Method and apparatus for scanning a pathology slide based on local permissible scan speed constraints

Abstract

A method and apparatus for scanning pathological slides based on locally permissible scanning speed constraints includes: acquiring a low-magnification preview image of the current pathological slide; using each tissue region in the low-magnification preview image as a candidate scanning region and generating multiple focus points for each candidate scanning region; acquiring the nearest adjacent focus point with the Euclidean distance to each focus point and forming candidate adjacent point pairs; acquiring the adjacency marker of each candidate adjacent point pair; constructing an adjacency-constrained focal plane based on all candidate adjacent point pairs whose adjacency markers are permissible; and performing pathological slide scanning with a focusing head based on the adjacency-constrained focal plane. This scheme combines the dynamic focusing capability parameters of the focusing head, the planar spatial distance between candidate adjacent point pairs, and the difference in focusing height to calculate the adjacency marker, thereby embedding hardware focusing capability into the focal plane construction, identifying locally high-gradient non-executable connections, and ensuring the practical feasibility of continuous focusing.

Description

Technical Field

[0001] This application relates to the field of pathological slide scanning, and in particular to a method and apparatus for pathological slide scanning based on local allowable scanning speed constraints. Background Technology

[0002] The conventional focal plane construction and scanning process of existing digital scanning equipment for pathological slides typically involves first selecting several focus points in the slide preview image, obtaining discrete focal height data through coarse and fine focusing, then fitting this data into a plane, curved surface, spline surface, or triangular mesh surface, and finally sending the fitting result to the scanning control unit for continuous follow-up scanning. Current industry-wide technical optimizations mostly focus on focus point placement strategies, abnormal focus point removal, and smoothing of the fitted surface, centering on the geometric shape and mathematical fitting accuracy of the focal plane, without integrating the device's own dynamic focusing hardware capabilities as a core constraint into the entire focal plane construction process.

[0003] In actual equipment operation, the imaging stability of continuous tracking scanning is not solely determined by the accuracy of focal plane fitting. More importantly, the focal height variation between adjacent positions on the focal plane must be within the dynamic tracking range of the equipment's Z-axis focusing mechanism. When the focal height difference between adjacent points is large and the time taken for the focusing head to traverse this region is too short, even if the fitted surface is mathematically continuous, the focusing execution axis cannot quickly complete the focal height tracking action, leading to problems such as local defocusing, image trailing, or forced speed reduction. Existing technologies have significant shortcomings: they have not established a mechanism to directly embed the equipment's dynamic tracking focusing capability into the generation of focal plane adjacency relationships; anomaly detection is limited to single-point discrete judgment; local spatial distance, focal height difference, and scanning speed are not transformed into effective control quantities; and focal plane connections are established solely based on geometric proximity, making it impossible to verify their practical feasibility. Especially in scenarios involving irregularly shaped pathological sections and multiple discrete tissues, significant differences in local tissue thickness easily lead to the formation of high-gradient focal plane connection edges, ultimately resulting in local blurring, increased rescanning frequency, or a reduction in overall scanning speed to ensure image quality, making it difficult to balance scanning efficiency and imaging stability. Summary of the Invention

[0004] This application provides a pathological slide scanning method and apparatus based on local allowable scanning speed constraints. It combines the dynamic focusing capability parameters of the focusing head with the calculation of adjacency markers based on the difference between the planar spatial distance and the focusing height of candidate adjacent points, thereby embedding hardware focusing capability into the focal plane construction, identifying local high-gradient non-executable connections, and ensuring the actual executability of continuous focusing.

[0005] In a first aspect, embodiments of this application provide a pathological slide scanning method based on local allowable scanning speed constraints, the method comprising:

[0006] Obtain a low-magnification preview of the current pathological section, use each tissue region in the low-magnification preview as a candidate scanning region, and generate multiple focus points for each candidate scanning region.

[0007] The nearest adjacent focus point with the Euclidean distance to each focus point is obtained and a candidate adjacent point pair is formed. The adjacency mark of each candidate adjacent point pair is obtained. The adjacency mark is calculated based on the dynamic focusing capability parameters of the focusing head, the planar spatial distance between the two focus points in the candidate adjacent point pair and the difference in focus height. The adjacency mark indicates whether the focusing head is allowed to complete the focus height following of the corresponding focus point at the set scanning speed during the scanning process.

[0008] The adjacent candidate adjacent point pairs marked as disallowed are used as violation local regions. New focus points are added in each violation local region until the corresponding adjacent point is marked as allowed. An adjacency constraint focal plane is constructed based on all candidate adjacent point pairs marked as allowed. The focus head is used to scan pathological sections based on the adjacency constraint focal plane.

[0009] Secondly, embodiments of this application provide a pathological slide scanning device based on local allowable scanning speed constraints, comprising:

[0010] The acquisition module is used to acquire a low-magnification preview image of the current pathological slide, take each tissue region in the low-magnification preview image as a candidate scanning region, and generate multiple focus points for each candidate scanning region.

[0011] The adjacency marker construction module is used to obtain the nearest adjacent focus point with the Euclidean distance to each focus point and form a candidate adjacency point pair, and obtain the adjacency marker for each candidate adjacency point pair. The adjacency marker is calculated based on the dynamic focusing capability parameters of the focusing head, the planar spatial distance between the two focus points in the candidate adjacency point pair, and the difference in focus height. The adjacency marker represents whether the focusing head is allowed to complete the focus height following of the corresponding focus point at a set scanning speed during the scanning process.

[0012] The focusing module is used to identify the candidate adjacent point pairs marked as disallowed as violation local regions, add a new focus point in each violation local region until the corresponding adjacent point is marked as allowed, construct an adjacency constraint focal plane based on all candidate adjacent point pairs marked as allowed, and perform pathological slide scanning based on the adjacency constraint focal plane.

[0013] Thirdly, embodiments of this application provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform a pathological slide scanning method based on local allowable scan speed constraints.

[0014] Fourthly, embodiments of this application provide a readable storage medium storing a computer program, which, when executed by a processor, implements a pathological slide scanning method based on local allowable scan speed constraints.

[0015] The main contributions and innovations of this invention are as follows:

[0016] This application's embodiments dynamically adjust the number and position of focus points based on the complexity and density of tissue texture distribution, enabling the focus points to accurately match the morphology, structure, and thickness distribution of pathological tissues, providing high-quality focal height baseline data that closely matches real samples. This application's embodiments combine the dynamic focusing capability parameters of the focusing head with the planar spatial distance and focus height difference between candidate adjacent points to calculate adjacency markers, embedding hardware focusing capability into the focal plane construction, identifying locally high-gradient non-executable connections, and ensuring the practical feasibility of continuous focusing. This application's embodiments construct adjacency-constrained focal planes based on candidate adjacent point pairs allowed by the adjacency markers, replacing traditional geometric fitting focal planes, adapting to hardware dynamic capabilities, and reducing local defocusing and image trailing problems. This application's embodiments divide the scanning segment and set the minimum locally allowed scanning speed within the segment as the speed label, controlling the focusing head scanning speed segment by segment according to the speed label, accurately matching local focal plane changes, and avoiding focusing instability caused by a globally uniform speed. This application's embodiments add focus points to the non-compliant scanning segments where the speed label is lower than the minimum allowed speed, ensuring that the scanning speed meets the hardware lower limit without overall speed reduction, thus improving overall scanning efficiency.

[0017] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a flowchart of a pathological slide scanning method based on local allowable scanning speed constraints according to an embodiment of this application;

[0020] Figure 2 This is a structural block diagram of a pathological slide scanning device based on local allowable scanning speed constraints according to an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0022] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of one or more embodiments of this specification as detailed in the appended claims.

[0023] It should be noted that the steps of the corresponding methods are not necessarily performed in the order shown and described in this specification in other embodiments. In some other embodiments, the methods may include more or fewer steps than described in this specification. Furthermore, a single step described in this specification may be broken down into multiple steps in other embodiments; and multiple steps described in this specification may be combined into a single step in other embodiments.

[0024] Example 1

[0025] This application provides a pathological slide scanning method based on local allowable scanning speed constraints. This method combines the dynamic focusing capability parameters of the focusing head with the calculation of adjacency markers based on the planar spatial distance and focusing height difference between candidate adjacent points. This embeds hardware focusing capability into the focal plane construction, identifies locally high-gradient non-executable connections, and ensures the practical feasibility of continuous focusing. Specifically, refer to... Figure 1 The method includes:

[0026] Obtain a low-magnification preview of the current pathological section, use each tissue region in the low-magnification preview as a candidate scanning region, and generate multiple focus points for each candidate scanning region.

[0027] The nearest adjacent focus point with the Euclidean distance to each focus point is obtained and a candidate adjacent point pair is formed. The adjacency mark of each candidate adjacent point pair is obtained. The adjacency mark is calculated based on the dynamic focusing capability parameters of the focusing head, the planar spatial distance between the two focus points in the candidate adjacent point pair and the difference in focus height. The adjacency mark indicates whether the focusing head is allowed to complete the focus height following of the corresponding focus point at the set scanning speed during the scanning process.

[0028] The adjacent candidate adjacent point pairs marked as disallowed are used as violation local regions. New focus points are added in each violation local region until the corresponding adjacent point is marked as allowed. An adjacency constraint focal plane is constructed based on all candidate adjacent point pairs marked as allowed. The focus head is used to scan pathological sections based on the adjacency constraint focal plane.

[0029] In the current embodiment, candidate scanning regions are obtained by identifying tissue regions in a low-magnification preview image. The candidate scanning regions can be represented by tissue masks, closed contours, closed sub-regions, or combinations thereof.

[0030] Furthermore, the focus points in the candidate scanning area can be arranged according to a regular grid, or adaptively arranged according to the area, edge density, or tissue texture complexity. Preferably, this scheme dynamically adjusts the number and position of focus points based on the tissue texture complexity and the density of tissue distribution in each candidate scanning area. In other words, this scheme prioritizes setting focus points in locations with dense tissue distribution and complex tissue texture.

[0031] Specifically, for high-information areas with complex tissue texture, dense cell morphology, dramatic thickness variations, and obvious edge folds, the focus points are densely arranged and prioritized at tissue edges, areas of abrupt thickness changes, and the core area of ​​lesions. For low-information areas with smooth tissue texture, sparse distribution, and simple structure, the number of focus points is appropriately reduced and a uniform arrangement is adopted. At the same time, invalid focus points in tissue-free blank areas are automatically removed. This ensures that the number and position of focus points accurately match the actual morphology, structural characteristics, and thickness distribution of pathological tissues, providing high-quality basic data that better matches real samples for subsequent acquisition of discrete focal height, calculation of local allowable scanning speed, and construction of adjacent constrained focal planes.

[0032] In the current embodiment, the same focus point may exist in multiple candidate adjacent point pairs at the same time. For each focus point pair, coarse focusing is performed first, and then fine focusing is performed to obtain the focal height of each focus point pair.

[0033] Specifically, the planar spatial distance between the two focus points is obtained based on the two-dimensional planar coordinates of the two focus points in the candidate adjacent point pair; the absolute value of the focal height difference between the two focus points in the candidate adjacent point pair is used as the focal height difference.

[0034] Specifically, for the two focal points in a candidate adjacent point pair , In other words, and The formula for the planar spatial distance is expressed as:

[0035]

[0036] in, for and Planar spatial distance, As focus x-axis coordinates As focus y-axis coordinate, As focus x-axis coordinates As focus The y-axis coordinate.

[0037] and The formula for the difference in focus height is expressed as:

[0038]

[0039] in, for and The difference in focus height, As focus The high scorch, As focus The high scorch.

[0040] In this scheme, the planar spatial distance represents the distance that the focusing head needs to traverse in the plane when it sweeps across the two corresponding focus points, and the focus height difference represents the amount of focus height change that the focusing execution axis needs to complete when the focusing head performs focusing on the two corresponding focus points.

[0041] In the current embodiment, the dynamic focusing capability parameters of the focusing head include the maximum focusing change rate, the default scanning speed, the focusing mechanism response delay, the minimum allowable scanning speed, and the focusing axis acceleration / deceleration compensation parameters.

[0042] Furthermore, the dynamic focusing capability parameters of the focusing head include the maximum focusing change rate and the focusing mechanism response delay. Based on the dynamic focusing capability parameters of the focusing head, the planar spatial distance between the two focus points of the candidate adjacent points and the difference in focusing height, the local allowable scanning speed is calculated. When the set scanning speed of the focusing head is not greater than the local allowable scanning speed, the adjacent point of the corresponding candidate adjacent point is marked as allowed; when the set scanning speed of the focusing head is less than the local allowable scanning speed, the adjacent point of the corresponding candidate adjacent point is marked as disallowed.

[0043] Specifically, the maximum focus change rate of the focus head is the maximum change in focal height that the focus head can complete per unit time; the focus mechanism response delay of the focus head is the time interval required from receiving the focal height change command to actually starting to perform focal height adjustment.

[0044] In other words, when the scanning head scans a distance in the planar space at a speed V... The theory of time uses time as Considering the response delay of the focusing mechanism of the focusing head, the effective pass time is defined as... In other words, when If the value is less than 0, it means that continuous focusing cannot be performed on the corresponding points i and j at the current speed V.

[0045] In addition, the rate of change of the focus height difference between two focus points i and j in a candidate adjacent point pair is not allowed to exceed the maximum focus change rate of the focus head. The formula is expressed as:

[0046]

[0047] in, The difference in focus height between two focus points in a candidate adjacent point pair. In order to effectively pass through time, This represents the maximum rate of change of focus for the autofocus head.

[0048] The formula for calculating the local permissible scanning speed is then derived as follows:

[0049]

[0050] in, The local allowable scan rate for candidate adjacent point pairs. These are the two focal points in the corresponding candidate adjacent point pair. This represents the planar spatial distance between the two focal points of a candidate adjacent point pair. The difference in focus height between two focus points in a candidate adjacent point pair. This represents the maximum rate of change of focus for the autofocus lens. This refers to the response delay of the focusing mechanism of the focusing head.

[0051] Furthermore, with As the setting for the scanning speed of the focusing head, when In other words, when the set scanning speed of the focusing head is not greater than the locally allowed scanning speed, the adjacency marker of the corresponding candidate adjacent point is set to allowed, denoted as... Conversely, when In other words, when the set scanning speed of the focusing head is less than the locally allowed scanning speed, the adjacency marker of the corresponding candidate adjacent point is set to disallowed, denoted as... .

[0052] Specifically, this solution converts the maximum focus change rate of the device into a control quantity that can directly participate in the construction of the focal plane, such as the local allowable scanning speed, instead of just staying at the level of abnormal point deletion. Therefore, this solution can identify local high gradient scenes where a single point is normal but the connection relationship is not executable.

[0053] In the current embodiment, new focus points can be added to the violation local area in any way, such as interpolation, recalculation based on the complexity of the organizational texture and the density of the organizational distribution, etc.

[0054] In the current embodiment, the adjacency constraint focal plane is divided into multiple scanning segments, each of which contains at least one candidate adjacent point pair. A speed label for each scanning segment is obtained, and the scanning speed of the focusing head in the corresponding scanning segment is controlled based on the speed label of each scanning segment in the adjacency constraint focal plane. The speed label is the minimum local allowable scanning speed of all candidate adjacent point pairs in the corresponding scanning segment.

[0055] Specifically, the dynamic focusing capability parameters of the focusing head include the default scanning speed of the focusing head, and the formula for obtaining the speed label is:

[0056]

[0057] in, For speed tags, This is the default scanning speed for the focusing head. The local allowable scan rate for candidate adjacent point pairs.

[0058] In the acquisition of speed labels, the default scanning speed of the focusing head is introduced to ensure that the locally permissible scanning speed of candidate adjacent point pairs is not higher than the default scanning speed.

[0059] Specifically, adjusting the focusing head speed in different scanning segments using speed tags effectively avoids focusing instability caused by excessively high local allowable scanning speeds, thereby improving overall scanning reliability and image quality. By precisely controlling the speed tags for each scanning segment, the system can minimize blurring or rescanning caused by high gradient changes in the local focal plane while ensuring scanning efficiency. Furthermore, this dynamic adjustment mechanism based on locally allowable scanning speeds not only optimizes scanning path planning but also significantly reduces energy consumption and mechanical wear during equipment operation.

[0060] Furthermore, the dynamic focusing capability parameters of the focusing head include the minimum permissible scanning speed. Scanning segments with speed labels lower than the minimum permissible scanning speed are designated as violation scanning segments. New focus points are added within the violation scanning segments until the corresponding speed label is greater than or equal to the minimum permissible scanning speed.

[0061] In other words, this solution adds a new focus point in the violation scan segment and re-determines whether the speed label is less than the minimum allowable scan speed in subsequent stages, so that the finally generated adjacent constraint focal plane meets the speed requirements of the focusing head.

[0062] In some other embodiments, after the focusing head completes scanning of adjacent constrained focal planes, the actual XYZ execution trajectory, line-level deviation, or image sharpness verification result of the focusing head is read. If the execution residual of a certain scan segment exceeds a threshold, the scan segment is remarked as an illegal scan segment.

[0063] Example 2

[0064] Based on the same concept, referencing Figure 2 This application also proposes a pathological slide scanning device based on local allowable scanning speed constraints, comprising:

[0065] The acquisition module is used to acquire a low-magnification preview image of the current pathological slide, take each tissue region in the low-magnification preview image as a candidate scanning region, and generate multiple focus points for each candidate scanning region.

[0066] The adjacency marker construction module is used to obtain the nearest adjacent focus point with the Euclidean distance to each focus point and form a candidate adjacency point pair, and obtain the adjacency marker for each candidate adjacency point pair. The adjacency marker is calculated based on the dynamic focusing capability parameters of the focusing head, the planar spatial distance between the two focus points in the candidate adjacency point pair, and the difference in focus height. The adjacency marker represents whether the focusing head is allowed to complete the focus height following of the corresponding focus point at a set scanning speed during the scanning process.

[0067] The focusing module is used to identify the candidate adjacent point pairs marked as disallowed as violation local regions, add a new focus point in each violation local region until the corresponding adjacent point is marked as allowed, construct an adjacency constraint focal plane based on all candidate adjacent point pairs marked as allowed, and perform pathological slide scanning based on the adjacency constraint focal plane.

[0068] Example 3

[0069] This embodiment also provides an electronic device, see reference. Figure 3 It includes a memory 404 and a processor 402, the memory 404 storing a computer program and the processor 402 being configured to run the computer program to perform the steps in any of the above method embodiments.

[0070] Specifically, the processor 402 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0071] Memory 404 may include a mass storage device for data or instructions. For example, and not limitingly, memory 404 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 404 may include removable or non-removable (or fixed) media. Where appropriate, memory 404 may be internal or external to a data processing device. In a particular embodiment, memory 404 is non-volatile memory. In a particular embodiment, memory 404 includes read-only memory (ROM) and random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable read-only memory (PROM), an erasable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), an electrically alterable read-only memory (EAROM), or flash memory, or a combination of two or more of these. Where appropriate, the RAM can be Static Random-Access Memory (SRAM) or Dynamic Random-Access Memory (DRAM). DRAM can be Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), Extended Data Out Dynamic Random-Access Memory (EDODRAM), Synchronous Dynamic Random-Access Memory (SDRAM), etc.

[0072] The memory 404 can be used to store or cache various data files that need to be processed and / or communicated, as well as possible computer program instructions executed by the processor 402.

[0073] The processor 402 reads and executes computer program instructions stored in the memory 404 to implement any of the pathological slide scanning methods based on local allowable scan speed constraints in the above embodiments.

[0074] Optionally, the electronic device may further include a transmission device 406 and an input / output device 408, wherein the transmission device 406 is connected to the processor 402, and the input / output device 408 is connected to the processor 402.

[0075] Transmission device 406 can be used to receive or send data via a network. Specific examples of the network described above may include wired or wireless networks provided by the communication provider of the electronic device. In one example, the transmission device includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, transmission device 406 may be a radio frequency (RF) module used for wireless communication with the Internet.

[0076] The input / output device 408 is used to input or output information. In this embodiment, the input information may be a low-level preview image of a pathological slide, and the output information may be an adjacent constraint focal plane, the scanning results of a pathological slide, etc.

[0077] Optionally, in this embodiment, the processor 402 can be configured to perform the following steps via a computer program:

[0078] Obtain a low-magnification preview of the current pathological section, use each tissue region in the low-magnification preview as a candidate scanning region, and generate multiple focus points for each candidate scanning region.

[0079] The nearest adjacent focus point with the Euclidean distance to each focus point is obtained and a candidate adjacent point pair is formed. The adjacency mark of each candidate adjacent point pair is obtained. The adjacency mark is calculated based on the dynamic focusing capability parameters of the focusing head, the planar spatial distance between the two focus points in the candidate adjacent point pair and the difference in focus height. The adjacency mark indicates whether the focusing head is allowed to complete the focus height following of the corresponding focus point at the set scanning speed during the scanning process.

[0080] The adjacent candidate adjacent point pairs marked as disallowed are used as violation local regions. New focus points are added in each violation local region until the corresponding adjacent point is marked as allowed. An adjacency constraint focal plane is constructed based on all candidate adjacent point pairs marked as allowed. The focus head is used to scan pathological sections based on the adjacency constraint focal plane.

[0081] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0082] Generally, various embodiments can be implemented in hardware or dedicated circuitry, software, logic, or any combination thereof. Some aspects of the invention can be implemented in hardware, while others can be implemented by firmware or software executed by a controller, microprocessor, or other computing device, but the invention is not limited thereto. Although various aspects of the invention may be shown and described as block diagrams, flowcharts, or using some other graphical representation, it should be understood that, by way of non-limiting example, these blocks, apparatuses, systems, techniques, or methods described herein can be implemented in hardware, software, firmware, dedicated circuitry or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0083] Embodiments of the present invention can be implemented by computer software, which may be executable by a data processor of a mobile device, such as a processor entity, or by hardware, or by a combination of software and hardware. Computer software or programs (also referred to as program products) including software routines, applets, and / or macros can be stored in any device-readable data storage medium, and they include program instructions for performing specific tasks. The computer program product may include one or more computer-executable components configured to perform the embodiments when the program is run. The one or more computer-executable components may be at least one piece of software code or a portion thereof. Additionally, it should be noted in this respect that, as Figure 3 Any box in the logical flow can represent a program step, or interconnected logic circuits, boxes and functions, or a combination of program steps and logic circuits, boxes and functions. Software can be stored on physical media such as memory chips or blocks of storage implemented within a processor, magnetic media such as hard disks or floppy disks, and optical media such as DVDs and their data variants, CDs, etc. The physical medium is a non-transient medium.

[0084] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for scanning pathological sections based on local allowable scanning speed constraints, characterized in that, Includes the following steps: Obtain a low-magnification preview of the current pathological section, use each tissue region in the low-magnification preview as a candidate scanning region, and generate multiple focus points for each candidate scanning region; The nearest adjacent focus point with the Euclidean distance to each focus point is obtained and a candidate adjacent point pair is formed. The adjacency mark of each candidate adjacent point pair is obtained. The adjacency mark is calculated based on the dynamic focusing capability parameters of the focusing head, the planar spatial distance between the two focus points in the candidate adjacent point pair and the difference in focus height. The adjacency mark indicates whether the focusing head is allowed to complete the focus height following of the corresponding focus point at the set scanning speed during the scanning process. The adjacent candidate adjacent point pairs marked as disallowed are used as violation local regions. New focus points are added in each violation local region until the corresponding adjacent point is marked as allowed. An adjacency constraint focal plane is constructed based on all candidate adjacent point pairs marked as allowed. The focus head is used to scan pathological sections based on the adjacency constraint focal plane.

2. The pathological slide scanning method based on local permissible scanning speed constraints according to claim 1, characterized in that, The number and position of focus points are dynamically adjusted based on the tissue texture complexity and tissue density of each candidate scan region.

3. The pathological slide scanning method based on local permissible scanning speed constraints according to claim 1, characterized in that, The planar spatial distance between the two focus points is obtained based on the two-dimensional spatial coordinates of the two focus points in the candidate adjacent point pair; the absolute value of the focal height difference between the two focus points in the candidate adjacent point pair is used as the focal height difference.

4. The pathological slide scanning method based on local permissible scanning speed constraints according to claim 1, characterized in that, The dynamic focusing capability parameters of the focusing head include the maximum focusing change rate and the set scanning speed. Based on the dynamic focusing capability parameters of the focusing head, the planar spatial distance between two focus points and the difference in focusing height between candidate adjacent points, the locally permissible scanning speed is calculated. When the set scanning speed of the focusing head is not greater than the locally permissible scanning speed, the adjacent point of the corresponding candidate adjacent point is marked as permissible; when the set scanning speed of the focusing head is less than the locally permissible scanning speed, the adjacent point of the corresponding candidate adjacent point is marked as not permissible.

5. A pathological slide scanning method based on local permissible scanning speed constraints according to claim 4, characterized in that, The formula for calculating the permissible local scanning speed is: in, The local allowable scan rate for candidate adjacent point pairs. These are the two focal points in the corresponding candidate adjacent point pair. This represents the planar spatial distance between the two focal points of a candidate adjacent point pair. The difference in focus height between two focus points in a candidate adjacent point pair. This represents the maximum rate of change of focus for the autofocus lens. This refers to the response delay of the focusing mechanism of the focusing head.

6. A pathological slide scanning method based on local permissible scanning speed constraints according to claim 1, characterized in that, The adjacency constraint focal plane is divided into multiple scanning segments, each containing at least one candidate adjacency point pair. A speed label is obtained for each scanning segment. The scanning speed of the focusing head in the corresponding scanning segment is controlled based on the speed label of each scanning segment in the adjacency constraint focal plane. The speed label is the minimum local allowable scanning speed of all candidate adjacency point pairs in the corresponding scanning segment.

7. A pathological slide scanning method based on local permissible scanning speed constraints according to claim 6, characterized in that, The dynamic focusing capability parameters of the focusing head include the minimum permissible scanning speed. Scanning segments with speed labels lower than the minimum permissible scanning speed are designated as violation scanning segments. New focus points are added within the violation scanning segments until the corresponding speed label is greater than or equal to the minimum permissible scanning speed.

8. A pathological slide scanning device based on local permissible scanning speed constraints, characterized in that, include: The acquisition module is used to acquire a low-magnification preview image of the current pathological slide, take each tissue region in the low-magnification preview image as a candidate scanning region, and generate multiple focus points for each candidate scanning region. The adjacency marker construction module is used to obtain the nearest adjacent focus point with the Euclidean distance to each focus point and form a candidate adjacency point pair, and obtain the adjacency marker for each candidate adjacency point pair. The adjacency marker is calculated based on the dynamic focusing capability parameters of the focusing head, the planar spatial distance between the two focus points in the candidate adjacency point pair, and the difference in focus height. The adjacency marker represents whether the focusing head is allowed to complete the focus height following of the corresponding focus point at a set scanning speed during the scanning process. The focusing module is used to identify the candidate adjacent point pairs marked as disallowed as violation local regions, add a new focus point in each violation local region until the corresponding adjacent point is marked as allowed, construct an adjacency constraint focal plane based on all candidate adjacent point pairs marked as allowed, and perform pathological slide scanning based on the adjacency constraint focal plane.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform a pathological slide scanning method based on local allowable scan speed constraints as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements a pathological slide scanning method based on local allowable scan speed constraints as described in any one of claims 1-7.

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