Full-automatic frozen section pasting equipment

Abstract

The invention relates to the technical field of medical equipment, and particularly provides full-automatic frozen section pasting equipment, which comprises a cabinet body, the cabinet body is provided with a section end, the section end is internally provided with a section cavity, and the section cavity is communicated with the section end; the laser sensing device is arranged in the slice cavity, and the laser sensing device is used for detecting the planeness of the tissue block to obtain adjustment data; and the clamping assembly is arranged in the slicing cavity, the clamping assembly and the laser sensing device are arranged in a spaced mode, and the clamping assembly comprises a clamping table, a transverse axis angle adjusting piece, a longitudinal axis angle adjusting piece and a clamping body which are sequentially and fixedly arranged from front to back. Therefore, accurate angle adjustment in the slicing process is achieved, it is ensured that the tissue block is always kept at the optimal slicing angle, and the slicing quality problem caused by personal errors is reduced. And the slicing operation efficiency and quality are greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a fully automatic frozen section patching device. Background Art

[0002] In biomedical research and experimental work, frozen sections of tissues and organs from animal experiments can help researchers obtain the tissue morphology and cell structure of biological samples, further observe the expression and distribution of cells in specific organ tissues and specific regions, help reveal the mechanism of related diseases, and promote the development of disease diagnosis and treatment methods. Furthermore, frozen section technology is also of great significance for drug screening and effect evaluation. By giving samples different drug treatments, researchers can observe the role and effect of drugs in tissue section samples, thereby providing strong support for the development and optimization of new drugs.

[0003] Frozen sections are obtained by freezing microtome. At present, the existing freezing microtome is usually operated manually, and the operator needs to load the material manually. When loading for the first time, the operator needs to manually adjust the angle of the tool holder or the angle of the chuck to make them parallel. When slicing, the operator uses the hand-cranked cam to link the frozen tissue block chuck to achieve up and down reciprocating motion relative to the fixed tool holder. During this period, the frozen tissue block chuck will move forward a certain distance for each rotation of the hand-cranked cam, thereby achieving slices of a certain thickness. In addition, the freezing sectioning process will be affected by multiple factors such as the inclination angle of the blade, the parallelism of the slice, the slicing speed, the thickness of the slice and the temperature of the slice. It takes a certain period of training to quickly and skillfully cut out qualified slices. The operation of the existing freezing microtome has a strong reliance on experience and skill thresholds, which greatly restricts the acquisition of efficient and high-quality frozen tissue sections in the current biomedical research.

[0004] Therefore, the prior art has defects and deficiencies and needs further improvement and development. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a fully automatic cryosectioning device, which aims to solve the problem that the manual cryosectioning machine in the prior art cannot automatically adjust the cutting surface of the tissue block, and is prone to uneven force during the slicing process, resulting in uneven slice thickness.

[0006] The technical solution adopted by the present application to solve the technical problem is as follows: a fully automatic frozen section pasting device for tissue block pathological sectioning, which includes: A cabinet body, wherein the cabinet body is provided with a slicing end, a slicing cavity is provided in the slicing end, and the slicing cavity is communicated with the slicing end; A laser sensor device, which is arranged in the slicing cavity and is used to detect the flatness of the tissue block and obtain adjustment data; A clamping assembly, wherein the clamping assembly is arranged in the slicing cavity, the clamping assembly is spaced apart from the laser sensor device, and the clamping assembly comprises a clamping platform, a transverse axis angle adjustment member, a longitudinal axis angle adjustment member and a clamping body which are fixedly arranged in sequence from front to back; the clamping platform is used to clamp the tissue block; the transverse axis angle adjustment member is used to adjust the yaw angle ф of the tissue block, and the longitudinal axis angle adjustment member is used to adjust the pitch angle θ of the tissue block.

[0007] Optionally, the longitudinal axis angle adjustment member comprises: A longitudinal axis base, one end of which is fixedly arranged on the clamping body; the other end of which is provided with a longitudinal axis sliding arc surface; A longitudinal axis moving part, one end of which is slidably arranged on the longitudinal axis sliding arc surface, and the longitudinal axis moving part slides along the longitudinal axis sliding arc surface on the longitudinal axis base; the clamping body includes the base, a fine-motion feeding part and a vertical moving part, the fine-motion feeding part is fixedly arranged on the other end of the longitudinal axis base, the fine-motion feeding part is slidably connected with the vertical moving part, the vertical moving part is fixedly arranged on the base, and the base is arranged in the slicing cavity.

[0008] Optionally, a first driving member is disposed on the lower side of the longitudinal axis base, the first driving member is disposed with a first driving shaft, and the first driving shaft passes through the longitudinal axis base; The longitudinal axis moving member is provided with a longitudinal axis arc surface rack; A first driving thread is disposed on the first driving shaft, and the first driving thread is meshed with the longitudinal axis arc surface rack; The first driving member drives the first driving shaft to rotate, drives the first driving thread to rotate, drives the rack on the longitudinal axis moving member, and makes the longitudinal axis moving member slide up and down along the longitudinal axis sliding arc surface.

[0009] Optionally, the horizontal axis angle adjustment member includes: A transverse axis base, one end of which is fixedly arranged on the other end of the longitudinal axis moving member; the other end of the transverse axis base is provided with a transverse axis sliding arc surface; A transverse axis moving member, one end of which is fixedly arranged on the transverse axis sliding arc surface, and the transverse axis moving member slides on the transverse axis base along the transverse axis sliding arc surface; A pneumatic clamping platform is arranged on the other end of the transverse axis moving member, and is used for clamping tissue blocks.

[0010] Optionally, a second driving member is disposed on the lower side of the transverse axis base, the second driving member is disposed with a second driving shaft, and the second driving shaft passes through the transverse axis base; The transverse axis moving member is provided with a transverse axis arc surface rack; A second driving thread is provided on the second driving shaft, and the second driving thread is meshed with the horizontal axis arc surface rack; The second driving member drives the second driving shaft to rotate, drives the second driving thread to rotate, drives the rack on the transverse axis moving member, and makes the transverse axis moving member slide left and right along the transverse axis sliding arc surface.

[0011] Optionally, the fully automatic frozen section mounting device further includes an anti-rolling adsorption component, and the anti-rolling adsorption component includes the following components arranged in sequence from top to bottom: A blade fixing frame, wherein the laser sensor device is arranged on one side of the blade fixing frame; An anti-roll glass cover plate, the anti-roll glass cover plate is used to limit the outflow gap of the slice at the edge of the blade; An anti-rolling adsorption conveyor belt, wherein a blade is fixed at the end of the anti-rolling adsorption conveyor belt; A tool holder adjustment platform, wherein the tool holder adjustment platform is used to adjust the pitch angle of the blade; A coarse feeding device, the coarse feeding device is used to adjust the distance between the blade and the frozen tissue block; A movable blade changing device is arranged at a right angle to the coarse adjustment feeding device.

[0012] Optionally, the fully automatic frozen section mounting device further comprises: A loading robot arm, the loading robot arm is arranged on the slicing end, and the loading robot arm is arranged on one side of the slicing cavity; A loading platform, which is arranged at the front side of the loading robot arm; The loading platform comprises: A loading plate, wherein two diagonal fixing members are arranged on the loading plate, and the two diagonal fixing members are used to fix a sample plate; the sample plate is used to place a plurality of tissue blocks; A pushing motor, the feeding plate is arranged on the pushing motor, the pushing motor is fixedly arranged on the slicing end, and the pushing motor is located at the front side of the feeding mechanical arm; the pushing motor is used to drive the feeding table to move forward and backward; A multifunctional mechanical arm, the multifunctional mechanical arm is arranged on the slicing end, and the multifunctional mechanical arm is arranged on the other side of the slicing chamber; A material unloading platform, which is arranged at the front side of the multifunctional mechanical arm; The unloading platform comprises: A blanking plate, wherein two diagonal fixing plates are arranged on the blanking plate, and the two diagonal fixing plates are used to fix the glass slide plate; the glass slide plate is used to place the glass slide; A feeding motor, the feeding plate is arranged on the feeding motor, the feeding motor is fixedly arranged on the slicing end, and the feeding motor is located at the front side of the multifunctional mechanical arm; the feeding motor is used to drive the feeding plate to move forward and backward; The loading robot arm is used to clamp the tissue block on the sample plate, and the tissue block is sent into the pneumatic clamping table; the multifunctional robot arm is used to clamp the glass slide to perform the mounting operation of the tissue section.

[0013] Optionally, the fully automatic frozen section mounting device further comprises: A shell, the shell is fixedly arranged on the slicing end; a loading partition is provided on one side of the shell corresponding to the loading platform, and a tissue block loading port is provided on the loading partition; a unloading partition is provided on the top of the shell corresponding to the unloading platform, and a tissue block unloading port is provided on the front side of the unloading partition; a take-out window is provided on the front side of the shell corresponding to the slicing cavity; and side doors are provided on both the left and right sides of the shell; An automatic door is arranged above the slicing chamber and is used to reduce heat exchange between the slicing chamber and the outside world.

[0014] Optionally, the fully automatic frozen section mounting device further comprises: A panoramic camera, the panoramic camera is fixedly arranged on the top of the housing, and the panoramic camera is arranged facing the slice cavity; the panoramic camera is used to monitor the global environment of the fully automatic frozen slice patching device, and remotely monitor the operating status of the fully automatic frozen slice patching device in real time; A visual positioning initial inspection device, wherein the visual positioning initial inspection device is fixedly arranged on the top of the housing; the visual positioning initial inspection device; A visual re-inspection device, the visual re-inspection device is fixedly arranged on a side of the multifunctional mechanical arm close to the loading mechanical arm; the visual re-inspection device is used to distinguish qualified patches from unqualified patches on the glass slide after patching; A display screen is arranged on the front side of the housing and is used for human-computer interaction.

[0015] Optionally, the fully automatic frozen section patching equipment also includes: a control module, which is electrically connected to the laser sensor device, clamping assembly, loading robot arm, multifunctional robot arm, mobile blade changing device, pushing motor, unloading motor, panoramic camera, visual positioning initial inspection device, visual re-inspection device, automatic door and display screen; the control module is used to control the laser sensor device, clamping assembly, loading robot arm, multifunctional robot arm, mobile blade changing device, pushing motor, unloading motor, panoramic camera, visual positioning initial inspection device, visual re-inspection device, automatic door and display screen; the control module is also used for slice quantity statistics, patch quantity statistics, tool wear monitoring and temperature monitoring.

[0016] Compared with the prior art, the present application provides a fully automatic frozen section patching device, which detects the flatness of the tissue block through a laser sensor device and provides adjustment data, thereby avoiding the errors caused by manual angle adjustment of the traditional frozen section machine and significantly improving the uniformity of the slices. The horizontal axis angle adjustment member and the vertical axis angle adjustment member are used to respectively achieve precise adjustment of the pitch angle and the yaw angle, ensuring the matching of the cutting surface and the blade, thereby obtaining high-quality slices, and then achieving precise angle adjustment during the slicing process, ensuring that the tissue block is always maintained at the optimal slicing angle, thereby effectively improving the flatness and uniformity of the slices. This automated detection and adjustment function overcomes the high dependence of traditional frozen section equipment on the operator's experience and reduces the slicing quality problems caused by human errors. The efficiency and quality of the slicing operation are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the fully automatic frozen section mounting device provided in this application; Figure 2 It is a schematic diagram of the three-dimensional structure of the fully automatic frozen section patching device provided in the present application without the housing assembled; Figure 3 It is a three-dimensional structural schematic diagram of the fully automatic frozen section patching device provided in the present application from another perspective without the housing assembled; Figure 4 It is a three-dimensional structural schematic diagram of the clamping component and the anti-rolling adsorption component of the fully automatic frozen section mounting device provided in the present application; Figure 5 This application provides Figure 4 The enlarged schematic diagram of point A in the middle; Figure 6 It is a front view of the clamping assembly and the anti-rolling adsorption assembly of the fully automatic frozen section mounting device provided in the present application; Figure 7 This application provides Figure 6 A cross-sectional view along the Ⅰ-Ⅰ direction; Figure 8 It is a schematic block diagram of the functional principle of the fully automatic frozen section pasting equipment provided in this application.

[0018] Description of reference numerals: 10. Fully automatic cryosectioning device; 11. Cabinet body; 111. Slicing end; 1111. Slicing cavity; 12. Laser sensor device; 13. Clamping assembly; 131. Clamping table; 132. Horizontal axis angle adjustment member; 1321. Horizontal axis base; 1322. Horizontal axis moving member; 1324. Pneumatic clamping table; 1325. Second driving member; 1326. Second driving shaft; 1327. Horizontal axis sliding arc 133, longitudinal axis angle adjustment member; 1331, longitudinal axis base; 1332, longitudinal axis moving member; 1333, longitudinal axis sliding arc surface; 1334, first driving member; 1335, first driving shaft; 134, clamping body; 1341, base; 1342, micro-feeding member; 1343, vertical moving member; 14, anti-rolling adsorption assembly; 141, blade fixing frame; 142, anti-rolling glass cover; 143 , anti-rolling adsorption conveyor belt; 144, tool holder adjustment platform; 145, coarse feed device; 146, mobile blade changing device; 15, loading robot arm; 16, loading platform; 161, loading plate; 1611, diagonal fixing piece; 1612, sample plate; 162, pushing motor; 17, multi-functional robot arm; 18, unloading platform; 181, unloading plate; 1811, diagonal fixing plate; 1812, slide plate; 182. Unloading motor; 19. Casing; 191. Loading partition; 1911. Tissue block loading port; 192. Unloading partition; 1921. Tissue block unloading port; 193. Pick-up window; 194. Automatic door; 195. Panoramic camera; 196. Visual positioning initial inspection device; 197. Visual re-inspection device; 198. Control module; 199. Display screen; 1931. Side door; 1981. Temperature control module. DETAILED DESCRIPTION

[0019] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0020] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0021] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0022] Please refer to Figures 1 to 8The first embodiment of the present application provides a fully automatic frozen section patch device 10 for pathological sectioning of tissue blocks. The fully automatic frozen section patch device 10 includes a cabinet body 11, a laser sensor device 12, a clamping component 13, an anti-roll adsorption component 14, a loading robot arm 15, a multifunctional robot arm 17, a loading platform 16, a unloading platform 18, a shell 19, a panoramic camera 195, a visual positioning initial inspection device 196, a visual re-inspection device 197, a display screen 199 and a control module 198. These components work closely together and are coordinated and dispatched through the control module 198 to achieve automatic sectioning, patching and quality monitoring of tissue blocks. The cabinet body 11 is the structural basis of the entire device, and contains a sectioning cavity 1111 inside, which is used to perform sectioning and patching operations and provide a hardware installation platform for each module in the device. The sectioning cavity 1111 is connected to the outside, and the influence of the external environment on the temperature of the sectioning cavity 1111 is reduced through the automatic door 194 and the partition, so as to ensure the sectioning quality under freezing conditions. The loading robot arm 15 grabs the tissue block from the loading platform 16 and sends it to the clamping assembly 13 for slicing preparation. The tissue block on the loading platform 16 is accurately positioned by the pushing motor 162 to ensure the accuracy of the robot arm operation. The multifunctional robot arm 17 is responsible for placing the completed slide on the unloading platform 18. The slide plate 1812 on the unloading platform 18 that fixes the slide is adjusted in position by the unloading motor 182 to facilitate the operation of the robot arm. The laser sensor device 12 is located in the slicing cavity 1111. The laser sensor device 12 is used to detect its own reference surface and generate adjustment data relative to the flatness between the tissue blocks. The adjustment data will be transmitted to the clamping assembly 13 for further adjusting the cutting angle of the tissue block. The clamping assembly 13 is composed of a clamping platform 131, a horizontal axis angle adjustment member 132, a longitudinal axis angle adjustment member 133 and a clamping body 134. The clamping assembly 13 adjusts the yaw angle and pitch angle of the tissue block through the horizontal and vertical axis adjustment parts according to the flatness data fed back by the laser sensor device 12 to ensure that the cut surface of the tissue block is flat. The anti-roll adsorption assembly 14 includes a blade fixing frame 141, an anti-roll glass cover plate 142, an anti-roll adsorption conveyor belt 143, and a knife holder adjustment platform 144. The function of the anti-roll adsorption assembly 14 is to limit the blade outflow gap during the slicing process to prevent the slices from curling, and to convey the slices to the patch position flatly through the conveyor belt. The mobile blade changing device 146 cooperates with the coarse adjustment feeding device 145. The mobile blade changing device 146 is responsible for the automatic replacement and positioning of the blade, and at the same time drives the anti-roll adsorption assembly 14 to complete the slicing. The panoramic camera 195 is used for global environmental monitoring, and the visual positioning initial inspection device 196 and the visual re-inspection device 197 are used to detect the initial positioning of the tissue block and the quality of the slide after the patch. First, set the corresponding temperature parameters according to the type of tissue block to be sliced. The loading platform then moves to the loading position of the loading robot 15 to prepare to receive the tissue block sample. The loading platform 16 is equipped with a pushing motor 162 and a diagonal fixing member 1611 to ensure that the tissue block on the sample plate 1612 is in a stable position.The loading robot arm 15 clamps the tissue block sample and sends it to the clamping table 131 of the clamping assembly 13 in the slicing chamber 1111 for fixing. Before slicing, the mobile blade changing device 146 will drive the laser sensor device to detect the flatness of the tissue block fixed on the clamping table 131. Specifically, before slicing the tissue block, the laser sensor device detects the flatness relationship between the cutting plane of the blade and the plane to be cut of the tissue block. The detection result generates adjustment data and passes it to the longitudinal and transverse axis angle adjustment parts 132. The longitudinal axis angle adjustment part 133 is responsible for changing the pitch angle of the sample, while the transverse axis angle adjustment part 132 adjusts the yaw angle of the sample. These two adjustment parts work together to ensure that the sample surface is parallel to the cutting plane of the blade to ensure the thickness uniformity and cutting accuracy of the slice. Once the angle adjustment of the tissue block is completed, the mobile blade changing device 146 will drive the anti-roll adsorption component 14 to move to a position facing the tissue block. The anti-roll adsorption assembly 14 includes a blade fixing frame 141, an anti-roll glass cover 142, an anti-roll adsorption conveyor belt 143, a knife holder adjustment platform 144 and a coarse feed device 145. The coarse feed device 145 adjusts the distance between the blade and the tissue block, and drives the tissue block to move up and down relative to the blade through vertical movement to achieve the slicing operation. A trial cut adjustment can be performed first. After the formal slicing begins, the slice falls directly onto the anti-roll adsorption conveyor belt 143. The anti-roll adsorption conveyor belt 143 is provided with a multi-microporous structure, and a negative pressure device is connected inside. The slice is negatively adsorbed by the multi-microporous structure on the anti-roll adsorption conveyor belt 143, and the anti-roll glass cover 142 limits the outflow gap of the slice at the blade edge to ensure that the slice remains flat and avoids curling or deformation. After the slicing is completed, the multi-functional robotic arm 17 is responsible for transferring the slice from the adsorption conveyor belt to the slide on the unloading table 18. The diagonal fixing plate 1811 and the unloading motor 182 of the unloading table 18 stabilize the position of the slide plate 1812 to ensure the accuracy of the slicing and pasting process. The visual re-inspection device 197 performs quality inspection on the pasted slides and automatically distinguishes qualified products from unqualified products. Unqualified products will be marked or rejected, and qualified products will be taken out through the tissue block unloading port 1921 of the shell 19. The slicing, pasting, quality inspection, and sorting operations are performed successively until the tray is full or the chuck tissue blocks are exhausted and the cycle is jumped out. When the tray is full, the multifunctional robot arm 17 grabs the tray to the unloading table 18, and the unloading motor 182 drives the unloading table 18 to the tissue block unloading port 1921 to complete the unloading operation. In order to improve the automation and reliability of the equipment, the panoramic camera 195 and the visual positioning initial inspection device 196 are used to monitor the overall operating environment of the equipment and the position of the tissue block during the loading process. The display screen 199 provides a human-computer interaction interface to display the equipment operation status and operation prompts in real time. The design of the equipment housing 19 and the automatic door 194 effectively reduces the heat exchange between the slicing chamber 1111 and the outside world, maintains a stable low-temperature environment, and ensures the quality and efficiency of the slicing process.This realizes the fully automated operation of tissue block pathological sectioning, and can count the number of sections and patches, monitor the tool wear and the temperature of the sectioning chamber 1111, ensure that the blade can be used evenly to the maximum extent possible, and ensure that the blade can be replaced in time when it is blunt, thereby achieving the optimal sectioning effect and significantly improving the accuracy and efficiency of sectioning.

[0023] Please refer to Figures 1 to 3 In some embodiments, the fully automatic frozen section patching device 10 includes a cabinet body 11, a laser sensor device 12 and a clamping assembly 13; the cabinet body 11 is provided with a slicing end 111, and a slicing cavity 1111 is provided in the slicing end 111, and the slicing cavity 1111 is connected to the slicing end 111; the laser sensor device 12 is provided in the slicing cavity 1111, and the laser sensor device 12 is used to detect the flatness of the tissue block and obtain adjustment data; the clamping assembly 13 is provided Placed in the slicing chamber 1111, the clamping assembly 13 is spaced apart from the laser sensor device 12, and the clamping assembly 13 includes a clamping table 131, a horizontal axis angle adjustment member 132, a vertical axis angle adjustment member 133 and a clamping body 134 fixedly arranged from front to back; the clamping table 131 is used to clamp the tissue block; the horizontal axis angle adjustment member 132 is used to adjust the yaw angle ф of the tissue block, and the vertical axis angle adjustment member 133 is used to adjust the pitch angle θ of the tissue block. Thus, precise angle adjustment is achieved during the slicing process, ensuring that the tissue block is always kept at the optimal slicing angle, thereby effectively improving the flatness and uniformity of the slice. This automated detection and adjustment function overcomes the high dependence of traditional frozen slicing equipment on the operator's experience and reduces the slicing quality problems caused by human errors. Greatly improve the efficiency and quality of slicing operations.

[0024] Please refer to Figure 4 and Figure 5In some embodiments, the longitudinal axis angle adjustment member 133 includes a longitudinal axis base 1331 and a longitudinal axis moving member 1332; the longitudinal axis base 1331, one end of which is fixedly disposed on the clamping body 134; the other end of the longitudinal axis base 1331 is provided with a longitudinal axis sliding arc surface 1333; one end of the longitudinal axis moving member 1332 is slidably disposed on the longitudinal axis sliding arc surface 1333, and the longitudinal axis moving member 1332 is slidably disposed on the longitudinal axis base 133 1 slides along the longitudinal axis sliding arc surface 1333; the clamping body 134 includes the base 1341, the fine motion feeding member 1342 and the vertical moving member 1343, the fine motion feeding member 1342 is fixedly arranged with the other end of the longitudinal axis base 1331, the fine motion feeding member 1342 is slidably connected with the vertical moving member 1343, the vertical moving member 1343 is fixedly arranged on the base 1341, and the base 1341 is arranged in the slicing cavity 1111. Then, through the cooperation of the longitudinal axis sliding arc surface 1333 and the longitudinal axis moving member 1332, the adjustment of the tissue block in the pitch angle direction is more flexible and accurate, thereby ensuring that the contact between the cutting surface and the blade is more accurate, and significantly improving the flatness and consistency of the slices.

[0025] Please refer to Figure 4 and Figure 5 In some embodiments, a first driving member 1334 is provided on the lower side of the longitudinal axis base 1331, and the first driving member 1334 is provided with a first driving shaft 1335, and the first driving shaft 1335 penetrates the longitudinal axis base 1331; a longitudinal axis arc surface rack is provided on the longitudinal axis moving member 1332; a first driving thread is provided on the first driving shaft 1335, and the first driving thread is meshed with the longitudinal axis arc surface rack; wherein, the first driving member 1334 drives the first driving shaft 1335 to rotate, drives the first driving thread to rotate, drives the rack on the longitudinal axis moving member 1332, and makes the longitudinal axis moving member 1332 slide up and down along the longitudinal axis sliding arc surface 1333. Then, the first driving shaft 1335 drives the longitudinal axis arc surface rack to slide up and down, so as to achieve the height adjustment of the longitudinal axis moving member 1332. The stability and accuracy of the longitudinal axis moving part 1332 during the height adjustment process are ensured, the height error common in traditional manual adjustment is avoided, and the slicing device can be quickly adapted to different sample height requirements.

[0026] Please refer to Figure 4 and Figure 5In some embodiments, the transverse axis angle adjustment member 132 includes a transverse axis base 1321, a transverse axis moving member 1322 and a pneumatic clamping platform 1324; one end of the transverse axis base 1321 is fixedly arranged on the other end of the longitudinal axis moving member 1332; the other end of the transverse axis base 1321 is provided with a transverse axis sliding arc surface 1327; one end of the transverse axis moving member 1322 is fixedly arranged on the transverse axis sliding arc surface 1327, and the transverse axis moving member 1322 slides along the transverse axis sliding arc surface 1327 on the transverse axis base 1321; thereby making the adjustment of the tissue block in the yaw angle direction more flexible. Through the precise sliding of the transverse axis sliding arc surface 1327, it can ensure that the blade is in complete parallel contact with the surface of the tissue block, thereby avoiding the problem of uneven thickness of the slices caused by the deflection angle, and significantly improving the slice quality; the pneumatic clamping platform 1324 is arranged on the other end of the transverse axis moving member 1322, and the pneumatic clamping platform 1324 is used to clamp the tissue block. The transverse axis angle adjustment member 132 is composed of a transverse axis base 1321, a transverse axis sliding arc surface 1327 and a transverse axis moving member 1322. The yaw angle is adjusted by sliding, and a pneumatic clamping table 1324 is provided to clamp the tissue block. This provides a stable and uniform clamping force for the tissue block, which not only avoids the displacement problem of the tissue block during the slicing process, but also adapts to the needs of samples of different sizes and shapes, further enhancing the versatility of the device.

[0027] Please refer to Figures 4 to 7 In some embodiments, a second driving member 1325 is provided on the lower side of the transverse axis base 1321, and the second driving member 1325 is provided with a second driving shaft 1326, and the second driving shaft 1326 penetrates the transverse axis base 1321; a transverse axis arc surface rack is provided on the transverse axis moving member 1322; a second driving thread is provided on the second driving shaft 1326, and the second driving thread is meshed with the transverse axis arc surface rack; wherein, the second driving member 1325 drives the second driving shaft 1326 to rotate, drives the second driving thread to rotate, drives the rack on the transverse axis moving member 1322, and makes the transverse axis moving member 1322 slide left and right along the transverse axis sliding arc surface 1327. Then, through the meshing of the driving shaft and the arc surface rack, the transverse axis moving member 1322 can slide smoothly to a predetermined yaw angle, which not only improves the operating efficiency of the slicing device, but also reduces the error risk caused by human intervention during the slicing process.

[0028] Please refer to Figure 4In some embodiments, the fully automatic frozen section patch device 10 further includes an anti-roll adsorption component 14, which includes a blade fixing frame 141, an anti-roll glass cover 142, an anti-roll adsorption conveyor belt 143, a knife holder adjustment platform 144, a coarse adjustment feeding device 145 and a mobile blade changing device 146 arranged in sequence from top to bottom; the laser sensor device 12 is arranged on one side of the blade fixing frame 141; the anti-roll glass cover 142 is used to limit the outflow gap of the slice at the blade edge of the blade; a blade is fixed at the end of the anti-roll adsorption conveyor belt 143, thereby comparing with the traditional patch The anti-roll glass cover 142 needs to be opened before patching, and the glass cover needs to be closed after patching. The existing design is more efficient in the connection between slicing and patching processes; the multi-microporous structure of the anti-roll adsorption conveyor belt 143 makes the slices more flat; the tool holder adjustment platform 144 is used to adjust the pitch angle of the blade; the coarse feed device 145 is used to adjust the distance between the blade and the frozen tissue block; the mobile blade changing device 146 is set at a right angle to the coarse feed device 145, so that the blade can be quickly replaced, which not only reduces the equipment downtime, but also reduces the difficulty of maintenance. This effectively solves the problem of slice curling. The limiting structure of the slice outflow gap ensures the regular shape of the slice and avoids deformation of the slice during transportation.

[0029] Please refer to Figures 1 to 3In some embodiments, the fully automatic frozen section mounting device 10 further includes a loading robot arm 15, a loading platform 16, a multifunctional robot arm 17 and an unloading platform 18; specifically, the loading robot arm 15 is a six-axis collaborative robot arm with a clamp, and the loading robot arm 15 is also used to load the entire tray of slides to a specified position; the loading robot arm 15 is arranged on the slicing end 111, and the loading robot arm 15 is arranged on one side of the slicing cavity 1111; the loading platform 16 is arranged on the front side of the loading robot arm 15 The loading platform 16 includes a loading plate 161 and a pushing motor 162; the loading plate 161 is provided with two diagonal fixing members 1611, and the two diagonal fixing members 1611 are used to fix the sample plate 1612; the sample plate 1612 is used to place a number of tissue blocks; the loading plate 161 is arranged on the pushing motor 162, and the pushing motor 162 is fixedly arranged on the slicing end 111, and the pushing motor 162 is located at the front side of the loading robot arm 15; the pushing motor 162 is used to drive the loading plate 161 to rotate. The material plate 161 moves forward and backward; the multifunctional mechanical arm 17 is arranged on the slicing end 111, and the multifunctional mechanical arm 17 is arranged on the other side of the slicing chamber 1111; the unloading platform 18 is arranged on the front side of the multifunctional mechanical arm 17; the unloading platform 18 includes an unloading plate 181 and an unloading motor 182; two diagonal fixing plates 1811 are arranged on the unloading plate 181, and the two diagonal fixing plates 1811 are used to fix the slide plate 1812; the slide plate 1812 is used to place the slide; The unloading plate 181 is arranged on the unloading motor 182, and the unloading motor 182 is fixedly arranged on the slicing end 111, and the unloading motor 182 is located at the front side of the multifunctional mechanical arm 17; the unloading motor 182 is used to drive the unloading plate 181 to move forward and backward; wherein, the loading mechanical arm 15 is used to clamp the tissue block on the sample plate 1612, and the tissue block is sent into the pneumatic clamping table 1324; the multifunctional mechanical arm 17 is used to clamp the glass slide to perform the patch operation of the tissue section. In this way, the whole process of automated processing of the tissue block from loading, slicing, and patching is realized. Compared with traditional manual operation, this fully automated design significantly improves the working efficiency of the equipment, and also ensures high consistency and reliability of the slicing and patching process.

[0030] Please refer to Figures 1 to 3In some embodiments, the fully automatic frozen section mounting device 10 further includes a housing 19 and an automatic door 194, wherein the housing 19 is fixedly arranged on the section end 111; a loading partition 191 is provided on one side of the housing 19 corresponding to the loading platform 16, and a tissue block loading port 1911 is provided on the loading partition 191; a loading partition 192 is provided on the top of the unloading platform 18 corresponding to the housing 19, and a tissue block unloading port 1921 is provided on the front side of the unloading partition 192; a pickup window 193 is provided on the front side of the housing 19 corresponding to the section cavity 1111; side doors 1931 are provided on both the left and right sides of the housing 19, and the side doors 1931 can be used as maintenance passages; thereby, external pollutants can be isolated to ensure the cleanliness of tissue sections. The automatic door 194 is arranged above the section cavity 1111, and the automatic door 194 is used to reduce the heat exchange between the section cavity 1111 and the outside. This effectively isolates the slicing chamber 1111 from direct contact with the external environment, which not only reduces heat loss and energy consumption of the cooling system, but also improves the temperature stability in the slicing chamber 1111, thereby providing a good environment for slicing operations.

[0031] Please refer to Figures 1 to 3In some embodiments, the fully automatic frozen section patch equipment 10 also includes a panoramic camera 195, a visual positioning initial inspection device 196, a visual re-inspection device 197 and a display screen 199; the panoramic camera 195 is fixedly arranged on the top of the shell 19, and the panoramic camera 195 is arranged opposite to the slice cavity 1111; the panoramic camera 195 is used to monitor the global environment of the fully automatic frozen section patch equipment 10, and to remotely monitor the operation of the fully automatic frozen section patch equipment 10 in real time; the visual positioning initial inspection device 196 is fixedly arranged on the top of the shell; specifically, the visual positioning initial inspection device 196 includes an industrial camera and a light source, which is mainly used to identify and locate the tissue slices cut in the negative pressure adsorption component, and to perform preliminary identification, detection and screening of the tissue slices. The tissue slices that pass the initial inspection will be The multifunctional mechanical arm 17 performs the patching of tissue slices on the anti-rolling adsorption conveyor belt 143; the visual re-inspection device 197 is fixedly arranged on the side of the multifunctional mechanical arm 17 close to the loading mechanical arm 15; the visual re-inspection device 197 is used to distinguish qualified patches from unqualified patches on the glass slide after patching; specifically, the multifunctional mechanical arm 17 is a six-axis collaborative mechanical arm with a six-dimensional force sensor gripper, which can realize accurate force-position composite control and operation, the multifunctional mechanical arm 17 is mainly used to clamp the glass slide for the patching operation of tissue slices, and transport the glass slide after patching to the visual re-inspection device 197 for patch quality inspection, for qualified patches and unqualified patches, the multifunctional mechanical arm 17 further transports them, classifies and places them in different areas, and unloads the whole tray of glass slides after patching to the designated position. The display screen 199 is used for human-computer interaction, and the display screen 199 is arranged on the front side of the housing. In addition, a real-time global monitoring function is provided for the slicing equipment, so that the operator can intuitively observe the operating status of the equipment and the slicing operation process. This real-time monitoring design not only improves the visualization of operations, but also facilitates timely detection of abnormal conditions in equipment operation, ensuring the smooth progress of slicing operations.

[0032] In some embodiments, the unloading platform 18 is a single-axis mechanical module driven by a servo motor, and the unloading platform 18 is used to unload the entire tray of glass slides after pasting, as well as the entire tray of frozen tissue block remnants and sample holders after slicing; the loading platform 16 is a single-axis mechanical module driven by a servo motor, which is mainly used to load the entire tray of frozen tissue blocks fixed on the sample plate 1612 and the entire tray of glass slides.

[0033] Please refer to Figure 8In some embodiments, the fully automatic frozen slice patching device 10 further includes: a control module 198, the control module 198 is electrically connected to the laser sensor device 12, the clamping assembly 13, the loading robot arm 15, the multifunctional robot arm 17, the mobile blade changing device 146, the pushing motor 162, the unloading motor 182, the panoramic camera 195, the visual positioning initial inspection device 196, the visual re-inspection device 197 and the display screen 199; and then the control system manages the various modules of the device in a unified manner to ensure the efficiency and stability of the slice process. The control module 198 is used to control the laser sensor device 12, the clamping assembly 13, the loading robot arm 15, the multifunctional robot arm 17, the mobile blade changing device 146, the pushing motor 162, the unloading motor 182, the panoramic camera 195, the visual positioning initial inspection device 196, the visual re-inspection device 197 and the display screen 199; the control module 198 is also used for slice quantity statistics, patch quantity statistics, tool wear monitoring and temperature monitoring. This provides users with a convenient and intuitive operating interface. Through the display screen, users can view the operating status of the equipment in real time and quickly adjust key parameters, which significantly improves the operating efficiency of the equipment and user experience.

[0034] Please refer to Figure 8 In some embodiments, the fully automatic frozen section mounting device 10 is also provided with a temperature control module 1981, and the temperature control module 1981 is electrically connected to the control module 198, and the temperature control module 1981 is used to ensure that the interior of the whole machine is in a preset low temperature environment.

[0035] In some embodiments, the fully automatic frozen slice patching device 10 adopts a modular setting, and the fully automatic frozen slice patching device 10 is mainly divided into a mechanical system, a detection system, a control system, and a data management system. The fully automatic frozen slice patching device 10 includes a cabinet body 11, a laser sensor device 12, a clamping component 13, an anti-rolling adsorption component 14, a loading robot arm 15, a multifunctional robot arm 17, a loading platform 16, a unloading platform 18, a shell 19, a panoramic camera 195, a visual positioning initial inspection device 196, a visual re-inspection device 197, a display screen 199, and a control module 198; the mechanical system mainly includes a cabinet body 11, a clamping component 13, an anti-rolling adsorption component 14, a loading robot arm 15, a multifunctional robot arm 17, a loading platform 16, a unloading platform 18, a shell 19, etc. The detection system mainly includes a panoramic camera 195, a visual positioning initial inspection device 196, a visual re-inspection device 197, a laser sensor device 12, a temperature sensor, a photoelectric sensor, a magnetic switch, an encoder, etc. The control system uses the upper computer software as the top-level control system of the equipment to control each subsystem module. The subsystem modules mainly include IO signal input and output module, visual system control module 198, robot drive control module 198, servo motor drive control module 198, stepper motor drive control module 198, temperature control module 198, etc. The data management system mainly includes slice quantity statistics system, patch quantity statistics system, tool wear monitoring system, temperature monitoring system, etc.

[0036] In some embodiments, the mobile blade changing device 146 counts the number of slices during the slicing process through the control module 198. After reaching the life span of the blade slices preset by the system, it will automatically translate along the installation direction of the blade to ensure that the blade part used for the next slice is a new blade segment. This solves the problem of being unable to accurately determine whether the blade is affected by the sharpness of the blade after curling in traditional manual slicing, and the problem of having to rely on experience to determine when to change the blade. To a certain extent, it eliminates the factor of blade sharpness affecting the curling of slices.

[0037] In some embodiments, the anti-roll adsorption conveyor belt 143 has a width direction perpendicular to the conveying direction; in the width direction, the micropore distribution density on the anti-roll adsorption conveyor belt 143 is uniformly distributed; or, in the width direction, the micropore distribution density on the anti-roll adsorption conveyor belt 143 decreases from the middle to the two edges; or, the width direction of the conveyor belt is divided into several areas, and the micropore distribution density of each area is different. For example, the central area can be designed as a high-density microporous area to enhance the adsorption force and prevent the slices from curling; while the two side areas can be designed as low-density microporous areas to reduce friction and damage to the slices while maintaining a certain adsorption force; or, in the width direction of the conveyor belt, the micropore distribution density can first gradually decrease from the middle to one edge, and then suddenly increase to a certain density level at the other edge; thereby, while maintaining stable adsorption of the material, additional fixing or guiding functions of the material can be achieved through the high-density microporous area on one side; or, the micropore density is increased on the side where the slices are prone to curling, while maintaining a lower density on the other side, thereby enhancing the anti-curling effect of the anti-curling adsorption conveyor belt 143. The above schemes can be freely combined.

[0038] In some embodiments, the anti-roll adsorption conveyor belt 143 has a conveying stroke, and the conveying stroke has an anti-roll adsorption area and a patch unloading area. The anti-roll glass cover plate 142 is arranged on the anti-roll adsorption area, and the extension length ratio of the patch unloading area and the anti-roll adsorption area is 0.2-0.3, thereby enhancing the anti-curling effect of the anti-roll adsorption conveyor belt 143.

[0039] In some embodiments, the laser sensor device is mainly used to detect the flatness between the surface of the tissue block and the reference plane. The principle of the laser sensor device is to measure the height or distance of three points on the measured plane, and then calculate the flatness of the plane. The specific steps are as follows: First, three representative points are selected as measuring points on the plane to be measured, and these three points should be evenly distributed as far as possible to cover different areas of the entire plane. Specifically, the size of the incoming frozen tissue block is at least 5mm long × 10mm wide × 15mm high. In the plane area, it is equally divided into three areas, and the theoretical center point of each area is calculated as the measuring point of the area. For example: select a point P1 in the upper left area, select a point P2 on its right parallel to the horizontal axis, and select a point P3 below it parallel to the vertical axis. Then, use the laser transmitter inside the laser sensor device to emit a beam and return the received output height or distance value. The height or distance of the three points is measured respectively, and the measurement result of each point reflects the height difference of the point relative to the reference plane. Then, by calculating the measurement results of these three points, various flatness indicators can be calculated, such as the peak value, root mean square value and standard deviation of the peak. These indicators reflect the overall deviation and fluctuation of flatness. If the deviation is within the set range, specifically, the flatness tolerance is -0.05mm~+0.05mm, then the flatness meets the requirements and can be sliced. Subsequently, if the deviation is greater than the set range, the installation angle of the tissue block needs to be adjusted. Finally, the pitch angle θ that needs to be adjusted is calculated based on the height difference in the horizontal axis direction, and the yaw angle ф is calculated based on the height difference in the vertical axis direction, and the corresponding motor is controlled to rotate the corresponding angle until the plane deviation is within the set range. Taking the horizontal axis direction as an example, assuming that the distance between P1 and P2 in the horizontal axis direction is Δx, and the height difference between the two points is Δh1, then . Similarly, the yaw angle ф in the longitudinal direction can be calculated.

[0040] In summary, the present application provides a fully automatic frozen slice patch device, which includes: a cabinet body, the cabinet body is provided with a slice end, the slice end is provided with a slice cavity, and the slice cavity is connected to the slice end; a laser sensor device, the laser sensor device is arranged in the slice cavity, and the laser sensor device is used to detect the flatness of the tissue block and obtain adjustment data; a clamping component, the clamping component is arranged in the slice cavity, the clamping component and the laser sensor device are arranged at intervals, the clamping component includes a clamping table, a horizontal axis angle adjustment member, a vertical axis angle adjustment member and a clamping body that are fixedly arranged from front to back; the clamping table is used to clamp the tissue block; the horizontal axis angle adjustment member is used to adjust the yaw angle ф of the tissue block, and the vertical axis angle adjustment member is used to adjust the pitch angle θ of the tissue block. In this way, precise angle adjustment is achieved during the slicing process, ensuring that the tissue block is always kept at the optimal slicing angle, thereby effectively improving the flatness and uniformity of the slice. This automatic detection and adjustment function overcomes the high reliance of traditional cryosectioning equipment on operator experience, reduces the quality problems of slicing caused by human errors, and greatly improves the efficiency and quality of slicing operations.

[0041] It should be understood that the application of the present application is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to this application.

Claims

1. A fully automatic frozen section mounting device for tissue block pathological sectioning, characterized in that: The fully automatic frozen section mounting device comprises: A cabinet body, wherein the cabinet body is provided with a slicing end, a slicing cavity is provided in the slicing end, and the slicing cavity is communicated with the slicing end; A laser sensor device, which is arranged in the slicing cavity and is used to detect the flatness of the tissue block and obtain adjustment data; A clamping assembly, wherein the clamping assembly is arranged in the slicing cavity, the clamping assembly is spaced apart from the laser sensor device, and the clamping assembly comprises a clamping platform, a transverse axis angle adjustment member, a longitudinal axis angle adjustment member and a clamping body which are fixedly arranged in sequence from front to back; the clamping platform is used to clamp the tissue block; the transverse axis angle adjustment member is used to adjust the yaw angle ф of the tissue block, and the longitudinal axis angle adjustment member is used to adjust the pitch angle θ of the tissue block.

2. The fully automatic frozen section mounting device according to claim 1, characterized in that: The longitudinal axis angle adjustment member comprises: A longitudinal axis base, one end of which is fixedly arranged on the clamping body; the other end of which is provided with a longitudinal axis sliding arc surface; A longitudinal axis moving part, one end of which is slidably arranged on the longitudinal axis sliding arc surface, and the longitudinal axis moving part slides along the longitudinal axis sliding arc surface on the longitudinal axis base; the clamping body includes the base, a fine-motion feeding part and a vertical moving part, the fine-motion feeding part is fixedly arranged on the other end of the longitudinal axis base, the fine-motion feeding part is slidably connected with the vertical moving part, the vertical moving part is fixedly arranged on the base, and the base is arranged in the slicing cavity.

3. The fully automatic frozen section mounting device according to claim 2, characterized in that: A first driving member is disposed on the lower side of the longitudinal axis base, the first driving member is disposed with a first driving shaft, and the first driving shaft passes through the longitudinal axis base; The longitudinal axis moving member is provided with a longitudinal axis arc surface rack; A first driving thread is disposed on the first driving shaft, and the first driving thread is meshed with the longitudinal axis arc surface rack; The first driving member drives the first driving shaft to rotate, drives the first driving thread to rotate, drives the rack on the longitudinal axis moving member, and makes the longitudinal axis moving member slide up and down along the longitudinal axis sliding arc surface.

4. The fully automatic frozen section mounting device according to claim 2, characterized in that: The horizontal axis angle adjustment member comprises: A transverse axis base, one end of which is fixedly arranged on the other end of the longitudinal axis moving member; the other end of the transverse axis base is provided with a transverse axis sliding arc surface; A transverse axis moving member, one end of which is fixedly arranged on the transverse axis sliding arc surface, and the transverse axis moving member slides on the transverse axis base along the transverse axis sliding arc surface; A pneumatic clamping platform is arranged on the other end of the transverse axis moving member, and is used for clamping tissue blocks.

5. The fully automatic frozen section mounting device according to claim 4, characterized in that: A second driving member is disposed on the lower side of the transverse axis base, the second driving member is disposed with a second driving shaft, and the second driving shaft passes through the transverse axis base; The transverse axis moving member is provided with a transverse axis arc surface rack; A second driving thread is provided on the second driving shaft, and the second driving thread is meshed with the horizontal axis arc surface rack; The second driving member drives the second driving shaft to rotate, drives the second driving thread to rotate, drives the rack on the transverse axis moving member, and makes the transverse axis moving member slide left and right along the transverse axis sliding arc surface.

6. The fully automatic frozen section mounting device according to claim 2, characterized in that: The fully automatic frozen section mounting device further includes an anti-rolling adsorption component, which includes the following components arranged in order from top to bottom: A blade fixing frame, wherein the laser sensor device is arranged on one side of the blade fixing frame; An anti-roll glass cover plate, the anti-roll glass cover plate is used to limit the outflow gap of the slice at the edge of the blade; An anti-rolling adsorption conveyor belt, wherein a blade is fixed at the end of the anti-rolling adsorption conveyor belt; A tool holder adjustment platform, wherein the tool holder adjustment platform is used to adjust the pitch angle of the blade; A coarse feeding device, the coarse feeding device is used to adjust the distance between the blade and the frozen tissue block; A movable blade changing device is arranged at a right angle to the coarse adjustment feeding device.

7. The fully automatic frozen section mounting device according to claim 4, characterized in that: The fully automatic frozen section mounting device also includes: A loading robot arm, the loading robot arm is arranged on the slicing end, and the loading robot arm is arranged on one side of the slicing cavity; A loading platform, which is arranged at the front side of the loading robot arm; The loading platform comprises: A loading plate, wherein two diagonal fixing members are arranged on the loading plate, and the two diagonal fixing members are used to fix a sample plate; the sample plate is used to place a plurality of tissue blocks; A pushing motor, the feeding plate is arranged on the pushing motor, the pushing motor is fixedly arranged on the slicing end, and the pushing motor is located at the front side of the feeding mechanical arm; the pushing motor is used to drive the feeding table to move forward and backward; A multifunctional mechanical arm, the multifunctional mechanical arm is arranged on the slicing end, and the multifunctional mechanical arm is arranged on the other side of the slicing cavity; A material unloading platform, which is arranged at the front side of the multifunctional mechanical arm; The unloading platform comprises: A blanking plate, wherein two diagonal fixing plates are arranged on the blanking plate, and the two diagonal fixing plates are used to fix the glass slide plate; the glass slide plate is used to place the glass slide; A feeding motor, the feeding plate is arranged on the feeding motor, the feeding motor is fixedly arranged on the slicing end, and the feeding motor is located at the front side of the multifunctional mechanical arm; the feeding motor is used to drive the feeding plate to move forward and backward; The loading robot arm is used to clamp the tissue block on the sample plate, and the tissue block is sent into the pneumatic clamping table; the multifunctional robot arm is used to clamp the glass slide to perform the patch operation of the tissue section.

8. The fully automatic frozen section mounting device according to claim 7, characterized in that: The fully automatic frozen section mounting device also includes: A shell, the shell is fixedly arranged on the slicing end; a loading partition is provided on one side of the shell corresponding to the loading platform, and a tissue block loading port is provided on the loading partition; a unloading partition is provided on the top of the shell corresponding to the unloading platform, and a tissue block unloading port is provided on the front side of the unloading partition; a take-out window is provided on the front side of the shell corresponding to the slicing cavity; and side doors are provided on both the left and right sides of the shell; An automatic door is arranged above the slicing chamber and is used to reduce heat exchange between the slicing chamber and the outside world.

9. The fully automatic frozen section mounting device according to claim 8, characterized in that: The fully automatic frozen section mounting device also includes: A panoramic camera, the panoramic camera is fixedly arranged on the top of the housing, and the panoramic camera is arranged facing the slice cavity; the panoramic camera is used to monitor the global environment of the fully automatic frozen slice patching device, and remotely monitor the operating status of the fully automatic frozen slice patching device in real time; A visual positioning initial inspection device, wherein the visual positioning initial inspection device is fixedly arranged on the top of the housing; the visual positioning initial inspection device; A visual re-inspection device, the visual re-inspection device is fixedly arranged on a side of the multifunctional mechanical arm close to the loading mechanical arm; the visual re-inspection device is used to distinguish qualified patches from unqualified patches on the glass slide after patching; A display screen is arranged on the front side of the housing and is used for human-computer interaction.

10. The fully automatic frozen section mounting device according to claim 9, characterized in that: The fully automatic frozen section patching equipment also includes: a control module, which is electrically connected to the laser sensor device, the clamping assembly, the loading robot arm, the multifunctional robot arm, the mobile blade changing device, the pushing motor, the unloading motor, the panoramic camera, the visual positioning initial inspection device, the visual re-inspection device, the automatic door and the display screen; the control module is used to control the laser sensor device, the clamping assembly, the loading robot arm, the multifunctional robot arm, the mobile blade changing device, the pushing motor, the unloading motor, the panoramic camera, the visual positioning initial inspection device, the visual re-inspection device, the automatic door and the display screen; the control module is also used for slice quantity statistics, patch quantity statistics, tool wear monitoring and temperature monitoring.

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