Multi-slice scanning device and method

Abstract

The invention discloses a multi-slice scanning device and method, and relates to the technical field of digital pathology, and the multi-slice scanning device comprises a slice bin, a slice taking and returning mechanism, a macroscopic image collection mechanism and a microscopic scanning mechanism. The slice bin is used for storing slices; the microscopic scanning mechanism is arranged on one side of the slice bin and is used for scanning the slices; the macroscopic image acquisition mechanism is arranged between the microscopic scanning mechanism and the slice bin and is used for identifying a specimen area on the slice before scanning; the slice taking and returning mechanism is arranged on one side of the microscopic scanning mechanism and used for conveying the slices in the slice bin to the macroscopic image collecting mechanism firstly and then conveying the slices to the microscopic scanning mechanism, and finally the specimen areas of the slices are exposed to the scanning area of the microscopic scanning mechanism. The slice taking and returning mechanism is further used for conveying the scanned slices back to the slice bin. According to the designed multi-slice scanning device, the number of moving parts can be reduced, the mechanical structure is simplified, and therefore the reliability and the whole-process speed are improved, and the increasing high-throughput scanning requirement is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of digital pathology, and in particular to a multi-slice scanning device and method. BACKGROUND

[0002] With the continuous progress of medical technology, digital pathology has gradually become an important means of modern pathological research and diagnosis as a new discipline. Digital slide scanner, as the core equipment of digital pathology, can convert traditional glass slides into high-resolution digital images, allowing pathologists to perform remote diagnosis and analysis on computers or mobile devices. This technology not only improves the preservation quality of pathological sections, avoiding physical damage and color fading problems, but also greatly improves the efficiency and convenience of pathological diagnosis.

[0003] The emergence of digital slide scanners enables pathologists to analyze and diagnose pathological sections anytime and anywhere without being restricted by time and location. In addition, combined with Internet technology, digital slide scanners can also realize remote consultation, allowing doctors in different regions to share case information and collaborate in diagnosis. Furthermore, by integrating artificial intelligence technology, digital slide scanners can assist pathologists in diagnosis, reduce work burden, and improve the accuracy and efficiency of diagnosis.

[0004] However, existing high-throughput digital slide scanners have some limitations in design. They are usually composed of a slide magazine, a forward and backward slide mechanism, and a scanning mechanism, which requires complex mechanical movements to realize the automatic forward and backward movement of the slide and scanning. The forward and backward slide mechanism and the scanning mechanism usually require at least 6-axis motion mechanisms, resulting in a complex system, numerous components, and increased equipment failure rate and maintenance difficulty. In addition, due to the frequent interaction of the forward and backward slide mechanism and the scanning mechanism, at least 4 interactions are required for each scan, which not only increases the operation time but also reduces the overall scanning efficiency.

[0005] Therefore, in order to overcome the shortcomings of the prior art, it is necessary to propose a more concise and efficient forward and backward slide scheme that can reduce the number of moving parts and simplify the mechanical structure, thereby improving the reliability and overall process speed of the equipment to meet the growing demand for high-throughput scanning. SUMMARY

[0006] Therefore, the purpose of the present application is to provide a multi-slice scanning device and method that can reduce the number of moving parts and simplify the mechanical structure, thereby improving the reliability and overall process speed to meet the growing demand for high-throughput scanning.

[0007] To achieve the above technical purpose, the present application provides a multi-slice scanning device, comprising a slide magazine, a slide taking and returning mechanism, a macro image acquisition mechanism, and a microscopic scanning mechanism.

[0008] The slide magazine is used for storing the slices;

[0009] The microscopic scanning mechanism is arranged on one side of the slide magazine and is used for scanning the slices;

[0010] The macroscopic image acquisition mechanism is arranged between the microscopic scanning mechanism and the slide magazine and is used for identifying the specimen area on the slice before scanning;

[0011] The slide taking and returning mechanism is arranged on one side of the microscopic scanning mechanism and is used for transporting the slice in the slide magazine to the macroscopic image acquisition mechanism and exposing the slice to the acquisition area of the macroscopic image acquisition mechanism;

[0012] The slide taking and returning mechanism is also used for transporting the slice from the macroscopic image acquisition mechanism to the microscopic scanning mechanism and exposing the specimen area of the slice to the scanning area of the microscopic scanning mechanism;

[0013] The slide taking and returning mechanism is also used for transporting the slice after scanning back to the slide magazine.

[0014] Further, the slide taking and returning mechanism comprises a gripper and a displacement table;

[0015] The displacement table is connected with the gripper and can drive the gripper to move in the X-axis direction and / or in the Y-axis direction;

[0016] The gripper is used for clamping the slice;

[0017] The slide magazine comprises a magazine box and a magazine moving module;

[0018] The magazine box is internally provided with magazine positions for storing a plurality of slices in the Z-axis direction;

[0019] The front surface of the magazine box is provided with an inlet and an outlet which are connected with the magazine positions one by one and are used for the slices to enter and exit;

[0020] The magazine moving module is connected with the magazine box and can drive the magazine box to move in the Z-axis direction.

[0021] Further, the gripper comprises an electric gripper, a first gripper finger and a second gripper finger;

[0022] The electric gripper is connected with the first gripper finger and the second gripper finger and is used for driving the first gripper finger and the second gripper finger to move close to or away from each other.

[0023] Further, the first gripper finger and the second gripper finger are arranged away from or close to each other in the vertical direction;

[0024] The first clamping finger comprises a first connecting finger and a first clamping finger;

[0025] The first connecting finger is connected with the electric clamping finger;

[0026] The first clamping finger is vertically connected with the first connecting finger;

[0027] The second clamping finger comprises a second connecting finger and a second clamping finger;

[0028] The second clamping finger is vertically connected with the second connecting finger;

[0029] The first clamping finger and the second clamping finger are vertically stacked and form a clamping gap for clamping the slice.

[0030] Further, the first clamping finger and the second clamping finger are horizontally away from or close to each other;

[0031] The first clamping finger comprises a first connecting finger and a first clamping finger;

[0032] The first connecting finger is connected with the electric clamping finger;

[0033] The first clamping finger is vertically connected with the first connecting finger;

[0034] The second clamping finger comprises a second connecting finger and a second clamping finger;

[0035] The second clamping finger is vertically connected with the second connecting finger;

[0036] The first clamping finger and the second clamping finger are horizontally away from or close to each other;

[0037] Further, the slice magazine further comprises a first detector;

[0038] The first detector is fixed at a position outside the inlet and outlet, and is used for detecting whether the slice exists in the inlet and outlet.

[0039] Further, the slice magazine further comprises a magazine seat;

[0040] The magazine seat is provided with a magazine chamber;

[0041] The magazine box is installed in the magazine chamber;

[0042] The front surface of the magazine seat is provided with a magazine opening for the slice to enter and exit;

[0043] The magazine seat is connected with the magazine seat, and is used for driving the magazine seat to move in the Z-axis direction.

[0044] Further, the sheet cartridge further comprises a second detector;

[0045] The second detector is installed on the cartridge seat and is used to detect whether the cartridge magazine is in the cartridge chamber.

[0046] Further, the side or back of the cartridge seat is provided with a mounting opening for the cartridge magazine to be movably loaded into the cartridge chamber.

[0047] The sheet cartridge further comprises a pressing mechanism.

[0048] The pressing mechanism is installed on one side of the cartridge seat and can extend into the cartridge chamber and press the cartridge magazine in the cartridge chamber.

[0049] Further, the pressing mechanism comprises a support, a sleeve, a pressing shaft and a pressing drive assembly.

[0050] One side of the cartridge seat is provided with a pressing opening.

[0051] The support is fixed on the pressing opening.

[0052] The sleeve is fixed in the support, and the inner cavity is in communication with the pressing opening.

[0053] The pressing shaft is slidingly installed in the sleeve, and one end extends into the cartridge chamber through the pressing opening.

[0054] The pressing drive assembly is installed on the support and connected with the pressing shaft, and is used to drive the pressing shaft to slide in the sleeve.

[0055] Further, the displacement table comprises a bottom plate, a first sliding plate, a second sliding plate, a first drive assembly and a second drive assembly.

[0056] The first sliding plate is slidingly installed on the bottom plate along the X-axis direction.

[0057] The first drive assembly is installed on the bottom plate and connected with the first sliding plate, and is used to drive the first sliding plate to slide.

[0058] The second sliding plate is slidingly installed on the first sliding plate along the Y-axis direction.

[0059] The second drive assembly is installed on the first sliding plate and connected with the second sliding plate, and is used to drive the second sliding plate to slide.

[0060] Further, the macro image acquisition mechanism comprises a macro camera, an upper light source and a back light source.

[0061] The macro camera is arranged above the position where the section passes in and out of the sheet cartridge.

[0062] The upper light source is installed on one side of the macro camera;

[0063] The backlight source is arranged below the position where the slice enters or exits the slice cartridge.

[0064] Further, the microscopic scanning mechanism comprises a scanning camera, a fixing seat and a microscopic Z-axis;

[0065] The scanning camera is installed on the top of the fixing seat;

[0066] An objective lens is installed on the bottom of the fixing seat;

[0067] The microscopic Z-axis is connected with the fixing seat, and is used to drive the fixing seat to move in the Z-axis direction.

[0068] Further, the microscopic scanning mechanism further comprises a converter;

[0069] The converter is rotatably installed on the bottom of the fixing seat;

[0070] A plurality of objective lenses are installed on the converter.

[0071] Further, the scanning camera comprises a camera module, an imaging system module and a condensing module which are connected in sequence from top to bottom;

[0072] A conversion motor is installed on the fixing seat;

[0073] The conversion motor is connected with the converter through a transmission assembly, and is used to drive the converter to rotate.

[0074] Further, an emergency unit is further included;

[0075] The emergency unit is arranged on one side of the slice cartridge, and is used to fix an emergency slice;

[0076] The slice taking-out mechanism is further used to transport the emergency slice to the macro image acquisition mechanism and expose the emergency slice to the acquisition area of the macro image acquisition mechanism;

[0077] The slice taking-out mechanism is further used to transport the emergency slice from the macro image acquisition mechanism to the microscopic scanning mechanism and expose the specimen area of the emergency slice to the scanning area of the microscopic scanning mechanism;

[0078] The slice taking-out mechanism is further used to transport the emergency slice after scanning back to the emergency unit.

[0079] Further, the emergency unit comprises a base, a fixing assembly and a detection assembly;

[0080] The fixing assembly is movably installed on the base to be switched between a first feeding and discharging position and a second feeding and discharging position.

[0081] The fixing assembly is used for fixing the emergency slice.

[0082] The detection assembly is installed on the base to detect whether the fixing assembly is in the second feeding and discharging position.

[0083] The detection assembly is installed on the base and is also used for detecting whether the fixing assembly has the emergency slice.

[0084] The application also discloses a multi-slice scanning method applied to the multi-slice scanning device and including the following steps.

[0085] The slice taking and discharging mechanism takes out the slice to be scanned from the slice magazine and delivers the slice to the microscopic scanning mechanism, so that a specimen area of the slice is exposed to a scanning area of the microscopic scanning mechanism, wherein the specimen area is identified by the macroscopic image acquisition mechanism before the slice reaches the microscopic scanning mechanism.

[0086] The microscopic scanning mechanism scans the specimen area on the slice delivered to the position.

[0087] The slice taking and discharging mechanism delivers the scanned slice back to the slice magazine.

[0088] From the above technical solutions, it can be seen that the multi-slice scanning device designed by the application has the following beneficial effects.

[0089] 1. The slice taking and discharging mechanism not only has the functions of taking and discharging the slice, but also has the function of exposing the specimen area of the slice to the scanning area of the microscopic scanning mechanism, so that the scanning position adjusting function is realized. Therefore, the slice can be directly taken from the slice magazine by the slice taking and discharging mechanism and delivered to the microscopic scanning mechanism for scanning, without passing through the object table, so that the interaction time of feeding and discharging the slice is effectively reduced, the whole process speed is improved, the motion mechanism is reduced, the reliability is improved, and the cost is reduced.

[0090] 2. The specimen area on the slice is identified by the macroscopic image acquisition mechanism, so that the specimen area of the slice can be accurately exposed to the scanning area of the microscopic scanning mechanism by the slice taking and discharging mechanism, the scanning accuracy and efficiency are improved, and the overall scanning time is saved. BRIEF DESCRIPTION OF DRAWINGS

[0091] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative labor.

[0092] Figure 1 A top view of a multi-slice scanning device provided in the present application;

[0093] Figure 2 A partial structural schematic view of a multi-slice scanning device provided in the present application;

[0094] Figure 3 A perspective view of a multi-slice scanning device provided in the present application;

[0095] Figure 4 A top view of a sheet taking and withdrawing mechanism of a multi-slice scanning device provided in the present application;

[0096] Figure 5 A perspective view of a sheet cassette of a multi-slice scanning device provided in the present application;

[0097] Figure 6 A partial sectional view of a sheet cassette of a multi-slice scanning device provided in the present application;

[0098] Figure 7 A perspective view of a macro image acquisition mechanism of a multi-slice scanning device provided in the present application;

[0099] Figure 8 A perspective view of a microscopic scanning mechanism of a multi-slice scanning device provided in the present application Macroscopic camera explosion schematic view of a macroscopic image acquisition mechanism;

[0100] Figure 9 Macroscopic camera explosion schematic view of a scanning camera of a microscopic scanning mechanism of a multi-slice scanning device provided in the present application;

[0101] Figure 10 First kind of jaw structure schematic view of a microscopic scanning mechanism of a multi-slice scanning device provided in the present application;

[0102] Figure 11 Second kind of jaw structure schematic view of a microscopic scanning mechanism of a multi-slice scanning device provided in the present application;

[0103] Figure 12 A perspective view of an emergency unit and a sheet taking and withdrawing mechanism of a multi-slice scanning device provided in the present application;

[0104] Figure 13 A perspective view of an emergency unit of a multi-slice scanning apparatus provided in the present application with an emergency fixing frame;

[0105] Figure 14 A top view of an emergency unit of a multi-slice scanning apparatus provided in the present application with an emergency fixing frame;

[0106] Figure 15 A side view of an emergency unit of a multi-slice scanning apparatus provided in the present application with an emergency fixing frame;

[0107] Figure 16 A sectional view of an emergency unit of a multi-slice scanning apparatus provided in the present application with an emergency fixing frame;

[0108] Figure 17 A sectional view of an emergency unit of a multi-slice scanning apparatus provided in the present application;

[0109] Figure 18 A region schematic view of a slice or an emergency slice of a multi-slice scanning apparatus provided in the present application;

[0110] Figure 19 A flow schematic view of a multi-slice scanning method provided in the present application;

[0111] In the figure: 100, a cartridge; 11, a moving cartridge module; 12, a cartridge material box; 121, a cartridge position; 13, a second detector; 14, a pressing mechanism; 141, a support; 142, a sleeve; 143, a pressing shaft; 144, a pressing drive assembly; 15, a first detector; 16, a cartridge seat; 161, a cartridge chamber; 162, a cartridge opening; 163, a mounting opening; 164, a pressing opening; 200, a macro image acquisition mechanism; 21, a macro camera; 22, an upper light source; 23, a backlight source; 300, a microscopic scanning mechanism; 31, a scanning camera; 311, a camera module; 312, an imaging system module; 313, a condensing module; 32, a fixing seat; 33, a converter; 34, a microscopic Z-axis; 35, a conversion motor; 36, an objective lens; 37, a transmission assembly; 371, a driving gear; 372, a driven gear ring; 400, a slice taking and removing mechanism; 41, a displacement table; 411, a bottom plate; 412, a first sliding plate; 413, a second sliding plate; 414, a first drive assembly; 415, a second drive assembly; 42, a clamping jaw device; 421, an electric clamping jaw; 422, a first clamping finger; 4221, a first clamping finger part; 4222, a first connecting finger part; 423, a second clamping finger; 4231, a second clamping finger part; 4232, a second connecting finger part; 424, a clamping slot; 500, a slice; 600, an emergency slice; 700, an emergency unit; 71, a fixing assembly; 711, a fixing support plate; 7111, a slot; 7112, a stop flange; 7113, a pulling ear part; 712, an elastic pressing part; 7121, a pressing section; 72, a base; 721, a bearing cavity; 722, a pin hole; 73, a rotating assembly; 731, a rotating shaft; 732, a bearing cover; 733, a bearing body; 734, a shaft fixing disc; 74, a positioning assembly; 741, a first positioning structure; 7411, a positioning hole; 742, a second positioning structure; 7421, a positioning pin; 7422, a positioning elastic part; 7423, an adjusting column; 75, a detection assembly; 751, a first detection module; 7511, a light shield; 7512, a photoelectric sensor; 752, a second detection module; 800, an emergency fixing frame; 901, a label area; 902, a specimen area. DETAILED DESCRIPTION

[0112] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0113] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0114] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0115] This application discloses a multi-slice scanning device.

[0116] Please see Figure 1 as well as Figure 3 One embodiment of a multi-slice scanning device provided in this application includes:

[0117] The film storage compartment 100, the film loading and unloading mechanism 400, the macroscopic image acquisition mechanism 200, and the microscopic scanning mechanism 300 are included.

[0118] The slide compartment 100 is used to store 500 slides. The number of slides that can be stored can be varied according to the actual storage space size, as long as it meets the requirements of multi-slide scanning design, without any restrictions.

[0119] The microscopic scanning mechanism 300 is located on one side of the slide compartment 100 and is used to scan the slide 500.

[0120] The macroscopic image acquisition mechanism 200 is located between the microscopic scanning mechanism 300 and the slide compartment 100, and is used to identify the specimen area 902 on the slide 500 before scanning.

[0121] The taking-out and returning mechanism 400 is arranged on one side of the microscopic scanning mechanism 300, and is used to transport the section 500 in the section cassette 100 to the macroscopic image acquisition mechanism 200 and expose the section 500 to the acquisition area of the macroscopic image acquisition mechanism, so that the macroscopic image acquisition mechanism 200 acquires the macroscopic image of the section 500 to identify the specimen area 902 thereon. The section 500 also has a label area 901, which contains patient information, pathological number, staining type and the like, and is obtained by identifying the two-dimensional code label, numbers and the like in the area, which is not limited. The specimen area 902 has a tissue section sample, which carries all the cell and structure information that needs to be observed.

[0122] The taking-out and returning mechanism 400 is also used to transport the section 500 from the macroscopic image acquisition mechanism 200 to the microscopic scanning mechanism 300 and expose the specimen area 902 of the section 500 to the scanning area of the microscopic scanning mechanism 300; and then the taking-out and returning mechanism 400 is also used to transport the section 500 after scanning back to the section cassette 100.

[0123] From the above technical solution, it can be seen that the multi-section scanning device designed in the present application has the following beneficial effects:

[0124] Firstly, the taking-out and returning mechanism 400 not only has the function of taking out and returning the section 500, but also has the function of exposing the specimen area 902 of the section 500 to the scanning area of the microscopic scanning mechanism, which realizes the scanning position adjustment function. Therefore, the taking-out and returning mechanism 400 can directly grab the section 500 from the section cassette 100 and transport it to the microscopic scanning mechanism 300 for scanning, and this process does not need to pass through the object table, thereby effectively reducing the interaction time of the section in and out. Such design significantly improves the overall process speed, and at the same time, since the number of motion mechanisms is reduced, the reliability of the device is also improved, and the cost is effectively reduced.

[0125] Secondly, before microscopic scanning, the taking-out and returning mechanism 400 exposes the section 500 to the acquisition area, and then the macroscopic image acquisition mechanism 200 accurately identifies the specimen area 902 on the section 500, so that the taking-out and returning mechanism 400 can accurately expose the specimen area 902 of the section 500 to the scanning area of the microscopic scanning mechanism 300. This function greatly improves the accuracy and efficiency of the scanning process, ensures the quality of the scanning result, and saves the overall scanning time.

[0126] The above is an embodiment one of a multi-section scanning device provided by the embodiment of the present application, and the following is an embodiment two of a multi-section scanning device provided by the embodiment of the present application, which is specifically described in the following Figures 1 to 18 .

[0127] Based on the above embodiment one:

[0128] Further, as shown in Figure 2 and Figure 4 , the design of the slice taking and removing mechanism 400 includes the gripper 42 and the displacement table 41.

[0129] The displacement table 41 is connected with the gripper 42 and can drive the gripper 42 to move in the X-axis direction and / or in the Y-axis direction, and the gripper 42 is used to clamp the slice 500.

[0130] The design of the displacement table 41 ensures that the slice taking and removing mechanism 400 can accurately transport the slice 500 from the slice cassette 100 to the microscopic scanning mechanism 300 and return it to the slice cassette 100 after scanning. The movement capability in the X-axis and Y-axis directions enables the gripper 42 to flexibly adjust the position to adapt to the needs of different slices 500. The gripper 42 is responsible for safely and stably clamping the slice 500 to prevent it from falling off or being damaged during transportation.

[0131] The gripper 42 can be a conventional electric gripper or a pneumatic gripper, and the specific choice depends on the actual application scenario and requirements. The electric gripper has the characteristics of precise control and stable clamping force, which is suitable for occasions with high clamping precision requirements; while the pneumatic gripper has the advantages of simple structure and rapid action. Regardless of which type of gripper 42 is used, it is preferred to ensure that its material is compatible with the slice 500 to avoid damage to the slice 500 during clamping.

[0132] Further, as shown in Figure 10 and Figure 11 , the specific structural design of the gripper 42 can include an electric gripper 421, a first gripper finger 422, and a second gripper finger 423. The electric gripper 421 connects the first gripper finger 422 and the second gripper finger 423 and is used to drive the first gripper finger 422 and the second gripper finger 423 to move closer to or away from each other.

[0133] The first gripper finger 422 and the second gripper finger 423 are respectively used to contact the slice to clamp or release the slice, and the electric gripper 421 can be an electric mechanical gripper main structure or a pneumatic cylinder type gripper main structure without limitation.

[0134] Further, as shown in Figure 10 , the first gripper finger 422 and the second gripper finger 423 can be arranged away from or close to each other in the vertical direction to realize the design of the upper and lower clamping mode.

[0135] The first gripper finger 422 includes a first connecting finger portion 4222 and a first gripping finger portion 4221; the first connecting finger portion 4222 is connected to the electric gripper 421, and the first gripping finger portion 4221 is perpendicularly connected to the first connecting finger portion 4222; the second gripper finger 423 includes a second connecting finger portion 4232 and a second gripping finger portion 4231, and the second gripping finger portion 4231 is perpendicularly connected to the second connecting finger portion 4232.

[0136] The first gripper finger 4221 and the second gripper finger 4231 are stacked vertically, forming a gripping gap between them for gripping the slice 500. The slice 500 can be gripped by driving the first gripper finger and the second gripper finger 4231 to move closer to each other in the vertical direction, and the slice 500 can be released by moving them away from each other.

[0137] Furthermore, such as Figure 11 As shown, the first gripper finger 422 and the second gripper finger 423 can also be set to be far apart or close together in the horizontal direction to achieve a left and right gripping direction design.

[0138] The first gripper finger 422 includes a first connecting finger portion 4222 and a first gripping finger portion 4221; the first connecting finger portion 4222 is connected to the electric gripper 421; the first gripping finger portion 4221 is perpendicularly connected to the first connecting finger portion 4222; the second gripper finger 423 includes a second connecting finger portion 4232 and a second gripping finger portion 4231, the second gripping finger portion 4231 being perpendicularly connected to the second connecting finger portion 4232.

[0139] The first clamping finger 4221 and the second clamping finger 4231 are horizontally spaced apart, and each has a clamping groove 424 on its opposite side for the edge of the slice 500 to be inserted. Since the horizontal left-right clamping design clamps the left and right sides of the slice 500, compared to the top-bottom clamping design (clamping the top and bottom), it not only reduces the clamping contact area but also lacks vertical support (in the top-bottom clamping design, the lower clamping finger can provide support), thus posing a risk of falling. Therefore, in this revised design, the first clamping finger 4221 and the second clamping finger 4231 are designed with clamping grooves 424, increasing the clamping contact area and providing vertical support for the slice 500, thus preventing the risk of vertical falling.

[0140] like Figure 2 , Figure 3 as well as Figure 5 As shown, the wafer storage compartment 100 includes a storage box 12 and a transfer module 11; the storage box 12 has compartments 121 for storing multiple wafers 500 at intervals in the Z-axis direction; the front of the storage box 12 has inlets and outlets corresponding to the compartments 121 for wafers 500 to enter and exit; the transfer module 11 is connected to the storage box 12 and can drive the storage box 12 to move in the Z-axis direction.

[0141] The design of the magazine 12 enables the slices 500 to be stored and taken out in an orderly manner in the vertical direction (Z axis), increasing the storage density and facilitating the operation of the slice taking and returning mechanism 400. The magazine moving module 11 is responsible for driving the magazine 12 to move in the Z axis direction, ensuring that the slices 500 can be taken out or returned according to the predetermined order. The magazine moving module 11 can be an electric, pneumatic or hydraulic linear displacement driving mechanism, and the specific choice depends on the overall design of the device and the operation convenience, without limitation.

[0142] Designing the magazine moving module 11 to the slice magazine 100 instead of integrating it into the slice taking and returning mechanism 400 can avoid the problems of complex mechanism, excessive weight and insufficient stability caused by integrating too many moving modules.

[0143] It should be noted that after the slice 500 in a magazine position 121 is taken out and scanned, it will be returned to the magazine position 121, i.e. the slice is returned to the original position.

[0144] In order to more accurately take / return the slice and avoid taking or returning the wrong slice, further, as shown in Figure 1 and Figure 2 , the slice magazine 100 further comprises a first detector 15; the first detector 15 is fixed at a position outside the inlet and outlet, and is used to detect whether there is a slice 500 in the inlet and outlet. The first detector 15 can be an infrared / laser distance measuring sensor, which judges whether there is a slice 500 in the corresponding inlet and outlet by detecting the distance. Since the first detector 15 is fixed, under the driving of the magazine moving module 11, the magazine 12 moves in the Z axis direction, and the height of the magazine position 121 on the magazine 12 changes accordingly. Assuming that the slices are taken one by one from bottom to top, the magazine moving module 11 can first drive the magazine 12 to descend to a certain height so that the slice 500 in the inlet and outlet of the lowest magazine position 121 is recognized by the first detector 15, at this time it is considered to be in place, and the slice taking and returning mechanism 400 can perform the slice taking and returning operation, and after completing the slice taking and returning of the magazine position 121; the magazine 12 continues to descend to the slice 500 in the second magazine position 121 which is recognized by the first detector 15, and so on (the actions of slice clamping, macroscopic shooting, slice scanning and slice recycling are repeated).

[0145] Further, as shown in Figure 2 , the slice magazine 100 further comprises a magazine seat 16; the magazine seat 16 is provided with a magazine chamber 161; the magazine 12 is installed in the magazine chamber 161; and the front surface of the magazine seat 16 is provided with a magazine opening 162 for the slice 500 to enter and exit. The design of the magazine seat 16 can provide convenience for the installation of the magazine 12.

[0146] The magazine 12 in the present application can be designed as at least two, and the design of multiple magazines 12 can improve the processing capacity of the slices 500. More importantly, when one of the magazines 12 is in the slice taking stage, the other magazine 12 can be replaced (i.e. the scanned slice 500 is taken out and replaced with a new slice 500 to be scanned), or the entire magazine 12 is replaced with a new one.

[0147] When the magazine 12 is designed as at least two, as shown in Figure 5 and Figure 6 , at least two chambers 161 are arranged in the Z-axis direction in the magazine seat 16; and the magazine 12 is installed in the chamber 161 one by one.

[0148] The magazine moving module 11 is connected with the magazine seat 16, and is used to drive the magazine seat 16 to move in the Z-axis direction, thereby driving the magazine 12 to move in the Z-axis direction.

[0149] Further, when the magazine 12 is at least two, the slice magazine 100 can also be designed to include at least two second detectors 13; the at least two second detectors 13 are installed on the magazine seat 16 and are used to detect whether there is a magazine 12 in the chamber 161 one by one. The second detector 13 can also be a distance measuring sensor (such as ultrasonic distance measuring / infrared distance measuring / laser distance measuring, etc.), which determines whether there is a magazine 12 in the chamber 161 by distance measurement.

[0150] Taking two chambers 161 as an example, the second detector 13 is two, which can be arranged at the top and bottom of the magazine seat 16; and taking one chamber 161 as an example, the second detector 13 is one, which can be arranged at the top or bottom of the magazine seat 16, and the specific arrangement is not limited.

[0151] Further, in order to facilitate the loading and unloading of the entire magazine 12 and improve the efficiency of the slice 500 loading and unloading, as shown in Figure 6 , the side or back of the magazine seat 16 is provided with a mounting port 163 for the magazine 12 to be movably installed in the chamber 161.

[0152] In order to avoid the position deviation or mixing of the installed magazine 12, thereby affecting the precision of the slice taking and removing, as shown in Figure 5 and Figure 6 , a pressing mechanism 14 is designed, and the pressing mechanism 14 is at least two, which is installed on one side of the magazine seat 16 and is arranged one by one with the chamber, can extend into the chamber 161 and press the magazine 12 in the chamber 161, thereby fixing the magazine 12.

[0153] The number of the pressing mechanism 14 is determined according to the number of the magazine seat, and one pressing mechanism 14 is arranged in each chamber 161, and the specific arrangement is not described herein.

[0154] Further, as shown in Figure 5 Also Figure 6 The pressing mechanism 14 includes a support 141, a sleeve 142, a pressing shaft 143, and a pressing drive assembly 144. One side of the cartridge seat 16 is provided with a pressing opening 164. The support 141 is fixed on the pressing opening 164. The sleeve 142 is fixed in the support 141, and the inner cavity is in communication with the pressing opening 164. The pressing shaft 143 is slidingly installed in the sleeve 142, and one end is movably extended into the cartridge chamber 161 through the pressing opening 164. The pressing drive assembly 144 is installed on the support 141 and connected with the pressing shaft 143, for driving the pressing shaft 143 to slide in the sleeve 142.

[0155] The pressing drive assembly 144 can be a telescopic motor, which is not particularly limited.

[0156] When it is necessary to press the cartridge 12, the pressing drive assembly 144 drives the pressing shaft 143 to slide in the sleeve 142 in the direction of extending into the cartridge chamber 161, so that one end of the pressing shaft 143 presses the cartridge 12. When it is necessary to release the cartridge 12, the pressing drive assembly 144 drives the pressing shaft 143 to slide in the direction of extending out of the cartridge chamber 161, so that one end of the pressing shaft 143 is away from the cartridge 12. Such design not only realizes effective pressing of the cartridge 12, but also ensures the flexibility and convenience of operation.

[0157] Further, as shown in Figure 4 For the displacement table 41 design, it includes a bottom plate 411, a first sliding plate 412, a second sliding plate 413, a first drive assembly 414, and a second drive assembly 415.

[0158] The first sliding plate 412 is slidingly installed on the bottom plate 411 along the X-axis direction. The first drive assembly 414 is installed on the bottom plate 411 and connected with the first sliding plate 412, for driving the first sliding plate 412 to slide. The second sliding plate 413 is slidingly installed on the first sliding plate 412 along the Y-axis direction. The second drive assembly 415 is installed on the first sliding plate 412 and connected with the second sliding plate 413, for driving the second sliding plate 413 to slide.

[0159] The design of the displacement table 41 ensures accurate positioning and flexible movement of the slide taking and removing mechanism 400 in a two-dimensional plane. The combination of the first sliding plate 412 and the first drive assembly 414 achieves accurate control in the X-axis direction, while the combination of the second sliding plate 413 and the second drive assembly 415 achieves accurate control in the Y-axis direction. Such a design enables the gripper 42 to accurately reach any position in the slide cassette 100, grasp the section 500, and transport it to the microscopic scanning mechanism 300 for scanning, or return it to the designated position in the slide cassette 100 after scanning. The first drive assembly 414 and the second drive assembly 415 can be linear displacement driving mechanisms such as lead screw motors, linear motors, electric push rods, or air cylinders, and the specific choice depends on factors such as displacement accuracy, movement speed, and cost budget, without limitation.

[0160] Further, as shown in Figure 7 , the macro image acquisition mechanism 200 includes a macro camera 21, an upper light source 22, and a backlight source 23; the macro camera 21 is arranged above the position where the section 500 enters and exits the slide cassette 100; the upper light source 22 is installed on one side of the macro camera 21; and the backlight source 23 is arranged below the position where the section 500 enters and exits the slide cassette 100.

[0161] The macro camera 21 is used to capture the macro image of the section 500 in order to identify the position and range of the specimen area 902. The upper light source 22 provides illumination to enhance the visibility of the section 500, ensuring that the macro camera 21 can clearly capture the specimen area 902. The backlight source 23 provides illumination from below the section 500 to form transmitted light, further improving identification accuracy. The design of the macro image acquisition mechanism 200 enables rapid and accurate identification of the specimen area 902 on the section 500 before it is transported to the microscopic scanning mechanism 300 by the slide taking and removing mechanism 400, thereby improving the efficiency and accuracy of the entire scanning process.

[0162] Arranging the macro camera 21 above the position where the section 500 enters and exits the slide cassette 100 enables it to capture the macro image as soon as the section 500 is removed from the slide cassette 100, achieving the capture of the macro image while the section 500 is being removed, so that the subsequent transport path does not need to consider the arrangement position of the macro camera 21, effectively shortening the transport path and further saving the overall scanning time.

[0163] Further, as shown in Figure 8 and Figure 9 , the microscopic scanning mechanism 300 includes a scanning camera 31, a fixed seat 32, and a microscopic Z-axis 34; the scanning camera 31 is installed on the top of the fixed seat 32; the fixed seat 32 is installed with an objective lens 36 at the bottom; and the microscopic Z-axis 34 is connected with the fixed seat 32 for driving the fixed seat 32 to move in the Z-axis direction.

[0164] In order to realize the on-demand switching of multiple objectives 36, a converter 33 can be added, which is rotatably mounted at the bottom of the fixed seat 32; the converter 33 is provided with a plurality of objectives 36.

[0165] The design of the microscopic scanning mechanism 300 meets the needs of high-precision scanning. The multiple objectives 36 on the converter 33 can adapt to scanning tasks of different magnifications. By rotating the converter 33, the objectives 36 can be quickly switched to realize scanning at different magnifications. The scanning camera 31 is responsible for capturing microscopic images of the section 500, and its high resolution and high sensitivity ensure the clarity and accuracy of the scanning results. The microscopic Z-axis 34 is responsible for driving the fixed seat 32 to move in the Z-axis direction to realize accurate adjustment of the scanning focal point. Such a design enables the microscopic scanning mechanism 300 to comprehensively and meticulously scan the section 500 under test and obtain high-quality scanning images.

[0166] Further, as shown in Figure 9 , the scanning camera 31 includes a camera module 311, an imaging system module 312, and a condensing module 313 connected in sequence from top to bottom; the camera module 311 is responsible for capturing images and is the core component of the scanning camera 31; the imaging system module 312 processes and magnifies the captured images to improve the clarity and resolution of the images; the condensing module 313 is responsible for focusing light onto the section 500 to ensure that the scanning area has sufficient light intensity, further improving the scanning quality. The cooperative work of the camera module 311, the imaging system module 312, and the condensing module 313 enables the scanning camera 31 to capture high-quality microscopic images, providing a reliable data foundation for subsequent image analysis and processing.

[0167] As shown in Figure 8 , the fixed seat 32 is provided with a conversion motor 35; the conversion motor 35 is connected with the converter 33 through a transmission assembly 37 for driving the converter 33 to rotate.

[0168] The design of the conversion motor 35 realizes the quick and accurate switching of the objectives 36, further improving the automation degree and efficiency of the scanning process. Through the driving of the conversion motor 35, the converter 33 can rotate smoothly and reliably, ensuring that the objectives 36 can accurately align with the scanning area, avoiding errors and inconvenience that may occur when manually switching the objectives 36. The conversion motor 35 can be a conventional servo motor that can rotate forward and backward, and the transmission assembly 37 can be a driving gear 371 and a driven gear ring 372; the driving gear 371 is fixed on the output shaft of the conversion motor 35, and the driven gear ring 372 is sleeved on the converter 33 and meshes with the driving gear 371.

[0169] Since three objectives 36 are used in the drawings of the present application, a 120-degree indexing device is used in the converter 33 to ensure that the objectives 36 can be switched into position.

[0170] Further, the emergency unit 700 is also included.

[0171] The emergency unit 700 is arranged at one side of the cassette 100 and is used to fix the emergency slide 600; the slide taking and withdrawing mechanism 400 is also used to transport the emergency slide 600 to the macro image acquisition mechanism 200 and expose the emergency slide 600 to the acquisition area of the macro image acquisition mechanism 200.

[0172] The slide taking and withdrawing mechanism 400 is also used to transport the emergency slide 600 from the macro image acquisition mechanism 200 to the microscopic scanning mechanism 300 and expose the specimen area 902 of the emergency slide 600 to the scanning area of the microscopic scanning mechanism 300; the slide taking and withdrawing mechanism 400 is also used to transport the emergency slide 600 after scanning to the emergency unit 700.

[0173] An emergency unit 700 is independently designed, and when emergency scanning of the slide 600 is needed, the emergency slide 600 to be scanned is directly placed on the emergency unit 700, the process is simple, and the processing of the original emergency slide 600 of the regular case will not be affected (without inserting the emergency slide 600 into the original emergency slide 600 compartment, thereby affecting the processing time of the regular case slide 500), and the original cassette 100 does not need to be adjusted (for example, one of the cassette boxes 12 of the cassette 100 is used as an emergency box, although this design does not need to greatly change the structure of the cassette 100, but the taking and withdrawing priority of the cassette needs to be re-set, which also increases the cost, and it is not very convenient to load and unload the emergency slide 600), based on this, the independently designed emergency unit 700 can efficiently process the emergency scanning requirement of the emergency slide 600.

[0174] Further, the emergency unit 700 includes a base 72, a fixing assembly 71, and a detection assembly 75.

[0175] The fixing assembly 71 is movably installed on the base 72 to be able to switch between the first loading and unloading position and the second loading and unloading position; the fixing assembly 71 is used to fix the emergency slide 600; the detection assembly 75 is installed on the base 72 and is used to detect whether the fixing assembly 71 is at the second loading and unloading position; the detection assembly 75 is installed on the base 72 and is also used to detect whether the fixing assembly 71 has the emergency slide 600.

[0176] The fixed assembly 71 can switch between two up and down feeding positions to adapt to different operation requirements, provide convenience for up and down feeding, and avoid affecting the taking and removing mechanism 400 (the first up and down feeding position is used for feeding the emergency section 600 to be scanned to the fixed assembly 71 or taking away the emergency section 600 scanned to replace the next emergency section 600 to be scanned; and the second up and down feeding position is convenient for the taking and removing mechanism 400 to take away the emergency section 600 from the fixed assembly 71 or return the scanned emergency section 600 to the fixed assembly 71). The double detection of the position + the emergency section 600 itself avoids the taking and removing mechanism 400 to take away or remove the emergency section 600 to the fixed assembly 71 with the existing emergency section 600, and ensures the accuracy of taking and removing.

[0177] Further, as shown in Figure 17 , the fixed assembly 71 comprises a fixed supporting plate 711; the fixed supporting plate 711 is provided with a slot 7111; one end of the slot 7111 is provided with a stop flange 7112, which can be in contact with one end of the inserted emergency section 600; the other end of the slot 7111 extends out of the fixed supporting plate 711, forming an insertion end for inserting the emergency section 600.

[0178] The design of the slot 7111 enables the emergency section 600 to be stably inserted and fixed on the fixed supporting plate 711, and the stop flange 7112 provides a stop action to ensure that the emergency section 600 is inserted in place. The length of the slot 7111 is designed to be shorter than the length of the emergency section 600, so that part of the emergency section 600 can extend out to facilitate the taking and removing mechanism 400 to grasp the emergency section 600.

[0179] Further, as shown in Figure 17 , the fixed assembly 71 further comprises an elastic pressing member 712; the elastic pressing member 712 is installed on the fixed supporting plate 711, and a pressing section 7121 thereof and the bottom surface of the slot 7111 form a pressing gap for inserting the emergency section 600 and pressing the inserted emergency section 600. The pressing section 7121 can be arc-shaped, which can be designed according to actual needs, without limitation.

[0180] The design of the elastic pressing member 712 enables the emergency section 600 to be stably pressed after being inserted into the slot 7111, avoiding movement or falling of the emergency section 600, and ensuring the accuracy of subsequent grasping. At the same time, the design of the elastic pressing member enables the size of the pressing gap to be flexibly adjustable, providing the required pressing force while being able to adapt to emergency sections 600 of various thicknesses, and better adaptability.

[0181] Further, as shown in Figure 13 and Figure 14As shown, the elastic pressing piece 712 is a spring, and the spring is detachably connected with the stop flange 7112 through screws or bolts.

[0182] The design of the spring not only facilitates installation and disassembly, so as to facilitate replacement or maintenance of the spring, but also makes the overall structure more compact and beautiful due to the detachable connection of the spring and the stop flange 7112. In addition, the spring as a sheet-shaped pressing structure has a larger contact area with the emergency sheet 600 than a strip-shaped structure, and can better press the emergency sheet 600. Of course, the elastic pressing piece 712 designed in the present application is not limited to the spring design, and those skilled in the art can make changes and designs according to actual needs, without limitation.

[0183] Further, as shown in Figure 13 and Figure 14 When the fixed assembly 71 is manually driven and arranged, a pull ear part 7113 can be fixed on one side of the fixed supporting plate 711 to facilitate the hand or tool to hold and drive the fixed assembly 71 to move to switch the feeding and discharging positions.

[0184] Further, as shown in Figure 17 The fixed assembly 71 can be rotatably installed on the base 72 through the rotating assembly 73, that is, the rotating assembly 73 is rotated to realize the feeding and discharging position switching; of course, it can also be arranged in a sliding manner, which can be changed and designed according to actual needs, without limitation.

[0185] The rotating assembly 73 can be an electric rotating structure, such as a direct drive, a gear transmission, a synchronous gear transmission, or the like, to realize rotary driving, or a cylinder (or a hydraulic cylinder) can be used to drive rotation; of course, it can also be a manual rotating structure, such as Figure 17 As an example of the manual rotating structure, the rotating assembly 73 can include a rotating shaft, a bearing body 733, and a bearing cover 732.

[0186] The base 72 is provided with a bearing cavity 721, which can be a through cavity to provide convenience for installation and disassembly.

[0187] The bearing body 733 is installed in the bearing cavity 721, and the bearing cover 732 is cover-installed on the bearing cavity 721 and can abut against the outer ring of the bearing cavity 721; specifically, the bearing cavity 721 has a stepped structure to clamp and fix the outer ring of the bearing body 733 in cooperation with the bearing cover 732, so as to fix the bearing body 733 in the bearing cavity 721.

[0188] The rotating shaft is inserted into the bearing body 733 and fixedly connected with the inner ring of the bearing body 733; the fixed assembly 71 is fixedly connected with one end of the rotating shaft protruding from the bearing cover 732; specifically, the other end of the rotating shaft can be threadedly connected with the shaft fixing disc 734 which cooperates with the shaft shoulder of the rotating shaft to clampingly fix the inner ring of the bearing body 733, so as to realize the fixed connection of the rotating shaft with the inner ring of the bearing body 733.

[0189] Further, as shown in Figure 17 , the positioning assembly 74 is further included; the positioning assembly 74 includes the first positioning structure 741 and the second positioning structure 742; the first positioning structure 741 is installed on the fixed assembly 71; the second positioning structure 742 is installed on the base 72 and can be positioned and cooperated with the first positioning structure 741 when the fixed assembly 71 moves to the second feeding and discharging position.

[0190] The design of the positioning assembly 74 enables the fixed assembly 71 to be stably positioned when switched to the second feeding and discharging position, avoids shaking or deviation, and ensures that the slice taking and returning mechanism can accurately grasp or return the emergency slice 600.

[0191] Further, as shown in Figure 17 , the first positioning structure 741 is provided with the positioning hole 7411; the second positioning structure 742 includes the positioning pin 7421 and the positioning elastic member 7422 (the positioning elastic member 7422 can be a compression spring, without limitation); one end of the positioning elastic member 7422 is connected with one end of the positioning pin 7421, and the other end is connected with the base 72, for providing the elastic force of the positioning pin 7421 inserted into the positioning hole 7411.

[0192] The positioning pin 7421 can be automatically inserted into the positioning hole 7411 under the pushing of the elastic force, realizing rapid positioning without manual alignment operation, and improving the operation efficiency. Meanwhile, the design of the positioning elastic member 7422 also enables the positioning pin 7421 to be stretched and displaced to a certain extent when subjected to external force, so as to realize separation from the positioning hole 7411. In order to better realize separation from the positioning hole 7411 or clamping into the positioning hole 7411, a section of the inner circumferential surface of the positioning hole 7411 can be provided as a guide surface, facilitating the sliding of the positioning pin 7421 in or out.

[0193] Further, the base 72 is provided with the pin hole 722 penetrating through itself; the positioning pin 7421 is installed in the pin hole 722 and one end thereof can be movably protruded from one end of the pin hole 722 and inserted into the positioning hole 7411; the other end of the pin hole 722 is threadedly connected with the adjusting column 7423; the positioning elastic member 7422 is installed in the pin hole 722 and one end thereof is in contact with the positioning pin 7421, and the other end is in contact with the adjusting column 7423.

[0194] The design of the adjusting column 7423 enables the elastic force of the positioning elastic member 7422 to be adjusted, so that the insertion force of the positioning nail 7421 can be adjusted according to actual needs, improving the stability and accuracy of positioning. At the same time, the threaded connection of the adjusting column 7423 also makes it more convenient and fast to install and disassemble, facilitating the replacement or maintenance of the positioning elastic member 7422. In addition, the design of the adjusting column 7423 also increases the compactness and aesthetics of the overall structure.

[0195] The first positioning structure 741 and the second positioning structure 742 can be magnetically attracted and matched, such as the first positioning structure 741 and the second positioning structure 742 being magnets. Of course, a spherical door latch can also be used for fixed matching. If a motor is used for driving, physical limiting and sensor positioning can also be used to fix the second upper and lower material position of the supporting plate 711.

[0196] Further, as shown in Figure 15 The detection assembly 75 includes a first detection module 751; the first detection module 751 includes a light shield 7511 and a photoelectric sensor 7512; the photoelectric sensor 7512 is installed on the base 72; the light shield 7511 is installed on the fixing assembly 71, and when the fixing assembly 71 moves to the second upper and lower material position, it extends into the photoelectric groove of the photoelectric sensor 7512.

[0197] The design of the light shield 7511 enables the photoelectric groove of the photoelectric sensor 7512 to be blocked when the fixing assembly 71 moves to the second upper and lower material position, thereby triggering the signal output of the photoelectric sensor 7512 to detect whether the fixing assembly 71 reaches the specified position. This design is simple, reliable, and low in cost, and easy to realize automatic detection.

[0198] Further, the detection assembly 75 also includes a second detection module 752; the second detection module 752 is a laser sensor installed on the fixing assembly 71 for detecting whether there is an emergency slice 600 on the fixing assembly 71.

[0199] The design of the laser sensor enables the fixing assembly 71 to be detected whether there is an emergency slice 600 on it before moving to the second upper and lower material position, so as to avoid the empty taking of the slice taking and returning mechanism, further improving the accuracy and efficiency of taking and returning the slice. At the same time, the installation position of the laser sensor can also be adjusted according to actual needs to adapt to different detection needs.

[0200] As shown in Figure 12 The emergency unit 700 is installed on the emergency fixing bracket 800, which can be a specially designed bracket structure for installing the emergency unit 700. It can be fixedly installed or movably installed according to actual needs, so as to facilitate flexible arrangement and adjustment of the emergency unit 700.

[0201] The scanning process of the emergency slice 600 is as follows:

[0202] 1. Rotate the fixed support plate 711 to the first feeding and discharging position, then insert the emergency slice 600 into the corresponding slot 7111, then rotate the fixed support plate 711 to the second feeding and discharging position, at this time the fixed support plate 711 is fixed and positioned by the positioning assembly 74, and the second detection module 752 detects the emergency slice 600, while the photoelectric sensor 7512 of the first detection module 751 detects the light shield 7511, and the feedback control system fixes the rotation of the fixed support plate 711 to the position.

[0203] 2. The take-out mechanism 400 performs the take-out operation on the emergency slice 600 on the emergency unit 700, and the operation mode is consistent with the take-out operation on the slice 500 in the slice warehouse 100 (the operations from grabbing the slice 500 / emergency slice 600 to conveying scanning, and the take-out process after scanning are consistent), and details are not repeated. In order to make the macro image acquisition mechanism 200 better collect the emergency slice 600, the image acquisition mechanism 200 can be movable, and can be switched between the normal slice 500 acquisition station and the emergency slice acquisition station, and details are not limited.

[0204] As shown in Figure 19 , the application also discloses a multi-slice scanning method applied to a multi-slice scanning device, including the steps of:

[0205] S1, the taking and withdrawing mechanism 400 takes out the slice 500 to be scanned from the slice magazine 100 and transports to the micro scanning mechanism 300, so that the specimen area 902 of the slice 500 is exposed to the scanning area of the micro scanning mechanism 300, wherein the specimen area 902 is identified by the macro image acquisition mechanism 200 before the slice reaches the micro scanning mechanism 300; specifically, the control system controls the taking and withdrawing mechanism 400 to move the gripper 42 on it to the taking position, and then opens and clamps the slice 500 in the magazine magazine 12 of the slice magazine 100. Subsequently, the first driving assembly 414 and the second driving assembly 415 of the displacement table 41 are controlled to work cooperatively to drive the gripper 42 to move along the X-axis and / or Y-axis direction, transport the slice 500 along the preset path to the micro scanning mechanism 300, and expose the specimen area 902 of the slice 500 to the scanning area of the micro scanning mechanism 300. Wherein, since the macro image acquisition mechanism 200 is arranged between the slice magazine 100 and the micro scanning mechanism 300, the macro image of the slice 500 before scanning can be acquired to identify the specimen area 902 thereon, so that the taking and withdrawing mechanism 400 can accurately expose the specimen area 902 of the slice 500 in the scanning area. In order to improve the identification accuracy, the taking and withdrawing mechanism 400 can stop for a preset time when transporting the slice 500 to the acquisition area of the macro image acquisition mechanism 200, to realize the static image acquisition operation.

[0206] S2, the micro scanning mechanism 300 scans the specimen area 902 on the slice 500 transported to the position; specifically, the control system controls the micro scanning mechanism 300 to perform the scanning operation, during which the taking and withdrawing mechanism 400 can be controlled to fine-tune the X-axis / Y-axis position of the slice to meet different scanning position requirements.

[0207] S3, the taking and withdrawing mechanism 400 returns the scanned slice 500 to the slice magazine 100; specifically, after completing the scanning identification, the scanning information is fed back to the control system, and the control system controls the taking and withdrawing mechanism 400 to return the slice 500 to the magazine magazine 12 of the slice magazine 100 in the original way, to complete the slice withdrawing.

[0208] The above provides a kind of multi-slice scanning device and method provided in the application, for the general technical personnel in the field, according to the idea of the embodiment of the application, there will be changes in specific implementation mode and application range, the above-mentioned, the content of the specification should not be understood as the limitation of the application.

Claims

1. A multi-slice scanning apparatus, characterized by, The device comprises a slide magazine (100), a slide taking and returning mechanism (400), a macro image acquisition mechanism (200) and a microscopic scanning mechanism (300); The slide magazine (100) is used for storing a slide (500); The microscopic scanning mechanism (300) is arranged on one side of the slide magazine (100) and is used for scanning the slide (500); The macro image acquisition mechanism (200) is arranged between the microscopic scanning mechanism (300) and the slide magazine (100) and is used for identifying a specimen area (902) on the slide (500) before scanning; The slide taking and returning mechanism (400) is arranged on one side of the microscopic scanning mechanism (300) and is used for transporting the slide (500) in the slide magazine (100) to the macro image acquisition mechanism (200) and exposing the slide (500) to a collection area of the macro image acquisition mechanism (200); The slide taking and returning mechanism (400) is also used for transporting the slide (500) from the macro image acquisition mechanism (200) to the microscopic scanning mechanism (300) and exposing the specimen area (902) of the slide (500) to a scanning area of the microscopic scanning mechanism (300); The slide taking and returning mechanism (400) is also used for transporting the slide (500) after scanning back to the slide magazine (100).

2. The multi-slice scanning apparatus of claim 1, wherein, The slide taking and returning mechanism (400) comprises a gripper (42) and a displacement table (41); The displacement table (41) is connected with the gripper (42) and can drive the gripper (42) to move in the X-axis direction and / or in the Y-axis direction; The gripper (42) is used for clamping a slide (500); The slide magazine (100) comprises a magazine box (12) and a magazine moving module (11); The magazine box (12) is internally provided with magazine positions (121) for storing a plurality of slides (500) in the Z-axis direction; The front surface of the magazine box (12) is provided with an import and export port corresponding to the magazine positions (121) for the import and export of the slides (500); The magazine moving module (11) is connected with the magazine box (12) and can drive the magazine box (12) to move in the Z-axis direction.

3. The multi-slice scanning apparatus of claim 2, wherein, The gripper (42) comprises an electric gripper (421), a first gripper finger (422) and a second gripper finger (423); The electric gripper (421) is connected with the first gripper finger (422) and the second gripper finger (423) and is used for driving the first gripper finger (422) and the second gripper finger (423) to move close to or away from each other.

4. The multi-slice scanning apparatus according to claim 3, wherein The first gripper finger (422) and the second gripper finger (423) are arranged away from or close to each other in the vertical direction; The first gripper finger (422) comprises a first connecting finger portion (4222) and a first clamping finger portion (4221); The first connecting finger portion (4222) is connected with the electric gripper (421); The first clamping finger portion (4221) is connected perpendicularly to the first connecting finger portion (4222); The second clamping finger (423) comprises a second connecting finger (4232) and a second clamping finger (4231); The second clamping finger (4231) is connected to the second connecting finger (4232) vertically; The first clamping finger (4221) and the second clamping finger (4231) are arranged in a vertical direction and form a clamping gap for clamping the slice (500).

5. The multi-slice scanning apparatus of claim 3, wherein, The first clamping finger (422) and the second clamping finger (423) are arranged away from or close to each other in a horizontal direction; The first clamping finger (422) comprises a first connecting finger (4222) and a first clamping finger (4221); The first connecting finger (4222) is connected to the electric clamping finger (421); The first clamping finger (4221) is connected to the first connecting finger (4222) vertically; The second clamping finger (423) comprises a second connecting finger (4232) and a second clamping finger (4231); The second clamping finger (4231) is connected to the second connecting finger (4232) vertically; The first clamping finger (4221) and the second clamping finger (4231) are arranged in a horizontal direction and form a clamping gap for clamping the slice (500).

6. The multi-slice scanning apparatus of claim 2, wherein, The slice warehouse (100) further comprises a first detector (15); The first detector (15) is fixed on one side of the entrance and exit, and is used for detecting whether the slice (500) enters or exits the entrance and exit.

7. The multi-slice scanning apparatus of claim 2, wherein, The slice warehouse (100) further comprises a warehouse seat (16); The warehouse seat (16) is provided with a warehouse chamber (161); The warehouse material box (12) is installed in the warehouse chamber (161); The front of the warehouse seat (16) is provided with a warehouse opening (162) for the slice (500) to enter or exit; The warehouse seat (16) is connected with the moving warehouse module (11) and is used for driving the warehouse seat (16) to move in the Z-axis direction.

8. The multi-slice scanning apparatus according to claim 7, wherein, The slice warehouse (100) further comprises a second detector (13); The second detector (13) is installed on the warehouse seat (16) and is used for detecting whether the warehouse material box (12) is in the warehouse chamber (161).

9. The multi-slice scanning apparatus according to claim 7, wherein, The side or back of the warehouse seat (16) is provided with a mounting opening (163) for the warehouse material box (12) to be movably installed in the warehouse chamber (161); The slice warehouse (100) further comprises a pressing mechanism (14); The pressing mechanism (14) is installed on one side of the warehouse seat (16) and can extend into the warehouse chamber (161) and press the warehouse material box (12) in the warehouse chamber (161).

10. The multi-slice scanning apparatus of claim 9, wherein, The pressing mechanism (14) comprises a support (141), a sleeve (142), a pressing shaft (143) and a pressing driving assembly (144); One side of the warehouse seat (16) is provided with a pressing opening (164); The support (141) is fixed on the pressing opening (164); The sleeve (142) is fixed in the support (141), and the inner cavity of the sleeve (142) is in communication with the pressing opening (164); The pressing shaft (143) is arranged in the sleeve (142) and is in communication with the pressing opening (164); The pressing shaft (143) is slidingly installed in the sleeve (142) and has one end movably extended into the chamber (161) through the pressing opening (164); The pressing driving assembly (144) is installed on the support (141) and connected with the pressing shaft (143) to drive the pressing shaft (143) to slide in the sleeve (142).

11. The multi-slice scanning apparatus of claim 2, wherein, The displacement table (41) comprises a bottom plate (411), a first sliding plate (412), a second sliding plate (413), a first driving assembly (414) and a second driving assembly (415); The first sliding plate (412) is slidingly installed on the bottom plate (411) along the X-axis direction; The first driving assembly (414) is installed on the bottom plate (411) and connected with the first sliding plate (412) to drive the first sliding plate (412) to slide; The second sliding plate (413) is slidingly installed on the first sliding plate (412) along the Y-axis direction; The second driving assembly (415) is installed on the first sliding plate (412) and connected with the second sliding plate (413) to drive the second sliding plate (413) to slide.

12. The multi-slice scanning apparatus of claim 1, wherein, The macro image acquisition mechanism (200) comprises a macro camera (21), an upper light source (22) and a backlight source (23); The macro camera (21) is arranged above the position where the slice (500) enters or exits the sheet chamber (100); The upper light source (22) is installed on one side of the macro camera (21); The backlight source (23) is arranged below the position where the slice (500) enters or exits the sheet chamber (100).

13. The multi-slice scanning apparatus of claim 1, wherein, The microscopic scanning mechanism (300) comprises a scanning camera (31), a fixing seat (32) and a microscopic Z-axis (34); The scanning camera (31) is installed on the top of the fixing seat (32); The fixing seat (32) is installed with an objective lens (36) on the bottom; The microscopic Z-axis (34) is connected with the fixing seat (32) to drive the fixing seat (32) to move in the Z-axis direction.

14. The multi-slice scanning apparatus of claim 13, wherein, The microscopic scanning mechanism (300) further comprises a converter (33); The converter (33) is rotatably installed on the bottom of the fixing seat (32); The converter (33) is installed with a plurality of objective lenses (36) thereon.

15. The multi-slice scanning apparatus of claim 14, wherein, The scanning camera (31) comprises a camera module (311), an imaging system module (312) and a condensing module (313) connected in sequence from top to bottom; The fixing seat (32) is installed with a conversion motor (35); The conversion motor (35) is connected with the converter (33) through a transmission assembly (37) to drive the converter (33) to rotate.

16. The multi-slice scanning apparatus of claim 1, wherein, Further comprising an emergency unit (700); The emergency unit (700) is arranged on one side of the sheet chamber (100) and used for fixing an emergency slice (600); The slice taking and withdrawing mechanism (400) is further used for conveying the emergency slice (600) to the macro image acquisition mechanism (200) and exposing the emergency slice (600) to the acquisition area of the macro image acquisition mechanism (200). The taking-out mechanism (400) is further used for transporting the emergency slice (600) from the macro image acquisition mechanism (200) to the microscopic scanning mechanism (300) and exposing the specimen area (902) of the emergency slice (600) to the scanning area of the microscopic scanning mechanism (300); The taking-out mechanism (400) is further used for transporting the emergency slice (600) from the macro image acquisition mechanism (200) to the microscopic scanning mechanism (300) and exposing the specimen area (902) of the emergency slice (600) to the scanning area of the microscopic scanning mechanism (300); 17. The multi-slice scanning apparatus of claim 16, wherein, The emergency unit (700) comprises a base (72), a fixing assembly (71) and a detection assembly (75); The fixing assembly (71) is movably installed on the base (72) and can switch between a first loading and unloading position and a second loading and unloading position; The fixing assembly (71) is used for fixing the emergency slice (600); The detection assembly (75) is installed on the base (72) and is used for detecting whether the fixing assembly (71) is in the second loading and unloading position; The detection assembly (75) is installed on the base (72) and is further used for detecting whether the fixing assembly (71) has the emergency slice (600).

18. A method of multi-slice scanning, characterized by, The application is applied to the multi-slice scanning device as claimed in any one of claims 1 to 17, comprising the steps of: The taking-out mechanism (400) grabs the slice (500) to be scanned from the slice magazine (100) and transports it to the microscopic scanning mechanism (300), so that the specimen area (902) of the slice (500) is exposed to the scanning area of the microscopic scanning mechanism (300), wherein the specimen area (902) is identified by the macro image acquisition mechanism (200) before the slice reaches the microscopic scanning mechanism (300); The microscopic scanning mechanism (300) scans the specimen area (902) on the slice (500) transported to the position; The taking-out mechanism (400) transports the scanned slice (500) back to the slice magazine (100).

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