Slide holder gripper apparatus

Abstract

A slide holder apparatus is provided that simultaneously conveys a plurality of glass slides while protecting a slide holder within a digital slide scanning apparatus. The slide holder apparatus transfers the plurality of glass slides from a slide holder carousel to a scanning stage for processing. The carrier holder includes a first motor attached to a base, the first motor configured to drive a finger base attached to the base along a first linear axis. The slide holder gripper apparatus also includes a second motor attached to the finger base and configured to drive opposing gripper fingers attached to the finger base along a second linear axis. The second motor is further configured to drive the individual gripper fingers along a third linear axis to move the gripper fingers toward and away from each other to grasp or release the slide carrier.

Description

[0001] This application is a divisional application. The application date of the corresponding parent case is November 30, 2018. The application number is 201880069815.1. The name of the invention is slide rack clamp device. The applicant is Leica Biosystems Imaging Co., Ltd.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims priority to U.S. Provisional Patent Application No. 62 / 593,135, filed on November 30, 2017, which is incorporated herein by reference in its entirety as if fully set forth. Technical Field

[0004] The present invention generally relates to a digital slide scanning apparatus and, more particularly, to an internal slide rack gripper apparatus for transporting a batch of glass slides from a turntable to a scanning stage for processing by the digital slide scanning apparatus. Background Art

[0005] Digital pathology is an image-based information environment enabled by computer technology that allows the management of information generated from physical slides. Digital pathology is enabled in part by virtual microscopy, which is the practice of scanning samples on physical glass slides and producing digital slide images that can be stored, viewed, managed, and analyzed on a computer monitor. With the ability to image entire glass slides, the field of digital pathology has exploded and is currently considered one of the most promising approaches in diagnostic medicine to achieve even better, faster, and cheaper diagnosis, prognosis, and prediction of major diseases such as cancer.

[0006] Some digital slide scanning devices have been modified to hold multiple slide racks so that the digital slide scanning device can process dozens or hundreds of glass slides sequentially without interruption. However, transporting individual glass slides from the slide racks to the scanning stage remains a significant challenge. Therefore, there is a need for a system and method that overcomes these significant problems found in conventional systems such as those described above. Summary of the invention

[0007] Thus, a slide rack gripper device is described herein that transports batches of glass slides and protects slide racks within a digital slide scanning device. The slide rack gripper includes a first motor that is attached to a base and operably coupled to a finger base that is fixed to the base so that the first motor drives the finger base along a first linear finger base axis. The slide rack gripper device also includes a second motor that is supported by the finger base and operably coupled to the finger base and is configured to drive opposing gripper fingers along a second linear gripper finger axis. The second motor may also be configured to drive individual gripper fingers along a third linear axis to move the gripper fingers toward and away from each other in order to grip or release a slide rack.

[0008] In one embodiment, a method includes: storing a plurality of slide racks in a slide rack turntable, the slide rack turntable being operably connected to a digital slide scanner device, wherein each slide rack supports a plurality of glass slides; and transferring a first glass slide to a scanning stage of the digital slide scanner device by: driving a first gripper finger attached to a finger base of a slide rack gripper and a second gripper finger attached to the finger base along a linear gripper finger gripping axis until a predetermined distance is reached between a slide rack engaging surface of the first gripper finger and a slide rack engaging surface of the second gripper finger; and driving the finger base along a first linear finger base axis to position the first gripper finger in a first rack spacer recess on a first side of a first slide rack supporting the first slide and to position the second gripper finger in a second rack spacer recess on a second side of the first slide rack. After positioning the first gripper finger and the second gripper finger on respective first and second sides of the first carrier, the method includes driving the first gripper finger and the second gripper finger toward each other along the linear gripper finger grasping axis to bring the carrier engagement surface of the first gripper finger into contact with the first surface of the first carrier and the carrier engagement surface of the second gripper finger into contact with the second surface of the first carrier. After contact between respective carrier engagement surfaces of the first gripper finger and the second gripper finger and the first and second surfaces of the first carrier, the method includes: driving the finger base along the first linear finger base axis to remove the first carrier from the carrier turntable; and after removal of the first carrier from the carrier turntable, conveying the first carrier toward the scanning stage.

[0009] In one embodiment, a wafer carrier gripper device includes: a base; a finger base, which is attached to the base and configured to move along a first linear axis; a first motor, which is attached to the base and configured to drive the finger base along the first linear axis; a plurality of gripper fingers, which are attached to the finger base and configured to move along a second linear axis and a third linear axis, wherein each gripper finger includes a wafer carrier engagement surface, and the wafer carrier engagement surface of the first gripper finger faces the wafer carrier engagement surface of the second gripper finger along the third linear axis; and a second motor, which is attached to the finger base and configured to drive the plurality of gripper fingers along the second linear axis, and the second motor is also configured to drive the first gripper finger and the second gripper finger in opposite directions along the third linear axis to grasp or release the wafer carrier.

[0010] Other features and advantages of the present invention will become more apparent to those of ordinary skill in the art after reading the following detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The structure and operation of the present invention will be understood by reading the following detailed description and accompanying drawings, in which like reference numerals refer to like parts and in which:

[0012] Figure 1A is a perspective view showing an example slide rack carousel with rack spacers and a slide rack with glass slides according to one embodiment of the present invention;

[0013] Figure 1B is a side view showing an example cross-section of one side of a slide carrier turntable base according to one embodiment of the present invention;

[0014] Figure 2 is a top view showing an example 1×3 slide rack with glass slides from a first manufacturer in accordance with one embodiment of the present invention;

[0015] Figure 3 is a top view showing an example 2×3 slide rack with glass slides from a first manufacturer in accordance with one embodiment of the present invention;

[0016] Figure 4 is a top view showing an example 1×3 slide rack with glass slides from a second manufacturer in accordance with one embodiment of the present invention;

[0017] Figure 5is a top view showing an example 2×3 slide rack with glass slides from a second manufacturer in accordance with one embodiment of the present invention;

[0018] Fig. 6A is a perspective view showing an example slide holder device according to one embodiment of the present invention;

[0019] Figure 6B is a perspective view of an example carrier gripper device showing actuation of gripper fingers toward a carrier in a turntable according to one embodiment of the present invention;

[0020] Figure 6C is a perspective view showing an example carrier gripper device according to one embodiment of the present invention, wherein gripper fingers engage a carrier positioned on a carrier platform;

[0021] Fig. 7A is a block diagram illustrating an example processor-supporting device 550 that may be used in conjunction with various embodiments described herein;

[0022] Figure 7B is a block diagram illustrating an example line scan camera having a single linear array;

[0023] Figure 7C is a block diagram showing an example line scan camera having three linear arrays; and

[0024] Fig.7D is a block diagram illustrating an example line scan camera having multiple linear arrays. DETAILED DESCRIPTION

[0025] Some embodiments disclosed herein provide a kind of slide holder, and the slide holder removes slide holders of different sizes from the slide holder turntable and places the removed slide holder for further processing by a digital scanning device. The slide holder also obtains processed slide holders of different sizes and inserts the processed slide holders into the slide holder turntable. After reading this specification, it will become apparent to those skilled in the art how to implement the present invention in various optional embodiments and optional applications. However, although various embodiments of the present invention will be described herein, it should be understood that these embodiments are presented only by way of example and are not limited. Thus, this detailed description of various optional embodiments should not be interpreted as limiting the scope or breadth of the present invention as set forth in the appended claims.

[0026] 1. Example Slide Rack Carousel

[0027] Figure 1Ais a perspective view showing an example slide rack 30 turntable 10 with rack spacers 20 and a slide rack 30 with a glass slide 40 according to one embodiment of the present invention. In the illustrated embodiment, the turntable 10 includes a plurality of rack spacers 20 attached to and extending upward from the upper surface of the turntable base 50. In one embodiment, each rack spacer 20 includes a spacer recess 60 configured to allow an operator's hand to insert or remove a slide rack 30 from the turntable 10 and / or to allow a portion of a slide rack 30 holder to insert or remove a slide rack 30 from the turntable 10. Adjacent rack spacers 20 define a rack slot 70 in which a slide rack 30 can be positioned so that the slide rack 30 rests primarily on the upper surface of the turntable base 50. In one embodiment, the upper surface of the turntable base 50 is angled downward from an outer region of the turntable base 50 toward a central region of the turntable base 50. Glass slides 40 occupy respective slots in the slide rack 30, and in one embodiment, the glass slides 40 are advantageously positioned at an angle based on the angle of the upper surface of the turntable base 50 and the corresponding angle of the slide rack 30. Additionally, the turntable 10 includes a center ring secured to the upper portion of each of the plurality of rack spacers 20.

[0028] Figure 1B is a side view showing an example cross-section of one side of a turntable base 50 of a carrier 30 according to one embodiment of the present invention. In the illustrated embodiment, a portion of the upper surface of the turntable base 50 is flat. This portion of the upper surface is near the periphery of the upper surface of the turntable base 50. Additionally, different portions of the upper surface of the turntable base 50 are angled at an angle of θ°. Advantageously, at least a portion of the upper surface of the turntable base 50 is angled, and the degree of the angle θ° may be in the range of 1° to 10°, or even higher, up to 45°. Advantageously, when the carrier 30 is positioned on the angled upper surface 90 of the base 50, any vibration-induced or other movement of the carrier 30 is biased toward the center of the turntable 10, where the carrier 30 stop prevents further movement of the carrier 30. Additionally, the individual carriers in the carrier rack 30 may also experience vibration-induced or other movement, and the angled position of the carrier rack 30 in which the individual carriers are arranged also positions the individual carriers at a certain angle so that the movement of the individual carriers is offset toward the center of the turntable 10, where the end of the carrier rack 30 prevents further movement of the carrier rack 30.

[0029] 2. Example Slide Rack 30

[0030] Figure 22 is a top view showing an example 1×3 slide rack 200 from a first manufacturer having a glass slide 210 in accordance with one embodiment of the present invention. In the illustrated embodiment, the 1×3 slide rack 200 includes one or more slide rack protrusions 220 extending outwardly from a side of the 1×3 slide rack 200.

[0031] Figure 3 2 is a top view showing an example 2×3 slide rack 250 from a first manufacturer with a glass slide 260 in accordance with one embodiment of the present invention. In the illustrated embodiment, the 2×3 slide rack 250 includes one or more slide rack protrusions 270 extending outwardly from a side of the 2×3 slide rack 250.

[0032] Figure 4 3 is a top view showing an example 1×3 slide holder 300 with a glass slide 310 from a second manufacturer in accordance with one embodiment of the present invention. In the illustrated embodiment, the 1×3 slide holder 300 includes one or more slide holder protrusions 330 extending outwardly from a side of the 1×3 slide holder 300.

[0033] Figure 5 3 is a top view showing an example 2×3 slide rack 350 from a second manufacturer with a glass slide 360 ​​in accordance with one embodiment of the present invention. In the illustrated embodiment, the 2×3 slide rack 350 includes one or more slide rack protrusions 370 extending outwardly from a side of the 2×3 slide rack 350.

[0034] 3. Example Gripper Device

[0035] Fig. 6A is a perspective view showing an example carrier gripper device 400 according to one embodiment of the present invention. In the illustrated embodiment, the carrier gripper device 400 includes a first motor 410 (referred to herein as a gripper motor) attached to a base. The base 420 supports a finger base 430 extending upwardly from the base 420. The gripper motor 410 is configured to move the finger base 430 along a linear finger base 430 axis, which moves the finger base 430 toward and away from a turntable that accommodates a plurality of carriers 30.

[0036] The finger base 430 supports a second motor 440 (referred to herein as a finger motor). The finger motor 440 is configured to move the gripper fingers 450 along a linear gripper finger 450 height axis to appropriately position the height of the gripper fingers 450 for inserting a carrier 30 into the turntable 10 or for engaging a carrier 30 in the turntable 10 and removing the carrier 30 from the turntable 10. The finger motor 440 is also configured to move the gripper fingers 450 along a linear gripper finger 450 gripping axis. Advantageously, when the gripper fingers 450 are moved along the linear gripper finger 450 gripping axis, each gripper finger 450 moves toward or away from another gripper finger 450 to increase or decrease the distance between the gripper fingers 450. Each gripper finger 450 includes a carrier 30 engagement surface, and each carrier 30 engagement surface includes one or more finger protrusions 465 configured to engage one or more corresponding carrier 30 protrusions extending from a side of the carrier 30. In one embodiment, the carrier 30 is positioned at an angle in the carrier 30, and the one or more finger protrusions 465 are configured to engage one or more corresponding carrier 30 protrusions extending from a side of the carrier 30, even when the carrier 30 is positioned at an angle.

[0037] The finger base 430 also supports a slide holder 470 that is positioned between the two gripper fingers 450 and extends above and below the gripper fingers 450 along the gripper finger 450 height axis. In one embodiment, the length of the slide holder 470 is at least as long as the height of the slide rack 30. A more refined length may be a length ranging from the topmost glass slide 40 in the slide rack 30 to the bottommost glass slide 40 in the slide rack 30. The slide holder 470 is configured to hold the glass slide 40 in the slide rack 30 during transport. For example, the slide holder prevents the glass slide 40 from leaving the slide rack 30 during removal of the slide rack 30 from the slide rack 30 turntable 10 and during insertion of the slide rack 30 into the slide rack 30 turntable 10.

[0038] The finger base 430 also supports one or more carrier sensors 480 that are positioned and configured to sense the presence of a carrier 30 between the gripper fingers 450. In one embodiment, the processor analyzes the signals from the carrier sensors 480 to determine the type (e.g., manufacturer and size) of the carrier 30 and whether the determined carrier 30 type is supported.

[0039] Figure 6B4 is a perspective view showing an example slide rack 30 gripper device driving gripper fingers 450 toward a slide rack 30 in a turntable according to one embodiment of the present invention. In the illustrated embodiment, the gripper motor 410 drives the finger base 430 supporting the gripper fingers 450 and the slide holder 470 toward the turntable 10. The height of the gripper fingers 450 is adjusted by the finger motor 440 as needed to position the gripper fingers 450 within the corresponding rack spacer recesses 60 on either side of the slide rack 30 for gripping when the gripper motor 410 positions the finger base 430 close to the turntable 10. The height of the slide holder 470 is similarly positioned to secure all glass slides 40 in the slide rack 30 during transport.

[0040] In one embodiment, the processor controls the gripper device to grip the carrier 30 positioned on the angled upper surface 90 portion of the turntable base 50. The gripper device is controlled to initially grip the carrier 30 with a predetermined gripping pressure less than 100% and pull the carrier 30 a certain distance from the turntable 10 to the area of ​​the turntable base 50 having the flat upper surface 100 portion. At this position, the processor controls the gripper device to grip the carrier 30 with a predetermined gripping pressure of 100%, and then pull the carrier 30 out of the turntable 10 the rest of the way to position the carrier 30 on the carrier platform 490 for further processing by the digital slide scanning device.

[0041] Figure 6C 4 is a perspective view showing an exemplary carrier 30 gripper device according to one embodiment of the present invention, wherein gripper fingers 450 engage with a carrier 30 positioned on a carrier platform 490. In the illustrated embodiment, the carrier 30 positioned on the carrier platform 490 has just been removed from or is about to be inserted into the carrier 30 turntable 10. Although no glass slide 40 is shown in the slot of the carrier 30, the slide holder 470 is positioned to secure the glass slide 40 in the carrier 30 during transport. As shown in the illustrated embodiment, the finger protrusions 465 on the engagement surface of the gripper fingers 450 engage with a side protrusion of the carrier 30 to securely clamp the carrier 30 between the opposing gripper fingers 450 when the carrier 30 is inserted into the turntable 10 or when the carrier 30 is removed from the turntable 10.

[0042] Advantageously, after the slides in the slide rack 30 are processed by the digital slide scanning device, the slide rack 30 is returned to the slide rack platform 490. The gripper fingers 450 of the gripper device are configured to grip the slide rack 30 positioned horizontally on the slide rack platform 490. It should be noted that the gripper fingers 450 are configured to grip the slide rack 30 positioned at an angle on the angled upper surface 90 portion of the slide rack 30 turntable base 50, and are also configured to grip the slide rack 30 positioned horizontally on the flat surface of the slide rack platform 490.

[0043] 4. Example Implementation

[0044] In one embodiment, the slide holder 30 gripper device of the digital slide scanner device includes a base and a finger base 430 attached to the base 420. The finger base 430 is configured to move along a first linear axis, which may be referred to as the finger base 430 axis. The slide holder 30 gripper device also includes a first motor 410, which is attached to the base 420 and is configured to drive the finger base 430 along the first linear axis. The slide holder 30 gripper device also includes a plurality of gripper fingers 450 attached to the finger base 430. The gripper fingers 450 are configured to move along a second linear axis and a third linear axis. The second linear axis may be referred to as the gripper finger 450 height axis, and the third linear axis may be referred to as the gripper finger 450 gripping axis. In this embodiment, each gripper finger 450 includes a carrier 30 engagement surface, and the carrier 30 engagement surface of the first gripper finger 450 faces the carrier 30 engagement surface of the second gripper finger 450 along the third linear axis. The carrier 30 gripper device also includes a second motor 440, which is attached to the finger base 430 and is configured to drive the plurality of gripper fingers 450 along the second linear axis, and is also configured to drive the first gripper finger 450 and the second gripper finger 450 in opposite directions along the third linear axis to grip or release the carrier 30.

[0045] In one embodiment, the carrier 30 engagement surface of the first gripper finger 450 includes one or more finger protrusions 465 configured to engage one or more carrier 30 protrusions extending from a first side of the carrier 30. In this same embodiment, the carrier 30 engagement surface of the second gripper finger 450 includes one or more finger protrusions 465 configured to engage one or more carrier 30 protrusions extending from a second side of the carrier 30. In one embodiment, each of the plurality of gripper fingers 450 includes one or more finger protrusions 465 on its respective carrier 30 engagement surface. Advantageously, in one embodiment, the one or more finger protrusions 465 of each of the plurality of gripper fingers 450 are configured to grip one or more carrier 30 protrusions extending from a side of the carrier 30 when the first carrier 30 is positioned at an angle in the turntable 10.

[0046] In one embodiment, the first linear axis is orthogonal to the second linear axis and the third linear axis. In one embodiment, the second linear axis is orthogonal to the first linear axis and the third linear axis. In one embodiment, the third linear axis is orthogonal to the first linear axis and the second linear axis. In one embodiment, each linear axis is orthogonal to the other two linear axes.

[0047] In one embodiment, a method of transferring a first slide from a slide rack 30 carousel 10 to a slide scanning state in a digital slide scanning device includes storing a plurality of slide racks 30 in a slide rack 30 carousel 10. The slide rack 30 carousel 10 is integrated and / or operably coupled to the digital slide scanner device. Advantageously, each slide rack 30 supports a plurality of glass slides 40, and the first slide is supported by a first slide rack 30 in the slide rack 30 carousel 10.

[0048] The method additionally includes transferring the first glass slide 40 to a scanning stage of a digital slide scanner device by driving a first gripper finger 450 attached to a finger base 430 of a carrier 30 gripper and a second gripper finger 450 attached to the finger base 430 along a linear gripper finger 450 gripping axis until a predetermined distance is reached between a carrier 30 engagement surface of the first gripper finger 450 and a carrier 30 engagement surface of the second gripper finger 450. The method also includes driving the finger base 430 along the first linear finger base 430 axis to position the first gripper finger 450 in a first carrier spacer recess 60 on a first side of a first carrier 30 supporting the first slide and to position the second gripper finger 450 in a second carrier spacer recess 60 on a second side of the first carrier 30. After positioning the first gripper finger 450 and the second gripper finger 450 on the respective first and second sides of the first carrier 30, the method further includes driving the first gripper finger 450 and the second gripper finger 450 toward each other along a linear gripper finger 450 gripping axis to bring the carrier 30 engagement surface of the first gripper finger 450 into contact with the first surface of the first carrier 30 and to bring the carrier 30 engagement surface of the second gripper finger 450 into contact with the second surface of the first carrier 30;

[0049] After contact between the respective carrier 30 engagement surfaces of the first gripper fingers 450 and the second gripper fingers 450 and the first surface and the second surface of the first carrier 30, the method further includes driving the finger base 430 along the first linear finger base 430 axis to remove the first carrier 30 from the carrier 30 turntable 10. Furthermore, after the first carrier 30 is removed from the carrier 30 turntable 10, the method further includes transferring the first carrier 30 toward the scanning stage.

[0050] In one embodiment, driving two or more gripper fingers 450 along the gripper finger 450 gripping axis further comprises driving the two or more gripper fingers 450 towards each other. In one embodiment, driving two or more gripper fingers 450 along the gripper finger 450 gripping axis comprises driving the two or more gripper fingers 450 away from each other.

[0051] 5. Example digital slide scanning device

[0052] You can use such as FIG. 7A to FIG. 7D The described digital pathology scanning device implements the various embodiments described herein.

[0053] Fig. 7Ais a block diagram illustrating an example processor-supporting device 550 that may be used in conjunction with the various embodiments described herein. As will be appreciated by skilled artisans, alternative forms of device 550 may also be used. In the illustrated embodiment, the device 550 is presented as a digital imaging device (also referred to as a digital slide scanning device, digital slide scanner, scanner, scanner system or digital imaging device, etc.), which includes: one or more processors 555; one or more memories 565; one or more motion controllers 570; one or more interface systems 575; one or more movable stages 580, each of which supports one or more glass slides 585 with one or more samples 590; one or more illumination systems 595, which illuminate the samples; one or more objective lenses 600, each of which defines an optical path 605 that travels along an optical axis; one or more objective lens positioners 630; one or more optional epi-illumination systems 635 (for example, included in a fluorescence scanner system); one or more focusing optical devices 610; one or more line scan cameras 615; and / or one or more area scan cameras 620, each of which defines a separate field of view 625 on the sample 590 and / or the glass slide 585. The various elements of the scanner system 550 are communicatively coupled via one or more communication buses 560. Although there may be one or more of each of the various elements of the scanner system 550, for simplicity of description, these elements will be described in the singular unless description in the plural is necessary to convey the appropriate information.

[0054] The one or more processors 555 may include, for example, a central processing unit ("CPU") and a separate graphics processing unit ("GPU") capable of processing instructions in parallel, or the one or more processors 555 may include a multi-core processor capable of processing instructions in parallel. Additional separate processors may also be provided to control specific components or perform specific functions, such as image processing. For example, the additional processors may include an auxiliary processor for managing data input, an auxiliary processor for performing floating-point mathematical operations, a dedicated processor (e.g., a digital signal processor) having an architecture suitable for quickly executing signal processing algorithms, a slave processor (e.g., a back-end processor) subordinate to the main processor, an additional processor for controlling the line scan camera 615, the stage 580, the objective 225, and / or a display (not shown). Such additional processors may be separate discrete processors, or may be integrated with the processor 555.

[0055] The memory 565 provides storage of data and instructions for programs that can be executed by the processor 555. The memory 565 may include one or more volatile and / or non-volatile computer-readable storage media that store data and instructions, including, for example, random access memory, read-only memory, hard disk drives, removable storage device drives, etc. The processor 555 is configured to execute the instructions stored in the memory 565 and communicate with the various elements of the scanner system 550 via the communication bus 560 to implement the overall functionality of the scanner system 550.

[0056] The one or more communication buses 560 may include a communication bus 560 configured to communicate analog electrical signals, and may include a communication bus 560 configured to communicate digital data. Thus, communications from the processor 555, motion controller 570, and / or interface system 575 via the one or more communication buses 560 may include both electrical signals and digital data. The processor 555, motion controller 570, and / or interface system 575 may also be configured to communicate with one or more of the various elements of the scanning system 550 via a wireless communication link.

[0057] The motion control system 570 is configured to precisely control and coordinate the XYZ movement of the stage 580 and the objective 600 (e.g., via the objective positioner 630). The motion control system 570 is also configured to control the movement of any other moving parts in the scanner system 550. For example, in a fluorescence scanner embodiment, the motion control system 570 is configured to coordinate the movement of filters in the epi-illumination system 635, etc.

[0058] The interface system 575 allows the scanner system 550 to interface with other systems and human operators. For example, the interface system 575 may include a user interface for providing information directly to an operator and / or allowing direct input from an operator. The interface system 575 is also configured to facilitate communication and data transfer between the scanner system 550 and one or more external devices (e.g., printers, removable storage media, etc.) connected directly or connected to the scanner system 550 via a network (not shown), such as an image server system, an operator station, a user station, and a management server system.

[0059] The illumination system 595 is configured to illuminate a portion of the sample 590. The illumination system 595 may include, for example, a light source and an illumination optic. The light source may be a variable intensity halogen light source having a concave reflector to maximize light output and having a KG-1 filter to suppress heat. The light source may also be any type of arc lamp, laser, or other light source. In one embodiment, the illumination system 595 illuminates the sample 590 in a transmission mode so that the line scan camera 615 and / or the surface scan camera 620 sense the optical energy transmitted through the sample 590. Alternatively or additionally, the illumination system 595 may be configured to illuminate the sample 590 in a reflection mode so that the line scan camera 615 and / or the surface scan camera 620 sense the optical energy reflected from the sample 590. In general, the illumination system 595 is configured to be suitable for interrogating the microscope sample 590 in any known mode of optical microscopy.

[0060] In one embodiment, the scanner system 550 optionally includes an epi-illumination system 635 to optimize the scanner system 550 for fluorescence scanning. Fluorescence scanning is the scanning of a sample 590 including fluorescent molecules, which are photon-sensitive molecules that can absorb light of a specific wavelength (excitation). These photon-sensitive molecules also emit light at a higher wavelength (emission). Since the efficiency of this photoluminescence phenomenon is very low, the amount of emitted light is usually very low. This low amount of emitted light typically hinders conventional techniques (e.g., transmission mode microscopy) for scanning and digitizing the sample 590. Advantageously, in an optional fluorescence scanner system embodiment of the scanner system 550, a line scan camera 615 (e.g., a time delay integration ("TDI") line scan camera) including multiple linear sensor arrays is used to increase the sensitivity of the line scan camera to light by exposing the same area of ​​the sample 590 to each of the multiple linear sensor arrays of the line scan camera 615. This is particularly useful when scanning weak fluorescent samples with low emission light.

[0061] Thus, in the fluorescence scanner system embodiment, the line scan camera 615 is preferably a monochrome TDI line scan camera. Advantageously, monochrome images are desirable in fluorescence microscopy because they provide a more accurate representation of the actual signal from the various channels present on the sample. As will be appreciated by those skilled in the art, the fluorescent sample 590 may be labeled with a variety of fluorescent dyes that emit light at different wavelengths, also referred to as "channels."

[0062] Furthermore, since the low-end and high-end signal levels of various fluorescent samples present a wide spectrum of wavelengths to be sensed by the line scan camera 615, it is expected that the low-end and high-end signal levels that can be sensed by the line scan camera 615 are similarly wide. Therefore, in the fluorescence scanner embodiment, the line scan camera 615 used in the fluorescence scanning system 550 is a monochrome 10-bit 64 linear array TDI line scan camera. It should be noted that various bit depths of the line scan camera 615 can be employed for use with the fluorescence scanner embodiment of the scanning system 550.

[0063] The movable stage 580 is configured to perform precise XY axis movement under the control of the processor 555 or the motion controller 570. The movable stage can also be configured to move in the Z axis under the control of the processor 555 or the motion controller 570. The movable stage is configured to position the sample at a desired position during image data capture by the line scan camera 615 and / or the area scan camera. The movable stage is also configured to accelerate the sample 590 to a substantially constant speed in the scanning direction, and then maintain a substantially constant speed during image data capture by the line scan camera 615. In one embodiment, the scanner system 550 can use a high-precision and tightly coordinated XY grid to help position the sample 590 on the movable stage 580. In one embodiment, the movable stage 580 is an XY stage based on a linear motor, wherein high-precision encoders are used on both the X-axis and the Y-axis. For example, very precise nano encoders can be used on the axis in the scanning direction and on the axis in the direction perpendicular to the scanning direction and in the same plane as the scanning direction. The stage is also configured to support a glass slide 585 on which a sample 590 is disposed.

[0064] Sample 590 can be anything that can be interrogated by optical microscopy. For example, glass microscope slides 585 are often used as observation substrates for samples, which include tissues and cells, chromosomes, DNA, proteins, blood, bone marrow, urine, bacteria, droplets, biopsy materials, or any other type of dead or alive, stained or unstained, labeled or unlabeled biological materials or substances. Sample 590 can also be an array of any type of DNA or DNA-related materials (such as cDNA, RNA or proteins) deposited on any type of slide or other substrate, including any and all samples commonly referred to as microarrays. Sample 590 can be a microtiter plate, such as a 96-well plate. Other examples of sample 590 include integrated circuit boards, electrophoresis records, culture dishes, membranes, semiconductor materials, forensic materials, and machined parts.

[0065] The objective lens 600 is mounted on an objective lens positioner 630, which in one embodiment may employ a very precise linear motor to move the objective lens 600 along the optical axis defined by the objective lens 600. For example, the linear motor of the objective lens positioner 630 may include a 50 nanometer encoder. The relative positions of the stage 580 and the objective lens 600 in the XYZ axes are coordinated and controlled in a closed-loop manner using a motion controller 570 under the control of a processor 555, which employs a memory 565 to store information and instructions, including computer executable programming steps for the overall operation of the scanning system 550.

[0066] In one embodiment, objective 600 is a plan apochromatic ("APO") infinity-corrected objective having a numerical aperture corresponding to the highest desired spatial resolution, wherein objective 600 is suitable for transmission mode illumination microscopy, reflection mode illumination microscopy, and / or epi-illumination mode fluorescence microscopy (e.g., Olympus 40X, 0.75NA or 20X, 0.75NA). Advantageously, objective 600 is capable of correcting for chromatic aberration and spherical aberration. Since objective 600 is infinity-corrected, focusing optics 610 can be placed above objective 600 in optical path 605 where the light beam passing through the objective becomes a collimated light beam. Focusing optics 610 focuses the light signal captured by objective 600 onto the light responsive elements of line scan camera 615 and / or area scan camera 620 and can include optical components (such as filters, magnification converter lenses, etc.). Objective 600 in combination with focusing optics 610 provides the overall magnification for scanning system 550. In one embodiment, the focusing optics 610 may include a tube lens and an optional 2X magnification changer. Advantageously, the 2X magnification changer allows the native 20X objective 600 to scan the sample 590 at 40X magnification.

[0067] The line scan camera 615 includes at least one linear array of picture elements ("pixels"). The line scan camera may be monochrome or color. A color line scan camera typically has at least three linear arrays, while a monochrome line scan camera may have a single linear array or multiple linear arrays. Any type of singular or plural linear array may also be used, whether packaged as part of the camera or custom integrated into the imaging electronics module. For example, a 3-linear array ("red-green-blue" or "RGB") color line scan camera or a 96-linear array monochrome TDI may also be used. TDI line scan cameras typically provide significantly better signal-to-noise ratio ("SNR") in the output signal by summing the intensity data from previously imaged areas of the sample to produce an increase in SNR proportional to the square root of the number of integration stages. A TDI line scan camera includes multiple linear arrays. For example, a TDI line scan camera may have 24, 32, 48, 64, 96 or even more linear arrays. The scanner system 550 also supports linear arrays manufactured in a variety of formats, including some formats with 512 pixels, some formats with 1024 pixels, and other formats with up to 4096 pixels. Similarly, linear arrays with various pixel sizes can also be used in the scanner system 550. A prominent requirement for selecting any type of line scan camera 615 is that the movement of the stage 580 can be synchronized with the line rate of the line scan camera 615 so that the stage 580 can be in motion relative to the line scan camera 615 during the capture of the digital image of the sample 590.

[0068] Image data generated by line scan camera 615 is stored in a portion of memory 565 and processed by processor 555 to generate a continuous digital image of at least a portion of sample 590. The continuous digital image may be further processed by processor 555, and the processed continuous digital image may also be stored in memory 565.

[0069] In an embodiment having two or more line scan cameras 615, at least one of the line scan cameras 615 may be configured to function as a focus sensor that operates in combination with at least one of the line scan cameras 615 that is configured to function as an imaging sensor. The focus sensor may be logically positioned on the same optical axis as the imaging sensor, or the focus sensor may be logically positioned before or after the imaging sensor relative to the scanning direction of the scanner system 550. In one embodiment in which at least one line scan camera 615 functions as a focus sensor, image data generated by the focus sensor is stored in a portion of the memory 565 and processed by one or more processors 555 to generate focus information, thereby allowing the scanner system 550 to adjust the relative distance between the sample 590 and the objective lens 600 to maintain focus on the sample during scanning. Additionally, in one embodiment, at least one line scan camera 615 that functions as a focus sensor may be oriented such that each of a plurality of individual pixels of the focus sensor is positioned at a different logical height along the optical path 605.

[0070] In operation, the various components of the scanner system 550 and the programmed modules stored in the memory 565 enable automatic scanning and digitization of a sample 590 disposed on a glass slide 585. The glass slide 585 is securely placed on the movable stage 580 of the scanner system 550 to scan the sample 590. Under the control of the processor 555, the movable stage 580 accelerates the sample 590 to a substantially constant speed for sensing by the line scan camera 615, wherein the speed of the stage is synchronized with the line rate of the line scan camera 615. After scanning the image data strip, the movable stage 580 decelerates and brings the sample 590 to a substantially complete stop. The movable stage 580 then moves orthogonally to the scan direction to position the sample 590 for scanning of subsequent image data strips (e.g., adjacent strips). Additional strips are subsequently scanned until an entire portion of the sample 590 or the entire sample 590 is scanned.

[0071] For example, during a digital scan of sample 590, a continuous digital image of sample 590 is acquired as a plurality of continuous fields of view that are combined together to form an image strip. A plurality of adjacent image strips are similarly combined together to form a continuous digital image of a portion of sample 590 or the entire sample 590. Scanning sample 590 may include acquiring vertical image strips or horizontal image strips. The scanning of sample 590 may be from top to bottom, from bottom to top, or both (bidirectional), and may start at any point on the sample. Alternatively, the scanning of sample 590 may be from left to right, from right to left, or both (bidirectional), and may start at any point on the sample. Additionally, it is not necessary to acquire image strips in an adjacent or continuous manner. Furthermore, the resulting image of sample 590 may be an image of the entire sample 590 or only a portion of sample 590.

[0072] In one embodiment, computer executable instructions (e.g., programmed modules or other software) are stored in memory 565 and, when executed, enable scanning system 550 to perform the various functions described herein. In this specification, the term "computer-readable storage medium" is used to refer to any medium for storing computer executable instructions and providing them to scanning system 550 for execution by processor 555. Examples of such media include memory 565 and any removable or external storage media (not shown) that is communicatively coupled (e.g., via a network) directly or indirectly to scanning system 550.

[0073] Figure 7B A line scan camera is shown having a single linear array 640, which may be implemented as a charge coupled device ("CCD") array. The single linear array 640 includes a plurality of individual pixels 645. In the illustrated embodiment, the single linear array 640 has 4096 pixels. In alternative embodiments, the linear array 640 may have more or fewer pixels. For example, common formats for linear arrays include 512, 1024, and 4096 pixels. The pixels 645 are arranged in a linear manner to define a field of view 625 of the linear array 640. The size of the field of view varies depending on the magnification of the scanner system 550.

[0074] Figure 7C A line scan camera is shown with three linear arrays, each of which can be implemented as a CCD array. The three linear arrays are combined to form a color array 650. In one embodiment, each individual linear array in the color array 650 detects a different color intensity (e.g., red, green, or blue). The color image data from each individual linear array in the color array 650 is combined to form a single field of view 625 of color image data.

[0075] Fig.7DA line scan camera is shown having multiple linear arrays, each of which can be implemented as a CCD array. Multiple linear arrays are combined to form a TDI array 655. Advantageously, a TDI line scan camera can provide significantly better SNR in its output signal by summing intensity data from previously imaged areas of the sample to produce an increase in SNR proportional to the square root of the number of linear arrays (also called integration stages). A TDI line scan camera can include a greater number of linear arrays. For example, common formats for TDI line scan cameras include 24, 32, 48, 64, 96, 120 and even more linear arrays.

[0076] The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles described herein may be applied to other embodiments without departing from the spirit or scope of the present invention. Therefore, it should be understood that the description and accompanying drawings presented herein represent the current preferred embodiments of the present invention, and therefore represent the subject matter broadly contemplated by the present invention. It should also be understood that the scope of the present invention fully encompasses other embodiments that may become apparent to those skilled in the art, and the scope of the present invention is accordingly not limited.

Claims

1. A carrier holder gripper device, comprising: (a) a base that defines a coarse adjustment movement axis; (b) a finger base that extends from the base and is configured to translate along the coarse adjustment movement axis; (c) a first motor communicatively coupled to the base, the first motor being configured to drive the finger base to translate along the coarse adjustment movement axis; (d) a plurality of gripper fingers, each gripper finger extending from a portion of the finger base, each gripper finger defining a carrier holder engagement surface, wherein the carrier holder engagement surface of the first gripper finger is oriented to face the carrier holder engagement surface of the second gripper finger; (e) a second motor communicatively coupled to the finger base and configured to drive the plurality of gripper fingers to move along a first fine adjustment movement axis and a second fine adjustment movement axis, the second motor further being configured to drive the first gripper finger and the second gripper finger in opposite directions along the second fine adjustment movement axis to grip or release a carrier holder, and the first motor being configured to remove a carrier holder from or insert a carrier holder into a carrier holder turntable along the coarse adjustment movement axis.

2. The carrier holder gripper device according to claim 1, wherein the coarse adjustment movement axis is perpendicular to the first fine adjustment movement axis and the second fine adjustment movement axis.

3. The carrier holder gripper device according to claim 1, wherein the first gripper finger and the second gripper finger extend perpendicular to the first fine adjustment movement axis.

4. A carrier holder gripper device, comprising: (a) a base that defines a first linear axis; (b) a finger base that extends from the base and is configured to translate along the first linear axis; (c) a first motor communicatively coupled to the base, the first motor being configured to drive the finger base to translate along the first linear axis; (d) a finger assembly movably fixed to the finger base, the finger assembly including a first gripper finger and a second gripper finger, the finger assembly being configured to move along a second linear axis, the first gripper finger and the second gripper finger being configured to move along a third linear axis, the first gripper finger defining one or more first finger protrusions, and the second gripper finger defining one or more second finger protrusions; (e) a second motor communicatively coupled to the finger base, the second motor being configured to drive the finger assembly along the second linear axis, and the second motor further being configured to drive the first gripper finger and the second gripper finger to move in opposite directions along the third linear axis to grip or release a carrier holder, and the one or more first finger protrusions and the one or more second finger protrusions being configured to grip one or more protrusions of the carrier holder when one or more carrier holder protrusions are inclined relative to the second linear axis.

5. The carrier holder gripper device according to claim 4, wherein the base defines a first travel distance along a first linear axis, and the first gripper finger and the second gripper finger define a second travel distance along a third linear axis, and the first travel distance is greater than the second travel distance.

6. The carrier holder gripper device according to claim 4, wherein the first linear axis is oriented parallel to the radial axis of the carrier holder turntable, such that movement of the finger base along the first linear axis is configured to move the finger assembly into or out of the carrier holder turntable.

7. A method comprising: (a) storing a plurality of carrier holders in a carrier holder turntable operably connected to a digital slide scanning device, each carrier holder supporting a plurality of glass slides; (b) transferring a first glass slide to a scanning stage of the digital slide scanning device by: (i) driving a finger base including a first gripper finger and a second gripper finger along a coarse adjustment motor axis to position the first gripper finger and the second gripper finger near opposite sides of a selected carrier holder supporting the first glass slide; (ii) after the first gripper finger and the second gripper finger are positioned near opposite sides of the selected carrier holder, driving the first gripper finger and the second gripper finger towards each other along a first fine adjustment motor axis to grip the selected carrier holder with the first gripper finger and the second gripper finger; (iii) after gripping the selected carrier holder with the first gripper finger and the second gripper finger, driving the finger base along the coarse adjustment motor axis to remove the selected carrier holder from the carrier holder turntable, and; (iv) after removing the first carrier holder from the carrier holder turntable, transferring the first carrier holder towards the scanning stage.

8. The method according to claim 7, wherein the step of transferring the first glass slide further includes driving the first gripper finger and the second gripper finger along the first fine adjustment motor axis to a predetermined distance between a carrier holder engagement surface of the first gripper finger and a carrier holder engagement surface of the second gripper finger.

9. The method according to claim 8, the action of driving the first gripper finger and the second gripper finger along the first fine adjustment motor axis to a predetermined distance includes driving the first gripper finger and the second gripper finger towards each other.

10. The method according to claim 8, the action of driving the first gripper finger and the second gripper finger along the first fine adjustment motor axis to a predetermined distance includes driving the first gripper finger and the second gripper finger away from each other.

11. The method according to claim 7, the action of driving the finger base along the coarse adjustment motor axis to position the first gripper finger and the second gripper finger near opposite sides of a selected carrier includes driving the finger base along the coarse adjustment motor axis to position the first gripper finger in a first carrier spacer recess on a first side of the selected carrier supporting the first wafer, and to position the second gripper finger in a second carrier spacer recess on a second side of the selected carrier.

12. The method according to claim 7, the action of gripping the selected carrier includes driving the first gripper finger and the second gripper finger towards each other along a first fine adjustment motor axis, so that the carrier engaging surface of the first gripper finger contacts a first surface of the selected carrier, and the carrier engaging surface of the second gripper finger contacts a second surface of the selected carrier.

13. The method according to claim 7, the step of transferring the first glass wafer further includes driving the first gripper finger and the second gripper finger along a second fine adjustment motor axis.

14. The method according to claim 13, the action of gripping the selected carrier includes driving the first gripper finger and the second gripper finger along the first fine adjustment motor axis and the second fine adjustment motor axis.

15. The method according to claim 14, the second fine adjustment motor axis is perpendicular to the first fine adjustment motor axis.

16. A method includes: (a) storing a plurality of carriers in a carrier turntable operably connected to a digital wafer scanning device, each carrier supporting a plurality of glass wafers; and (b) transferring a first glass wafer to a scanning stage of the digital wafer scanning device by the following steps: (i) driving a first gripper finger connected to the finger base of the carrier gripper and a second gripper finger connected to the finger base along a linear gripper finger gripping axis to a predetermined distance between the carrier engaging surface of the first gripper finger and the carrier engaging surface of the second gripper finger; (ii) driving the finger base along a first linear finger base axis to position the first gripper finger in a first carrier spacer recess on a first side of a first carrier supporting the first wafer, and to position the second gripper finger in a second carrier spacer recess on a second side of the first carrier; (iii) after the first gripper finger and the second gripper finger are respectively positioned on the first side and the second side of the first carrier, driving the first gripper finger and the second gripper finger towards each other along the linear gripper finger gripping axis, so that the carrier engaging surface of the first gripper finger contacts a first surface of the first carrier, and the carrier engaging surface of the second gripper finger contacts a second surface of the first carrier; (iv) after the respective carrier engaging surfaces of the first gripper finger and the second gripper finger contact the first surface and the second surface of the first carrier, driving the finger base along the first linear finger base axis to remove the first carrier from the carrier turntable, and (v) After removing the first carrier from the carrier turntable, transfer the first carrier to the scanning stage.

17. The method according to claim 16, wherein driving the first gripper finger and the second gripper finger along the gripper finger clamping axis includes driving the first gripper finger and the second gripper finger towards each other.

18. The method according to claim 16, wherein driving the first gripper finger and the second gripper finger along the gripper finger clamping axis includes driving the first gripper finger and the second gripper finger away from each other.

19. The method according to claim 16, the action of driving the finger base along the first linear finger base axis to position the first gripper finger and the second finger gripper includes driving the finger base in a first direction along the first linear finger base axis, and the action of driving the finger base along the first linear finger base axis to remove the first carrier from the carrier turntable includes driving the finger base in a second direction along the first linear finger base axis, and the first direction is opposite to the second direction.

20. The method according to claim 16, the action of driving the first gripper finger and the second gripper finger towards each other includes aligning the first carrier with the first finger gripper and the second finger gripper using one or more protrusions extending from the carrier engaging surfaces of the first gripper finger and the second gripper finger.

21. The method according to claim 16, further comprising the step of rotating the carrier turntable to transfer a second glass carrier to the scanning stage.

22. A non-transitory computer-readable medium storing one or more instruction sequences for causing one or more processors to execute, including: (a) storing a plurality of carriers in a carrier turntable operably connected to a digital slide scanning device, wherein each carrier supports a plurality of glass slides; and (b) transferring a first glass slide to a scanning stage of the digital slide scanning device by the following steps: (i) driving a first gripper finger of a finger base connected to a carrier gripper and a second gripper finger connected to the finger base along a linear gripper finger clamping axis to reach a predetermined distance between a carrier engaging surface of the first gripper finger and a carrier engaging surface of the second gripper finger; (ii) driving the finger base along a first linear finger base axis to position the first gripper finger in a first carrier spacer recess on a first side of a first carrier supporting a first slide and to position the second gripper finger in a second carrier spacer recess on a second side of the first carrier, (iii) After the first gripper finger and the second gripper finger are respectively positioned on the first side and the second side of the first carrier, drive the first gripper finger and the second gripper finger towards each other along the gripper finger clamping axis, so that the carrier engaging surface of the first gripper finger contacts the first surface of the first carrier, and the carrier engaging surface of the second gripper finger contacts the second surface of the first carrier. (iv) After the respective carrier engaging surfaces of the first gripper finger and the second gripper finger contact the first surface and the second surface of the first carrier, drive the finger base along the first linear finger base axis to remove the first carrier from the carrier turntable, and (v) After removing the first carrier from the carrier turntable, transfer the first carrier to the scanning stage.

23. The medium according to claim 22, wherein, Drive the first gripper finger and the second gripper finger towards each other along the gripper finger clamping axis.

24. The medium according to claim 22, wherein, Driving the first gripper finger and the second gripper finger towards each other along the gripper finger clamping axis includes driving the first gripper finger and the second gripper finger away from each other.

25. For the medium according to claim 22, the action of driving the finger base along the first linear finger base axis to position the first gripper finger and the second finger gripper includes driving the finger base in a first direction along the first linear finger base axis, and the action of driving the finger base along the first linear finger base axis to remove the first carrier from the carrier turntable includes driving the finger base in a second direction along the first linear finger base axis, and the first direction is opposite to the second direction.

26. For the medium according to claim 22, the action of driving the first gripper finger and the second gripper finger towards each other includes aligning the first carrier with the first finger gripper and the second finger gripper using one or more protrusions extending from the carrier engaging surfaces of the first gripper finger and the second gripper finger.

Images