support portion 310 (e.g., support portion 310a)) can also be greater than the width of the slide. Therefore, because both width W1 and width W2 can be greater than the width of the slide, the risk of the slide falling or shaking off slide platform 308 can be relatively reduced or minimized. However, in other embodiments, width W2 can be less than the width of the slide, and cross member support portion 312 can provide support to slide 204 to prevent the slide from sliding or slipping between the space or opening between opposing support portions 310a and 310b.

[0237] Figure 3D 2 shows a left side view of a slide carrier 300 according to some embodiments. Figure 3D As shown, when viewed from the left side of slide carrier 300, the upper surface of support portion 310a may be visible, but support portion 310b is below (e.g., at a lower height or elevation) than support portion 310a. Figure 3D, according to some embodiments, there can be openings or spaces between the pillars or vertical supports 306 in the y-direction. In some embodiments, there can also be openings or spaces between the vertical supports 306 in the x-direction. Thus, in some embodiments, the slide carrier 300 can include two vertical supports 306 at or near opposite ends of the slide carrier 300, or the slide carrier 300 can include additional vertical supports 306, for example, four vertical supports 306 at or near different corners of the slide carrier 300. By forming openings between different vertical supports 306, the slide carrier 300 can be able to utilize a reduced amount of material having a relatively lower weight while still maintaining structural integrity and strength.

[0238] Figure 3E 2 shows a left side perspective view of a slide carrier 300 according to some embodiments. Figure 3E As shown in (and also as Figure 3B ), the slide carrier 300 may include a barrier or wall 314 that protrudes above the surface of the slide platform 308 at the lower long edge and the lower short edge of the slide platform 308. The barrier 314 may function to prevent the slide from sliding off the slide carrier 300 due to gravity. In some embodiments, one or more bumpers or protrusions 316 may extend or protrude from the barrier 314 (e.g., with one or more spaces or gaps along the barrier 314 between adjacent bumpers 316), which may further assist in registering the slide in the desired position. In some embodiments, the bumpers 316 may have a softer texture or may have greater compressibility than the material of the barrier 314, which may prevent damage to the slide.

[0239] Additionally, in some embodiments, the buffer 316 can be raised above the slide platform 308 or can have a lip or ramp above the slide platform 308 to allow the slide to extend at least partially under a portion of the buffer 316 to provide additional force or pressure against the slide toward the slide platform 308 to prevent the slide from inadvertently sliding off the slide platform 308.

[0240] Reference again Figure 3E and Figure 3B, in some embodiments, the connecting structure 318 can extend between the opposing support portions 310a and 310b to provide a mechanical connection between the support portions 310a and 310b, and to improve the structural integrity of the overall slide carrier 300. However, according to some embodiments, the upper surface of the connecting structure 318 can be set back relative to the X'-Y' plane of the slide platform 308. That is, in some embodiments, the connecting structure 318 can be located below the surface of the slide platform 308, which can reduce friction with the slide when the slide is placed on the slide platform 308 and reduce the possibility that the edge of the slide accidentally contacts or is caught by the side walls of the connecting structure 318.

[0241] Furthermore, in some embodiments, various positions on the slide platform 308 can be utilized as teach positions for aligning an automated or robotic system. In some embodiments, additional or alternative teach positions can be positioned at various known angles and positions relative to the slide platform 308 to enable an automated or robotic system to identify the position of the slide carrier 300 and the slide platform 308.

[0242] Figure 3F A rear perspective view of a slide carrier 300 is shown according to some embodiments. Figure 3F As shown, one or more of the base supports 304 may include openings or holes 320. The holes 320 may be utilized to secure the slide carrier 300 to the surface 302, for example, by using screws or bolts. Figure 3F Two holes 320a and 320b are shown at each base support 304a and 304b, respectively, but embodiments of the invention are not limited thereto, and in some embodiments, each base support 304 may include a plurality of openings or holes 320 for securing the slide carrier 300 to the surface 302. Alternatively, in some embodiments, the openings or holes 320 may be omitted for one or more of the base supports 304. Furthermore, the slide carrier 300 may be mounted or secured to the surface 302 by utilizing any other suitable mechanical mounting mechanism. For example, in some embodiments, the slide carrier 300 may be secured to the surface 302 by utilizing an adhesive, one or more clips, a spring, a groove, a tooth, etc.

[0243] Furthermore, according to some embodiments, Figure 3F, support portion 310 may have narrow support portions 324a and 324b at the higher elevation top of each support portion 310a and 310b, respectively. The top surface of narrow support portion 324a may be coplanar with the top surfaces of support portions 310a and 310b and cross member support portion 312. However, the distance between narrow support portions 324a and 324b may be less than the distance between support portions 310a and 310b. According to some embodiments, the distance between the outer edges of each of narrow support portions 324a and 324b may be less than the width of the slide when the slide is placed on slide platform 308.

[0244] Figure 3G 2 shows a rear view of a slide carrier 300 according to some embodiments. Figure 3G As shown, in some embodiments, the outer width W3 between the narrow support portions 324a and 324b can be less than the width of the slide carrier 300 (and the width between the support portions 310a and 310b). Furthermore, as described above, in some embodiments, the width W3 can be less than the narrow width of the slide when the slide is placed on the slide platform 308. Thus, the gripper of the robot arm can relatively easily clamp the slide against the short or narrow width of the slide seated on the slide platform 308 in a clamping action P1 (described in more detail below).

[0245] In addition, if Figure 3G As shown in , there can be a space having a width W4 that is less than width W3 between narrow support portions 324a and 324b. When a slide is resting on slide platform 308, the space between narrow support portions 324a and 324b can enable a gripper of the robot arm to grip the flat side of the slide in a clamping action P2. For example, the space between narrow support portions 324a and 324b can accommodate a portion of the gripper that fits under the slide, and another portion of the gripper can be mobilized over the slide, so that the clamping action P2 causes the gripper to apply pressure on a relatively flat surface of the slide in order to pick up or mobilize the slide.

[0246] Figure 3H A top view of a slide carrier 300 is shown according to some embodiments. Fig. 3I 2 shows a bottom view of a slide carrier 300 according to some embodiments. Figure 3H As shown, in addition to being able to Figure 3GIn addition to the described perpendicular clamping actions P1 and P2 to clamp or pick up the slide, in some embodiments, there may also be an opening 326 at the opposite end of the slide carrier 300 relative to the narrow support portions 324a and 324b. The opening 326 can be configured to accommodate a gripper of a robotic arm to pick up a slide resting on the slide platform 308 with a clamping action perpendicular to the X'-Y' plane.

[0247] Figure 3J is a flow chart showing a method of manufacturing a pathology slide in a slide processing system according to some embodiments. Figure 3J Various operations are shown as part of a method of manufacturing a pathology slide in a slide processing system, but embodiments according to the present disclosure are not limited to Figure 3J For example, some embodiments may include additional operations or fewer operations without departing from the spirit and scope of the embodiments according to the present disclosure.

[0248] As described above, the manufacturing process begins, and then, at operation 330, the fixture can be in a first orientation (e.g., relative to FIG. 3A to FIG. 3I At operation 334, the slide may be allowed to shift or move (e.g., under gravity) position on the slide platform to register the slide at a predetermined position on the slide platform. At operation 336, the slide may be clamped with the clamp in a second orientation (e.g., any of the orientations described above with respect to FIG. 1 ). FIG. 3A to FIG. 3I The second orientation may correspond to, for example, a component (e.g., a slide carrier or a slide processing station). At operation 338, the fixture may use the fixture to place the slide in the component of the slide processing system with the slide in the second orientation to enable a slide processing operation corresponding to the component to be performed on the slide by the slide processing system.

[0249] Therefore, as described above, embodiments according to the present disclosure may include a slide carrier that enables the slide to be picked up or placed down from various angles or orientations during intermediate manufacturing operations. When the slide is placed on the slide carrier, the slide will be moved to a known fixed position and orientation by gravity, so that the fixture and robotic arm can pick up the slide again relatively easily. The slide carrier utilizes a compound angle to bias the edge of the slide toward a known position (e.g., the bottom right edge) of the slide carrier. The resting surface of the slide carrier can be minimized or reduced to reduce friction on the slide surface, and the angle of the slide carrier can be optimized or designed to increase potential energy and help ensure that the slide will move under gravity. In addition, various features are incorporated into the slide carrier to enable various fixture and suction cup designs for picking up and placing slides. In addition, alignment features can be added to facilitate teaching positions for aligning automated or robotic systems. According to some embodiments, an edge detection system may be utilized (eg, by utilizing a camera or sensor on a robotic arm or gripper) to detect the position of the slide.

[0250] FIG. 4A to FIG. 4M A robotic arm gripper according to some embodiments of the present disclosure is shown. As described above with respect to FIGS. 2 and 3 , according to some embodiments of the present disclosure, a robotic arm having a gripper connected to the end of the robotic arm can be configured to pick up and manipulate slides in a slide handling or manufacturing environment.

[0251] Figure 4A An example of a clamp 400 according to some embodiments is shown. The clamp 400 can be used with Figure 2A The same or similar to the fixture 216 (or an example thereof) shown in the slide processing or manufacturing system 200.

[0252] According to some embodiments, the fixture 400 can be configured to hold or manipulate the slide in a variety of positions or orientations so that the slide can be interfaced with a variety of different carriers and machines during the process of manufacturing pathology slides. Therefore, embodiments according to the present disclosure can reduce the need to change fixtures or tools and / or utilize multiple robotic arms during the manufacturing process.

[0253] The clamp 400 may be formed of any suitable material that is strong enough to support the glass slide 204 without significant risk of damage to the glass slide or the clamp 400. For example, in some embodiments, the clamp 400 may be formed of a plastic or polymer material, but embodiments according to the present disclosure are not limited thereto.

[0254] like Figure 4A As shown, the clamp 400 may include two or more clamp fingers 402. FIG. 4A to FIG. 4MThe present invention is described in the context of two gripper fingers 402a and 402b, but embodiments according to the present disclosure are not limited thereto, and some embodiments may include additional gripper fingers 402 without departing from the spirit and scope of embodiments according to the present disclosure. In this specification, in some cases, reference numeral 402 may be used to generally refer to each of gripper fingers 402a and 402b (as well as any additional gripper fingers that may be utilized in some embodiments).

[0255] Furthermore, according to some embodiments, the fixture 400 (or the robotic arm to which the fixture 400 is attached) can include additional components that are configured to be utilized in connection with the manipulation and mobilization of the slide during the slide manufacturing process. For example, in some embodiments, the fixture 400 (or the robotic arm to which the fixture 400 is attached) can include a suction cup for forming suction against the slide. Furthermore, in some embodiments, the fixture 400 (or the robotic arm to which the fixture 400 is attached) can include a camera or sensor (e.g., an optical sensor, a pressure sensor, etc.) configured to identify or measure the position of a slide, a slide carrier, a surface, etc.

[0256] like FIG. 4A to FIG. 4M As shown, the clamp 400 using clamp fingers 402a and 402b can be configured to apply a clamping or inward force P3 toward a centerline "center" that bisects the clamp 400. The clamp fingers 402a and 402b can be positioned equidistant from the centerline "center" and can be configured to move toward and away from the centerline "center" in coordination with each other (e.g., at the same speed and with the same force).

[0257] refer to FIG. 4A to FIG. 4M , the gripper fingers 402a and 402b can be mounted to an actuator 404 that is configured to move the gripper fingers 402a and 402b inwardly (toward the centerline "center") and outwardly (away from the centerline "center") to open or close the space between the gripper fingers 402a and 402b. The actuator 404 can be connected to a robotic arm (e.g., Figure 2A 4 ) such that the robot arm 202, actuator 404, and gripper 400 can operate together to manipulate a slide or move a slide from one location to another. Each gripper finger 402a and 402b can have the same or similar shape. For example, in some embodiments, gripper finger 402b can be the same as gripper finger 402a, except that it is rotated 180 degrees relative to gripper finger 402a, although embodiments according to the present disclosure are not limited thereto.

[0258] Figure 4AThe clamp 400 is shown holding a slide in a first clamping mode or configuration in which the clamp fingers 402a and 402b operate to provide a lateral (along an axis parallel to the width of the slide 204) clamping force P3 against the long edge of the slide 204.

[0259] In a first clamping mode, the clamp 400 can be configured to pick up and / or maneuver the slide 204 in an orientation in which a centerline between the clamp fingers 402a and 402b extends along the front side of the slide 204 parallel to the long edge of the slide 204, wherein the centerline bisects the short edge of the slide 204.

[0260] The gripper fingers 402a and 402b can have a first portion 406 that extends generally in a direction away from the actuator 404. For example, in some embodiments, the first portion 406 can extend in a direction parallel (or generally parallel) to the centerline “center.” The first portion 406 of each gripper finger 402a and 402b can have an inner edge 408a and 408b, respectively, wherein the inner edges 408a and 408b are inward relative to the opening or space between the gripper fingers 402a and 402b.

[0261] In some embodiments, inner edges 408a and 408b can be elongated in a direction parallel to centerline "center". In some embodiments, inner edges 408a and 408b can extend parallel to each other and can each have a groove therein that is each adapted to receive the top (or bottom) of a long edge of a slide, such as in Figure 4A The grooves in the inner edges 408a and 408b are shown and described in more detail below.

[0262] When a clamping or inward force P3 is applied to the long edges of the slide, the clamp 400 may be able to pick up the slide 204 and move the slide around in 3-dimensional space.

[0263] Figure 4BThe gripper 400 is shown holding a slide in a second gripping mode or configuration in which the gripper fingers 402a and 402b operate to provide a longitudinal (along an axis parallel to the length of the slide 204) clamping force or pressure P4 against the short or width edge of the slide 204. That is, the pressure or force P4 can be in a direction toward the centerline "center" (e.g., perpendicular to the centerline "center"). In the second gripping mode, the gripper 400 can pick up and / or maneuver the slide 204 in an orientation in which the centerline "center" between the gripper fingers 402a and 402b can extend through the front and back sides of the slide 204 midway between the short edges of the slide 204. That is, the direction perpendicular or normal to the plane of the front and back sides of the slide 204 can be parallel to the centerline "center" so that the front or back side of the slide 204 faces the actuator 404.

[0264] The gripper fingers 402a and 402b may have a second portion 410 extending from the first portion 406 at an angle greater than zero and less than 90 degrees relative to the extension direction of the first portion 406. For example, if the first portion 406 extends in a direction D1 away from the actuator 404, the second portion 410 may extend in a direction D2 away from the first portion 406, wherein an angle γ between the direction D1 and the direction D2 is less than 90 degrees and greater than zero. Therefore, the end 412 of the second portion 410, which is the farthest point from the actuator 404, may be farther from the actuator 404 than the inner edges 408a and 408b of the first portion 406, and may also be farther from the centerline “center”.

[0265] The end 412 of the second portion may include a protrusion or tooth 414 that extends toward the centerline “center” such that a groove or cavity 416 is formed between the protrusion 414 and the body 418 of the second portion 410. Further details of the groove or cavity 416 and the protrusion 414 are shown and described in more detail below.

[0266] Because the ends of the second portion 410 are both farther from the actuator 404 and from each other than the inner edges 408a and 408b, a wider space relative to the space between the inner edges 408a and 408b can be formed between the ends of the second portion 410. In addition, the groove 416 between the protrusion 414 and the body 418 of the second portion 410 can accommodate the width or short edge of the slide 204, so that the clamp 400 can pick up and / or manipulate the slide 204 with the front or back side of the slide 204 facing the actuator 404.

[0267] Figure 4CA clamp 400 is shown holding a slide in a third clamping mode or configuration according to some embodiments. In the third clamping mode, the clamp fingers 402a and 402b operate to provide a longitudinal (along an axis parallel to the length of the slide 204) clamping force or pressure P5 against the width or short edge of the slide. That is, the pressure or force P5 can be in a direction toward the centerline "center" (e.g., perpendicular to the centerline "center"). In the third clamping mode, the clamp 400 can pick up and / or maneuver the slide 204 in an orientation in which the centerline "center" between the clamp fingers 402a and 402b can extend through the long edge of the slide 204 midway between the short edges of the slide 204. That is, compared to the second clamping mode in which the front surface or the back surface of the slide 204 faces the actuator 404, in the third clamping mode, one of the long edges of the slide 204 can face the actuator 404, wherein the center line "center" bisects the front and back surfaces, and the front and back surfaces face in a direction perpendicular to the extension line of the center line "center".

[0268] According to some embodiments, the second portion 410 of each clamp finger 402a and 402b can include inner edges 420a and 402b extending parallel to the direction of extension of the inner edges 408a and 408b, respectively. The inner edges 420a and 420b can extend parallel to each other and to the inner edges 408a and 408b. The inner edges 420a and 420b can be internal relative to the opening or space between the clamp fingers 402a and 402b and can be elongated or extended in a direction parallel to the centerline "center". Each inner edge 420a and 420b can face the centerline and can include a groove that is suitable or configured to accommodate or receive the top or bottom portion of the width edge of the slide 204. The grooves of the inner edges 420a and 420b are shown and described in more detail below.

[0269] Figure 4D The clamp 400 is shown holding a slide in a fourth clamping mode or configuration according to some embodiments. In the fourth clamping mode, the clamp fingers 402a and 402b operate to provide a longitudinal (along an axis parallel to the length of the slide 204) clamping force or pressure P6 against the short or width edge of the slide 204.

[0270] That is, the pressure or force P6 can be in a direction toward the centerline “center” (e.g., perpendicular to the centerline “center”). In the fourth gripping mode, the gripper 400 can pick up and / or maneuver the slide 204 in an orientation in which the centerline “center” between the gripper fingers 402a and 402b can extend through the front and back sides of the slide 204 midway between the short edges of the slide 204. That is, the direction perpendicular or normal to the plane of the front and back sides of the slide 204 can be parallel to the centerline “center” so that the front or back side of the slide 204 faces the actuator 404.

[0271] Gripper fingers 402a and 402b can have a protrusion 426 extending from end 412 in a direction parallel to centerline "center" below protrusion 414. In some embodiments, protrusion 414 can be configured to contact the front or back side of slide 204 in the fourth clamping mode, and protrusion 426 can be configured to apply pressure or force P6 toward the center of slide 204.

[0272] A fourth clamping mode may be configured in which the slide carrier 430 (the slide carrier 430 may be Figure 2A The slide carrier 430 may be the same or similar to any of the described slide carriers 208, 214a, or 214b for use in manipulating the slide 204. For example, the slide carrier 430 may have one or more cavities 432 configured to receive the slide 204. For example, the cavity 432 may have a width, length, and depth that corresponds to (e.g., is slightly greater than within a predetermined or acceptable tolerance) the width, length, and thickness of the slide 204.

[0273] However, because the protrusion 426 may extend beyond the length of the slide 204, in order to enable the clamp 400 to safely place the slide 204 into the cavity 432 and / or obtain a firm / sufficient grip on the slide 204 when the slide 204 is already in the cavity 432, the cavity 432 may include a first cavity extension 436 and a second cavity extension 438. The first cavity extension 436 and the second cavity extension 438 may be located at opposite ends of the cavity 432 in the length direction. The cavity extensions 436 and 438 may have a size or footprint that is larger than that of the protrusion 426, so that when the clamp 400 picks up and / or places the slide 204 in the cavity 432, the protrusion 426 may fit within the cavity extensions 436 and 438. In some embodiments, the cavity extensions 436 and 438 may have rounded or chamfered edges in a plan view, but embodiments according to the present disclosure are not limited thereto. For example, cavity extensions 436 and 438 may have a rectangular shape, or a shape that follows the outline of clamp 400 in plan view, or any other suitable shape capable of accommodating protrusion 426 .

[0274] Figure 4E A gripper 400 is shown that uses an external groove or cavity to manipulate a slide according to some embodiments. According to some embodiments, the gripper finger 402 can have an external groove 440 extending in a direction perpendicular to the centerline "center". The external groove 440 can, for example, be located on the opposite side of the gripper finger 402 relative to the space between the gripper fingers 402. The external groove 440 can also be located on the opposite side of the second portion 410 relative to the groove 416.

[0275] The outer groove 440 can have a shape configured to receive or accommodate one of the edges of the slide 204 to push or provide a force against the slide 204 in a horizontal direction H and / or a vertical direction V relative to a plane parallel to the front or back side of the slide 204. Figure 4E As shown in FIG. 2 , a slide carrier 442 may be used to hold or stabilize the slide 204. The slide carrier 442 may be, for example, Figure 2A The slide carrier 442 may include a plurality of cavities 444 configured or shaped to receive the slide 204. Each cavity 444 may additionally include a cavity extension 446 adjacent to the width edge of the cavity 444 and configured or shaped to receive the end of the gripper finger 402 and enable the groove 440 to engage the width edge of the slide 204.

[0276] In some embodiments, the slide carrier 442 may include a spring or clip that requires a force or pressure in the horizontal direction H in order to remove the slide 204 from or insert the slide 204 into the slide carrier 442. Thus, the outer groove 440 may be configured to engage the edge of the slide 204 such that the edge of the slide 204 fits within the curvature of the groove 440. The actuator 404 and the gripper fingers 402 may then be moved in the horizontal direction H and / or the vertical direction V to engage or disengage the slide 204 from the slide carrier 442.

[0277] Figure 4F is a top front perspective view of a single clamp finger 402 according to some embodiments. Figure 4G FIG. 4 is a top rear perspective view of a single clamp finger 402 according to some embodiments. Figure 4F and Figure 4G As shown, the clamp finger 402 may include a mounting plate 450. The mounting plate 450 may include a plurality of holes 452 formed therethrough. Thus, the clamp finger 402 may be mounted or mechanically connected to the actuator 404 by fastening the clamp finger 402 to the actuator 404 via the mounting plate 450 using one or more screws, bolts, etc. passing through the holes 452. Additionally, some embodiments may utilize any other suitable fastening mechanism to mechanically connect and secure the clamp finger 402 to the actuator 404.

[0278] like Figure 4F and Figure 4G , and as described above, each of the grooves 416 and 440 can have a shape configured to accommodate an edge (e.g., a width edge) of the slide 204. For example, the width or distance across the grooves 416 and 440 can be greater than the thickness of the slide (measured from the front to the back). In some embodiments, at least one of the grooves 416 or 440 can have a curve (e.g., to conform to or accommodate an edge of the slide 204). Additionally, in some embodiments, at least one of the grooves 416 or 440 can have a rectangular shape and / or sloped sidewalls. The grooves 416 and 440 are configured to engage the slide 204 in a configuration in which the front or back of the slide 204 is oriented toward the actuator 404 (and the mounting plate 450).

[0279] Similarly, if Figure 4F and Figure 4G As shown in and described above, each of the inner edges 408 and 420 can have a shape configured to accommodate the edge of the slide 204. In particular, the inner edge 408 can be used to accommodate the top or bottom of the length edge of the slide 204 (e.g., Figure 4A), and the inner edge 420 can be used to accommodate the width edge of the slide 204 (as shown Figure 4C 408 and the mounting plate 450). For example, the distance of the groove or cavity across the inner edge 408 and the inner edge 420 can be greater than the thickness of the slide. Thus, the inner edges 408 and 420 are configured to engage the slide 204 in a configuration in which the width edge or the length edge of the slide 204 is oriented toward the actuator 404 (and the mounting plate 450).

[0280] Figure 4H is a bottom view of a single clamp finger 402 according to some embodiments. Fig. 4I According to some embodiments Figure 4H Close-up view of section A of FIG. Figure 4J According to some embodiments Figure 4H A close-up view of segment B of . Therefore, Fig. 4I and Figure 4J Further details of inner edges 408 and 420 are shown according to some embodiments.

[0281] refer to Figure 4H and Fig. 4I And as described above, the inner edge 408 can be configured to accommodate the edge of the slide 204. Thus, the inner edge 408 can include a groove or cavity 460. The cavity 460 can include a first portion 462 having a width or distance D1 across the cavity 460 at the first portion 462 that is greater than the thickness of the slide 204. Thus, the first portion 462 of the cavity 460 can be configured to accommodate the thickness of the slide 204 so that the clamp 400 can apply pressure or force against the edge of the slide 204. The cavity 460 can further include a second portion 464 having a width or distance D2 at the opening of the cavity 460 that is wider than the width D1 and then tapers to the width D1 at the connection between the first portion 462 and the second portion 464. Thus, because the opening of cavity 460 is wider than width D1 and then tapers to width D1 , in some embodiments, cavity 460 may enable slide 204 to be inserted into cavity 460 with a higher degree of tolerance.

[0282] Similarly, refer to Figure 4H and Figure 4JAnd as described above, the inner edge 420 can be configured to accommodate the edge of the slide 204. Thus, the inner edge 420 can include a groove or cavity 470. The cavity 470 can include a first portion 472 having a width or distance D3 across the cavity 470 at the first portion 472 that is greater than the thickness of the slide 204. Thus, the first portion 472 of the cavity 470 can be configured to accommodate the thickness of the slide 204 so that the clamp 400 can apply pressure or force against the edge of the slide 204. The cavity 460 can further include a second portion 474 having a width or distance D4 at the opening of the cavity 470 that is wider than the width D3 and then tapers to the width D3 at the connection between the first portion 472 and the second portion 474. Thus, because the opening of cavity 470 is wider than width D3 and then tapers to width D3, in some embodiments, cavity 470 may enable slide 204 to be inserted into cavity 470 with a higher degree of tolerance.

[0283] Figure 4K is a side view of a single clamp finger 402 according to some embodiments. Figure 4L According to some embodiments Figure 4K A close-up view of segment C of FIG. Therefore, Figure 4L Further details of protrusions 414 and 426 and recesses 416 and 440 are shown according to some embodiments.

[0284] like Figure 4K and Figure 4L As shown, the protrusion 414 can be directed toward, for example, Figure 4A The groove 416 may extend in the direction of the centerline "center" shown. When the edge of the slide 204 is inserted or received in the groove 416, the protrusion 414 may operate as a support for the slide 204. In addition, as described with respect to the inner edges 408 and 420, the groove 416 may have a width at the deeper portion that corresponds to or is greater than the thickness of the slide 204, and the groove 416 may have an even wider width at the opening (formed or defined by the body of the clamp finger 402 and the protrusion 414), which is wider and then tapers to a smaller width.

[0285] In addition, if Figure 4L As shown, the protrusion 426 can extend vertically below the protrusion 414 and can have a center line “center” (e.g. Figure 4A 4. The edge 476 may extend parallel to the slide 204 (shown in FIG. 4). The edge 476 may provide a surface for providing a compressive or lateral force against the slide 204.

[0286] The outer groove 440 can be positioned above the protrusion 426. The edge or shelf 478 can operate as a support or platform for the front or back of the slide 204. Other surfaces of the groove 440 can provide a surface for pushing against the edge of the slide 204.

[0287] Figure 4M is a flow chart showing a method of manufacturing a slide in a slide processing system according to some embodiments. Figure 4M Various operations are shown as part of a method of manufacturing a pathology slide in a slide processing system, but embodiments according to the present disclosure are not limited to Figure 4M For example, some embodiments may include additional operations or fewer operations without departing from the spirit and scope of the embodiments according to the present disclosure.

[0288] As described above, the manufacturing process begins, and then, at operation 490, the clamp may be formed using a first groove of a first clamp finger and a first groove of a second clamp finger in a first orientation (eg, as described above with respect to FIG. Figures 3A to 4L At operation 494, the gripper may grip the slide in a second orientation using a second groove of the first gripper finger and a second groove of the second gripper finger. At operation 496, the slide may be placed in a second component of the slide handling system in the second orientation.

[0289] Thus, according to some embodiments, a clamp may be utilized in conjunction with the slide carrier described above or the slide carrier cassette described below to transfer a slide from the slide carrier and / or slide carrier cassette to another component or device within the slide handling system 200 .

[0290] Thus, as described above, embodiments according to the present disclosure may include a fixture that can be utilized with multiple different carriers or slide manufacturing machines, each of which may have different requirements with respect to orientation and clamping position when inserting or removing a slide as part of a pathology slide manufacturing process or workflow. That is, automatically transferring slides between carriers and to positions within an instrument requires interfacing with the slides and carriers or machines in many different ways. Robots and actuators may otherwise be limited in terms of fixture tool attachments, making it difficult to perform different transfer tasks with a single fixture tool. Thus, embodiments according to the present disclosure may reduce tool changeover or multiple robot arm requirements.

[0291] According to various other embodiments, a slide carrier cassette may be utilized to enable or facilitate coordinated and / or simultaneous processing of multiple slides. The slide carrier cassette may also have features for achieving self-alignment of the slides, similar to those described above with respect to FIG. 3A to FIG. 3J The features described and described below are similar. Figure 5A is a front perspective view of a slide carrier cassette according to some embodiments. Figure 5B is a rear perspective view of a slide carrier box according to some embodiments. The slide carrier box 500 according to various embodiments has a body or housing 501 having a plurality of slots 502-1 to 502-n formed therein, wherein the openings of the slots 502-1 to 502-n are located at the top side of the body 501, wherein "n" is a natural number greater than 1.

[0292] The slide carrier box 500 may be formed of any suitable material that is strong enough to support the glass slide 204 without significant friction between the glass and the material of the slide carrier box 500. For example, in some embodiments, the slide carrier box 500 may be formed of a plastic or polymer material, but embodiments according to the present disclosure are not limited thereto.

[0293] The slide carrier box 500 can include any suitable number of slots 502-1 to 502-n. The slots 502-1 to 502-n can be arranged or aligned adjacent to each other along an alignment direction A, and each slot 502-1 to 502-n can be configured to receive or accommodate a single slide 204. When inside one of the slots 502-1 to 502-n, the front and back sides of each slide 204 are oriented toward the front or back sides of other slides 204 in other slots. That is, according to some embodiments, the planes of the front and back sides of each slide 204 inserted into the slots 502-1 to 502-n are parallel to the planes of the front and back sides of each other slide 204. In addition, the bottom of each slot 502-1 to 502-n can be aligned along the alignment direction A so that each slot 502-1 to 502-n can be the same distance or height from the bottom edge 508 of the slide carrier box 500.

[0294] Each slot 502-1 to 502-n can be formed at an angle of inclination (e.g., an angle greater than zero and less than 90 degrees) relative to a plane perpendicular to the direction of gravity. In addition, in some embodiments, each slot can be rotated left or right (e.g., when viewed in a front view or a rear view) so that the slide 204 will register or self-align to a known reference position when placed in one of the slots 502-1 to 502-n. The orientations and angles of the slots 502-1 to 502-n are shown and described in more detail below.

[0295] The slide carrier box 500 may further include one or more protrusions 504 (e.g., at a top surface of the slide carrier box 500). The slide carrier box 500 may have a generally rectangular shape in a plan view (e.g., when viewed from a direction above the slide carrier box 500 or parallel to gravity), and the protrusions 504 may be located around the edges of the slide carrier box 500 (e.g., at or near each corner). The protrusions 504 may be utilized to provide a fixed or semi-permanent mounting mechanism to a slide carrier box queue or storage shelf (described in more detail below), and may include, for example, holes for securing the slide carrier box 500 to the queue or storage shelf using screws or bolts (or other suitable mechanical fastening mechanisms).

[0296] In some embodiments, the slide carrier box 500 may include a spring (e.g., a living hinge spring) or a clip 510. The spring 510 may provide a spring force in an outer direction away from the body of the slide carrier box 500, so that when the slide carrier box 500 is inserted into a queue piece or storage shelf (described in more detail below), the spring 510 may create a retaining force to enable the slide carrier box 500 to be retained or held by the queue piece or storage shelf. The spring 510 may further enable the slide carrier box 500 to be aligned and properly positioned and registered within the queue piece or storage shelf.

[0297] The slide carrier box 500 may further include a tab handle 512 at a top surface (or top side) 514 of the slide carrier box 500. The tab handle 512 may extend above the top surface 514 of the slide carrier box 500 and may have a generally planar shape (although embodiments are not limited thereto). The tab handle 512 may operate as a handle or clamping structure for a human or mechanical clamp to clamp onto a structure of the slide carrier box 500, for example, when maneuvering / transporting the slide carrier box 500, or when inserting or removing the slide carrier box 500 from a queue or storage shelf.

[0298] When the table handle 512 has a generally planar shape, the tab handle 512 can have a front side FF and a back side RF. The front side FF can face toward the front of the slide carrier box 500 and can have space or room for accommodating, for example, a label or unique identification information for the slide carrier box 500. The back side RF can face toward the back (or rear) side of the slots 502-1 to 502-n and the slide carrier box 500.

[0299] Figure 5C is a front view of a slide carrier box according to some embodiments.

[0300] like Figure 5CAs shown and described above, the front face FF of the tab handle 512 may include a label area 516 configured to receive a label or unique identifying information corresponding to the slide carrier box 500 and / or the slides held by the slide carrier box 500. For example, the label may include a bar code, a QR code, or alphanumeric characters to provide identifying information about the nature and contents of the slide carrier box 500.

[0301] At the bottom of the slide carrier box 500, below the bottom edge 508, the slide carrier box 500 may include a plurality of feet or posts 520 that may be utilized to provide stability when the slide carrier box 500 is resting on a planar surface or substrate with the bottom edge 508 facing the substrate. Additionally, the posts 520 may be utilized to align the slide carrier box 500 into a fixture, such as a queue or storage rack.

[0302] Figure 5D is along Figure 5C A cross-sectional view taken along line AA. Figure 5E According to some embodiments Figure 5D Close-up view of section B. Figure 5D and Figure 5E And as described above, the slide carrier box 500 can include one or more springs or clips 510 located at one or more locations around the sides of the slide carrier box 500. In some embodiments, the spring 510 can be a living hinge spring in which a narrow piece is connected to the body of the slide carrier box 500 at one end and a ball or protrusion extends from the spring 510 at the opposite end. The protrusion of the spring 510 can fit or be received within a corresponding hole or cavity on the storage shelf or queue piece to achieve a "snap" retention of the slide carrier box 500, and also to enable the slide carrier box 500 to be aligned in the proper position and orientation.

[0303] Furthermore, as described above, the plurality of slots 502-1 to 502-n may be aligned with each other along the alignment direction A in the slide carrier box 500, so that when a slide is inserted into the slots 502-1 to 502-n, the face of the slide faces the adjacent slide and the edge of the slide faces the side of the slide carrier box 500. Each slot 502-1 to 502-n may have a thickness T1 corresponding to the thickness of the slide (e.g., slightly larger than the thickness of the slide) so that the movement A of the slide inserted into the slide carrier box 500 in the alignment direction (or opposite to the alignment direction) may be minimized or relatively reduced. Furthermore, each slot 502-1 to 502-n may have a larger thickness T2 at the opening to enable relatively easier insertion of the slide into the slot and to accommodate greater tolerance variations. Each of the slots 502 - 1 to 502 - n may have a chamfered or tapered portion at a connection between the smaller thickness T1 and the larger thickness T2 .

[0304] According to some embodiments, each slot may be angled at an angle σ, where σ is less than 90 degrees and greater than 0 degrees, relative to the alignment direction A. In embodiments where σ is less than 90 degrees, it may be possible to more easily read the label on each slide inserted into the slide carrier cassette 500 .

[0305] According to some embodiments, each slot 502-1 to 502-n may be separated by a set distance, the size of which may be a function of the size of a fixture to be utilized to insert and retrieve slides into and from the slide carrier cassette 500.

[0306] Fig. 5F 5 is an example of a queue or storage shelf for a plurality of slide carrier cassettes according to some embodiments. For example, according to some embodiments, a slide carrier queue 530 may include a plurality of cavities 532 arranged, for example, in a plurality of rows and columns. Fig. 5F A queue piece 530 having four rows and five columns of cavities 532 is shown, but embodiments according to the present disclosure are not limited thereto, and a queue piece 530 according to the present disclosure may have any suitable number of rows and columns of cavities 532. Furthermore, embodiments according to the present disclosure are not limited to cavities 532 being arranged in columns and rows, and various embodiments may include a variety of different cavity arrangements depending on the design of the queue piece 530.

[0307] According to some embodiments, each cavity 532 can be configured to accommodate the shape of the slide carrier cassette 500. Thus, in some embodiments, the cavity 532 can have an inner edge that conforms to or corresponds to the shape of the slide carrier cassette 500.

[0308] According to some embodiments, the cavity 532 may be formed (e.g., machined) at a certain angle (e.g., rotated clockwise or counterclockwise to an angle greater than zero and less than 90 degrees) relative to the vertical line V (e.g., extending parallel to the gravity direction or in the column direction), such as Fig. 5F Because the slide carrier box 500 is mounted in the queue member 530 at a certain angle relative to the vertical line V, and because the narrow slots 502-1 to 502-n (e.g. Figure 5A 508) is also tilted at an angle relative to the bottom edge 508 of the slide carrier box 500 so that the slides can be automatically (i.e., due to gravity) biased to a known position. For example, various slides made by different manufacturers or having slightly different formats may have variations in width, thickness, length, and features (e.g., edges, corners, bevels, etc.). Such variations may exist in the same slide handling environment due to receiving slides from different sources (e.g., from different medical practices around the world).

[0309] This known offset position allows the slide to be re-gripped at a predetermined or known reference point or position. In other words, when inserted into slots 502-1 to 502-n, the effects of variations in slide size and position can be reduced because the resting position of the slide will be at a known position.

[0310] The queue piece 530 can operate as an intermediate or long-term storage location for slides. For example, when a slide is inserted into an individual slot of an individual slide carrier box 500, other spaces can remain open to allow room for other slides manufactured at a later time to be included in the queue piece 530. Once all slides in a batch have been manufactured, the slides can be retrieved from the queue piece 530 and positioned in a folio or box for long-term storage or transportation (e.g., to be examined by a pathologist). The positions of slides in individual slots can be managed according to a slot allocation scheme organized and controlled by a computer, and slides can also be retrieved manually, such as by using labels on individual slides and slide carrier boxes, as described above.

[0311] Figure 5G An example of a queue member or storage shelf having a cylindrical shape is shown in accordance with some embodiments. Figure 5G As shown, according to some embodiments, instead of Fig. 5F While shown arranged in a planar or linear matrix, the queue members 530 may be arranged in a circular or cylindrical configuration. Figure 5GIn the cylindrical configuration shown, each row of cavities 532 can be formed into a circular shape about a central axis. In some embodiments, the queue member 530 can be configured to rotate about a central axis (e.g., using a rotary system on which the queue member 530 can be mounted). The cylindrical configuration can reduce the amount of space required for the robotic arm to access the queue member 530, and can enable the queue member 530 to rotate to present individual slides or queue members 530 to the robotic arm, which can increase processing time.

[0312] Figure 5H An example of queue pieces or storage shelves in a stacked configuration is shown in accordance with some embodiments. Figure 5H As shown, according to some embodiments, the queue members 530 in the multi-layer cylindrical storage queue member can be arranged in a stacked or stackable configuration. Each layer or level of the queue member can include a plurality of cavities 532 or openings, which are arranged in a cylindrical or circular shape around a central axis and are configured to receive a slide carrier box 500.

[0313] Individual slide carrier cassettes 500 may be removed or inserted as needed, and individual layers of alignment pieces 530 may also be removed or added as needed.

[0314] like FIG. 5F to FIG. 5H As shown, the ability to remove individual slide carrier cassettes 500 from queue piece 530 can enable manual intervention or interaction with the slide array, as well as enable cassettes to be cleaned and replaced for maintenance over time. Figure 5H As shown, using the slide carrier cassette 500 in a stackable configuration of the queue member 530 can achieve relatively simple machining features and can enable the slide carrier cassette to be molded or 3-dimensionally printed, which can enable the slide carrier cassette to be manufactured at a relatively low cost. In addition, because the slide carrier cassette 500 is removable from the queue member 530, they can be utilized in other processes or instruments, and in addition, individual slides can be transported to different environments without removing them from the slide carrier cassette.

[0315] Fig.5I An example of a slide processing system 540 according to some embodiments is shown. The slide processing system 540 can be the same or similar to the slide processing system described above with respect to FIGS. 2-5 (e.g., the slide processing system 200), and can be utilized as part of the pathology system 100 (e.g., in Figure 1 108 and 110 as shown).

[0316] like Fig.5IAs shown, multiple queue members 530 can be placed near (e.g., within reach of) multiple corresponding robotic arms 542. The robotic arms 542 can be similar to those described above with respect to Figure 1 to the robotic arm described in FIG. 5 (eg, Figure 2A The robotic arms 542 may be the same or similar to the robotic arms 202 shown in the figure. The robotic arms 542 may each have a gripper (e.g., gripper 400) configured to transfer slides between the queue piece 530 and a separate slide processing station 544. The slide processing station 544 may be the same or similar to the slide processing stations described above (e.g., slide processing station 210) and may be configured to perform one or more processing or manufacturing operations on a slide during a pathology slide manufacturing process.

[0317] Additionally, one or more slide carriers 550 can be positioned on a workstation surface or substrate 552 and can be accessible by (e.g., within reach of) a gripper of the robotic arm 542. The slide carriers 550 can be the same or similar to the slide carriers described above (e.g., slide carriers 208, 214a, 214b, and 300).

[0318] Utilizing a cylindrical or rotating queue member 530 in a slide handling system 540 can enable a robotic arm 542 to be located in a single location that can access various components of the slide handling system 540, including the queue member 530 and the various slide handling stations 544 and slide carriers 550. In addition, as Fig.5I As shown, the slide processing system 540 can be modular and enable additional workstations 552 with additional robotic arms 542, queue pieces 530, and slide processing stations 544 to be added to or removed from the environment of the slide processing system 540 as the needs of the slide processing system 540 change over time.

[0319] Figure 5J is a flow chart showing a method of manufacturing a slide in a slide processing system according to some embodiments. Figure 5J Various operations are shown as part of a method of manufacturing a pathology slide in a slide processing system, but embodiments according to the present disclosure are not limited to Figure 5J For example, some embodiments may include additional operations or fewer operations without departing from the spirit and scope of the embodiments according to the present disclosure.

[0320] As described above, the manufacturing process begins, and then, at operation 570, the fixture can be in a first orientation (e.g., relative to Figures 3A to 4MAt operation 574, the fixture may place the slide carrier box into a queue piece having a cavity corresponding to the shape of the slide carrier box. At operation 576, the fixture may remove the slide from the slide carrier box. At operation 578, the fixture may place the slide into a component of a slide handling system to enable a slide manufacturing operation to be performed on the slide.

[0321] Therefore, as shown above, a relatively improved and efficient pathology slide manufacturing process is achieved according to an embodiment of the present disclosure. For example, during the pathology slide manufacturing process, a robotic arm with a clamp can be used to manipulate the slide and transfer the slide between different operations and positions. However, different slide processing components, stations or carriers may need to pick up or insert slides from various angles, positions and orientations. Therefore, according to an embodiment of the present disclosure, such a slide carrier may be included, which can be arranged to enable the robotic arm clamp to pick up and place slides during intermediate operations of the slide manufacturing process. The slide carrier can enable the clamp to pick up the slide in various modes or configurations according to the processing operation to be performed next. For example, a slide can be placed on the slide carrier using a clamp having one orientation, and then the clamp can pick up the slide using clamps with different orientations. Due to the various angles of the surface of the slide carrier relative to gravity, the slide may tend to move toward a known position on the slide carrier or be moved by gravity, thereby enabling the gripper and robotic arm to pick up the slide again from a known position and orientation.

[0322] Additionally, embodiments according to the present disclosure may include clamps or clamp fingers having various protrusions, channels, or grooves to enable clamping or compression actions on a slide from different angles or orientations.

[0323] Finally, some embodiments may include a slide carrier box configured to hold multiple slides and register the slides at known locations after they are inserted into the slide carrier box. Multiple slide carrier boxes may be inserted into a queue to be accessed by a robotic arm and gripper system. In some embodiments, the queue may have a cylindrical or rotary configuration so that individual slide carrier boxes or individual slides can be moved to an accessible position for the robotic arm during the pathology slide manufacturing process.

[0324] As above relative to Figure 1As described, pathology environments are usually labor and time intensive. In general, alternative systems have relatively little automation and involve a large number of individuals and operations. Well-trained pathologists and histological technicians / histotechnologists are responsible for performing a large number of repetitive manual skilled and unskilled tasks. Each task, when performed by a person, increases process costs and may produce errors. In addition, as qualified labor in many countries is decreasing, it may be desirable to automate aspects of the pathology environment / histological process so that staff can focus their attention on more complex tasks and problems.

[0325] Thus, aspects of some embodiments may include an automated histology system (e.g., for example, with respect to Figure 2A The slide processing system 200 shown and described herein is capable of receiving pathology slides and tissue samples and processing the slides or samples (e.g., through one or more staining operations). According to some embodiments, as described in more detail below, the automated histology system can be capable of processing a large number of pathology slides without human intervention.

[0326] According to some embodiments, automated histology storage systems and methods can make it possible to merge pathology slides into effective vertical storage solutions, which can reduce the overall footprint of pathology slide storage. According to some embodiments, the automated histology system can be electrically connected to a database, memory system, or network that stores information about tissue samples and patients, so that slides are effectively and automatically assigned to appropriate boxes, folders, or trays without human participation. In addition, according to some embodiments, the automated histology system can be able to store slide positions in a database, memory system, or a memory connected to a network, so as to prevent or reduce the time lost due to manual search for wrong slides by people. Some embodiments can further be able to use a combination of one or more mechanical arms and fixtures to sort pathology slides into boxes, folders, or trays, thereby reducing or eliminating the need for human participation.

[0327] FIG. 6A to FIG. 6D Aspects of exemplary automated histology storage systems and environments are presented in accordance with some embodiments. Fig. 6A A histology system and environment 600 is shown according to some embodiments. According to some embodiments, the histology system and environment 600 can operate within or as part of a slide processing or manufacturing environment or system (e.g., the slide processing or manufacturing system 200). Fig. 6A, the histology system and environment 600 may include an automated histology storage system 602. As will be described in more detail below, the automated histology storage system 602 is configured to receive coverslipped slides at various stages of processing and automatically organize and store slides during the manufacture and processing of slides within the histology system and environment 600.

[0328] The histology system and environment 600 may further include one or more processing stations or devices 604a to 604c. The processing stations or devices 604a to 604c are configured to receive a slide with a tissue sample or specimen (e.g., a slide covered with a coverslip) and, as part of a slide manufacturing process, perform one or more stains or reagent operations on the slide to prepare for further analysis by a pathologist, as described above. Fig. 6A Three processing stations or devices 604a to 604c are shown, but a person skilled in the art will recognize that the histology system and environment 600 is not limited to three processing stations or devices, and according to some embodiments, the histology system and environment 600 may include additional or fewer processing stations or devices without departing from the spirit and scope of the embodiments of the present disclosure.

[0329] Technician 606 can work within the histology system and environment 600 to initiate and monitor processing operations on slides at processing stations or devices 604a to 604c, and to transfer slides between processing stations or devices 604a to 604c. Technician 606 can further transfer slides to the automated histology storage system 602 at various stages of the manufacturing process.

[0330] Figure 6B 602 according to some embodiments. In particular, Figure 6B An exemplary front perspective view of an automated histology storage system 602 is shown at a side accessible to a technician (e.g., technician 606). As will be described in more detail below, the automated histology storage system 602 operates as a mechanism for receiving pathology slides and then organizing and storing the slides in an automated manner, such as between processing operations. In addition, as will be described in more detail below, the automated histology storage system 602 may be able to sort stained slides and assemble the slides into boxes or folders for examination by a pathologist, which is a labor and space intensive process with many opportunities for human error.

[0331] As will be described in more detail below, slides may be input into the automated histology storage system 602 by one or more shelves or trays that a user or technician may load into an open position in an input shelf entrance. In some cases, the slide may have a tissue sample or specimen that may be stained, dried, and covered with a coverslip before being inserted into the automated histology storage system 602. However, embodiments of the present disclosure are not limited thereto, and in some embodiments, the automated storage system 602 may be configured to receive slides at an intermediate processing step. In addition, in some embodiments, one or more processing stations or devices (e.g., processing stations or devices 604a to 604c) may be enclosed in or located within the automated histology storage system 602 so that one or more slide manufacturing processing operations may be performed by the automated histology storage system 602.

[0332] Individual slides may be labeled or marked with unique identifying information (e.g., in the form of a barcode or QR code). Once loaded into the automated histology storage system 602, the slides may be individually scanned and then loaded into a temporary storage location (e.g., the slide carrier box 500 described above) to await assembly into boxes or folders that will be transferred to a different environment (e.g., a high-resolution digital scanner or camera, or a pathologist) for further inspection and processing.

[0333] When a box or folder needs to be assembled, the user or technician can initiate the folder creation process by providing user input to the automated histology storage system 602. The automated histology storage system 602 can then retrieve the relevant slides from one or more slide carrier box queues and automatically assemble the box or folder with the relevant slides. The assembled box or folder can then be automatically transferred to the output port for retrieval by the user or technician.

[0334] like Figure 6B As shown, the automated histology storage system 602 may include a plurality of input ports 610 (shown and described in more detail below) to enable a user or technician to insert trays or racks of slides into the automated histology storage system 602. That is, the input ports 610 operate as an interface for exchanging slides between a user or technician and the automated histology storage system 602. According to some embodiments, the input ports 610 may be configured to receive slides that are stored, secured, or housed in temporary trays or racks, as will be described in more detail below.

[0335] In some embodiments, each of the inlets can have the same width and height dimensions and utilize the same mechanical and electrical connection interfaces as the automated histological storage system 602. Thus, the input inlets 610 can be configured as modular components that can be interchanged (e.g., removed, replaced, etc.) based on operational expectations or requirements of the automated histological storage system 602. For example, depending on the operations to be performed and the use of the automated histological storage system 602, it may be desirable to utilize a first type of inlet (e.g., a tray inlet, discussed in more detail below) for a period of time and then remove the first type of inlet so that a second type of inlet (e.g., a shelf inlet, discussed in more detail below) can be inserted into the space or slot previously occupied by the first type of inlet.

[0336] The automated histology storage system 602 may further include one or more output ports 612 to enable the automated histology storage system 602 to provide one or more slide trays or racks to a user or technician. That is, the output port 612 may operate as an interface for a user or technician to retrieve a slide tray or rack from the automated histology storage system 602.

[0337] The automated histology storage system 602 may further include a user interface. According to some embodiments, the user interface may include a graphical display device or display panel 614 for displaying an image or graphical user interface. In some embodiments, the display panel 614 may include a touch screen capability to enable a user to provide touch input. The automated histology storage system 602 may further include other mechanisms for providing user input, such as a keyboard, a mouse, and one or more buttons.

[0338] Using the user interface, a user or technician can provide input to the automated histology storage system 602 to indicate that the user desires to deposit slides, slide folders, or slide racks into the automated histology storage system 602. For example, the user or technician can provide identification information about the slides and storage mechanisms (e.g., whether the slides are in folders, racks, etc.). In some embodiments, the automated histology storage system 602 can direct the user to a specific input portal 610 for depositing slides. Once deposited into the input portal 610, as will be described below, the automated histology storage system 602 can continue to organize, sort, and assemble the slides into one or more storage queues until the user requests to retrieve them.

[0339] For example, when it is desired to retrieve slides, slide folders, or slide racks from the automated histology storage system 602, a user or technician may provide input to a user interface of the automated histology storage system 602 to request the retrieval of certain slides. As will be described in more detail below, in response to the retrieval request, the automated histology storage system 602 may identify the corresponding slides, retrieve them from the storage queue, and insert the slides into one of the output ports 612.

[0340] According to some embodiments, the user interface can enable the user to, for example, request that slides be retrieved and / or assembled into one or more trays or shelves. Slides can be stored in a variety of locations or slide carrier boxes in the automated histology storage system 602. For example, some of the requested slides can be stored in a location or a slide carrier box, and other slides can be stored in different locations or slide carrier boxes. According to some embodiments, the user interface can enable the user to provide information about the characteristics of the slides to be retrieved. For example, the user can be enabled to request all slides corresponding to a specific patient, all slides corresponding to multiple patients, or a subset of slides for a specific patient or patient group with certain characteristics (for example, from a certain part of the patient's body or with a tissue sample of certain staining or reagent features, etc.). In response to user input, the automated histology storage system 602 can continue to retrieve relevant slides from a variety of storage locations in the automated histology storage system 602, and assemble them into one or more trays or shelves, without including or retrieving any slides that do not meet the standard of the request from the user.

[0341] In some embodiments, the automated histological storage system 602 may further include one or more access doors 616. In some embodiments, the access doors 616 may be transparent (or have transparent areas) to enable a user or technician to view the interior of the automated histological storage system 602. In addition, the access doors 616 may be configured to be opened to enable access to components within the automated histological storage system 602 for maintenance or repair.

[0342] Figure 6C 602 according to some embodiments. In particular, Figure 6C An exemplary top front perspective view of an automated histology storage system 602 is shown according to some embodiments. Figure 6CAs shown in , the automated histology storage system 602 may include a manipulator or robotic arm 620. The manipulator 620 may be the same or similar to the manipulator 202 described above, and some repeated or repetitive descriptions thereof may be omitted. The manipulator 620 may be configured to retrieve slides, slide folders, and slide racks from the input portal 610, manipulate individual slides, organize and assemble them in storage racks or queues, and then retrieve slides, folders, or racks from storage locations and deposit them in the output portal 612. The retrieval, manipulation, and storage operations of the manipulator 620 may be performed in response to user input (e.g., via a user input interface and a graphical display panel 614), individual data corresponding to each slide, and one or predetermined treatment plans.

[0343] The automated histology storage system 602 may further include one or more slide carrier queues 624 . Figure 6C The slide carrier queue 624 shown in FIG. 6 may be the same or similar to the slide carrier queue 530 shown and described above, and some repetitive or duplicate descriptions thereof may be omitted. The slide carrier queue 624 may be capable of storing a plurality of slide racks (e.g., FIG. 5A to FIG. 5E Slide carrier box 500 in, as described above with respect to FIG. 5F to FIG. 5I described. In addition, although Figure 6C The slide carrier queue member 624 is shown to be configured in a planar configuration of rows and columns of cavities for storing slides, but embodiments of the present disclosure are not limited thereto, and in some embodiments, the slide carrier queue member 624 may be configured in a cylindrical shape, such as Figure 5G As shown, the cylindrical shape can be configured to be rotated, and the different levels or rows can be modular in that they can be added or removed as needed.

[0344] In addition, according to some embodiments, the automated histology storage system 602 may include a tool change shelf or rack 630. The tool change rack 630 may be configured to hold or store a plurality of different tools or fixtures for use by the robotic arm 620. In some embodiments, the automated histology storage system 602 may be configured to automatically (e.g., without human involvement) change the tool or fixture being utilized by the robotic arm 620 depending on the operation being performed. For example, a first type of fixture may be utilized to remove a slide tray or shelf (e.g., a slide carrier box) from the input portal 610, but a different tool or fixture may be utilized to manipulate individual slides within the automated histology storage system 602. Thus, in some embodiments, between operations performed with slides, the automated histology storage system 602 may send an electronic signal to the robotic arm 620 to cause the robotic arm 620 to remove a first tool or fixture and store it in the rack 630, and then attach a second tool or fixture to the robotic arm 620 stored on the rack 630. However, as one of ordinary skill in the art will appreciate, embodiments according to the present disclosure are not limited to two clamps or tools, and any suitable number of tools or clamp configurations may be utilized depending on the design and configuration of the automated histological storage system 602 .

[0345] Fig.6D An exemplary top view of an automated histology storage system 602 is shown according to some embodiments. Fig.6D As shown, the automated histological storage system 602 may include a work platform or workstation 640 that is utilized by the robotic arm 620 to manipulate and process slides within the automated histological storage system 602 . According to some embodiments, various components can be secured to the workstation 640 (or other locations within the automated histological storage system 602. For example, according to some embodiments, the slide carrier 300 can be secured to the workstation 640. In addition, the workstation 640 can include various sensors for identifying aspects of components or slides within the automated histological storage system 602, such as cameras, barcode readers, etc. In some embodiments, the workstation 640 can further include one or more shelf holder nests and / or one or more tray holder nests, which will be described in more detail below. The shelf holder nests and tray holder nests can operate as an intermediate platform for enabling the robotic arm 620 to work with and manipulate slides, slide trays, and slide racks. Further details of some of the components that can be mounted to the workstation 640 will be described below.

[0346] like Fig.6DAs shown, the automated histology storage system 602 may further include or be electrically connected to a control system 650. The control system 650 may include a processor 652 and a memory 654 coupled to the processor 652 (e.g., in electronic communication with the processor). The memory 654 may store instructions that, when executed by the processor 652, cause the automated histology storage system 602 to perform various operations as described herein. For example, the instructions stored on the memory 654, when executed by the processor 652, may send one or more signals to a user interface to receive and display data or information to / from a user. Similarly, the instructions stored on the memory 654, when executed by the processor 652, may control or change the position or configuration of the gripper of the robotic arm 620 and / or the robotic arm 620 (e.g., to pick up and manipulate slides, folders, trays, shelves, etc.).

[0347] The control system 650 may further be in electronic communication (via wired or wireless communication channels) with a network 660 (e.g., a local area network (LAN), a private wide area network (WAN), and / or a public wide area network such as, for example, the Internet). In some embodiments, the control system 650 may be configured to receive signals or transmit signals to external components or computer systems that are also connected to the control system 650 or in electronic communication with the control system via the network 660.

[0348] In some embodiments, the database 662 can be connected to the control system 650, for example, via the network 660. The database 662 can store data corresponding to unique identification information about individual slides, groups of slides, patient data, tissue sample data, processing operation data, etc. In some embodiments, the database 662 can be remote relative to the automated histology storage system 602, or the database 662 can be local or housed within the automated histology storage system 602.

[0349] FIG. 7A to FIG. 7P Aspects of the access system are shown operating as part of an automated histology storage system 602, according to some embodiments. Within the histology system and environment 600, various slide storage devices may be utilized to hold or store slides during processing.

[0350] For example, for certain advanced staining processes or applications, the slides may be stored in racks or baskets in which individual slides may be arranged in a vertical orientation and sequentially slid into individual slots one behind the other. The racks may then be used to transport the slides to or from a processor, or in some cases, may be inserted into a processor to enable staining or reagent processing operations.

[0351] Fig. 7AExemplary shelves 702a-702e are shown, all of which are generally capable of storing individual slides in a vertical orientation, with the front and back sides of the slides facing adjacent slides. However, as can be readily apparent, each of the slide shelves 702a-702e has a similar shape or configuration, but each individual design has a different form factor. For example, different suppliers or processing operations may produce or utilize shelves having slightly different shapes or form factors for a variety of reasons.

[0352] Thus, it may be difficult or time consuming for the automated histology storage system 602 to pick up and manipulate multiple different racks having different form factors using the robotic arm 620, as each different form factor may have a different location, handle, or protrusion where the grippers of the robotic arm 620 may grip the rack.

[0353] As one of ordinary skill in the art will appreciate, Fig. 7A The exemplary shelf form factor shown in is not intended to be limiting, and various other form factors may be utilized. Rather, Fig. 7A The examples shown in are intended only to convey the concept that a wide variety of different shelf form factors may be accommodated according to embodiments of the present disclosure.

[0354] Similarly, in other staining processes or applications, slides can be stored in flat folders or trays, where individual slides can be arranged, for example, in rows or columns, with the front and back faces coplanar with each other. Just like the above-mentioned racks, slide trays can be used to transport slides to or from a processing machine.

[0355] Figure 7B Exemplary slide trays or folders 704a to 704g are shown, all of which are generally capable of storing individual slides in a planar orientation, e.g., where the slides are arranged in rows and columns, and in which the front and back faces of the slides are coplanar. However, as can be readily apparent, each of the trays 704a to 704g has a similar shape or configuration, but each individual design has a different form factor. For example, similar to the shelves described above, different tray manufacturers may utilize different form factors for different applications for a variety of reasons.

[0356] Thus, varying tray shapes, as is the case with varying shelf shapes, may make it difficult for the automated histology storage system 602 to use the robotic arm 620 to pick up and manipulate a variety of different trays all having different form factors because the position of the grippers used to pick up and manipulate the trays with the robotic arm 620 may vary between the different form factors.

[0357] As one of ordinary skill in the art will appreciate, Figure 7B The exemplary tray form factor shown in is not intended to be limiting, and various other form factors may be utilized. Rather, Figure 7B The examples shown in are intended only to convey the concept that a wide variety of different tray form factors may be accommodated according to embodiments of the present disclosure.

[0358] Thus, as will be described below, embodiments according to the present disclosure provide a mechanism that enables the automated histology storage system 602 to receive, pick up, manipulate, and store slides from a variety of racks and trays that may have different form factors without requiring the robotic arm 620 to change the gripping mechanism for each varying form factor.

[0359] In the present disclosure and claims, the term "slide holder" may be used to collectively refer to a slide tray or a slide rack. That is, a "slide holder" according to the present disclosure and claims refers to a component that is configured to be oriented vertically (e.g., relative to a slide tray) and to be mounted on a slide tray. Fig. 7A The slide rack shown and described) or in a planar orientation (as with respect to Figure 7B The slides are physically held in the slide slots or cavities) as in the case of the slide tray or folder shown and described.

[0360] Figure 7C Exemplary input or output entries according to some embodiments are shown. FIG. 6A to FIG. 6D As depicted, the input port 610 and the output port 612 can operate as an interface mechanism to enable a user or technician to insert a slide into the automated histology storage system 602. Figure 7C As shown, the automated histology storage system 602 may include a tray access 710a, which may be similar to the tray access 710a described above with respect to FIG. FIG. 6A to FIG. 6D The input inlet 610 and / or the output inlet 612 described above may be the same or similar. The tray inlet 710a may be capable of receiving a slide tray (eg, the same or similar to the trays 704a-704g described above).

[0361] Similarly, the automated histology storage system 602 may include a shelf access 710b that may be similar to the shelf access described above with respect to FIG. 6A to FIG. 6D The same or similar input inlet 610 and / or output inlet 612 described above. The rack inlet 710b may be capable of receiving a slide rack (eg, the same or similar to the racks 702a-702f described above).

[0362] According to some embodiments, the tray entrance 710a and the shelf entrance 710b can have the same or similar external size. For example, the tray entrance 710a and the shelf entrance 710b can have the same or similar height H, width W and / or depth D. In addition, according to some embodiments, the tray entrance 710a and the shelf entrance 710b can have the same or similar mechanical mounting hardware for securing the entrance to the automated histology storage system 602. In addition, according to some embodiments, the tray entrance 710a and the shelf entrance 710b can have the same or similar electrical connection mechanism for electrically connecting to the automated histology storage system 602.

[0363] Therefore, the entrance can be operated as a modular component of the automated histology storage system 602 so that the entrance can be swapped in or out of the automated histology storage system 602 according to design, operation or use. For example, in some environments or use cases, it may be desirable to utilize only or primarily utilize the tray entrance 710a. In other environments or use cases, it may be desirable to utilize only or primarily utilize the shelf entrance 710b. In some environments, it may be desirable to be able to change the configuration or quantity of different types of entrances. Because the entrances 710a and 710b can have the same or similar size, it may be possible to configure or reconfigure the entrance and swap the entrance in and out according to the design and operation of the automated histology storage system 602.

[0364] Fig.7D Further details of an exemplary tray inlet 710a are shown according to some embodiments. Fig.7D As shown, tray inlet 710a includes four layers, tray levels, or inlet slots, although embodiments according to the present disclosure are not limited thereto. For example, in some embodiments, additional layers or fewer layers may be present without departing from the spirit and scope of embodiments according to the present disclosure. Fig.7DAs shown, each horizontal or entry slot can be configured to hold a tray carrier. Further details of the tray carrier will be described in more detail below, but each tray carrier can be configured to receive a slide tray. Each tray carrier can have substantially the same external form factor so that the robot arm 620 and its clamping mechanism can pick up and manipulate the tray carrier in substantially the same manner without adjusting the clamping position or the fixture tool. As will be described in more detail below, each tray carrier can further have a cavity configured to receive a slide tray. The internal form factor of the cavity can vary depending on the design of the tray. Therefore, although each of the different various trays can have a slightly different shape or form factor, the interior of the cavity of the tray carrier can conform to the shape of their corresponding trays. According to some embodiments, the inner cavity of the tray carrier can be keyed to their corresponding tray type so that only the tray design corresponding to the individual tray carrier can be properly fitted in the inner cavity, and other tray designs cannot be properly fitted or fully seated in the inner cavity of the wrong tray carrier.

[0365] For example, 7D shows an entrance with three tray holders 716a to 716c in the bottom three levels or entry slots 714b to 714d, and the top entry slot 714a is empty. The bottom tray holder 716a includes a tray inside the interior cavity of the tray holder 716a, while the other two tray holders 716b and 716c are empty or vacant, meaning that there are no trays inside their respective interior cavities. As will be appreciated by one of ordinary skill in the art, Fig.7D The specific configuration shown in is for illustrative purposes only, and depending on the use and circumstances of the automated histological storage system 602, the various entry slots and tray racks may be occupied or vacant at various times.

[0366] like Fig.7D As shown, the tray entrance 710a may include a door 718 that can be opened to allow a user to place a tray into the entrance 710a. In some embodiments, before inserting the tray into the entrance 710a, the user may first open the tray with a user interface (e.g., FIG. 6A to FIG. 6D For example, the user interface may include a graphical interface that enables the user to indicate that the user wishes to insert a tray into the automated histology storage system 602.

[0367] In some embodiments, the automated histology storage system 602 can be configured to sense whether any of the entrances 710a, or an entrance slot or level within one or more of the entrances 710a, is currently vacant (e.g., does not currently have a tray inserted). For example, according to some embodiments, the automated histology storage system 602 can include one or more sensors (e.g., magnets, visible or non-visible wavelength light sensors, cameras, etc.) configured to detect whether an entrance slot has a tray carrier, and whether a tray carrier is occupied by a tray.

[0368] In response to identifying the entrance or entrance slot that is opened, the automated histology storage system 602 can identify whether the entrance slot currently has an inserted tray carrier that is not occupied by a tray (i.e., vacant). If the entrance slot is empty (i.e., there is no inserted tray or tray carrier), the automated histology storage system 602 can transmit one or more signals to the robot arm to retrieve the empty tray carrier and insert the empty tray carrier into the empty entrance slot. However, before the empty tray carrier is inserted into the empty slot, the automated histology storage system 602 can prompt the user to identify the type of tray to be inserted into the entrance 710a. For example, the user can select the type of tray from a menu, or the user can provide unique identification information about the tray (e.g., in the form of a barcode scan, etc.) so that the automated histology storage system 602 can identify which tray carrier to select to correspond to the tray to be inserted. In other embodiments, the automated histology storage system 602 can automatically identify the type of tray inserted into the entrance 710a. For example, each portal may include a barcode reader, camera, RFID reader, NFC scanner, or other device capable of retrieving unique identifying information about the pallet, including the type of pallet and internal and external form factors.

[0369] Similarly, if the entrance 710a has an entrance slot with an empty tray carrier, but the empty tray carrier does not correspond to the tray that the user wishes to insert into the entrance 710a, the automated histology storage system 602 can be configured to sense the following data stored in the memory and / or user input through one or more sensors: one of the tray carriers needs to be replaced with a tray carrier that matches the tray that the user wishes to insert. Therefore, the automated histology storage system 602 can transmit one or more signals to the robot 620 to cause the robot 620 to: remove one or more of the empty tray carriers from the entrance 710a, retrieve a tray carrier having an internal cavity corresponding to the tray that the user wishes to insert into the entrance 710a, and insert the corresponding tray carrier into the empty slot in the entrance 710a.

[0370] According to some embodiments, once the empty tray carrier is ready to be filled with a tray, the automated histology storage system 602 can provide or display a graphical alert to the user regarding the availability and / or location of the appropriate empty tray carrier. For example, in some embodiments, the automated histology storage system 602 can display a message on a graphical user interface displayed on the display panel 614 to direct the user to the appropriate entrance and entrance slot. In some embodiments, the automated histology storage system 602 can display a light or other indicator at the entrance slot.

[0371] like Fig.7D As shown, the tray carrier is configured to be moved laterally into and out of the entrance 710a. However, according to some embodiments, the user may be prevented from completely removing the tray carrier from the entrance slot, and instead the tray carrier may only slide out of the entrance to a fixed or predetermined limit that provides sufficient clearance to enable the user to insert a tray into the inner cavity of the tray carrier without removing the tray carrier. The mechanism for preventing the tray carrier from being completely removed will be described in further detail below, but in some embodiments, the tray carrier may have one or more tracks that are configured to sit in and slide along one or more slots or grooves, and a protrusion or pin at the rear of the tray carrier may be stuck on the groove or body of the entrance 710a to prevent the tray carrier from being pulled all the way out of the entrance 710a. In addition or alternatively, the slot or groove along which the tray carrier slides may not extend completely to the front edge of the entrance 710a, but may be recessed into the entrance 710a at a predetermined distance to prevent the tray carrier from being pulled all the way out of the entrance 710a.

[0372] Fig. 7E Further details of the internal components of the inlet according to some embodiments are shown. For example, Fig. 7E Two levels or inlet slots of a tray inlet 710a with an outer shell and structure are shown, and Fig.7D Two of the four layers shown in Figure 1 are removed. Fig. 7E As shown, each tier or entry slot may be configured to accommodate a single tray carrier 716. As described above, when inserted into the corresponding entry slot 714, the tray carriers 716a and 716b are configured to slide in and out of the entry slot 714 to enable a tray to be inserted into the tray carrier. Fig. 7E An example is shown in which different trays 720a and 720b are inserted into tray brackets 716a and 716b, respectively. Fig. 7EAs shown, trays 720a and 720b are similar to each other in that they are both configured to receive or hold individual slides in multiple columns and rows, wherein the front and back surfaces of the slides are substantially coplanar with each other when stored in their respective trays. However, each of trays 720a and 720b has a slightly different external form factor. Therefore, tray carrier 716a has an inner cavity configured to specifically accommodate tray 720a. Similarly, tray carrier 716b has an inner cavity configured to specifically accommodate tray 720b. If an attempt is made to insert tray 720a into tray carrier 716b, the tray will not fit or will not properly sit, or there may be undesirable movement or spacing around the edge of tray 720a. Similarly, if an attempt is made to insert tray 720b into tray carrier 716a, the tray will not fit or will not properly sit, or there may be undesirable movement or spacing around the edge of tray 720b.

[0373] like Fig. 7E As shown, tray brackets 716a and 716b have the same or similar external form factors despite having different form factors in their corresponding inner chambers corresponding to specific tray designs. Therefore, tray brackets 716a and 716b can be positioned in any open entrance slot. Each tray bracket 716a and 716b can include the same or similar external shape or protrusion. For example, tray brackets 716a and 716b can include one or more tracks 724, which are used to guide tray brackets 716a and 716b along the slot or groove 726 of the corresponding entrance slot. In addition, as previously and further described below, in some embodiments, tray brackets 716a and 716b can be configured to slide in and out of tray entrance 710a, but can be prevented from being completely removed from the tray entrance 710a from the front side (for example, by preventing the protrusion or sliding mechanism of tray brackets 716a and 716b from being removed from the tray entrance 710a).

[0374] Figure 7FShown are further details of exemplary tray carriages 716a and 716b.As described above, tray carriage 716 operates as an intermediate component or substrate, which is used to enable a user to load a tray or folder of a slide into the automated histology storage system 602 and unload from the automated histology storage system.External features (e.g., clamping position, handle, track, groove, size, etc.) can be the same or similar, but the cavity for holding the tray can be changed according to the tray design corresponding to the tray carriage.The mechanical arm 620 of the automated histology storage system 602 can interact with the tray carriage 716 rather than the tray itself.Because the external form factor is the same, the mechanical arm 620 of the automated histology storage system 602 can interact with different tray carriages 716 in the same manner, without changing the clamping tool or mechanism.

[0375] Figure 7G 7 shows a bottom view of a portion of the inlet slot of the inlet 710a when the tray bracket 716a is in an extended or pulled-out position according to some embodiments. Figure 7G As shown, the protrusion or pin 728 can protrude or extend from the bottom surface or base plate of the entrance slot. The protrusion 728 can be configured to fit into a groove or slot 729 on the bottom side of the tray bracket 716a. According to some embodiments, the groove 729 can extend all the way to the front of the side of the tray bracket 716a so that the tray bracket 716a can be removed from the entrance 710a from the rear side of the entrance 710a. However, the slot 729 may not extend completely to the rear side of the tray bracket 716a. Therefore, when the tray bracket 716a moves in and out of the entrance slot, the tray bracket 716a cannot be removed from the entrance 710a from the front side. That is, the protrusion can prevent the tray bracket 716a from being pulled out beyond a predetermined point.

[0376] Figure 7H A close-up view of the rail 724 of an exemplary tray carrier 716b is shown in accordance with some embodiments. Figure 7H As shown, the track 724 of the tray bracket 716b can be configured to slide within the groove 726 to guide the tray bracket 716b in and out of the entry slot 714c. In addition, the mechanical coupling of the track 724 and the groove 726 operates to prevent the user from moving the tray bracket 716b vertically.

[0377] Fig.7I A close-up view of a portion of the interior structure of the entry slot is shown when the carrier tray is in the extended or pulled-out position. Figure 7J A close-up view of a portion of the internal structure of the entry slot is shown when the carrier tray is in the retracted or pushed-in position. Fig.7IAs shown, the groove 726 guides the track 724 of the tray bracket 716b to move in and out of the tray entrance 710a. Fig.7I As shown, the rear portion of the groove 726 can be cut away to form a cutout portion 730 so that the groove 726 is located at the front portion of the tray inlet 710a rather than the rear portion. Figure 7J As shown, when the tray carrier 716b is in the pushed or retracted position, the track 724 is no longer engaged with the groove 726. Therefore, from the rear or back side of the entrance 710a (i.e., inside relative to the automated histological storage system 602), the tray carrier 716b can be lifted by the robotic arm 620 and removed from the entrance 710a and pulled into the interior of the automated histological storage system 602.

[0378] Figure 7K Further details of the internal components of the shelf access according to some embodiments are shown. For example, Figure 7K The four shelf slots 740a-740d of the shelf entrance 710b are shown with the outer housing and structure removed. Figure 7K Four shelf slots are shown in the figure, but embodiments according to the present disclosure are not limited thereto, and according to some embodiments, there may be fewer shelf slots or additional shelf slots without departing from the spirit and scope of embodiments according to the present disclosure. In addition, as described above, the shelf entrance 710b and the tray entrance 710a may have the same or similar outer dimensions, so that the number of shelf slots in the shelf entrance 710b may be a function of the shared width of the shelf entrance 710b and the tray entrance 710a, and may further be a function of the width of the largest or widest tray that the tray entrance 710a is designed to accommodate.

[0379] like Figure 7K As shown, each shelf slot 740a-740d can be configured to receive a single shelf bracket 742. As described above, when inserted into the corresponding entry slot 740, the tray bracket 742 is configured to slide in and out of the entry slot 740 to enable the shelf to be inserted into the shelf bracket. Figure 7K An example is shown in which shelves 744a to 744d are inserted into shelf brackets 742a to 742d, respectively. The shelves 744a to 744d may correspond to one of the shelves 702a to 702f shown above.

[0380] like Figure 7K As shown, each of the shelves 744a to 744d is identical to one another. However, as described above with respect to Fig. 7AAs described, a variety of different shelves with a variety of different form factors can be utilized as part of the histology system and environment 600. Thus, like the tray bracket 716, the shelf brackets 742a to 742d can each have the same external form factor. However, the form factor of the inner cavity configured to receive the shelf 744 can vary depending on the design and form factor of the corresponding shelf 742. For example, different shelves 702a to 702f each have a different form factor. A corresponding shelf bracket 740 can be designed for each of the shelves 702a to 702f so that a separate shelf can be properly seated in its corresponding shelf bracket. However, each shelf bracket 740 is keyed to the shape of its corresponding shelf design, and therefore a shelf that does not correspond to the shelf bracket either cannot fit inside the wrong shelf bracket or cannot be properly seated (e.g., fully seated without lateral or vertical movement, etc.).

[0381] Figure 7L Shown are further details of an exemplary shelf bracket 742 according to some embodiments. As described above, the shelf bracket 742 operates as an intermediate component or substrate that is used to enable a user to load a shelf of a slide into and unload from the automated histology storage system 602. External features (e.g., clamping positions, handles, tracks, grooves, sizes, etc.) can be the same or similar, but the cavity for holding the shelf can vary according to the shelf design or form factor corresponding to the shelf bracket. The robotic arm 620 of the automated histology storage system 602 can interact with the shelf bracket 742 instead of the shelf itself. Because the external form factor is the same, the robotic arm 620 of the automated histology storage system 602 can interact with different shelf brackets 742 in the same manner without changing the clamping tool or mechanism.

[0382] Figure 7M An exemplary shelf rack nest 750 is shown according to some embodiments. According to some embodiments, the shelf rack nest 750 can be located within the automated histology storage system 602. For example, the shelf rack nest 750 can be mechanically secured or secured to a surface of the workstation 640. The shelf rack 750 can operate as a location and platform that enables the robotic arm 620 to pick up a slide from a shelf 744 for further processing (e.g., placing a slide in a slide carrier box 500 for storage in a slide carrier queue 530, or placing a slide into a shelf 744). According to some embodiments, the shelf rack nest 750 can have a surface upon which a shelf rack 742 (having a shelf 744 inserted therein) can be placed by the robotic arm 620. As for example Figure 3AAs with the slide carrier 300 shown in FIG. 1 , the surface of the shelf bracket nest 750 may be tilted relative to the x-axis direction and the y-axis direction, such as with Figure 3A 742 is similar or identical to the slide platform 308 of the illustrated slide carrier 300. Therefore, for the sake of brevity, some detailed descriptions of the shelf bracket nest 750 may be omitted. Because the surface of the shelf bracket nest 750 is inclined relative to the x-axis and the y-axis, the shelf brackets 742, when placed on the shelf bracket nest 750, can be moved by gravity to a known fixed position and orientation so that the grippers of the robot arm 620 can relatively easily pick up individual slides or shelf brackets 742. That is, just like the slide carrier 300, the shelf bracket nest 750 can bias the edge of the shelf bracket 742 toward a known position (e.g., a bottom right or left corner or edge) of the shelf bracket 750.

[0383] Figure 7N An exemplary tray carrier nest 760 is shown in accordance with some embodiments. In accordance with some embodiments, the tray carrier nest 760 can be located within the automated histology storage system 602. For example, the tray carrier nest 760 can be mechanically fixed or secured to a surface of the workstation 640. The tray carrier nest can operate as a location and platform that enables the robotic arm 620 to pick up a slide from the tray 720 for further processing (e.g., placing a slide in a slide carrier cassette 500 for storage in a slide carrier queue 530, or placing a slide into a tray 720). In accordance with some embodiments, the tray carrier nest 760 can have a surface on which a tray carrier 716 (with a tray 720 inserted therein) can be placed by the robotic arm 620. In some embodiments, the top surface of the tray carrier nest 760 can be tilted relative to the x-axis and / or y-axis to allow the tray carrier 716 to move to a known fixed position and orientation under the action of gravity. Thus, the robotic arm 620 may be able to pick up individual slides or tray carriers 716 with relative ease.

[0384] Fig.7O and Figure 7P Aspects of the shelf nest 770 according to some embodiments are shown. Certain types of staining and reagent machines may need to use shelves with certain form factors, as previously described. In some cases, the spacing between individual slides may be relatively tight. That is, in order to fit the desired number of slides into the shelf while still allowing the shelf to fit within the spatial parameters of the staining machine, each slide can be positioned relatively close to the front and back slides. Due to the tight spacing between the slides, it may be difficult for the robot 620 to manipulate the fixture in such a way that the fixture is allowed to fit into the tight spacing without colliding with adjacent slides when attempting to pick up an individual slide.

[0385] Thus, according to some embodiments, the shelf nest 770 can be utilized to passively lift certain slides (eg, every other slide) upward to provide sufficient spacing to enable the robotic arm 620 to grip the slides without contacting or damaging adjacent slides. Fig.7O A side view of an exemplary shelf nest 770 is shown in accordance with some embodiments. Figure 7P A perspective view of an exemplary shelf nest 770 is shown, according to some embodiments. For example, according to some embodiments, each of the protrusions 774 has a height of approximately 1 inch.

[0386] According to some embodiments, the robot 620 can place the shelf 744 directly in the nesting area 772 on the shelf nest 770. Within the nesting area 772, the shelf nest 770 can include one or more protrusions 774. According to some embodiments, the protrusions 774 can be positioned at positions corresponding to every other slide or slide position within the shelf 744. According to some embodiments, each protrusion can have a width that is less than the distance between the front and back sides of adjacent slides. Therefore, when the shelf 744 is placed in the nesting area 772, the slides corresponding to or aligned with the protrusions 774 will be lifted or raised above the slides adjacent to them by the protrusions 774. In addition, each protrusion can have a height that is sufficient to enable the gripper of the robot 620 to grip the slides lifted by the protrusions 774 without the gripper contacting or damaging the adjacent slides that are not lifted. Furthermore, according to some embodiments, each protrusion can have a height sufficient to allow unique identifying information (eg, a barcode) of an elevated slide to be exposed above a non-elevated slide.

[0387] According to some embodiments, the robot 620 can lift the shelf 744 to rotate the shelf 744 180 degrees before reinserting the shelf into the nesting area 772 to raise other slides. For example, in the first position, the protrusion 774 can raise the first group of slides (e.g., even-numbered slides) above the second group of slides. In the second position, where the shelf 744 is rotated 180 degrees relative to the first position, the protrusion 774 can raise the second group of slides (e.g., odd-numbered slides) above the first group of slides. In addition, according to some embodiments, rather than having a fixed or stationary protrusion 774, the protrusion can be dynamically raised or lowered (e.g., by using an actuator), so that the automated histology storage system 602 can dynamically raise or lower specific slides according to the operation of the robot 620. Therefore, the shelf nest 770 can alleviate the size restrictions on the clamps of the robot 620 and improve the robustness and ease of picking up and manipulating slides.

[0388] FIG. 8A to FIG. 8E An exemplary slide position detection system according to some embodiments is shown. As described above, for example, with respect to Fig.7O and Figure 7P , the slides in the shelf 744 may be very close to each other, and the close spacing between adjacent slides may make it difficult for the robot 620 and the gripper of the robot 620 to pick up a separate slide. In addition, in many cases, the separate shelf 744 may not be completely filled with slides. Therefore, for each shelf, the robot 620 may have to spend a certain amount of time to identify whether there is a slide at each position in the shelf 744. In the case of a large number of slides that may be processed by the automated histology storage system 602 over the course of a day, the amount of time that the robot 620 uses to check whether there is a slide in various positions in the many shelves it handles may be considerable. If the robot 620 mistakenly identifies a position in the shelf as empty when there is actually a slide, a threat to the slide and the automated histology storage system 602 may be caused in that the slide may break, which may cause debris in the automated histology storage system 602, which may damage other components or contaminate the environment and other slides.

[0389] Thus, according to some embodiments, the automated histology storage system 602 may include a slide position detection sensor 800 configured to enable the automated histology storage system 602 to identify the presence of slides at various positions in a given shelf 744. According to some embodiments, the slide position detection sensor 800 may include a depth camera (e.g., a stereo depth camera) that includes, for example, two or more image sensors 802.

[0390] According to some embodiments, the slide position detection sensor 800 may be placed in front of the shelf 744 and / or the shelf nest 750 / 770 at a predetermined distance D from the shelf 744. Fig. 8A 770 is shown in FIG. 1 , but the embodiment is not limited thereto, and according to some embodiments, the shelf nest 750 (e.g., a shelf nest without the protrusion 774) may be utilized. For ease of description, the shelf nest 770 may be referenced in conjunction with the slide position detection sensor 800, but embodiments according to the present disclosure are not limited thereto.

[0391] Because the distance D between the shelf 744 and the slide position detection sensor 800 is known and fixed, the distance between the slide position detection sensor 800 and each slide slot or slide position is also known. Therefore, according to some embodiments, the slide position detection sensor 800 can be configured to iterate through the known distance of each slide position and capture an image at each predetermined distance of each slide position or slide slot to identify whether a slide is present at that position.

[0392] Because the distance from the front of the shelf 744 to the first slide position is known, and the distance from the slide position detection sensor 800 is known, the distance from the slide position detection sensor 800 to the first slide position is also known. In addition, the distance between each subsequent slide position can be a known distance. For example, according to some embodiments, the distance between each slide position can be the same (e.g., 4 millimeters (mm), 6.5 mm, etc.), although embodiments of the present disclosure are not limited thereto, and in some embodiments, the distance between slide positions can vary but is known or predetermined.

[0393] In order to detect or determine whether a slide is located at a given slide position, the slide position detection sensor 800 can capture an image that is focused on a specific distance away from the slide position detection sensor 800 that corresponds to the given slide position. If an element of the slide (e.g., a barcode, unique identification information, etc.) is visible or identified at the specific distance, the slide position detection sensor 800 can determine that the slide position is occupied by the slide. In contrast, if an element of the slide is not visible or not identified at the specific distance, the slide position detection sensor 800 can determine that the slide position is vacant (e.g., not occupied by a slide).

[0394] For example, Figure 8B An exemplary image of a first slide position (e.g., slide slot 1) in shelf 744 at a first distance away from slide position detection sensor 800 is illustrated. The first distance corresponds to the distance D plus the distance from the front of shelf 744 to the first slide position (e.g., the front of the first slide position). Figure 8B , a left image 810 shows a depth map image or rendering of a slide rack 744, and a right image 812 shows an RGB image of the slide rack 744. An element 814 (e.g., a barcode) attached to a slide surface is present at a first distance. Thus, the slide position detection sensor 800 and / or the automated histology storage system 602 can identify the presence of a slide at the first slide position and can cause the robotic arm 620 to interact with the slide (e.g., by picking up the slide, etc.).

[0395] Because the slide rack 744 is positioned in the rack bracket 770, the protrusion 774 (e.g., Fig.7O and Figure 7P ) causes the slide in the second slide position behind the slide in the first slide position to be lifted above the slide in the first slide position (as previously described). Thus, if desired, before the slide in the first slide position is removed, the slide position detection sensor 800 can be configured to adjust the distance it is measuring / evaluating to the distance of the second slide position to identify whether an element of the second slide in the second slide position is visible.

[0396] For example, Figure 8C An exemplary image of a second slide position (e.g., slide slot 2) in shelf 744 a second distance away from slide position sensor 800 is illustrated. The second distance corresponds to distance D plus the distance from the front of shelf 744 to the second slide position (e.g., the front of the second slide position). Figure 8C In the example shown in , left image 820 shows a depth map image or rendering of slide rack 744 , and right image 822 shows an RGB image of slide rack 744 .

[0397] like Figure 8C As shown, the second slide is positioned at Figure 8B . An element 824 (e.g., a barcode) attached to the surface of the slide is present at the second distance. Thus, if the first slide has not been removed, the slide position detection sensor 800 and / or the automated histology storage system 602 can identify the presence of a slide at the second slide position and can cause the robotic arm 620 to interact with the slide (e.g., by picking up the slide, etc.).

[0398] The automated histology storage system 602 and / or the slide position detection sensor 800 can continue to iterate through each slide position of the shelf 744 to help identify whether each slide position is occupied by a slide. As slides are identified, they can be removed from the shelf 744 to enable the slide position detection sensor 800 to observe the next slide position. In the event that a slide element is not identified at a given slide position, the slide position detection sensor 800 and / or the automated histology storage system 602 can determine that a slide does not exist at that slide position.

[0399] Alternatively, according to some embodiments, as will be described in more detail below, the slide position detection sensor 800 can be configured to capture one or more images of the slide rack 744 and identify the presence of a slide element in the image. Based on the presence of a slide element (e.g., a barcode, a QR code, etc.) in the image and the depth map or depth image information, the slide position detection sensor 800 can be configured to identify the distance between the slide position detection sensor 800 and the identified slide element. The slide position detection sensor 800 and / or the automated histology storage system 602 can then make an inference or identification (e.g., using a lookup table or stored distance data) to determine the slide position of the identified slide element.

[0400] Thus, embodiments according to the present disclosure may enable the automated histology storage system 602 to automatically identify (e.g., without human involvement or intervention) the presence or absence of a slide at an individual slide position without potential risk to the safety of the slides and the environment of the automated histology storage system 602 that might otherwise be caused, for example, by the robotic arm 620 attempting to grip a non-existent slide, or erroneously determining that a slide is not present when a slide is present. Furthermore, the slide position detection sensor 800 may enable relatively quick identification of the presence or absence of a slide at each slide position.

[0401] Fig.8D An exemplary method for determining the position of one or more slides according to some embodiments of the present disclosure is presented. Fig.8D Various operations are shown in FIG. 1 , but the embodiments of the present disclosure are not limited to Fig.8D For example, according to some embodiments, there may be additional operations or fewer operations without departing from the spirit and scope of the embodiments according to the present disclosure. In addition, according to some embodiments, the order of operations may be changed without departing from the spirit and scope of the embodiments according to the present disclosure, unless otherwise stated or implied.

[0402] Fig.8D The operations shown in the figure may be initiated and / or controlled by various elements of the automated histological storage system 602 (including, for example, the control system 650, the slide position detection sensor 800, the robotic arm 620, etc.). Unless otherwise stated, any suitable components within the automated histological storage system 602 may be used to perform the operations. Fig.8D The operations described in the above are performed for the convenience of description. Fig.8D The various components of the automated histological storage system 602 that operate in the processes presented herein may be collectively referred to as a “system.”

[0403] like Fig.8D, the process begins, and then at operation 840, the system initiates a slide position detection process. For example, according to some embodiments, the automated histology storage system 602 can detect the presence of a shelf and / or shelf tray (e.g., shelf 744 and / or shelf tray 742) in a shelf tray nest (e.g., shelf tray nest 750 or 770). For example, according to some embodiments, a sensor (e.g., an optical sensor, a magnetic sensor, a mechanical switch, etc.) can be triggered in response to a shelf and / or shelf tray being placed in a shelf tray nest. Alternatively (or in addition), according to some embodiments, the automated histology storage system 602 and / or the robotic arm 620 can identify the completion of an operation in which the robotic arm 620 places a shelf and / or shelf tray in a shelf tray nest.

[0404] In some cases, the racks and / or rack carriers may be transported directly from the input portal to the rack carrier nest by the robotic arm 620, and the automated histology storage system 602 may not have information about which slots within the rack are occupied by slides. Therefore, before manipulating (e.g., removing, processing, etc.) a slide from a rack, the automated histology storage system 602 may identify or determine whether a slide is present in a given slide position within the rack, thereby enabling the robotic arm 620 to safely begin manipulating the slide.

[0405] Thus, at operation 842, the system may capture one or more images of a slide rack and / or one or more exposed slides. According to some embodiments, the system may capture unique identification information corresponding to the rack (e.g., in the form of a barcode, ID number, QR code, etc.). For example, the unique identification information may be attached (e.g., with a sticker or label) to the front of the rack facing the slide position detection sensor 800. The unique identification information may identify information about the samples on the slides within the rack (e.g., patient information, tissue / specimen information, etc.) and the type or style of the rack. For example, in some embodiments, slide racks of different styles or types may have different spacings between slide positions.

[0406] According to some embodiments, the system may crop the one or more photos to correspond to a predetermined area at and around the shelf in order to reduce errors in subsequent processing.

[0407] Based on a distance (e.g., a set or predetermined distance) from the slide position detection sensor 800 and a first slide position within a shelf, the slide position detection sensor 800 can capture a color image of the shelf and / or any exposed slides and a depth map image of the shelf and / or any exposed slides, wherein the color image and the depth map image are focused on the known distance to the first slide position.

[0408] At operation 844, the system may determine whether a slide element is present in the color image and / or the depth map image at a distance to the first slide position. The slide element may include, for example, unique identification information attached to the slide, for example, in the form of a barcode, QR code, identification number or characters, etc. If a slide element is present, the system may continue to control the robotic arm 620 at operation 846 to manipulate the slide in the first slide position, for example, by removing the slide and placing the slide into the slide carrier box 500.

[0409] Then, at operation 848, the system can proceed to determine whether the slide position is the last slide position in the shelf. For example, based on the type or style of the shelf, the automated histology storage system 602 can know the number of slide positions in the shelf and the distance between the slide position detection sensor 800 and the final slide position (e.g., the slide position farthest from the slide position detection sensor 800). If the slide position is the last slide position in the shelf, the process can end. Otherwise, if there are more slide positions in the shelf, the system can return to operation 842 to capture an image corresponding to the next slide position.

[0410] Alternatively, if the slide element is not present or has not been identified at operation 844, the system can continue to operation 848 to determine whether the vacant slide position is the last slide position in the rack. If the vacant slide position is also the last slide position in the rack, the process can end. If the vacant slide position is not the last slide position in the rack, the process can return to operation 842 to capture an image corresponding to the next slide position.

[0411] Additionally or alternatively, according to some embodiments, rather than iterating through each individual slide position according to some embodiments, the automated histology storage system 602 can capture an image of the slide and then when a slide is identified as being present, the corresponding slide position can be identified. For example, Fig. 8E An exemplary method for determining the position of one or more slides according to some embodiments of the present disclosure is presented.

[0412] although Fig. 8E Various operations are shown in FIG. 1 , but the embodiments of the present disclosure are not limited to Fig. 8E For example, according to some embodiments, there may be additional operations or fewer operations without departing from the spirit and scope of the embodiments according to the present disclosure. In addition, according to some embodiments, the order of operations may be changed without departing from the spirit and scope of the embodiments according to the present disclosure, unless otherwise stated or implied.

[0413] Fig. 8E The operations shown in the figure may be initiated and / or controlled by various elements of the automated histological storage system 602 (including, for example, the control system 650, the slide position detection sensor 800, the robotic arm 620, etc.). Unless otherwise stated, any suitable components within the automated histological storage system 602 may be used to perform the operations. Fig. 8E The operations described in the above are performed for the convenience of description. Fig. 8E The various components of the automated histological storage system 602 that operate in the processes presented herein may be collectively referred to as a “system.”

[0414] like Fig. 8E As shown, the process begins, and then at operation 860, the system initiates a slide position detection process. For example, according to some embodiments, the automated histology storage system 602 can detect the presence of a shelf and / or shelf bracket (e.g., shelf bracket nest 750 or 770) in a shelf bracket nest. For example, according to some embodiments, a sensor (e.g., an optical sensor, a magnetic sensor, a mechanical switch, etc.) can be triggered in response to a shelf and / or shelf bracket being placed in a shelf bracket nest. Alternatively (or in addition), according to some embodiments, the automated histology storage system 602 and / or the robotic arm 620 can identify the completion of an operation in which the robotic arm 620 places a shelf and / or shelf bracket in a shelf bracket nest.

[0415] As previously described, in some cases, the automated histology storage system 602 may not know which slide positions in the shelf are occupied by slides and which positions are vacant. Therefore, at operation 862, the system can capture one or more images of a slide shelf and / or one or more exposed slides. According to some embodiments, the system can capture unique identification information corresponding to the shelf (e.g., in the form of a barcode, ID number, QR code, etc.). For example, the unique identification information can be attached (e.g., with a sticker or label) to the front of the shelf facing the slide position detection sensor 800. The unique identification information can identify information about samples (e.g., patient information, tissue / specimen information, etc.) on the slides in the shelf and the type or style of the shelf. For example, in some embodiments, slide shelves of different styles or types can have different spacings between slide positions.

[0416] The one or more photographs may include, for example, a color image (e.g., a high resolution color image) of the shelf and / or the one or more exposed slides, and a depth map image of the shelf and / or the one or more exposed slides. According to some embodiments, the system may crop the one or more photographs to correspond to a predetermined area at and around the shelf in order to reduce errors in subsequent processing.

[0417] At operation 864, the system can determine whether a slide element is present. For example, the system can identify whether unique identification information (e.g., a barcode, QR code, identification number or characters, etc.) corresponding to the slide is present in the one or more photos. If a slide element is not present, the process can end.

[0418] However, if a slide element is present, the system may proceed to identify the slide information at operation 866. For example, the slide element may include unique identifying information about the patient, sample, etc. The system may retrieve such information and store it for subsequent processing.

[0419] In addition, at operation 868, the system can create a pixel map between the color image and the depth image to identify the coordinates of the slide element. Then, at operation 870, based on the coordinates of the slide element and the depth image, the system can identify the depth or distance of the slide element relative to the slide position detection sensor 800. According to some embodiments, based on the distance derived from the coordinates and the depth image, the system can identify the slide position of the slide element. For example, a lookup table (LUT) or slide position data can be stored in a memory (e.g., memory 652 and / or database 662), storing information about the distance between each slide position and the slide position detection sensor 800. Once the slide position is identified, the system can cause the robotic arm 620 to manipulate the slide or move the slide out of the shelf.

[0420] Then, at operation 872, the system can determine whether the slide is in the last slide position. If the position of the slide corresponds to the last slide position in the rack, the process can end. Alternatively, if the position of the slide does not correspond to the last slide position in the rack, the system can return to operation 862 to capture an image corresponding to a subsequent slide position.

[0421] 9A to 9E A robotic arm gripper according to some embodiments of the present disclosure is shown. As described above with respect to FIGS. 2 and 3 , according to some embodiments of the present disclosure, a robotic arm having a gripper connected to the end of the robotic arm can be configured to pick up and manipulate slides in a slide processing or manufacturing environment and / or an automated histology storage system.

[0422] Fig. 9A An example of a clamp 900 according to some embodiments is shown. The clamp 900 can be used with Figure 2A The same or similar to the fixture 216 (or an example thereof) shown in the slide processing or manufacturing system 200.

[0423] According to some embodiments, the fixture 900 can be configured to hold or manipulate slides in various positions or orientations to enable the slides to interface with various different racks, shelves, machines, etc. during the process of manufacturing or storing pathology slides. Thus, embodiments according to the present disclosure can reduce the need to change fixtures or tools and / or utilize multiple robotic arms to manipulate slides.

[0424] The clamp 900 may be formed of any suitable material that is strong enough to support the glass slide 204 without significant risk of damage to the glass slide or the clamp 900. For example, in some embodiments, the clamp 900 may be formed of a plastic or polymer material, but embodiments according to the present disclosure are not limited thereto.

[0425] like Fig. 9A As shown, the clamp 900 may include two or more clamp fingers 902. Although 9A to 9E The present invention is described in the context of two gripper fingers 902a and 902b, but embodiments according to the present disclosure are not limited thereto, and some embodiments may include additional gripper fingers 902 without departing from the spirit and scope of embodiments according to the present disclosure. In this specification, in some cases, reference numeral 902 may be used to generally refer to each of gripper fingers 902a and 902b (as well as any additional gripper fingers that may be utilized in some embodiments).

[0426] Additionally, according to some embodiments, the fixture 900 (or the robotic arm 620 to which the fixture 900 is attached) can include additional components that are configured to be utilized in connection with the manipulation and maneuvering of slides during the slide manufacturing process. For example, in some embodiments, the fixture 900 (or the robotic arm 620 to which the fixture 900 is attached) can include a suction cup for forming suction against a slide. Additionally, in some embodiments, the fixture 900 (or the robotic arm 620 to which the fixture 900 is attached) can include a camera or sensor (e.g., an optical sensor, a pressure sensor, etc.) configured to identify or measure the position of a slide, a slide carrier, a surface, etc.

[0427] like 9A to 9EAs shown, the clamp 900 using clamp fingers 902a and 902b can be configured to apply a clamping or inward force F1 toward a centerline "center" that bisects the clamp 900 and the slide 204. The clamp fingers 902a and 902b can be positioned equidistant from the centerline "center" and can be configured to move toward and away from the centerline "center" in coordination with each other (e.g., at the same speed and with the same force).

[0428] refer to 9A to 9E , the gripper fingers 902a and 902b can be mounted to an actuator 904 that is configured to move the gripper fingers 902a and 902b inwardly (toward the centerline "center") and outwardly (away from the centerline "center") to open or close the space between the fingers 902a and 902b. The actuator 904 can be connected to a robotic arm (e.g., Figure 2A The robotic arm 202 and / or Fig. 6A 902a and 902b) such that the robot arm, actuator 904, and gripper 900 can operate together to manipulate a slide or move a slide from one location to another. Each gripper finger 902a and 902b can have the same or similar shape. For example, in some embodiments, gripper finger 902b can be the same as gripper finger 902a, except that it is rotated 180 degrees relative to gripper finger 902a, although embodiments according to the present disclosure are not limited thereto.

[0429] Fig. 9A The clamp 400 is shown holding a slide in a first clamping mode or configuration in which the clamp fingers 902a and 902b operate to provide a lateral (along an axis parallel to the width of the slide 204) clamping force F1 against the long edge of the slide 204.

[0430] In a first clamping mode, the clamp 900 can be configured to pick up and / or maneuver the slide 204 in an orientation in which a centerline between the clamp fingers 902a and 902b extends along the front side of the slide 204 parallel to the long edge of the slide 204, wherein the centerline bisects the short edge of the slide 204.

[0431] Gripper fingers 902a and 902b may have a first portion 906 extending generally in a direction away from actuator 904. For example, according to some embodiments, first portion 906 of gripper fingers 902a and 902b may extend in a direction parallel (or generally parallel) to centerline "center".

[0432] The gripper fingers 902a and 902b (e.g., the first portion 906 of the gripper fingers 902a and 902b) can have inner edges 908a and 908b, respectively, wherein the inner edges 908a and 908b are interior relative to the opening or space between the gripper fingers 902a and 902b. According to some embodiments, the inner edges 908a and 908b can be elongated in a direction parallel to the centerline "center" and can define (or be located at) the inner edge of the first portion 906 of each corresponding gripper finger 902a and 902b. In some embodiments, the inner edges 908a and 908b can extend parallel to each other and can each have a groove therein that is each adapted to receive the top (or bottom) of the long edge of the slide, such as in Fig. 9A The grooves in the inner edges 908a and 908b are shown and described in more detail below.

[0433] When a clamping or inward force F1 is applied to the long edges of the slide, the clamp 900 may be able to pick up the slide 204 and move the slide around in 3-dimensional space.

[0434] Fig. 9B The gripper 900 is shown holding a slide in a second gripping mode or configuration in which the gripper fingers 902a and 902b operate to provide a longitudinal (along an axis parallel to the length of the slide 204) clamping force or pressure F2 against the short or width edge of the slide 204. That is, the pressure or force F2 can be in a direction toward the centerline "center" (e.g., perpendicular to the centerline "center"). In the second gripping mode, the gripper 900 can pick up and / or maneuver the slide 204 in an orientation in which the centerline "center" between the gripper fingers 902a and 902b can extend through the front and back sides of the slide 204 midway between the short edges of the slide 204. That is, the direction perpendicular or normal to the plane of the front and back sides of the slide 204 can be parallel to the centerline "center" so that the front or back side of the slide 204 faces the actuator 904.

[0435] The clamp fingers 902a and 902b can have a second portion 910 extending from the first portion 906 at an angle that is parallel or substantially parallel to the direction of extension of the first portion 906. The second portion 910 can include a protrusion or tooth 914 that extends toward the centerline "center" such that a groove or cavity 916 is formed between the protrusion 914 and the body of the second portion 910.

[0436] The ends of the second portion 910 including the groove 916 are both further away from the actuator 904 and from each other than the inner edges 908a and 908b. Thus, a relatively wider space can be formed between the ends of the second portion 910 (and the groove 916) relative to the space between the inner edges 908a and 908b. In addition, the groove 916 between the protrusion 914 and the body of the second portion 910 can accommodate the width or short edge of the slide 204, so that the fixture 900 can pick up and / or maneuver the slide 204 with the front or back side of the slide 204 facing the actuator 904.

[0437] According to some embodiments, the clamp fingers 902a and 902b can be mechanically connected to the actuator 904 via support brackets 920a and 920b. That is, each clamp finger 902a and 902b can be connected to a corresponding support bracket 920a and 920b, respectively. According to some embodiments, the clamp fingers 902a and 902b can be mechanically attached to the brackets 920a and 920b using any suitable mechanical connection mechanism. For example, in some embodiments, the brackets 920a and 920b can have a channel or groove 922 extending horizontally (e.g., vertically relative to the centerline "center" and / or parallel to the direction of force F2). The support brackets 920a and 920b can have, for example, an upper portion (e.g., a flared upper portion) configured to fit within the channel 922. Additionally or alternatively, according to some embodiments, one or more screws or bolts may be inserted into one or more holes 924 extending through the vertical portion of the support bracket 920 and connected to one or more corresponding holes (e.g., threaded holes) located on the clamp finger 902. By utilizing the support brackets 920a and 920b,

[0438] According to some embodiments, such as Fig. 9C As shown in , the gripper fingers 902a and 902b may include one or more notches or gaps. For example, a first notch 930 may be cut or machined into the inner edges 908a and 908b. The first notch 930 may be located at a first distance R1 from the bottom of the gripper fingers (e.g., the outer edge of the protrusion 914). In addition, a second notch 932 may be cut or machined into the inner edges 908a and 908b. The second notch 932 may be located at a second distance R2 from the bottom of the gripper fingers that is less than the first distance R1. The first notch 930 and the second notch 932 may be used to manually calibrate the pick-up distance for the robotic arm 620 when picking up a slide. For example, when more precise control of the slide is desired, the first pick-up distance may be selected so that the width edge of the slide is aligned with the first notch 930 (e.g., Fig. 9C). When less precision is desired but spacing is a concern (e.g., when the slide is located deep within a fixture, shelf, or carrier), a second pick-up distance can be selected so that the width edge of the slide is aligned with the second notch 932. In addition, the second notch 932 can operate to reduce the overall friction on the slide at the edges 908a and 908b because a smaller surface area of ​​the gripper fingers 902a and 902b can be brought into contact with the slide, which can reduce the likelihood of damage to the slide caused by the gripper fingers.

[0439] refer to Fig.9D and Fig.9E , the inner edge 908 of the clamp finger 902 can have a groove formed therein. According to some embodiments, the groove can have a rounded surface 940 for contacting the slide 204, such as Fig.9D . Alternatively, the groove can have a flat surface 940 for contacting the slide 204. The rounded or flat surface 940 can be an inner surface of the groove that abuts against the long edge of the slide 204 to provide lateral pressure (e.g., in the direction of force F1). The rounded surface 940 can achieve relatively improved clamping position control. In contrast, the flat surface 940 can have relatively improved wear performance compared to the rounded surface, but may have slightly worse clamping control of the slide because the slide may generally be able to achieve a greater degree of movement or angular inconsistency within the flat surface groove.

[0440] FIG. 10A to FIG. 10F A robotic arm gripper according to some embodiments of the present disclosure is shown. As described above with respect to FIGS. 2, 3, 6, and 7, according to some embodiments of the present disclosure, a robotic arm having a gripper connected to the end of the robotic arm can be configured to pick up and manipulate slides in a slide processing or manufacturing environment and / or an automated histology storage system. In addition, the robotic arm equipped with the gripper can be configured to pick up and manipulate shelves or trays carrying slides, as well as shelf carriers or tray carriers carrying shelves and trays, respectively.

[0441] Fig. 10A An example of a clamp 1000 according to some embodiments is shown. The clamp 1000 can be used with Figure 2A The same or similar to the fixture 216 (or an example thereof) shown in the slide processing or manufacturing system 200.

[0442] According to some embodiments, the fixture 1000 can be configured to hold or manipulate various carriers in various positions or orientations to transfer slides or empty carriers to and from various positions within the slide processing or manufacturing system 200 and / or the automated histology storage system 602, and the process of manufacturing or storing pathology slides. Therefore, the need to change fixtures or tools and / or use multiple robotic arms to manipulate slides or carriers can be reduced according to embodiments of the present disclosure.

[0443] The clamp 1000 can be formed of any suitable material that is strong enough to support the glass slide 204 and / or the brackets (e.g., tray bracket 716, shelf bracket 742, etc.) without a significant risk of damage to the glass slide or the clamp 900. For example, in some embodiments, the clamp 900 can be formed of a plastic or polymer material, but embodiments according to the present disclosure are not limited thereto.

[0444] like Fig. 10A As shown, the clamp 1000 may include two or more clamp finger brackets 1002, each having one or more clamp finger rods 1004 protruding from their respective clamp finger brackets 1002. FIG. 10A to FIG. 10F The description is made in the context of two gripper finger holders 1002a and 1002b, but embodiments according to the present disclosure are not limited thereto, and some embodiments may include additional gripper finger holders without departing from the spirit and scope of embodiments according to the present disclosure. In this specification, in some cases, reference numeral 1002 may be used to generally refer to each of gripper finger holders 1002a and 1002b (as well as any additional gripper finger holders that may be utilized in some embodiments).

[0445] In addition, despite FIG. 10A to FIG. 10F It is shown and described in the context of each clamp finger support 1002 including two clamp finger bars 1004, but embodiments according to the present disclosure are not limited thereto, and some embodiments may include additional clamp finger bars or fewer clamp finger bars without departing from the spirit and scope of embodiments according to the present disclosure. In this specification, in some cases, reference numeral 1004 may be used to generally refer to each of the clamp finger bars 1004a and 1004b (as well as any additional clamp finger bars that may be utilized in some embodiments).

[0446] Additionally, according to some embodiments, the fixture 1000 (or the robotic arm 620 to which the fixture 1000 is attached) can include additional components that are configured to be utilized in connection with the manipulation and mobilization of slides during the slide manufacturing process. For example, in some embodiments, the fixture 1000 (or the robotic arm 620 to which the fixture 1000 is attached) can include a suction cup for forming suction against a slide. Additionally, in some embodiments, the fixture 1000 (or the robotic arm 620 to which the fixture 1000 is attached) can include a camera or sensor (e.g., an optical sensor, a pressure sensor, etc.) configured to identify or measure the position of a slide, a slide carrier, a surface, etc.

[0447] like FIG. 10A to FIG. 10F As shown, the clamp 1000 using clamp finger brackets 1002a and 1002b and clamp finger rods 1004a and 1004b can be configured to apply a clamping or inward force F3 toward the center of the clamp 1000. The clamp finger brackets 1002a and 1002b can be positioned equidistant from the center of the clamp 1000 and can be configured to move toward and away from the center in coordination with each other (e.g., at the same speed and with the same force).

[0448] refer to FIG. 10A to FIG. 10F , the gripper finger brackets 1002a and 1002b can be mounted to an actuator 1006 that is configured to move the gripper finger brackets 1002a and 1002b inwardly (toward the center) and outwardly (away from the center) to open or close the space between the gripper finger brackets 1002a and 1002b. The actuator 1006 can be connected to a robotic arm (e.g., Figure 2A The robotic arm 202 and / or Fig. 6A 1002a and 1002b) such that the robot arm, actuator 1006, and gripper 1000 can operate together to manipulate a slide or move a slide from one location to another. Each gripper finger holder 1002a and 1002b can have the same or similar shape, and each gripper finger rod 1004a and 1004b can have the same or similar shape. For example, in some embodiments, gripper finger holder 1002b can be the same as gripper finger holder 1002a, except that it is rotated 180 degrees relative to gripper finger holder 1002a, although embodiments according to the present disclosure are not limited thereto.

[0449] refer to Fig. 10B, each clamp finger rod 1004 may extend generally in a direction away from the clamp finger support 1002. According to some embodiments, the clamp finger rod 1004 may have a generally cylindrical shape having a consistent diameter along the length of the clamp finger rod 1004. The embodiments of the present disclosure are not limited thereto, and according to some embodiments, the clamp finger rod 1004 may have a cross-section in a rectangular or square shape (or any other suitable shape), and in some embodiments, the clamp finger rod 1004 may have a curved shape in the extension direction, rather than being as FIG. 10A to FIG. 10F The linear cylinder shown in .

[0450] The clamp finger brackets 1002 may be mounted to the actuator 1006 using any suitable connection mechanism (e.g., one or more screws or bolts, clips, springs, etc.). The clamp finger rods 1004 may be mounted to their corresponding clamp finger brackets 1002 by insertion into holes (e.g., threaded holes), connection to threaded bolts extending from the clamp finger brackets 1002, or any other suitable mechanism (e.g., clips, springs, friction, adhesive material, etc.).

[0451] According to some embodiments, the clamp finger rod 1004 may have one or more segments extending away from the clamp finger bracket 1002. For example, Fig. 10B A clamp finger bar 1004 is shown having three segments 1008a, 1008b, and 1008c, although embodiments according to the present disclosure are not limited thereto and some embodiments may include fewer segments or additional segments without departing from the spirit and scope of embodiments according to the present disclosure.

[0452] Additionally, one or more flared portions may be incorporated into the clamp finger stem 1004. For example, Fig. 10BA clamp finger bar having two flared portions 1010a and 1010b is shown, although embodiments according to the present disclosure are not limited thereto, and some embodiments may include fewer flared portions or additional flared portions without departing from the spirit and scope of embodiments according to the present disclosure. According to some embodiments, the flared portion 1010 may be made of the same material as the segment 1008. For example, the flared portion 1010 and the segment 1008 may be made of a polymer or plastic material, but embodiments are not limited thereto, and any other suitable material (e.g., metal) may be utilized. In addition, according to some embodiments, the flared portion 1010 may be an o-ring formed of a different material than the segment (e.g., rubber) and may be installed or inserted into a groove or channel in the clamp finger bar 1004 corresponding to the location of the flared portion 1010. The flared portion 1010 may operate to facilitate friction when the clamp 1000 is utilized to pick up an object (e.g., a tray or shelf bracket).

[0453] refer to Fig. 10C and Fig. 10D , shelf bracket 742( Fig. 10C shown) and tray bracket 716 ( Fig. 10D ) may have one or more channels or grooves formed at different locations thereon. For example, Fig. 10C As shown in , the shelf bracket 742 includes a first channel 1020a and a second channel 1020b on a first side of the shelf bracket 742. On the opposite side of the shelf bracket 742, the shelf bracket 742 also includes a first channel 1020a and a second channel 1020b. The first channel 1020a can correspond to, for example, the first clamp finger rod 1004a, and the second channel 1020b can correspond to, for example, the second clamp finger rod 1004b. For example, the distance between the first channel 1020a and the second channel 1020b can correspond to (or be equal to) the distance between the first clamp finger rod 1004a and the second clamp finger rod 1004b on the same clamp finger bracket 1002. In addition, according to some embodiments, the shapes of the channels 1020a and 1020b can have contours that correspond to or conform to the shapes of the clamp finger rods 1004a and 1004b, respectively. Although Fig. 10C The channel 1020 is shown at one end of the shelf bracket 742, but embodiments of the present disclosure are not limited thereto. For example, in various embodiments, the channel 1020 can be located at any suitable position, such as the other end of the shelf bracket 742, the middle of the shelf bracket 742, etc.

[0454] Similarly, refer to Fig. 10D, the tray bracket 716 includes a first channel 1030a and a second channel 1030b at the top side of the tray bracket 716. On the opposite side of the tray bracket 716, the tray bracket 716 also includes two corresponding channels. The first channel 1030a can correspond to, for example, the first clamp finger rod 1004a, and the second channel 1030b can correspond to, for example, the second clamp finger rod 1004b. For example, the distance between the first channel 1020a and the second channel 1030b can correspond to (or be equal to) the distance between the first clamp finger rod 1004a and the second clamp finger rod 1004b on the same clamp finger bracket 1002. In addition, according to some embodiments, the shapes of the channels 1030a and 1030b can have contours corresponding to or conforming to the shapes of the clamp finger rods 1004a and 1004b, respectively. Although Fig. 10D The channel 1030 is shown at a specific position (eg, handle) of the tray bracket 716 , but embodiments according to the present disclosure are not limited thereto. For example, in various embodiments, the channel 1030 can be located at any suitable position around the tray bracket 716 .

[0455] like Fig. 10E and Fig.10F As shown, the clamp 1000 using the clamp finger bracket 1002, the clamp finger rod 1004 and the actuator 1006 can be used to clamp, manipulate and manipulate the shelf bracket 744 and the tray bracket 716 in three-dimensional space. Depending on the object being picked up or manipulated, the clamp 1000 can be rotated to the appropriate direction to apply the clamping force F3 against the object. For example, Fig. 10E , a force F3 can be applied in a generally horizontal direction against an opposing surface or edge of the shelf bracket 744 to keep the shelf bracket 744 upright during movement and prevent the rack or slide from falling out of the shelf bracket 744. The clamp 1000 can be rotated (e.g., 90 degrees) to apply a force F3 against an opposing surface or edge of the tray bracket 716 to keep the tray bracket 716 upright during movement and prevent the tray or slide from falling out of the tray bracket 716.

[0456] FIG. 11A to FIG. 11B A robotic arm gripper according to some embodiments of the present disclosure is shown. As described above with respect to FIGS. 2 , 3 , 6 , and 7 , according to some embodiments of the present disclosure, a robotic arm having a gripper connected to the end of the robotic arm can be configured to pick up and manipulate slides in a slide processing or manufacturing environment and / or an automated histology storage system.

[0457] Fig.11A An example of a clamp 1100 according to some embodiments is shown. The clamp 1100 can be used with Figure 2AThe same or similar to the fixture 216 (or an example thereof) shown in the slide processing or manufacturing system 200.

[0458] The fixture 1100 can be configured to hold or manipulate slides in a variety of positions and orientations to enable the slides to interface with a variety of different racks, shelves, machines, etc. during the process of manufacturing or storing pathology slides. Therefore, embodiments according to the present disclosure can reduce the need to change fixtures or tools and / or utilize multiple robotic arms to manipulate slides.

[0459] The clamp 1100 may be formed of any suitable material that is strong enough to support the glass slide 204 without significant risk of damage to the glass slide or the clamp 1100. For example, in some embodiments, the clamp 1100 may be formed of a plastic or polymer material, but embodiments according to the present disclosure are not limited thereto.

[0460] like Fig.11A As shown, the gripper 1100 may include two gripper fingers 1102 and 1104 configured to engage each other to pick up the slide 204. The first gripper finger 1102 and the second gripper finger 1104 may be configured to be coupled to an actuator (e.g., Fig. 9A actuator 904 and / or robotic arm 620).

[0461] The clamp 1100 using the clamp fingers 1102 and 1104 can be configured to apply a clamping or inward force F4 toward a centerline "center" that bisects the slide 204. The clamp finger 1102 can have a vertical portion 1110 extending in the Z direction and a horizontal portion 1112 extending in the Y direction. Similarly, the clamp finger 1104 can have a vertical portion 1114 extending in the Z direction and a horizontal portion 1116 extending in the Y direction. The horizontal portion 1112 of the first clamp finger 1102 can be configured to slide along (e.g., contact) a horizontal portion 1116 of the second clamp finger 1104 as the vertical portions 1110 and 1114 move toward and away from each other when clamping or releasing the slide.

[0462] Fig. 11B FIG. 2 shows a rear view of the first clamp finger 1102 when viewed in the Y direction. Fig. 11B As shown, the first clamp finger 1102 can have a pointed portion or protrusion 1120 extending vertically below the horizontal portion 1112. Similarly, referring to Fig.11A , the second clamp finger 1104 can have a pointed portion or protrusion 1122 extending vertically below the horizontal portion 1112 of the first clamp finger 1102. Fig.11A As shown in FIG. 1 , the protrusions 1120 of the first gripper finger 1102 and the protrusions 1122 of the second gripper finger 1104 can operate together to apply a clamping force F4 against the slide 204 in a position where the front or back side of the slide 204 faces the Z direction.

[0463] In addition, the edge 1130 at the end of the horizontal portion 1112 of the first clamp finger 1102 and the inner edge 1132 of the protrusion 1122 facing the edge 1130 can operate together to apply a clamping force F4 against the front and back sides of the slide 204 in a position where the front or back side of the slide faces the Y direction.

[0464] According to some embodiments, the surface of edge 1130, inner edge 1132, inner edge of pointed portion 1120 and / or pointed portion 1122, and / or the bottom of horizontal portion 1112 may have one or more pads (e.g., rubber pads) that may provide compliance when clamping slides of varying thickness and / or varying label thickness. In addition, the pads may provide additional friction or clamp retention strength. In some embodiments, the pads may be small spherical members (e.g., rubber spheres) that are inserted into pre-formed or machined cavities that conform to the shape of the spheres. Alternatively, the pads may be a rubber material that is bonded to the surfaces of the clamp fingers 1102 and 1104 using a suitable adhesive material.

[0465] FIG. 12A to FIG. 12B Aspects of methods for operating an automated histological storage system according to some embodiments are presented.

[0466] Fig. 12A An exemplary process for receiving slides from a user or technician for an automated histology storage system is shown. Fig. 12A Various operations are shown in FIG. 1 , but the embodiments of the present disclosure are not limited to Fig. 12A For example, according to some embodiments, there may be additional operations or fewer operations without departing from the spirit and scope of the embodiments according to the present disclosure. In addition, according to some embodiments, the order of operations may be changed without departing from the spirit and scope of the embodiments according to the present disclosure, unless otherwise stated or implied.

[0467] Fig. 12A The operations shown in the figure can be initiated and / or controlled by various elements of the automated histological storage system 602 (including, for example, the control system 650, the robotic arm 620, etc.). Unless otherwise stated, any suitable components within the automated histological storage system 602 can be used to perform Fig. 12A The operations described in the above are performed for the convenience of description. Fig. 12AThe various components of the automated histological storage system 602 that operate in the processes presented herein may be collectively referred to as a “system.”

[0468] like Fig. 12A , the process begins, and then at operation 1200, the system receives patient and / or slide information about slides to be received and / or stored by the automated histology storage system 602. For example, in some cases, a user or technician may desire to store individual slides in the automated histology storage system 602 after processing or during a manufacturing process (e.g., between staining operations, etc.). The user can provide information about the patient and the individual slides using a user interface (e.g., a graphical user interface displayed on the display panel 614 and one or more input devices). The user interface can be used to manually enter the information, or in some embodiments, an imaging sensor or barcode scanner can be configured to scan unique identification information (e.g., in the form of a barcode, QR code, characters or numbers, etc.) that can be attached to the slides and / or trays or shelves. In some embodiments, in response to receiving the unique identification information, the identification information can be retrieved from a database (e.g., database 662). For example, certain patient data or slide data may be stored in a database, and in response to scanning a code or other data corresponding to a slide and / or tray or rack, the system may retrieve the patient or slide data from the database and match it to the slide and / or tray / rack.

[0469] Additionally, at operation 1200, the user can provide further information about the type of storage mechanism being used. For example, using the user interface, the user can indicate whether the slides are currently in a tray or in a shelf, and what the user wants the automated histology storage system 602 to do with the slides.

[0470] At operation 1204, the system can identify an entry location for a slide to be inserted into the automated histology storage system 602. For example, in some embodiments, the system can display information on a user interface regarding which entry and / or entry slot the user should deposit the slide in. Alternatively or in addition, the system can display a light, for example, in front of one of the entry slots, thereby indicating to the user that the adjacent entry slot is where the user should deposit the slide.

[0471] At operation 1208, the system may insert an empty tray or shelf carrier into the identified entry slot. According to some embodiments, the empty tray or shelf may be selected based on user input. For example, depending on the type of tray or shelf to be inserted, the system may select a corresponding carrier having an inner cavity corresponding to the shape of the tray or shelf. The user may then insert the slide tray or shelf into the empty carrier.

[0472] In some embodiments, the user can push the tray back into the entrance. In some embodiments, one or more sensors (e.g., mechanical buttons, lasers, cameras, pressure sensors, magnets, etc.) can identify the presence of a tray or shelf successfully inserted. Then, at operation 1212, the system can retrieve the tray from the entrance from the back side (inside) of the entrance. In some embodiments, the tray can be transferred (e.g., by a robotic arm 620) to the nest without human intervention.

[0473] At operation 1216, the system can retrieve the individual slides from the carriers in the nest, and at operation 1220, the system can transfer the individual slides to a storage location. The retrieval and transfer operations 1216 and 1220 can be performed, for example, by the robotic arm 620 using any suitable gripping or clamping operations as described above. For example, according to some embodiments, the retrieval and transfer operations 1216 and 1220 can utilize the above-described system with respect to Figure 3J , Figure 4M and Figure 5J For example, in some embodiments, slides may be individually transferred from a carrier to a carrier box (e.g., carrier box 500), and the carrier box may then be transferred to a slide carrier queue 530 for storage. When removing a slide from a carrier, some embodiments may utilize one or more sensors (e.g., slide position detection sensors) to identify whether a slide is present at any given slide position in a tray or shelf before attempting to pick up the slide, e.g., as described above with respect to Fig.8D and Fig. 8E as described.

[0474] Once each of the slides has been removed from the carrier and transferred to a storage location, at operation 1224 the system can return the carrier and the empty tray or rack to the empty entry slot.

[0475] In addition, according to some embodiments, at or between various operations between 1208 and 1224, the system can cause the robot 620 to change the gripper for subsequent operations. For example, according to some embodiments, the system can use a first gripper (e.g., relative to FIG. 10A to FIG. 10E The system may then cause the robot 620 to switch to a different gripper (e.g., relative to the gripper) depending on the design of the corresponding slide tray or slide rack. FIG. 4A to FIG. 4L , 9A to 9E or FIG. 11A to FIG. 11B The described gripper) is used to pick up or manipulate individual slides.

[0476] Each of operations 1200 through 1224 involving movement, transfer, or storage of slides, racks, trays, or shelves may be performed automatically without human involvement other than the user providing input data regarding the type of patient or slide and shelf or tray, and the user inserting the shelf or tray into the entry.

[0477] Fig. 12B An exemplary process for retrieving slides from storage and transferring them to a user or technician for an automated histology storage system is shown. Fig. 12B Various operations are shown in FIG. 1 , but the embodiments of the present disclosure are not limited to Fig. 12B For example, according to some embodiments, there may be additional operations or fewer operations without departing from the spirit and scope of the embodiments according to the present disclosure. In addition, according to some embodiments, the order of operations may be changed without departing from the spirit and scope of the embodiments according to the present disclosure, unless otherwise stated or implied.

[0478] Fig. 12B The operations shown in the figure can be initiated and / or controlled by various elements of the automated histological storage system 602 (including, for example, the control system 650, the robotic arm 620, etc.). Unless otherwise stated, any suitable components within the automated histological storage system 602 can be used to perform Fig. 12B The operations described in the above are performed for the convenience of description. Fig. 12B The various components of the automated histological storage system 602 that operate in the processes presented herein may be collectively referred to as a “system.”

[0479] like Fig. 12B , the process begins, and then at operation 1240, the system receives patient and / or slide information about slides to be retrieved from storage by the automated histology storage system 602. For example, a user may desire to retrieve a slide or a set of slides and deliver it to a user for further processing or to transfer to a new step in a pathology process. The user can, for example, use a user interface (including, for example, a display panel 614 and one or more input devices) to search for a patient, slide, or set of slides to see if the corresponding slide is currently stored by the automated histology storage system 602. The user can then use the user interface to provide input to request that certain slides be returned to the user.

[0480] At operation 1244, the system may identify the entry position or slot at which the slide is to be returned by the automated histology storage system 602. According to some embodiments, the system may display information on the user interface regarding which entry or entry slot the user should expect the slide at. Additionally or alternatively, the system may display a graphical indicator (e.g., a light) at the entry slot to direct the user to the appropriate entry slot.

[0481] According to some embodiments, at operation 1246, the identified entry slot may not include an empty tray or shelf. Therefore, in some embodiments, the system may prompt the user to insert the shelf or tray into the bracket of the tray or shelf entry slot. In some embodiments, once the empty tray or shelf is inserted into the bracket of the tray or shelf entry slot, the system may use one or more sensors (e.g., mechanical buttons, switches, magnets, lasers, cameras, springs, etc.) to identify that the empty tray or shelf is inserted. In some embodiments, the user may be prompted to push the empty tray or shelf and bracket into the entry.

[0482] At operation 1250, the system can remove empty trays or racks and / or carriers from the entrance from the back or inside of the entrance. At operation 1254, the system can transfer trays or racks and / or carriers to nests.

[0483] Then, at operation 1258, the system can retrieve each of the requested slides from the storage device based on the user input and the requested slides. For example, the slides can be stored in one or more carrier boxes (e.g., carrier box 500) and one or more slide carrier queues (e.g., slide carrier queues). The system can remove the slides individually or as a group with the entire carrier box and transfer each individual slide to an empty tray or shelf in the nest. That is, the gripper of the robot 620 can pick up each slide and transfer it to the corresponding slide position in the tray or shelf.

[0484] At operation 1262, the system may pick up the tray or shelf and / or corresponding rack and transfer it to an empty entry slot for retrieval by a user.

[0485] Any suitable hardware, firmware (e.g., application specific integrated circuit), software, or a combination of software, firmware, and hardware may be utilized to implement the electronic or electrical devices and / or any other related devices or components according to the embodiments of the present invention described herein. For example, the various components of these devices may be formed on an integrated circuit (IC) chip or on an independent IC chip. Further, the various components of these devices may be implemented on a flexible printed circuit film, a tape carrier package (TCP), a printed circuit board (PCB), or formed on a substrate. Further, the various components of these devices may be processes or threads that run on one or more processors in one or more computing devices, execute computer program instructions, and interact with other system components to perform the various functions described herein. Computer program instructions are stored in a memory, which may be implemented in a computing device using a standard memory device (such as, for example, a random access memory (RAM)). Computer program instructions may also be stored in other non-temporary computer-readable media (such as, for example, a CD-ROM, a flash drive, etc.). In addition, those skilled in the art should recognize that, without departing from the spirit and scope of the exemplary embodiments of the present invention, the functions of various computing devices may be combined or integrated into a single computing device, or the functions of a particular computing device may be distributed across one or more other computing devices.

[0486] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those commonly understood by those of ordinary skill in the art to which the present invention belongs. It should be further understood that terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and / or this specification, and should not be interpreted in an idealized or overly formal sense, unless explicitly defined as such herein.

[0487] Although aspects of some exemplary embodiments of the pathology slide manufacturing system and method have been described and illustrated herein, as will be appreciated by those of ordinary skill in the art, various modifications and variations may be implemented without departing from the spirit and scope of the embodiments according to the present disclosure. Therefore, it should be understood that the pathology slide manufacturing system and method according to the principles of the present disclosure may be embodiments other than those specifically described herein. The present disclosure is also defined in the appended claims and their equivalents.

Claims

1. A slide carrier, comprising: a base support; and A slide platform having a surface parallel to a first plane defined by a first vector and a second vector, wherein a vector extending in a direction opposite to a gravity direction is normal relative to the second plane defined by a third vector and a fourth vector, an angle between the first vector and the third vector is greater than zero and less than 90 degrees, and an angle between the second vector and the fourth vector is greater than zero and less than 90 degrees.

2. The slide carrier of claim 1, wherein the slide platform comprises a first long edge and a second long edge, wherein an elevation of the first long edge is higher than an elevation of the second long edge.

3. The slide carrier of claim 2, further comprising a barrier protruding from the slide platform at the second long edge.

4. The slide carrier of claim 3, further comprising a protrusion extending from the barrier.

5. A slide carrier according to claim 1, wherein the slide platform includes a first elongated support portion and a second elongated support portion, the first elongated support portion extending in a length direction of the slide platform, the second elongated support portion extending in the length direction of the slide platform, wherein the first elongated support portion and the second elongated support portion are separated from each other by a gap.

6. The slide carrier of claim 5, further comprising a cross-member support portion extending between and connecting the first elongated support portion and the second elongated support portion.

7. The slide carrier according to claim 5, further comprising: a first narrow support portion connected to a top portion of the first elongated support portion, wherein a top surface of the first narrow support portion is coplanar with a top surface of the first elongated support portion; and a second narrow support portion connected to a top portion of the second elongated support portion, wherein a top surface of the second narrow support portion is coplanar with a top surface of the second elongated support portion, and A width between the first narrow support portion and the second narrow support portion is smaller than a width between the first elongated support portion and the second elongated support portion.

8. A pathology slide manufacturing system, comprising: Robotic arm; a gripper connected to the robotic arm; and The slide carrier according to claim 1.

9. A method of manufacturing a pathology slide in a slide processing system, The slide processing system comprises: Robotic arm; a gripper connected to the robotic arm; and a slide carrier within reach of the holder, the method comprising: holding the slide with the holder in a first orientation; placing the slide on the slide platform of the slide carrier by the clamp; allowing the slide to shift position on the slide platform to register at a predetermined position on the slide platform; holding the slide with the holder in a second orientation corresponding to a component of the slide handling system; and The slide is placed, by the gripper, in the component of the slide handling system using the gripper with the slide in the second orientation to enable a slide handling operation corresponding to the component to be performed on the slide by the slide handling system.

10. The method of claim 9, wherein at least one of the first orientation or the second orientation involves lateral clamping in which the clamp applies compressive forces to opposing edges of the slide in a width direction.

11. The method of claim 9, wherein at least one of the first orientation or the second orientation involves a longitudinal clamp in which the clamp applies a compressive force to opposing edges of the slide in a lengthwise direction.

12. The method of claim 9, wherein at least one of the first orientation or the second orientation involves a thickness clamp in which the clamp applies a compressive force to opposing faces of the slide.

13. The method of claim 9, wherein the slide platform comprises a first elongated support portion extending in a length direction of the slide platform and a second elongated support portion extending in the length direction of the slide platform, wherein the first elongated support portion and the second elongated support portion are separated from each other by a gap.

14. The method of claim 13, wherein a cross-member support portion extends between and connects the first elongated support portion and the second elongated support portion.

15. The method according to claim 13, wherein the slide platform further comprises: a first narrow support portion connected to a top portion of the first elongated support portion, wherein a top surface of the first narrow support portion is coplanar with a top surface of the first elongated support portion; and a second narrow support portion connected to a top portion of the second elongated support portion, wherein a top surface of the second narrow support portion is coplanar with a top surface of the second elongated support portion, and A width between the first narrow support portion and the second narrow support portion is smaller than a width between the first elongated support portion and the second elongated support portion.

16. A holder comprising: a first gripper finger having a first groove and a second groove at an inner edge of the first gripper finger; and a second gripper finger having a first groove and a second groove at an inner edge of the second gripper finger, wherein the first groove of the first gripper finger faces the first groove of the second gripper finger, so that the gripper is configured to apply a first compressive force to a length edge of the slide in a lateral direction at the first groove, and The second groove of the first gripper finger faces the second groove of the second gripper finger such that the gripper is configured to apply a second compressive force on a width edge of the slide in a longitudinal direction at the second groove.

17. The gripper of claim 16, wherein a distance between the first groove of the first gripper finger and the first groove of the second gripper finger is smaller than a distance between the second groove of the first gripper finger and the second groove of the second gripper finger.

18. The gripper of claim 16, wherein the first groove of the first gripper finger is at a first portion of the first gripper finger, the first portion extending from an actuator in a direction parallel to a centerline between the first gripper finger and the second gripper finger.

19. The gripper of claim 18, wherein the second groove of the first gripper finger is at a second portion of the first gripper finger, the second portion extending from the first portion at an angle less than 90 degrees and greater than zero degrees relative to the centerline.

20. The gripper of claim 16, wherein the second groove of the first gripper finger is defined by the space between: a protrusion extending from the first gripper finger toward a centerline bisecting a space between the first gripper finger and the second gripper finger; and The body of the first gripper finger.

21. The gripper of claim 16, wherein the first gripper finger and the second gripper finger each include a protrusion at an end of the first gripper finger and the second gripper finger, respectively, the protrusion extending in a direction parallel to a centerline bisecting the first gripper finger and the second gripper finger, A distance between the protrusion of the first gripper finger and the protrusion of the second gripper finger is greater than a distance between the second groove of the first gripper finger and the second groove of the second gripper finger, and the gripper is configured to apply a third compressive force to the width edge of the slide in the longitudinal direction.

22. The gripper of claim 16, wherein the first gripper finger includes a third groove at an outer edge of the first gripper finger, the third groove extending perpendicular to a centerline bisecting a space between the first gripper finger and the second gripper finger.

23. A clamper according to claim 16, wherein the first clamper finger has a third groove extending in a direction parallel to the first groove of the first clamper finger, and the second clamper finger has a third groove facing the third groove of the first clamper finger and extending in the direction parallel to the first groove of the first clamper finger, wherein the distance between the third groove of the first clamper finger and the third groove of the second clamper finger is greater than the distance between the first groove of the first clamper finger and the first groove of the second clamper finger.

24. A clamp according to claim 23, wherein the clamp is configured to apply a third compressive force to the width edge of the slide in the longitudinal direction in the following orientation: in the orientation, the slide is rotated 90 degrees about an axis extending parallel to the length of the slide compared to the orientation corresponding to the clamping position of the second groove.

25. A pathology slide manufacturing system, comprising: Robotic arm; and A gripper, the gripper being connected to the robotic arm, the gripper comprising: a first gripper finger having a first groove and a second groove at an inner edge of the first gripper finger; and a second gripper finger having a first groove and a second groove at an inner edge of the second gripper finger, wherein the first groove of the first gripper finger faces the first groove of the second gripper finger, so that the gripper is configured to apply a compressive force to a length edge of the slide in a lateral direction at the first groove, and The second groove of the first gripper finger faces the second groove of the second gripper finger such that the gripper is configured to apply a compressive force to a width edge of the slide in a longitudinal direction at the second groove.

26. A method of manufacturing a slide in a slide processing system, the slide processing system comprising: Robotic arm; and A gripper, the gripper being connected to the robotic arm, the gripper comprising: a first gripper finger having a first groove and a second groove at an inner edge of the first gripper finger; and a second gripper finger having a first groove and a second groove at an inner edge of the second gripper finger, wherein the first groove of the first gripper finger faces the first groove of the second gripper finger, so that the gripper is configured to apply a first compressive force to a length edge of the slide in a lateral direction at the first groove, and the second groove of the first gripper finger faces the second groove of the second gripper finger, so that the gripper is configured to apply a second compressive force to the width edge of the slide in a longitudinal direction at the second groove, The method comprises: gripping the slide in a first orientation using the first groove of the first gripper finger and the first groove of the second gripper finger; placing the slide in a first component of the slide handling system in the first orientation; gripping the slide in a second orientation using the second groove of the first gripper finger and the second groove of the second gripper finger; and The slide is placed in a second component of the slide handling system in the second orientation.

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