A sample collection device and method of sample collection

Abstract

The application provides a sample collection device and a sample collection method, and relates to the biomedical field.The sample collection device comprises an optical lens assembly, a stage, a sample segmentation assembly and a clamping mechanism.The stage and the optical lens assembly are arranged at intervals along the optical axis direction of the optical lens assembly.The stage can move relative to the optical lens assembly.The stage is used for carrying a film sheet of a sample and moving the film sheet into the field of view of the optical lens assembly.The sample segmentation assembly is used for cutting the sample on the film sheet in the field of view of the optical lens assembly.The clamping mechanism is used for clamping a sample storage device, driving the sample storage device to move into the field of view of the optical lens assembly and collecting the sample cut from the film sheet.In the sample collection device, the sample storage device is clamped by the clamping mechanism and driven to move to collect the sample, so that automatic sampling can be realized, manual intervention is reduced and the sample collection efficiency is improved.

Description

Technical Field

[0001] This application relates to biomedical technology, and more particularly to a sample collection device and a sample collection method. Background Technology

[0002] In biomedical research, samples are typically cut from biological cell and tissue membranes and collected for subsequent analysis. However, in current techniques, sample collection requires manual operation, leading to low efficiency. Summary of the Invention

[0003] This application provides a sample collection device and a sample collection method to solve the problem of low sample collection efficiency.

[0004] The technical solution of this application embodiment is implemented as follows: This application provides a sample collection device, including: Optical lens assembly; A stage is provided at a distance from the optical lens assembly along the optical axis of the optical lens assembly. The stage is movable relative to the optical lens assembly. The stage is used to carry a membrane of the sample and move the membrane into the field of view of the optical lens assembly. A sample segmentation component is used to segment the sample on the diaphragm that is within the field of view of the optical lens assembly; A clamping mechanism is used to clamp a sample storage device, drive the sample storage device to move into the field of view of the optical lens assembly, and collect samples cut from the film.

[0005] In some embodiments, the clamping mechanism includes a robotic arm and a robotic hand, the robotic hand being disposed at the end of the robotic arm, and the clamping mechanism clamps the sample storage via the robotic hand.

[0006] In some embodiments, the clamping mechanism is used to drive the sample storage device to move along the optical axis and press against the membrane, so that the cut sample on the membrane adheres to the sample storage device.

[0007] In some embodiments, the clamping mechanism includes a sensor for acquiring the pressure of the sample storage device pressed against the diaphragm.

[0008] In some embodiments, the clamping mechanism is also used to drive the sample storage device to move in two dimensions in a plane parallel to the bearing surface of the stage.

[0009] In some embodiments, the sample collection device includes a first shelf and a second shelf, the first shelf for holding an empty sample storage device, the second shelf for holding a sample storage device with the sample attached, and a clamping mechanism for transferring an empty sample storage device on the first shelf to the stage for sample collection, and transferring a sample storage device with the sample attached to the stage to the second shelf.

[0010] In some embodiments, the clamping mechanism is also used to clamp the membrane of an uncut sample and transfer it to the stage, and to clamp the membrane of a cut sample and remove it from the stage.

[0011] This application provides a sample collection method, including: The sample segmentation component controls the cutting of samples on a membrane within the field of view of the optical lens assembly; The control clamping mechanism clamps the sample storage device, moves the sample storage device into the field of view of the optical lens assembly, and collects the sample cut from the film.

[0012] In some embodiments, collecting the samples cut from the membrane includes: The sample storage device is controlled to move along the optical axis and pressed against the membrane so that the cut sample on the membrane adheres to the sample storage device.

[0013] In some embodiments, the sample collection method further includes: During the process of controlling the sample storage device to move along the optical axis and press it against the membrane, the pressure value of the sample storage device pressing against the membrane is obtained by a sensor. When the pressure value reaches a preset threshold, the clamping mechanism is controlled to stop pressing down on the sample storage.

[0014] In some embodiments, the control clamping mechanism clamps the sample storage device and moves the sample storage device into the field of view of the optical lens assembly, including: The clamping mechanism is controlled to clamp the empty sample memory on the first shelf, and the empty sample memory is transferred to the top of the stage, and the sample memory is moved into the field of view of the optical lens assembly.

[0015] In some embodiments, after adhering the pre-cut sample from the membrane to the sample storage device, the sample acquisition method further includes: Sample collection confirmed successful; The clamping mechanism is controlled to transfer the sample storage device on the stage with the sample attached to it to the second shelf.

[0016] In some implementations, the confirmation of successful sample collection includes: The clamping mechanism is controlled to move the sample storage device away from the membrane along the optical axis. The image within the field of view of the optical lens assembly is acquired. If there are no cut samples in the image, the acquisition is confirmed to be successful.

[0017] In some embodiments, the sample acquisition method includes: prior to controlling the sample segmentation assembly to segment the sample on the diaphragm within the field of view of the optical lens assembly. The clamping mechanism is controlled to clamp the membrane of the uncut sample and transfer it to the stage.

[0018] In some implementations, after confirming that sample collection is complete, the sample collection method further includes: The clamping mechanism is controlled to clamp the membrane of the cut sample and remove it from the stage.

[0019] In some embodiments, the sample collection method further includes calibration, the calibration comprising: Pressing step: Control the clamping mechanism to clamp the sample storage device and press it down onto the stage on which the membrane is placed, obtain the indentation formed by the sample storage device on the membrane, and obtain the center of the indentation; Determine whether the center of the indentation coincides with the center of the optical axis: If the center of the indentation does not coincide with the center of the optical axis, adjust the positioning coordinates of the clamping mechanism and repeat the pressing step until the center of the indentation coincides with the center of the optical axis; if the center of the indentation coincides with the center of the optical axis, end the calibration.

[0020] In the sample collection device of this application embodiment, the sample storage device is clamped by a clamping mechanism and driven to move to collect samples, which can realize automatic sampling, reduce manual intervention, and improve sample collection efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the sample collection device in some embodiments of this application; Figure 2 This is a schematic diagram of the sample collection device in some other embodiments of this application; Figure 3 This is a schematic diagram of the clamping mechanism in some embodiments of this application; Figure 4 This is a schematic diagram of the clamping mechanism in some other embodiments of this application; Figure 5 This is a schematic diagram of the sample storage structure in an embodiment of this application; Figure 6 This is a schematic diagram showing the connection between the clamping mechanism and the sensor in some embodiments of this application; Figure 7 This is a schematic diagram showing the connection between the clamping mechanism and the sensor in some other embodiments of this application; Figure 8 This is a schematic diagram showing the connection between the clamping mechanism and the sensor in some embodiments of this application; Figure 9 for Figure 3 An enlarged schematic diagram of part A in the middle; Figure 10 This is a schematic diagram of the sample collection device in some embodiments of this application; Figure 11 This is a flowchart illustrating the control method of the sample collection device in the embodiments of this application; Figure 12 This is a flowchart illustrating the control method of the sample collection device in the embodiments of this application; Figure 13 This is a flowchart illustrating the control method of the sample collection device in the embodiments of this application; Figure 14 This is a flowchart illustrating the control method of the sample collection device in the embodiments of this application; Figure 15 This is a flowchart illustrating the control method of the sample collection device in the embodiments of this application.

[0022] Explanation of reference numerals in the attached figures 100. Sample collection device; 10. Optical lens assembly; 11. Light source lens; 12. Imaging lens; 20. Stage; 30. Clamping mechanism; 31. Robotic arm; 32. Robotic hand; 33. Sensor; 34. Gripper; 35. Finger; 36. Through hole; 37. Groove; 38. Through hole; 39. Bottom wall; 50. First shelf; 60. Second shelf; 200. Sample storage device; 210. Bottle cap; 220. Bottle body; 230. Connecting rib.

[0023] It should be noted that the terms "first" and "second" mentioned above are only used to distinguish between different options and do not represent the degree of superiority or inferiority of the options or their priority in the implementation process. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] The specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction. For example, different combinations of specific technical features can form different embodiments and technical solutions. To avoid unnecessary repetition, the various possible combinations of the specific technical features in this application will not be described separately.

[0026] In the following description, the terms "first," "second," etc., are used merely to distinguish different objects and do not indicate that the objects have the sameness or relationship. It should be understood that the directional descriptions "above," "below," "outside," and "inside" refer to the orientation under normal use conditions, while "left" and "right" refer to the left and right directions shown in the corresponding diagrams, which may or may not be the left and right directions under normal use conditions.

[0027] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. "A plurality of" means two or more.

[0028] Please see Figure 1 This application provides a sample collection device 100, including an optical lens assembly 10, a stage 20, a sample segmentation assembly, and a clamping mechanism 30. The stage 20 and the optical lens assembly 10 are spaced apart along the optical axis of the optical lens assembly 10. The stage 20 is movable relative to the optical lens assembly 10. The stage 20 is used to carry a membrane containing a sample and move the membrane into the field of view of the optical lens assembly 10. The sample segmentation assembly is used to cut the sample on the membrane within the field of view of the optical lens assembly 10. The clamping mechanism 30 is used to clamp a sample storage device 200, drive the sample storage device 200 to move into the field of view of the optical lens assembly 10, and collect the sample cut from the membrane.

[0029] In the sample collection device 100 of this application embodiment, the sample storage 200 is clamped by the clamping mechanism 30 and the sample storage 200 is driven to move in order to collect samples. This can realize automatic sampling, reduce manual intervention, and improve sample collection efficiency.

[0030] Combination Figure 1 and Figure 2The optical lens assembly 10 may include a light source lens 11 and an imaging lens 12, which are spaced apart along the optical axis of the optical lens assembly 10. The stage 20 is located between the light source lens 11 and the imaging lens 12. Alternatively, the light source lens 11 may be located above the stage 20 and the imaging lens 12 below the stage 20, or the imaging lens 12 may be located above the stage 20 and the light source lens 11 below the stage 20.

[0031] The lens located above the stage 20 can be kept at a certain distance from the upper surface of the stage 20 to provide space for the sample storage 200 to move.

[0032] In some embodiments, the optical lens assembly 10 may also be referred to as a microscope, which may be an upright microscope or an inverted microscope.

[0033] The sample cutting assembly may include a laser capable of providing pulsed laser light. The laser light emitted by the laser is focused into a spot and incident on the surface of the sample. When the energy of the spot reaches the cutting threshold of the membrane, the membrane is cut. The center of the laser spot may coincide with the optical axis center of the optical lens assembly 10. The laser and the imaging lens 12 may be positioned on the same side of the stage 20.

[0034] The optical lens assembly 10, the stage 20, the sample segmentation assembly, and the clamping mechanism 30 can be set up independently, which facilitates the maintenance and replacement of one or more of the components.

[0035] Please see Figure 1 In some embodiments, the clamping mechanism 30 includes a robotic arm 31 and a robotic hand 32, with the robotic hand 32 disposed at the end of the robotic arm 31, and the clamping mechanism 30 clamps the sample storage 200 through the robotic hand 32.

[0036] Thus, the robotic arm 32 is used to hold the sample storage 200, and the robotic arm 31 is used to drive the robotic arm 32 to move in order to transfer the sample storage 200.

[0037] For example, the size of the robotic arm 32 can be designed according to the size of the sample storage 200. The robotic arm 32 can consist of two or more grippers that move relative to each other. When the grippers are close to each other, they can grip the sample storage 200; when the grippers are far apart, they can release the sample storage 200.

[0038] Compared to using a conveyor belt and micro-actuators to transfer the sample storage 200, the robotic arm 31 and robotic hand 32 work together to meet various transfer needs of the sample storage 200. The clamping mechanism 30 is smaller, lighter, and more flexible. At the same time, the clamping mechanism 30 has the advantages of high precision, low vibration and low noise, and can be adapted to a variety of different optical lens assemblies 10.

[0039] Combination Figure 3 The robotic arm 31 can be a four-axis robotic arm. The smaller size of a four-axis robotic arm facilitates the miniaturization of the gripping mechanism 30. Combined with... Figure 4 The robotic arm 31 can also be a six-axis robotic arm. The six-axis robotic arm has high flexibility, which is conducive to the precise positioning of the sample storage 200.

[0040] In some embodiments, the clamping mechanism 30 is used to drive the sample storage 200 to move along the optical axis and press against the membrane so that the cut sample on the membrane adheres to the sample storage 200.

[0041] As the sample storage device 200 is pressed against the membrane, the adhesive force between the sample storage device 200 and the sample gradually increases, allowing the sample to adhere to the sample storage device 200.

[0042] For example, combined Figure 5 The sample storage device 200 may include a cap 210 and a bottle body 220, which are connected by a connecting rib 230. The bottom surface of the cap 210 may bulge downwards in an arc shape to facilitate sample adhesion. The part of the cap 210 that contacts the sample may be made of silicone material to improve the adhesion between the cap 210 and the sample. Furthermore, the entire cap 210 may be made of silicone material. Even further, the entire sample storage device 200 may be made of silicone material, that is, the entire cap 210, the entire bottle body 220, and the entire connecting rib 230 are made of silicone material. The bottle body 220 can rotate relative to the cap 210 to close the cap 210, covering the sample adhered to the cap 210 and reducing contamination of the sample by the external environment.

[0043] Along the optical axis perpendicular to the optical lens assembly 10, the size of the bottle cap 210 can be larger than the size of the sample but smaller than the size of the membrane, so that the sample storage 200 will not adhere to the entire membrane when the sample is adhered.

[0044] Please see Figure 1 In some embodiments, the clamping mechanism 30 includes a sensor 33 for acquiring the pressure of the sample storage 200 against the diaphragm.

[0045] Thus, by obtaining the pressure of the sample storage 200 pressed against the membrane through the sensor 33, it is convenient to control the pressure of the sample storage 200 pressed against the membrane, so that the force of the sample storage 200 when pressed down is stable and consistent, which is conducive to improving the success rate of the sample storage 200 in picking up samples.

[0046] For example, sensor 33 can be a pressure sensor, which can convert the pressure of sample storage 200 against the diaphragm into an electrical signal and output the electrical signal. When the pressure of sample storage 200 against the diaphragm is too low, the sample is not easy to stick to sample storage 200; when the pressure of sample storage 200 against the diaphragm is too high, it is easy to affect the diaphragm on stage 20 or other samples on the diaphragm.

[0047] Sensor 33 can be positioned between robotic arm 31 and robotic hand 32. Robotic hand 32 may include gripper 34 and fingers 35. (See also...) Figures 6-8 There are three ways to connect sensor 33 to robotic arm 31 and robotic hand 32, such as... Figure 6 The first connection method shown is as follows: the gripper 34 and finger 35 are connected laterally, and the sensor 33 is connected laterally to the gripper 34 and the robotic arm 31; as shown Figure 7 The second connection method shown is as follows: the gripper 34 and finger 35 are vertically connected, and the sensor 33 is horizontally connected to the gripper 34 and the robotic arm 31; as shown Figure 8 The third connection method shown is as follows: the gripper 34 and finger 35 are connected laterally, and the sensor 33 is connected vertically to the gripper 34 and robotic arm 31. Through these three connection methods, the robotic arm 32 can avoid the protrusions of the optical lens assembly 10 and the stage 20, facilitating the transfer of the sample storage 200 to the center of the optical axis. In the third connection method, the vertical connection of the sensor 33 to the gripper 34 and robotic arm 31 improves pressure detection accuracy. The lateral connection of the gripper 34 and finger 35 increases the lateral movement distance of the sample storage 200, reduces the length of the connection between the gripper 34 and finger 35, facilitates the transmission of force when the gripper 34 grasps, and improves the motion stability of the robotic arm 32.

[0048] Combination Figure 4 The part of the finger 35 that holds the sample storage 200 can be lower than the part where the finger 35 is connected to the gripper 34. This makes the bottom surface of the sample storage 200 lower than the bottom surface of the gripper 34, reducing interference between the gripper 34 and the stage 20, and making it easier for the sample storage 200 to pick up samples.

[0049] Combination Figure 3 and Figure 4The finger 35 can be curved downwards. Compared to the finger 35 being set at a right angle, the curved shape helps to reduce the interference between the finger 35 and the optical lens assembly 10, thereby reducing the risk of collision between the finger 35 and the optical lens assembly 10.

[0050] Combination Figure 3 and Figure 4 Multiple through holes 36 can be formed on the finger 35. The through holes 36 penetrate the finger 35 along the width direction of the finger 35. The multiple through holes 36 can be arranged at intervals along the length direction of the finger 35. This helps to reduce the weight of the finger 35 and achieve the lightweighting of the finger 35.

[0051] Finger 35 can be made of metal, which helps to improve the rigidity of finger 35.

[0052] Combination Figure 9 The finger 35 can have a groove 37 and a through hole 38. The groove 37 is formed by the indentation of the end face of the finger 35 along the length direction towards the gripper 34. The through hole 38 penetrates the finger 35 along the height direction and is connected to the groove 37. The groove 37 is used to accommodate the connecting rib 230, and the through hole 38 is used to accommodate the bottle cap 210. The distance between the bottom surface of the connecting rib 230 and the bottom surface of the bottle cap 210 is greater than the thickness of the bottom wall 39 forming the groove 37. This makes it easier for the bottom surface of the bottle cap 210 to protrude from the bottom surface of the finger 35, which facilitates sample adhesion.

[0053] In some embodiments, the clamping mechanism 30 is also used to drive the sample storage 200 to move in a two-dimensional plane parallel to the bearing surface of the stage 20.

[0054] In this way, by driving the sample storage 200 to move relative to the stage 20 through the clamping mechanism 30, samples from different positions can be collected. At the same time, the number of times the stage 20 moves can be reduced, and the vibration caused by the movement of the stage 20 can be reduced, thereby reducing sample movement and affecting sampling accuracy.

[0055] For example, the plane parallel to the bearing surface of the stage 20 can be formed by the x-axis and the y-axis, which are perpendicular to each other and constitute a planar rectangular coordinate system. That is, the clamping mechanism 30 can drive the sample memory 200 to move along the x-axis, or drive the sample memory 200 to move along the y-axis, or drive the sample memory 200 to tilt relative to the x-axis or y-axis. In this way, the sample memory 200 can be displaced along both the x-axis and y-axis.

[0056] Please see Figure 10In some embodiments, the sample collection device 100 includes a first shelf 50 and a second shelf 60. The first shelf 50 is used to place an empty sample storage device 200, and the second shelf 60 is used to place a sample storage device 200 with a sample attached. The clamping mechanism 30 is used to transfer the empty sample storage device 200 on the first shelf 50 to the stage 20 to collect the sample, and to transfer the sample storage device 200 with a sample attached to the stage 20 to the second shelf 60.

[0057] In this way, the empty sample storage device 200 and the sample storage device 200 with attached samples are placed on two different shelves, which reduces the confusion between the two and lowers the risk of misplacing the sample storage devices 200. Furthermore, by using the clamping mechanism 30 to remove the empty sample storage device 200 from the first shelf 50 and place the sample storage device 200 with attached samples onto the second shelf 60, manual handling is reduced, which helps improve sample collection efficiency.

[0058] For example, the first shelf 50 and the second shelf 60 can be two separate shelves or two connected shelves. For example, the first shelf 50 and the second shelf 60 are respectively disposed on both sides of the clamping mechanism 30, or the first shelf 50 is disposed above the second shelf 60, with the bottom surface of the first shelf 50 abutting against the upper surface of the second shelf 60.

[0059] In some embodiments, the first shelf 50 and the second shelf 60 may have mounting holes in which the sample storage device 200 is inserted. The mounting holes may be through holes or blind holes.

[0060] In other embodiments, the first shelf 50 and the second shelf 60 may be provided with mounting bases that are inserted into the bottle body 220 so that the sample storage 200 is placed on the first shelf 50 or the second shelf 60.

[0061] In some embodiments, the clamping mechanism 30 is also used to clamp the membrane of an uncut sample and transfer it to the stage 20, and to clamp the membrane of a cut sample and remove it from the stage 20.

[0062] Thus, by clamping and transporting the membrane using the clamping mechanism 30, the impact of force and technique on the membrane during manual operation can be reduced, thereby improving sample collection efficiency. Furthermore, reusing the clamping mechanism 30 helps reduce the cost of the sample collection device 100 and also makes the device more compact.

[0063] For example, the sample collection device 100 includes a third shelf and a fourth shelf. The third shelf is used to place membranes of uncut samples. The clamping mechanism 30 clamps the membranes of uncut samples located on the third shelf and transfers them to the stage 20 for cutting. The fourth shelf is used to place membranes of cut samples. The clamping mechanism 30 clamps the membranes of cut samples located on the stage 20 and transfers them to the fourth shelf.

[0064] Please see Figure 11 This application provides a sample collection method, which includes the following steps.

[0065] S10, control the sample segmentation component to cut the sample on the membrane within the field of view of the optical lens assembly 10.

[0066] S20, the control clamping mechanism 30 clamps the sample storage 200, moves the sample storage 200 into the field of view of the optical lens assembly 10, and collects the sample cut from the film.

[0067] The above steps enable automated sample collection, reducing manual intervention and improving sample collection efficiency.

[0068] For example, in step S10, when the sample segmentation component cuts the membrane, the sample segmentation component remains stationary, while the stage 20 moves the membrane, causing the laser to move around the contour of the sample to achieve sample cutting.

[0069] In step S20, the robotic arm 31 can drive the robotic hand 32 to move into the field of view of the optical lens assembly 10, and the sample storage 200 held by the robotic hand 32 can be moved into the field of view of the optical lens assembly 10.

[0070] In some implementations, the sample cut from the membrane is collected (step S20), including step S21.

[0071] S21, control the sample storage 200 to move along the optical axis and press it against the membrane so that the cut sample on the membrane adheres to the sample storage 200.

[0072] For example, the sample storage 200 can adhere one, two or more samples with a single press. The multiple samples can be arranged along the surface of the sample storage 200 or in a direction perpendicular to the surface of the sample storage 200. That is, the samples can be directly adhered to the sample storage 200 or can be adhered to the sample storage 200 by the samples already adhered to the sample storage 200.

[0073] In some implementations, step S21 further includes the following steps.

[0074] S22, during the process of controlling the sample storage 200 to move along the optical axis and press it against the diaphragm, the pressure value of the sample storage 200 pressing against the diaphragm is obtained by the sensor 33.

[0075] S23, when the pressure value reaches the preset threshold, control the clamping mechanism 30 to stop pressing down on the sample memory 200.

[0076] For example, before the sample memory 200 is pressed down, a pressure threshold is preset. As the pressing process proceeds, the pressure value acquired by the sensor 33 gradually increases from 0. When the pressure value acquired by the sensor 33 reaches the preset threshold, the robotic arm 31 controls the robotic hand 32 to stop moving toward the stage 20, so as to control the sample memory 200 to stop pressing down.

[0077] The preset threshold can be set according to the size, thickness, material properties, and viscosity of the sample's cross-section.

[0078] In some embodiments, the preset threshold ranges from 0.19 N (Newtons) to 0.22 N. The preset threshold is related to the deformation of the sample storage 200 and also to the stability of sample acquisition.

[0079] In some embodiments, the control clamping mechanism 30 clamps the sample memory 200 and moves the sample memory 200 into the field of view of the optical lens assembly 10 (step S20), including step S24.

[0080] S24, the clamping mechanism 30 clamps the empty sample memory 200 on the first shelf 50, and moves the empty sample memory 200 above the stage 20, and moves the sample memory 200 into the field of view of the optical lens assembly 10.

[0081] For example, the robotic arm 31 can be controlled to drive the robotic hand 32 to move to the first shelf 50, and then the robotic hand 32 can be controlled to clamp the empty sample memory 200 on the first shelf 50. Then the robotic arm 31 can be controlled to drive the robotic hand 32 to move above the stage 20, so that the empty sample memory 200 clamped by the robotic hand 32 is within the field of view of the optical lens assembly 10.

[0082] Please see Figure 12 In some embodiments, after step S21, the sample collection method further includes the following steps.

[0083] S30, Sample collection confirmed successful.

[0084] S40, the control clamping mechanism 30 transfers the sample storage 200 with the sample attached to the stage 20 to the second shelf 60.

[0085] For example, the sample storage 200 with the sample attached to the stage 20 can be transferred to the second shelf 60 after a successful sample collection, or the sample storage 200 with the sample attached to the stage 20 can be transferred to the second shelf 60 after multiple successful sample collections.

[0086] When multiple sample collections are required, after the first sample collection is successful, the stage 20 can be moved relative to the clamping mechanism 30, or the clamping mechanism 30 can be moved relative to the stage 20, so that the sample to be collected next time is aligned with the sample storage 200 held by the clamping mechanism 30. Then, the clamping mechanism 30 is controlled to drive the sample storage 200 with the sample attached to it to press down again to attach the sample to be collected for the second time. This process is repeated until all samples are collected.

[0087] Please see Figure 13 In some implementations, step S30 includes the following steps.

[0088] S31, the control clamping mechanism 30 moves the sample storage 200 away from the membrane along the optical axis.

[0089] S32, acquire the image within the field of view of the optical lens assembly 10. If there is no cut sample in the image, the acquisition is confirmed to be successful.

[0090] For example, if there is a cut sample in the image within the field of view of the optical lens assembly 10, it is confirmed that the acquisition was unsuccessful, and the sample memory 200 is pressed down repeatedly. If the acquisition is unsuccessful after pressing down the sample memory 200 multiple times, it is determined whether the sample is completely cut. If the sample is not completely cut, the sample cutting component is driven to cut the sample again, and then the sample memory 200 is driven down until the acquisition is successful.

[0091] Please see Figure 14 In some implementations, the sample collection method includes step S01 before step S10.

[0092] S01, control the clamping mechanism 30 to clamp the membrane of the uncut sample and transfer it to the stage 20.

[0093] For example, the robotic arm 31 may first drive the robotic hand 32 to move to the third shelf, clamp the membrane of the uncut sample from the third shelf, and then drive the robotic hand 32 to move to the stage 20, and then drive the robotic hand 32 to release the membrane of the uncut sample, thereby transferring the membrane of the uncut sample to the stage 20.

[0094] In some implementations, after confirming that the sample collection is complete, the sample collection method further includes step S50.

[0095] S50, the clamping mechanism 30 clamps the membrane of the cut sample and removes it from the stage 20.

[0096] For example, the robotic arm 31 may first drive the robotic hand 32 to move to the stage 20, clamp the membrane of the cut sample from the stage 20, then drive the robotic hand 32 to move to the fourth shelf, and then drive the robotic hand 32 to release the membrane of the cut sample, thereby removing the membrane of the cut sample from the stage 20.

[0097] In some implementations, the sample collection method further includes calibration, which includes the following steps.

[0098] Pressing step: Control the clamping mechanism 30 to clamp the sample storage 200 and press it down onto the stage 20 on which the membrane is placed, to obtain the indentation formed by the sample storage 200 on the membrane, and obtain the center of the indentation.

[0099] Determine whether the center of the indentation coincides with the center of the optical axis: If the center of the indentation does not coincide with the center of the optical axis, adjust the positioning coordinates of the clamping mechanism 30 and repeat the pressing step until the center of the indentation coincides with the center of the optical axis; if the center of the indentation coincides with the center of the optical axis, the calibration ends.

[0100] It should be noted that the membrane used for calibration is different from the membrane used for cutting samples. The membrane used for calibration does not have samples on it, so that the sample storage 200 will not pick up samples during calibration.

[0101] Calibration can be performed before the sample collection device 100 performs its first sample, after the sample collection device 100 has been used for a period of time, or when the sample collection device 100 is moved from one place to another.

[0102] Since the center of the laser spot coincides with the center of the optical axis of the optical lens assembly 10, the center of the sample storage 200 is aligned with the center of the optical axis of the optical lens assembly 10 through calibration, so that the sample cut by the laser can be aligned with the sample storage 200, which helps to improve the success rate of sample adhesion in the sample storage 200.

[0103] Since the sample storage device 200 is a soft gel, when it is pressed onto the membrane, it deforms into a circle, forming a circular indentation on the membrane. In some embodiments, the diameter of the circular indentation is 5 mm ± 0.4 mm. The diameter of the circular indentation varies depending on the type of membrane and the size of the sample storage device 200. Because the optical axis is a circular beam, the center of the indentation is the center of the circle, and the center of the optical axis is the center of the circle. The optical axis center can be used as the standard, i.e., the optical axis center coordinates are (0,0). The center of the indentation can be obtained by fitting the circular equation (xh)2+(yk)2=r2 of the indentation contour to obtain the center coordinates (h,k). The difference (Δh, Δk) between the center coordinates (h,k) of the indentation and the center coordinates (0,0) of the optical axis on the x and y axes is calculated. If the difference on the x and y axes is 0, i.e., Δh=0 and Δk=0, then it is determined that the center of the optical axis coincides with the center of the indentation. The coordinates of the clamping mechanism 30 are stored for subsequent sample acquisition. The sample storage 200 is moved to the same position without needing to judge and adjust the relative position of the sample and the sample storage 200. If the center of the optical axis does not coincide with the center of the indentation, the difference (Δh, Δk) on the x-axis and y-axis is recorded. The clamping mechanism 30 is then controlled to drive the sample storage 200 away from the membrane, so that the sample storage 200 is disengaged from the membrane. Then, the clamping mechanism 30 is negatively offset, that is, the coordinates of the clamping mechanism 30 are subtracted from the difference (Δh, Δk), thereby adjusting the coordinates of the clamping mechanism 30.

[0104] The sample acquisition method of this application embodiment can be as follows: First, control the clamping mechanism 30 to clamp the sample storage 200 and press it down on the stage 20 on which the membrane is placed to obtain the indentation formed by the sample storage 200 on the membrane and obtain the center of the indentation. If the center of the indentation does not coincide with the center of the optical axis, adjust the positioning coordinates of the clamping mechanism 30 and press down again to form an indentation. Then, determine whether the indentation coincides with the center of the optical axis until the center of the indentation coincides with the center of the optical axis, and then perform sample acquisition.

[0105] During sample collection, the clamping mechanism 30 first clamps the uncut sample membrane and transfers it onto the stage 20, placing it within the field of view of the optical lens assembly 10. Then, the sample segmentation assembly cuts the sample on the membrane located on the stage 20. After cutting, the clamping mechanism 30 clamps the empty sample storage device 200 on the first shelf 50 and transfers it above the stage 20, moving it into the field of view of the optical lens assembly 10. Subsequently, the sample storage device 200 is moved along the optical axis and pressed against the membrane, so that the cut sample on the membrane adheres to the sample storage device 200. Then, the clamping mechanism 30 moves the sample storage device 200 away from the membrane along the optical axis. The image within the field of view of the optical lens assembly 10 is acquired. If there is a cut sample in the image, the acquisition is unsuccessful. The clamping mechanism 30 is controlled to drive the sample storage 200 to press down again until there is no cut sample in the image, then the acquisition is successful. If there are multiple samples on the stage 20 that need to be acquired multiple times, the clamping mechanism 30 is controlled to drive the sample storage 200 to move relative to the stage 20, or the stage 20 is controlled to move relative to the sample storage 200, so as to acquire samples at different positions. When all samples on the stage 20 have been acquired, the clamping mechanism 30 is controlled to transfer the sample storage 200 with the sample attached to the stage 20 to the second shelf 60. Finally, the clamping mechanism 30 is controlled to clamp the membrane with the cut sample and remove it from the stage 20.

[0106] Please see Figure 15 In one embodiment, the sample collection method is as follows: First, the robotic arm 31 is moved to the first shelf 50, then the robotic arm 32 picks up the empty sample storage device 200. Next, the robotic arm 31 moves to the optical axis position of the optical lens assembly 10, and the robotic arm 32 presses down on the sample storage device 200. If there are still samples to be collected, the robotic arm 32 presses down on the sample storage device 200 again after the stage 20 moves the sample to the center of the optical axis, until there are no more samples to be collected. Finally, the robotic arm 31 is moved to the second shelf 60, and the robotic arm 32 releases the sample storage device 200 with the samples attached.

[0107] In the description of this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine different embodiments or examples described in this application, as well as features of different embodiments or examples.

[0108] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A sample collection device, characterized in that, include: Optical lens assembly; A stage is provided at a distance from the optical lens assembly along the optical axis of the optical lens assembly. The stage is movable relative to the optical lens assembly. The stage is used to carry a membrane of the sample and move the membrane into the field of view of the optical lens assembly. A sample segmentation component is used to segment the sample on the diaphragm that is within the field of view of the optical lens assembly; A clamping mechanism is used to clamp a sample storage device, drive the sample storage device to move into the field of view of the optical lens assembly, and collect samples cut from the film.

2. The sample collection device according to claim 1, characterized in that, The clamping mechanism includes a robotic arm and a robotic hand, with the robotic hand located at the end of the robotic arm. The clamping mechanism clamps the sample storage device via the robotic hand.

3. The sample collection device according to claim 1, characterized in that, The clamping mechanism is used to drive the sample storage device to move along the optical axis and press against the membrane, so that the cut sample on the membrane adheres to the sample storage device.

4. The sample collection device according to claim 3, characterized in that, The clamping mechanism includes a sensor for acquiring the pressure of the sample storage device pressed against the diaphragm.

5. The sample collection device according to claim 1, characterized in that, The clamping mechanism is also used to drive the sample storage device to move in two dimensions in a plane parallel to the bearing surface of the stage.

6. The sample collection device according to claim 1, characterized in that, The sample collection device includes a first shelf and a second shelf. The first shelf is used to place an empty sample storage device, and the second shelf is used to place the sample storage device with the sample attached to it. The clamping mechanism is used to transfer the empty sample storage device on the first shelf to the stage to collect the sample, and to transfer the sample storage device with the sample attached to it on the stage to the second shelf.

7. The sample collection device according to claim 1, characterized in that, The clamping mechanism is also used to clamp the membrane of an uncut sample and transfer it to the stage, and to clamp the membrane of a cut sample and remove it from the stage.

8. A sample collection method, characterized in that, include: The sample segmentation component controls the cutting of samples on a membrane within the field of view of the optical lens assembly; The control clamping mechanism clamps the sample storage device, moves the sample storage device into the field of view of the optical lens assembly, and collects the sample cut from the film.

9. The sample collection method according to claim 8, characterized in that, The collection of samples cut from the membrane includes: The sample storage device is controlled to move along the optical axis and pressed against the membrane so that the cut sample on the membrane adheres to the sample storage device.

10. The sample collection method according to claim 9, characterized in that, The sample collection method further includes: During the process of controlling the sample storage device to move along the optical axis and press it against the membrane, the pressure value of the sample storage device pressing against the membrane is obtained by a sensor. When the pressure value reaches a preset threshold, the clamping mechanism is controlled to stop pressing down on the sample storage.

11. The sample collection method according to claim 8, characterized in that, The control clamping mechanism clamps the sample storage device and moves the sample storage device into the field of view of the optical lens assembly, including: The clamping mechanism is controlled to clamp the empty sample memory on the first shelf, and the empty sample memory is transferred to the top of the stage, and the sample memory is moved into the field of view of the optical lens assembly.

12. The sample collection method according to claim 8, characterized in that, After adhering the pre-cut sample from the membrane to the sample storage device, the sample acquisition method further includes: Sample collection confirmed successful; The clamping mechanism is controlled to transfer the sample storage device on the stage with the sample attached to it to the second shelf.

13. The sample collection method according to claim 12, characterized in that, The confirmation that the sample collection was successful includes: The clamping mechanism is controlled to move the sample storage device away from the membrane along the optical axis. The image within the field of view of the optical lens assembly is acquired. If there are no cut samples in the image, the acquisition is confirmed to be successful.

14. The sample collection method according to claim 8, characterized in that, Before the sample segmentation component cuts the sample on the diaphragm within the field of view of the optical lens assembly, the sample acquisition method includes: The clamping mechanism is controlled to clamp the membrane of the uncut sample and transfer it to the stage.

15. The sample collection method according to claim 8, characterized in that, After confirming that sample collection is complete, the sample collection method further includes: The clamping mechanism is controlled to clamp the membrane of the cut sample and remove it from the stage.

16. The sample collection method according to claim 8, characterized in that, The sample collection method further includes calibration, which includes: Pressing step: Control the clamping mechanism to clamp the sample storage device and press it down onto the stage on which the membrane is placed, obtain the indentation formed by the sample storage device on the membrane, and obtain the center of the indentation; Determine whether the center of the indentation coincides with the center of the optical axis: If the center of the indentation does not coincide with the center of the optical axis, adjust the positioning coordinates of the clamping mechanism and repeat the pressing step until the center of the indentation coincides with the center of the optical axis; if the center of the indentation coincides with the center of the optical axis, end the calibration.

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