A fully automatic frozen section patching apparatus

Abstract

The application relates to the technical field of medical equipment, and particularly provides a full-automatic frozen section patching device, which comprises a cabinet body, a section end, a section cavity, a laser sensing device and a clamping assembly. The section end is provided with the section cavity which is in communication with the section end. The laser sensing device is arranged in the section cavity and is used for detecting the flatness of a tissue block to obtain adjustment data. The clamping assembly is arranged in the section cavity and is arranged at intervals with the laser sensing device. The clamping assembly comprises a clamping table, a horizontal shaft angle adjusting part, a vertical shaft angle adjusting part and a clamping body which are sequentially and fixedly arranged from front to back. The full-automatic frozen section patching device realizes accurate angle adjustment in the section process, ensures that the tissue block is always kept at an optimal section angle, reduces section quality problems caused by human errors, and greatly improves the efficiency and quality of section operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a full-automatic frozen section patching equipment. BACKGROUND

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

[0003] The frozen section is obtained by a frozen section machine. At present, the existing frozen section machine is usually operated in a manual manner. The operator needs to manually load the sample. When loading the sample for the first time, the operator needs to manually adjust the angle of the knife holder or the angle of the clamping head to make them approach parallel. When slicing, the operator realizes the reciprocating motion of the frozen tissue block clamping head relative to the fixed knife holder by manually rotating the cam. During this process, the frozen tissue block clamping head will advance a certain distance for each rotation of the cam, thereby realizing slicing of a certain thickness. In addition, the frozen section process is affected by multiple factors such as the angle of the knife, the parallelism of the section, the slicing speed, the section thickness, and the section temperature. It takes a certain period of training to quickly and skillfully cut qualified sections. The operation of the existing frozen section machine has a strong experience and skill threshold dependence, which greatly restricts the acquisition of high-efficiency and high-quality frozen tissue sections in the current biomedical research.

[0004] Therefore, the existing technology has defects and deficiencies, and needs to be further improved and developed. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the present application is to provide a full-automatic frozen section patching equipment, which aims to solve the problem that the manual frozen section machine in the prior art cannot automatically adjust the cutting surface of the tissue block, and the slicing process is prone to uneven force, resulting in uneven thickness of the section.

[0006] The technical scheme adopted by the present application to solve the technical problems is as follows: a full-automatic frozen section patching equipment for tissue block pathological section, comprising:

[0007] A cabinet body is provided with a section end, a section cavity is arranged in the section end, and the section cavity is in communication with the section end;

[0008] A laser sensing device is arranged in the slicing cavity, and is used to detect the flatness of the tissue block to obtain adjustment data.

[0009] A clamping assembly is arranged in the slicing cavity, and is arranged in a spaced manner with the laser sensing device. The clamping assembly comprises, from front to back, a clamping table, a horizontal shaft angle adjusting member, a vertical shaft angle adjusting member and a clamping body. The clamping table is used to clamp the tissue block. The horizontal shaft angle adjusting member is used to adjust the yaw angle of the tissue block. The vertical shaft angle adjusting member is used to adjust the pitch angle of the tissue block.

[0010] Optionally, the vertical shaft angle adjusting member comprises:

[0011] A vertical shaft base is fixedly arranged at one end of the clamping body. The other end of the vertical shaft base is provided with a vertical shaft sliding camber.

[0012] A vertical shaft moving member is slidingly arranged at one end of the vertical shaft sliding camber. The vertical shaft moving member slides along the vertical shaft sliding camber on the vertical shaft base. The clamping body comprises a base, a micro-motion feeding member and a vertical moving member. The micro-motion feeding member is fixedly arranged at the other end of the vertical shaft base. The micro-motion feeding member is slidingly connected with the vertical moving member. The vertical moving member is fixedly arranged on the base. The base is arranged in the slicing cavity.

[0013] Optionally, the lower side of the vertical shaft base is provided with a first driving member. The first driving member is provided with a first driving shaft. The first driving shaft penetrates the vertical shaft base.

[0014] The vertical shaft moving member is provided with a vertical shaft cambered rack.

[0015] A first driving thread is annularly arranged on the first driving shaft. The first driving thread is engaged with the vertical shaft cambered rack.

[0016] The first driving member drives the first driving shaft to rotate, drives the first driving thread to rotate, drives the rack on the vertical shaft moving member, and makes the vertical shaft moving member slide up and down along the vertical shaft sliding camber.

[0017] Optionally, the horizontal shaft angle adjusting member comprises:

[0018] A horizontal shaft base is fixedly arranged at one end of the other end of the vertical shaft moving member. The other end of the horizontal shaft base is provided with a horizontal shaft sliding camber.

[0019] A horizontal shaft moving piece is fixedly arranged at one end of the horizontal shaft sliding camber, and slides on the horizontal shaft base along the horizontal shaft sliding camber;

[0020] A pneumatic clamping table is arranged at the other end of the horizontal shaft moving piece, and is used for clamping a tissue block.

[0021] Optionally, the lower side of the horizontal shaft base is provided with a second driving piece, and the second driving piece is provided with a second driving shaft penetrating through the horizontal shaft base;

[0022] A horizontal shaft camber rack is arranged on the horizontal shaft moving piece;

[0023] A second driving thread is arranged on the second driving shaft in a ring shape, and the second driving thread is engaged with the horizontal shaft camber rack;

[0024] The second driving piece drives the second driving shaft to rotate, drives the second driving thread to rotate, drives the rack on the horizontal shaft moving piece, and drives the horizontal shaft moving piece to slide left and right along the horizontal shaft sliding camber.

[0025] Optionally, the full-automatic frozen section patching device further comprises an anti-winding adsorption assembly, and the anti-winding adsorption assembly comprises, from top to bottom, in sequence:

[0026] A blade fixing frame, and the laser sensing device is arranged on one side of the blade fixing frame;

[0027] An anti-winding glass cover plate, which is used for limiting the outflow gap of the section at the cutting edge of the blade;

[0028] An anti-winding adsorption conveyor belt, and the end of the anti-winding adsorption conveyor belt is fixed with a blade;

[0029] A knife holder adjusting platform, which is used for adjusting the pitch angle of the blade;

[0030] A coarse adjustment feeding device, which is used for adjusting the distance between the blade and the frozen tissue block;

[0031] A moving blade changing device, which is arranged at a right angle with the coarse adjustment feeding device.

[0032] Optionally, the full-automatic frozen section patching device further comprises:

[0033] A feeding mechanical arm, which is arranged on the section end and on one side of the section cavity;

[0034] A feeding table, which is arranged on the front side of the feeding mechanical arm;

[0035] The feeding table comprises:

[0036] A feeding plate is provided with two diagonal fixing pieces for fixing a sample plate; the sample plate is used for placing a plurality of tissue blocks;

[0037] A feeding motor is provided on the feeding plate, and the feeding motor is fixedly arranged on the slicing end and located at the front side of the feeding mechanical arm; the feeding motor is used to drive the feeding table to move forward and backward;

[0038] A multifunctional mechanical arm is arranged on the slicing end and arranged on the other side of the slicing cavity;

[0039] A discharging table is arranged at the front side of the multifunctional mechanical arm;

[0040] The discharging table comprises:

[0041] A discharging plate is provided with two diagonal fixing plates for fixing a slide plate; the slide plate is used for placing a slide;

[0042] A discharging motor is arranged on the discharging plate, and the discharging motor is fixedly arranged on the slicing end and located at the front side of the multifunctional mechanical arm; the discharging motor is used to drive the discharging plate to move forward and backward;

[0043] The feeding mechanical arm is used to clamp the tissue blocks on the sample plate, and the tissue blocks are sent into the pneumatic clamping table; the multifunctional mechanical arm is used to clamp the slide for tissue slicing and slide operation.

[0044] Optionally, the full-automatic frozen section slide device further comprises:

[0045] An outer shell is fixedly arranged on the slicing end; an upper feeding partition is arranged on one side of the feeding table, and the upper feeding partition is provided with a tissue block feeding port; a lower discharging partition is arranged on the top of the discharging table, and the front side of the lower discharging partition is provided with a tissue block discharging port; a taking window is arranged on the front side of the slicing cavity; side doors are arranged on the left and right sides of the outer shell;

[0046] An automatic door is arranged above the slicing cavity, and the automatic door is used to reduce heat exchange between the slicing cavity and the outside world.

[0047] Optionally, the full-automatic frozen section slide device further comprises:

[0048] A panoramic camera is fixedly arranged on the top of the shell and faces the slice cavity. The panoramic camera is used for monitoring the global environment of the full-automatic frozen slice mounting device and remotely monitoring the running state of the full-automatic frozen slice mounting device in real time.

[0049] A visual positioning preliminary inspection device is fixedly arranged on the top of the shell. The visual positioning preliminary inspection device is used for

[0050] A visual re-inspection device is fixedly arranged on one side of the multifunctional mechanical arm close to the feeding mechanical arm. The visual re-inspection device is used for distinguishing qualified slices from unqualified slices after mounting.

[0051] A display screen is arranged on the front side of the shell. The display screen is used for human-computer interaction.

[0052] Optionally, the full-automatic frozen slice mounting device further comprises a control module electrically connected with the laser sensing device, the clamping assembly, the feeding mechanical arm, the multifunctional mechanical arm, the moving blade changing device, the pushing motor, the discharging motor, the panoramic camera, the visual positioning preliminary inspection device, the visual re-inspection device, the automatic door and the display screen. The control module is used for controlling the laser sensing device, the clamping assembly, the feeding mechanical arm, the multifunctional mechanical arm, the moving blade changing device, the pushing motor, the discharging motor, the panoramic camera, the visual positioning preliminary inspection device, the visual re-inspection device, the automatic door and the display screen. The control module is also used for slice quantity statistics, slice mounting quantity statistics, tool wear monitoring and temperature monitoring.

[0053] Compared with the prior art, the full-automatic frozen slice mounting device provided by the application detects the flatness of the tissue block through a laser sensing device and provides adjustment data, avoids errors caused by manual adjustment of the angle of a traditional frozen slice machine, and significantly improves the uniformity of the slices. The horizontal axis angle adjusting member and the vertical axis angle adjusting member are respectively used for accurately adjusting the pitch angle and the yaw angle, ensuring the matching of the cutting surface and the blade, so that high-quality slices are obtained, and accurate angle adjustment during the slicing process is realized, so that the tissue block always maintains the best slicing angle, thereby effectively improving the flatness and uniformity of the slices. This automatic detection and adjustment function overcomes the high dependence of traditional frozen slice equipment on the experience of operators and reduces the slicing quality problems caused by human errors. The efficiency and quality of the slicing operation are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 is a perspective structural schematic view of the full-automatic frozen slice mounting device provided in the application;

[0055] Figure 2 is a perspective view of the automatic frozen section patching device without the shell assembled in the present application;

[0056] Figure 3 is another perspective view of the automatic frozen section patching device without the shell assembled in the present application;

[0057] Figure 4 is a perspective view of the clamping assembly and the anti-winding adsorption assembly of the automatic frozen section patching device in the present application;

[0058] Figure 5 is a perspective view of the automatic frozen section patching device in the present application; Figure 4 is an enlarged view of A in the above figure;

[0059] Figure 6 is a front view of the clamping assembly and the anti-winding adsorption assembly of the automatic frozen section patching device in the present application;

[0060] Figure 7 is a perspective view of the automatic frozen section patching device in the present application; Figure 6 is a sectional view along the direction I-I in the above figure;

[0061] Figure 8 is a schematic block diagram of the functional principle of the automatic frozen section patching device in the present application.

[0062] Explanation of reference signs:

[0063] 10, Automatic frozen section patching equipment; 11, Cabinet body; 111, Section end; 1111, Section cavity; 12, Laser sensing device; 13, Clamping assembly; 131, Clamping table; 132, Horizontal axis angle adjusting piece; 1321, Horizontal axis base; 1322, Horizontal axis moving piece; 1324, Pneumatic clamping table; 1325, Second driving piece; 1326, Second driving shaft; 1327, Horizontal axis sliding camber surface; 133, Vertical axis angle adjusting piece; 1331, Vertical axis base; 1332, Vertical axis moving piece; 1333, Vertical axis sliding camber surface; 1334, First driving piece; 1335, First driving shaft; 134, Clamping body; 1341, Base; 1342, Micro-motion feeding piece; 1343, Vertical moving piece; 14, Anti-winding adsorption assembly; 141, Blade fixing frame; 142, Anti-winding glass cover plate; 143, Anti-winding adsorption conveyor belt; 144, Blade adjusting platform; 145, Coarse adjustment feeding device; 146, Moving blade changing device; 15, Feeding mechanical arm; 16, Feeding table; 161, Feeding plate; 1611, Diagonal fixing piece; 1612, Sample plate; 162, Feeding motor; 17, Multifunctional mechanical arm; 18, Discharging table; 181, Discharging plate; 1811, Diagonal fixing plate; 1812, Slide glass plate; 182, Discharging motor; 19, Shell; 191, Feeding partition; 1911, Tissue block feeding port; 192, Discharging partition; 1921, Tissue block discharging port; 193, Taking window; 194, Automatic door; 195, Panoramic camera; 196, Visual positioning preliminary inspection device; 197, Visual re-inspection device; 198, Control module; 199, Display screen; 1931, Side door; 1981, Temperature control module. DETAILED DESCRIPTION

[0064] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the present application, and cannot be understood as limiting the present application.

[0065] 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 orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 the indicated technical features. Therefore, 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.

[0066] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0067] Please refer to Figures 1 to 8The first embodiment of the present application provides a full-automatic frozen section mounting device 10 for tissue block pathological sectioning, which comprises a cabinet body 11, a laser sensing device 12, a clamping assembly 13, an anti-winding adsorption assembly 14, a feeding mechanical arm 15, a multifunctional mechanical arm 17, a feeding table 16, a discharging table 18, an outer shell 19, a panoramic camera 195, a visual positioning preliminary inspection device 196, a visual re-inspection device 197, a display screen 199 and a control module 198. These components closely cooperate and are collaboratively scheduled by the control module 198 to realize automatic sectioning, mounting and quality monitoring of the tissue block. The cabinet body 11 is the structural basis of the entire device, and internally contains a sectioning cavity 1111 for performing sectioning and mounting operations and providing a hardware installation platform for each module in the device. The sectioning cavity 1111 is connected to the outside, and the automatic door 194 and the partition are used to reduce the influence of the external environment on the temperature of the sectioning cavity 1111, thereby ensuring the sectioning quality under the frozen condition. The feeding mechanical arm 15 clamps the tissue block from the feeding table 16 and sends it to the clamping assembly 13 for sectioning preparation. The tissue block on the feeding table 16 is accurately positioned by the feeding motor 162 to ensure the accuracy of the operation of the mechanical arm. The multifunctional mechanical arm 17 is responsible for placing the completed glass slide on the discharging table 18. The glass slide plate 1812 on which the glass slide is fixed on the discharging table 18 is adjusted in position by the discharging motor 182 to facilitate the operation of the mechanical arm. The laser sensing device 12 is located in the sectioning cavity 1111, and the laser sensing device 12 is used to detect its reference surface and the flatness between the tissue blocks to generate adjustment data. The adjustment data will be transmitted to the clamping assembly 13 for further adjustment of the cutting angle of the tissue block. The clamping assembly 13 is composed of a clamping table 131, a horizontal shaft angle adjusting part 132, a vertical shaft angle adjusting part 133 and a clamping body 134. According to the flatness data fed back by the laser sensing device 12, the clamping assembly 13 adjusts the yaw angle and the pitch angle of the tissue block through the horizontal shaft and the vertical shaft adjusting parts respectively to ensure the flatness of the cutting surface of the tissue block. The anti-winding adsorption assembly 14 comprises a blade fixing frame 141, an anti-winding glass cover plate 142, an anti-winding adsorption conveyor belt 143 and a blade adjusting platform 144. The function of the anti-winding adsorption assembly 14 is to limit the gap of the blade during sectioning to prevent the sectioning from curling, and to transfer the flat section to the mounting position through the conveyor belt. The moving blade changing device 146 cooperates with the coarse feed adjusting device 145, and the moving blade changing device 146 is responsible for the automatic replacement and positioning of the blade, and at the same time drives the anti-winding adsorption assembly 14 to complete the sectioning. The panoramic camera 195 is used for global environment monitoring, and the visual positioning preliminary inspection device 196 and the visual re-inspection device 197 are used for detecting the initial positioning of the tissue block and the quality of the mounted glass slide. First, according to the type of the tissue block to be sectioned, the corresponding temperature parameters are set. The feeding platform is then moved to the feeding position of the feeding mechanical arm 15 to prepare to receive the tissue block sample. The feeding table 16 is equipped with a feeding motor 162 and a diagonal fixing part 1611 to ensure the stability of the position of the tissue block on the sample plate 1612.The loading mechanical arm 15 clamps the tissue block sample and sends it to the clamping table 131 of the clamping assembly 13 in the slicing cavity 1111 for fixation. Before slicing, the moving blade changing device 146 drives the laser sensing device to detect the flatness of the tissue block fixed on the clamping table 131. Specifically, before slicing the tissue block, the laser sensing 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, which is transmitted to the longitudinal axis and transverse axis angle adjusting members 132. The longitudinal axis angle adjusting member 133 is responsible for changing the pitch angle of the sample, and the transverse axis angle adjusting member 132 adjusts the yaw angle of the sample. The two adjusting members work together to ensure that the sample surface is parallel to the cutting plane of the blade, to ensure the uniformity of the slice thickness and the cutting accuracy. Once the angle adjustment of the tissue block is completed, the moving blade changing device 146 drives the anti-winding adsorption assembly 14 to move to the position directly opposite the tissue block. The anti-winding adsorption assembly 14 includes a blade fixing frame 141, an anti-winding glass cover plate 142, an anti-winding adsorption conveyor belt 143, a blade adjusting platform 144, and a coarse adjustment feeding device 145. The coarse adjustment feeding device 145 adjusts the distance between the blade and the tissue block, and realizes the slicing operation by driving the tissue block to make up-down reciprocating motion relative to the blade through vertical motion. The trial cutting adjustment can be performed first, and after the formal slicing starts, the slice directly falls onto the anti-winding adsorption conveyor belt 143, which is provided with a multi-micropore structure and is connected with a negative pressure device inside. The slice is adsorbed by the multi-micropore structure negative pressure on the anti-winding adsorption conveyor belt 143, and the anti-winding glass cover plate 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 slicing is completed, the multifunctional mechanical arm 17 is responsible for transferring the slice from the adsorption conveyor belt to the glass slide on the unloading table 18. The diagonal fixed plate 1811 of the unloading table 18 and the unloading motor 182 stabilize the position of the glass slide plate 1812 to ensure the accuracy of the slice pasting process. The visual re-inspection device 197 checks the quality of the pasted glass slide and automatically distinguishes between qualified and unqualified products. The unqualified products will be marked or rejected, and the qualified products will be taken out through the tissue block unloading port 1921 of the shell 19. The successive slicing, pasting, quality inspection, and sorting operations are performed until the tray is fully loaded or the clamping head tissue block is exhausted, and the cycle is exited. When the tray is fully loaded, the multifunctional mechanical arm 17 grabs the tray to the unloading table 18, and the unloading motor 182 drives the unloading table 18 into the tissue block unloading port 1921, completing the unloading operation. To improve the automation and reliability of the equipment, the panoramic camera 195 and the visual positioning preliminary 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-machine interaction interface, which displays the equipment operating status and operation prompts in real time. The design of the equipment shell 19 and the automatic door 194 effectively reduces the heat exchange between the slicing cavity 1111 and the outside world, maintains the stability of the 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 slices and patches, monitor the tool wear and the temperature of the slicing 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 best slicing effect and significantly improving the accuracy and efficiency of slicing.

[0068] 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 communicated with 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 Positioned within the slicing chamber 1111, the clamping assembly 13 is spaced apart from the laser sensor device 12. The clamping assembly 13 comprises, fixedly arranged from front to back, a clamping platform 131, a transverse angle adjustment member 132, a longitudinal angle adjustment member 133, and a clamping body 134. The clamping platform 131 is used to clamp the tissue block; the transverse angle adjustment member 132 is used to adjust the yaw angle φ of the tissue block, and the longitudinal angle adjustment member 133 is used to adjust the pitch angle θ of the tissue block. This enables precise angle adjustment during slicing, ensuring that the tissue block always remains at the optimal slicing angle, effectively improving the flatness and uniformity of the slices. This automated detection and adjustment function overcomes the high reliance of traditional cryosection equipment on operator experience, reducing slicing quality issues caused by human error. This significantly improves the efficiency and quality of slicing operations.

[0069] Please refer to Figures 1 to 3 and Figure 4In some embodiments, the longitudinal axis angle adjusting member 133 comprises a longitudinal axis base 1331 and a longitudinal axis moving member 1332; one end of the longitudinal axis base 1331 is fixedly arranged 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 slidingly arranged on the longitudinal axis sliding arc surface 1333, and the longitudinal axis moving member 1332 slides on the longitudinal axis sliding arc surface 1333 on the longitudinal axis base 1331; the clamping body 134 comprises a base 1341, a micro-motion feeding member 1342 and a vertical moving member 1343, the micro-motion feeding member 1342 is fixedly arranged at the other end of the longitudinal axis base 1331, the micro-motion feeding member 1342 is slidingly 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. Further, 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, so that the contact between the cutting surface and the blade is more accurate, and the flatness and consistency of the slice are significantly improved.

[0070] For reference, please see Figure 5 and Figure 4 In some embodiments, the lower side of the longitudinal axis base 1331 is provided with a first driving member 1334, the first driving member 1334 is provided with a first driving shaft 1335, the first driving shaft 1335 penetrates through the longitudinal axis base 1331; the longitudinal axis moving member 1332 is provided with a longitudinal axis arc surface rack; the first driving shaft 1335 is annularly provided with a first driving thread, the first driving thread is engaged 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, so that the longitudinal axis moving member 1332 slides up and down along the longitudinal axis sliding arc surface 1333. Further, through the up and down sliding of the longitudinal axis arc surface rack driven by the first driving shaft 1335, the height adjustment of the longitudinal axis moving member 1332 is realized. The stability and accuracy of the longitudinal axis moving member 1332 in the height adjustment process are ensured, the height error commonly seen in traditional manual adjustment is avoided, and the slicing equipment can quickly adapt to different sample height requirements.

[0071] For reference, please see Figure 5 and Figure 4In some embodiments, the horizontal axis angle adjusting member 132 comprises a horizontal axis base 1321, a horizontal axis moving member 1322 and a pneumatic clamping table 1324; one end of the horizontal axis base 1321 is fixedly arranged on the other end of the vertical axis moving member 1332; the other end of the horizontal axis base 1321 is provided with a horizontal axis sliding camber surface 1327; one end of the horizontal axis moving member 1322 is fixedly arranged on the horizontal axis sliding camber surface 1327, and the horizontal axis moving member 1322 slides on the horizontal axis base 1321 along the horizontal axis sliding camber surface 1327; so that the adjustment of the tissue block in the yaw angle direction is more flexible. Through the precise sliding of the horizontal axis sliding camber surface 1327, it can be ensured that the blade is in full parallel contact with the surface of the tissue block, thereby avoiding the problem of uneven thickness of the section caused by the yaw angle, and significantly improving the section quality; the pneumatic clamping table 1324 is arranged on the other end of the horizontal axis moving member 1322, and the pneumatic clamping table 1324 is used for clamping the tissue block. In turn, the horizontal axis angle adjusting member 132 is composed of the horizontal axis base 1321, the horizontal axis sliding camber surface 1327 and the horizontal axis moving member 1322, the yaw angle adjustment is realized by sliding, and the pneumatic clamping table 1324 is arranged to clamp the tissue block. In turn, a stable and uniform clamping force is provided for the tissue block, which not only avoids the displacement problem of the tissue block during sectioning, but also adapts to the sample requirements of different sizes and shapes, further enhancing the versatility of the equipment.

[0072] For reference Figure 5 In some embodiments, the lower side of the horizontal axis base 1321 is provided with a second driving member 1325, the second driving member 1325 is provided with a second driving shaft 1326, the second driving shaft 1326 penetrates through the horizontal axis base 1321; the horizontal axis moving member 1322 is provided with a horizontal axis cam rack; the second driving shaft 1326 is annularly provided with a second driving thread, the second driving thread is engaged with the horizontal axis cam 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 horizontal axis moving member 1322, so that the horizontal axis moving member 1322 slides left and right along the horizontal axis sliding camber surface 1327. In turn, through the engagement of the driving shaft and the cam rack, the horizontal axis moving member 1322 can smoothly slide to the predetermined yaw angle, which not only improves the operation efficiency of the sectioning equipment, but also reduces the error risk caused by human intervention in the sectioning process.

[0073] For reference Figures 4 to 7In some embodiments, the fully automatic frozen section patching device 10 further comprises an anti-winding adsorption assembly 14, which comprises, from top to bottom, a blade fixing frame 141, an anti-winding glass cover plate 142, an anti-winding adsorption conveyor belt 143, a blade holder adjusting platform 144, a coarse adjustment feeding device 145, and a moving blade changing device 146; the laser sensing device 12 is arranged on one side of the blade fixing frame 141; the anti-winding glass cover plate 142 is used to limit the outflow gap of the section at the blade edge of the blade; the end of the anti-winding adsorption conveyor belt 143 is fixed with a blade, so that compared with the traditional patching, the anti-winding glass cover plate 142 needs to be opened first before patching, and the glass cover plate needs to be closed after patching, which is a process, and the existing design is more efficient in the connection between the sectioning and patching processes; the multi-micropore structure of the anti-winding adsorption conveyor belt 143 makes the flatness of the section higher; the blade holder adjusting platform 144 is used to adjust the pitch angle of the blade; the coarse adjustment feeding device 145 is used to adjust the distance between the blade and the frozen tissue block; the moving blade changing device 146 is arranged at a right angle with the coarse adjustment feeding device 145, so that the blade can be quickly replaced, which not only reduces the equipment downtime, but also reduces the maintenance difficulty. In turn, it effectively solves the problem of section curling. The limiting structure of the section outflow gap ensures the regular shape of the section, avoiding deformation of the section during the conveying process.

[0074] Please refer to Figure 4In some embodiments, the fully automatic frozen section patching device 10 further comprises a feeding mechanical arm 15, a feeding table 16, a multifunctional mechanical arm 17 and a discharging table 18; specifically, the feeding mechanical arm 15 is a six-axis collaborative mechanical arm with a gripper, and the feeding mechanical arm 15 is also used for feeding a whole disc of slides to a designated position; the feeding mechanical arm 15 is arranged on the section end 111, and the feeding mechanical arm 15 is arranged on one side of the section cavity 1111; the feeding table 16 is arranged on the front side of the feeding mechanical arm 15; the feeding table 16 comprises a feeding plate 161 and a feeding motor 162; two diagonal fixing pieces 1611 are arranged on the feeding plate 161, and the two diagonal fixing pieces 1611 are used for fixing a sample plate 1612; the sample plate 1612 is used for placing a plurality of tissue blocks; the feeding plate 161 is arranged on the feeding motor 162, the feeding motor 162 is fixedly arranged on the section end 111, and the feeding motor 162 is located on the front side of the feeding mechanical arm 15; the feeding motor 162 is used for driving the feeding plate 161 to move back and forth; the multifunctional mechanical arm 17 is arranged on the section end 111, and the multifunctional mechanical arm 17 is arranged on the other side of the section cavity 1111; the discharging table 18 is arranged on the front side of the multifunctional mechanical arm 17; the discharging table 18 comprises a discharging plate 181 and a discharging motor 182; two diagonal fixing plates 1811 are arranged on the discharging plate 181, and the two diagonal fixing plates 1811 are used for fixing a slide plate 1812; the slide plate 1812 is used for placing a slide; the discharging plate 181 is arranged on the discharging motor 182, the discharging motor 182 is fixedly arranged on the section end 111, and the discharging motor 182 is located on the front side of the multifunctional mechanical arm 17; the discharging motor 182 is used for driving the discharging plate 181 to move back and forth; wherein the feeding mechanical arm 15 is used for clamping 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 for clamping the slide for tissue section patching operation. In turn, the whole process automation processing of the tissue block from feeding to sectioning and then to patching is realized. Compared with the traditional manual operation, this fully automatic design significantly improves the working efficiency of the device, and also ensures the high consistency and reliability of the sectioning and patching process.

[0075] Please refer to Figures 1 to 3In some embodiments, the fully automatic frozen section patch device 10 further comprises a shell 19 and an automatic door 194, the shell 19 is fixedly arranged on the section end 111; the shell 19 is provided with a feeding partition 191 corresponding to one side of the feeding table 16, the feeding partition 191 is provided with a tissue block feeding port 1911; the shell 19 is provided with a discharging partition 192 corresponding to the top of the discharging table 18, the front side of the discharging partition 192 is provided with a tissue block discharging port 1921; the shell 19 is provided with a taking window 193 corresponding to the front side at the section cavity 1111; the left and right sides of the shell 19 are both provided with side doors 1931, which can be used as maintenance channels; thereby the external pollutants can be isolated, and the cleanness of the tissue section can be ensured. The automatic door 194 is arranged above the section cavity 1111, and is used for reducing the heat exchange between the section cavity 1111 and the outside. Thus, the direct contact between the section cavity 1111 and the external environment is effectively isolated, not only the heat loss is reduced, the energy consumption of the cooling system is reduced, but also the stability of the temperature in the section cavity 1111 is improved, thereby a good environment for the section operation is provided.

[0076] Please refer to Figures 1 to 3In some embodiments, the fully automatic frozen section patching device 10 further comprises a panoramic camera 195, a visual positioning preliminary 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 section cavity 1111; the panoramic camera 195 is used for monitoring the global environment of the fully automatic frozen section patching device 10, and remotely monitoring the operation of the fully automatic frozen section patching device 10 in real time; the visual positioning preliminary inspection device 196 is fixedly arranged on the top of the shell; specifically, the visual positioning preliminary inspection device 196 comprises an industrial camera and a light source, and is mainly used for identifying the tissue sections cut in the negative pressure adsorption assembly, and performing preliminary identification, detection and screening on the tissue sections; the tissue sections that pass the preliminary inspection will be subjected to the patching work of the tissue sections on the anti-winding adsorption conveying belt 143 by the multifunctional mechanical arm 17; the visual re-inspection device 197 is fixedly arranged on the side of the multifunctional mechanical arm 17 close to the feeding mechanical arm 15; the visual re-inspection device 197 is used for distinguishing the qualified patches from the unqualified patches after the patching of the glass slides; specifically, the multifunctional mechanical arm 17 is a six-axis collaborative mechanical arm with a six-dimensional force sensor gripper, which can realize precise force-position composite control and operation; the multifunctional mechanical arm 17 is mainly used for clamping the glass slides to perform the patching operation of the tissue sections, and conveying the patched glass slides to the visual re-inspection device 197 for patching quality detection; for the qualified patches and the unqualified patches, the multifunctional mechanical arm 17 further conveys them, classifies and places them, and discharges the patched glass slides in a whole tray to a specified position. The display screen 199 is used for human-computer interaction, and the display screen 199 is arranged on the front side of the shell. Thus, the real-time global monitoring function is provided for the section device, so that the operator can intuitively observe the device operation state and the section operation process. This real-time monitoring design not only improves the visualization degree of the operation, but also facilitates the timely discovery of abnormal conditions in the device operation, and ensures the smooth progress of the section operation.

[0077] In some embodiments, the feeding table 16 is a single-axis mechanical module driven by a servo motor, and is mainly used for feeding the frozen tissue blocks fixed on the sample plate 1612 and the glass slides in a whole tray.

[0078] Please refer to Figures 1 to 3In some embodiments, the fully automatic frozen section patching device 10 further comprises a control module 198, which is electrically connected with the laser sensing device 12, the clamping assembly 13, the feeding mechanical arm 15, the multifunctional mechanical arm 17, the moving blade changing device 146, the pushing motor 162, the discharging motor 182, the panoramic camera 195, the visual positioning preliminary inspection device 196, the visual re-inspection device 197 and the display screen 199, so as to ensure the efficiency and stability of the sectioning process through the unified management of the control system to each module of the device. The control module 198 is used for controlling the laser sensing device 12, the clamping assembly 13, the feeding mechanical arm 15, the multifunctional mechanical arm 17, the moving blade changing device 146, the pushing motor 162, the discharging motor 182, the panoramic camera 195, the visual positioning preliminary inspection device 196, the visual re-inspection device 197 and the display screen 199. The control module 198 is also used for sectioning quantity statistics, patching quantity statistics, tool wear monitoring and temperature monitoring. In turn, a convenient and intuitive operation interface is provided for the user. Through the display screen, the user can real-time view the running state of the device and quickly adjust the key parameters, which significantly improves the operation efficiency of the device and the user experience.

[0079] Please refer to Figure 8 Figure 8 In some embodiments, the fully automatic frozen section patching device 10 is further provided with a temperature control module 1981, which is electrically connected with the control module 198, and is used for ensuring that the internal part of the whole machine is in a preset low-temperature environment.

[0080] In some embodiments, the fully automatic frozen section patching device 10 adopts a modularized setting, which is mainly divided into a mechanical system, a detection system, a control system and a data management system. The fully automatic frozen section patching device 10 comprises a cabinet body 11, a laser sensing device 12, a clamping assembly 13, an anti-winding adsorption assembly 14, a feeding mechanical arm 15, a multifunctional mechanical arm 17, a feeding table 16, a discharging table 18, an outer shell 19, a panoramic camera 195, a visual positioning preliminary inspection device 196, a visual re-inspection device 197, a display screen 199 and a control module 198. The mechanical system mainly comprises the cabinet body 11, the clamping assembly 13, the anti-winding adsorption assembly 14, the feeding mechanical arm 15, the multifunctional mechanical arm 17, the feeding table 16, the discharging table 18, the outer shell 19 and the like. The detection system mainly comprises the panoramic camera 195, the visual positioning preliminary inspection device 196, the visual re-inspection device 197, the laser sensing device 12, a temperature sensor, a photoelectric sensor, a magnetic switch, an encoder and the like. The control system is controlled by the host computer software as the top layer control system of the device to control each subsystem module. The subsystem module mainly comprises an IO signal input and output module, a visual system control module 198, a mechanical arm driving control module 198, a servo motor driving control module 198, a stepping motor driving control module 198, a temperature control module 198 and the like. The data management system mainly comprises a section number statistical system, a patch number statistical system, a tool wear monitoring system, a temperature monitoring system and the like.

[0081] In some embodiments, the moving blade changing device 146 counts the number of sections in the sectioning process through the control module 198. When the number of sections reaches the preset number of sections of the blade, the moving blade changing device 146 will automatically translate along the installation direction of the blade, ensuring that the blade part used for the next sectioning is a new blade segment. This solves the problem that the traditional manual sectioning cannot accurately determine whether the curling of the blade is affected by the sharpness of the blade and the problem that the experience value is needed to determine when to change the blade. To some extent, the influence of the sharpness of the blade on the curling of the section is excluded.

[0082] In some embodiments, the anti-winding adsorption conveying belt 143 has a width direction perpendicular to the conveying direction; in the width direction, the micro-hole distribution density on the anti-winding adsorption conveying belt 143 is uniformly distributed; or, in the width direction, the micro-hole distribution density on the anti-winding adsorption conveying belt 143 decreases from the middle to the edges; or, the width direction of the conveying belt is divided into several regions, and the micro-hole distribution density of each region is different. For example, the central region can be designed as a high-density micro-hole area to enhance the adsorption force and prevent the slice from winding; while the two side regions are designed as low-density micro-hole areas to reduce the friction and damage to the slice while maintaining a certain adsorption force; or, in the width direction of the conveying belt, the micro-hole distribution density can gradually decrease from the middle to one side edge, and then suddenly increase to a certain density level on the other side edge; thereby, while maintaining the stable adsorption of the material, the additional fixation or guiding function of the material can be achieved through the high-density micro-hole area on one side; or, the micro-hole density is increased on the side where the slice is easy to wind, while the density on the other side is kept low, thereby enhancing the anti-winding effect of the anti-winding adsorption conveying belt 143. The above schemes can be freely combined.

[0083] In some embodiments, the anti-winding adsorption conveying belt 143 has a conveying stroke, which has an anti-winding adsorption area and a patch unloading area, the anti-winding glass cover plate 142 is arranged on the anti-winding adsorption area, and the extension length ratio of the patch unloading area to the anti-winding adsorption area is 0.2-0.3, thereby enhancing the anti-winding effect of the anti-winding adsorption conveying belt 143.

[0084] In some embodiments, the laser sensing device mainly functions to detect the flatness between the surface of the tissue block and the reference surface. The principle of the laser sensing 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:

[0085] First, three representative points are selected as measurement points on the plane to be measured, and the three points should cover different areas of the entire plane as evenly as possible. Specifically, the size of the incoming frozen tissue block is at least 5mm long x 10mm wide x 15mm high. Divide the area into three regions, and calculate the theoretical center point of each region as the measurement point of that region. For example: select a point P1 in the upper left region, a point P2 in the right parallel horizontal axis direction, and a point P3 in the lower parallel vertical axis direction. Then, use the laser emitter in the laser sensor device to emit a light beam and return the height or distance value. Measure the height or distance of each of the three points, 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 the three points, various indicators of flatness can be calculated, such as peak value, root mean square value, and standard deviation. These indicators reflect the overall deviation and fluctuation of the 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 the slicing can be performed. 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 needs to be adjusted according to the height difference in the horizontal axis direction, and the yaw angle ф needs to be adjusted according to the height difference in the vertical axis direction. Control the corresponding motor to rotate by the corresponding angle until the flatness 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 vertical axis direction can be calculated.

[0086] In summary, the present application provides a full-automatic frozen section mounting device, which comprises: a cabinet body provided with a section end, a section cavity is arranged in the section end, and the section cavity is in communication with the section end; a laser sensor device arranged in the section cavity, the laser sensor device is used for detecting the flatness of the tissue block and obtaining adjustment data; a clamping assembly arranged in the section cavity, the clamping assembly is arranged in the section cavity, the clamping assembly is arranged in the section cavity, the clamping assembly comprises a clamping table, a horizontal axis angle adjusting member, a vertical axis angle adjusting member and a clamping body arranged in sequence from front to back; the clamping table is used for clamping the tissue block; the horizontal axis angle adjusting member is used for adjusting the yaw angle ф of the tissue block, and the vertical axis angle adjusting member is used for adjusting the pitch angle θ of the tissue block. Further, precise angle adjustment during sectioning is realized, and the tissue block is always kept at the best sectioning angle, thereby effectively improving the flatness and uniformity of the sectioning. This automatic detection and adjustment function overcomes the high dependence of traditional frozen section equipment on the experience of operators, reduces the sectioning quality problems caused by human errors, and greatly improves the efficiency and quality of sectioning operations.

[0087] It should be understood that the application is not limited to the examples described above, which can be modified or transformed by a person of ordinary skill in the art in light of the above description, all these modifications and transformations being intended to belong to the scope of protection of the claims appended to the application.

Claims

1. A fully automatic frozen section mounting device for tissue block pathological sectioning, characterized in that: The fully automatic frozen section mounting equipment 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 is provided in the slicing chamber and is used to detect the flatness of the tissue block and obtain adjustment data; A clamping assembly is provided in the slicing chamber, the clamping assembly is spaced apart from the laser sensor device, and the clamping assembly includes a clamping platform, a transverse axis angle adjustment member, a longitudinal axis angle adjustment member, and a clamping body, which are fixedly provided 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; 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 being used to limit the outflow gap of the slices at the cutting edge of the blade; An anti-roll adsorption conveyor belt, wherein a blade is fixed at the end of the anti-roll adsorption conveyor belt; A tool holder adjustment platform, 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 provided at a right angle to the coarse adjustment feeding device.

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 mounted 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 slidingly 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 slidingly connected to 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 provided on the lower side of the longitudinal axis base, wherein the first driving member is provided 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 provided on the first driving shaft, and the first driving thread is engaged with the longitudinal arc surface rack; The first driving member drives the first driving shaft to rotate, thereby driving the first driving thread to rotate, and driving the rack on the longitudinal axis moving member, so that the longitudinal axis moving member slides 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 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 along the transverse axis sliding arc surface on the transverse axis base; A pneumatic clamping platform is provided 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 provided on the lower side of the transverse axis base, and the second driving member is provided with a second driving shaft, and the second driving shaft passes through the transverse axis base; The horizontal axis moving member is provided with a horizontal axis arc surface rack; A second driving thread is provided on the second driving shaft, and the second driving thread is engaged 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 causes the transverse axis moving member to slide left and right along the transverse axis sliding arc surface.

6. 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 chamber; A loading platform, which is arranged in front of the loading robot arm; The loading platform comprises: A loading plate, wherein two diagonal fixing members are provided 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 loading 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 loading robot arm; the pushing motor is used to drive the loading platform to move forward and backward; a multifunctional robotic arm, the multifunctional robotic arm being arranged on the slicing end and the multifunctional robotic arm being arranged on the other side of the slicing chamber; A material unloading platform, which is arranged on the front side of the multifunctional robotic arm; The unloading platform comprises: A blanking plate, wherein two diagonal fixing plates are provided on the blanking plate, and the two diagonal fixing plates are used to fix the slide plate; the slide plate is used to place the slide; A blanking motor, wherein the blanking plate is arranged on the blanking motor, the blanking motor is fixedly arranged on the slicing end, and the blanking motor is located at the front side of the multifunctional robotic arm; the blanking motor is used to drive the blanking 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.

7. The fully automatic frozen section mounting device according to claim 6, characterized in that: The fully automatic frozen section mounting device also includes: The housing is fixedly arranged on the slicing end; a loading partition is provided on one side of the housing 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 housing corresponding to the unloading platform, and a tissue block unloading port is provided on the front side of the unloading partition; a removal window is provided on the front side of the housing corresponding to the slicing cavity; and side doors are provided on both the left and right sides of the housing; An automatic door is provided above the slicing chamber and is used to reduce heat exchange between the slicing chamber and the outside world.

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 panoramic camera, the panoramic camera is fixedly arranged on the top of the housing, and the panoramic camera is arranged directly opposite the slicing cavity; the panoramic camera is used to monitor the global environment of the fully automatic frozen section slicing device and remotely monitor the operating status of the fully automatic frozen section slicing 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 robotic arm close to the loading robotic 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.

9. The fully automatic frozen section mounting device according to claim 8, characterized in that: 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.

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