Material moving assembly, loading and unloading mechanism and pathological section scanner

Abstract

The utility model discloses a material moving assembly, a loading and unloading mechanism and a pathological section scanner, the material moving assembly comprises a material moving clamping jaw and a moving assembly connected with the material moving clamping jaw, and the moving assembly is used for driving the material moving clamping jaw to move in the direction of at least one degree of freedom so as to move a section; wherein the material moving clamping jaw comprises a first clamping part, a second clamping part and a clamping jaw driving part, and the clamping jaw driving part is connected with the first clamping part and the second clamping part and used for driving the first clamping part and the second clamping part to be opened and closed so that the material moving clamping jaw can clamp or release the slices.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a material transfer component, a loading and unloading mechanism and a pathological section scanner. Background Art

[0002] A pathological section scanner can obtain high-speed, accurate, defocus-free, reproducible and storable digital section information, which has received great attention from the medical, scientific research and teaching fields and is used for pathological morphology to examine pathological changes in body organs, tissues or cells.

[0003] However, the existing sections are usually pushed into the stage for scanning, which easily causes the problem of section fragmentation due to uneven force on the section, thus affecting the working efficiency of the pathological section scanner. Summary of the Utility Model

[0004] The utility model provides a material transfer component, a loading and unloading mechanism and a pathological section scanner, which can realize the transfer of sections through a material transfer gripper, avoid the fragmentation of sections due to uneven force, ensure the safe transfer of sections and prevent fragments, are convenient to operate, have a simple structure, and effectively improve the working efficiency of the pathological section scanner. According to the first aspect of the utility model, a material transfer component is provided for use in a pathological section scanner.

[0005] The material transfer component includes a material transfer gripper and a moving component connected to the material transfer gripper, and the moving component is used to drive the material transfer gripper to move along at least one degree of freedom direction to transfer the section.

[0006] Wherein, the material transfer gripper includes a first clamping part, a second clamping part and a gripper driving part, and the gripper driving part is connected to the first clamping part and the second clamping part and is used to drive the opening and closing of the first clamping part and the second clamping part to realize the clamping or releasing of the section by the material transfer gripper.

[0007] In the material transfer component of an embodiment of the utility model, at least one of the first clamping part and the second clamping part is provided with two spaced grippers, and the clamping part with two grippers is used to abut against the side of the section with printing information.

[0008] In the material transfer component of an embodiment of the utility model, the moving component includes a longitudinal component and a vertical component, the vertical component is used to drive the material transfer gripper to move up and down in the vertical direction, and the longitudinal component is used to drive the material transfer gripper to move back and forth in the horizontal direction.

[0009] In the material transfer assembly according to an embodiment of the present utility model, the longitudinal assembly includes a longitudinal mounting seat, a longitudinal driving member, a longitudinal guiding member, and a longitudinal transmission member. The material transfer gripper is slidably mounted on the longitudinal mounting seat through the longitudinal guiding member, and the longitudinal driving member is drivingly connected to the material transfer gripper through the longitudinal transmission member for driving the material transfer gripper to move along the direction of the front and rear mounting seats.

[0010] In the material transfer assembly according to an embodiment of the present utility model, the vertical assembly includes a vertical connection seat, a vertical driving member, and a vertical transmission member. The vertical driving member is drivingly connected to the material transfer gripper through the vertical transmission member, and the vertical driving member is mounted on the frame of the pathological section scanner through the vertical connection seat.

[0011] In the material transfer assembly according to an embodiment of the present utility model, the number of the material transfer grippers is at least two, and at least two of the material transfer grippers are arranged at intervals along the width direction of the section.

[0012] In the material transfer assembly according to an embodiment of the present utility model, the moving assembly further includes a transverse assembly, and at least two of the material transfer grippers are drivingly connected to the transverse assembly so that at least two of the material transfer grippers can move along the left and right directions under the drive of the transverse assembly.

[0013] In the material transfer assembly according to an embodiment of the present utility model, the material transfer gripper includes a rotating structure, and the gripper driving member is connected to the moving assembly through the rotating structure so that the gripper driving member can rotate around the rotation axis of the rotating structure.

[0014] In the material transfer assembly according to an embodiment of the present utility model, the material transfer assembly includes a connecting assembly. The material transfer gripper includes a first gripper and a second gripper. The second gripper is connected to the first gripper through the connecting assembly, and the first gripper or the second gripper is connected to the rotating structure.

[0015] According to the second aspect of the present utility model, the present utility model further provides a loading and unloading mechanism, including a loading assembly and the above-mentioned material transfer assembly. The loading assembly is used for holding the sections to be scanned, and the material transfer gripper of the material transfer assembly is used for transferring the sections in the loading assembly to the stage for scanning and / or transferring the sections scanned on the stage to the loading assembly.

[0016] According to the third aspect of the present utility model, the present utility model further provides a pathological section scanner, including a frame, a scanning mechanism, and the above-mentioned loading and unloading mechanism. The loading and unloading mechanism and the scanning mechanism are both mounted on the frame. The loading and unloading mechanism is used for transferring the sections to the scanning mechanism for scanning and / or removing the sections scanned on the scanning mechanism.

[0017] The technical solutions provided by the embodiments of the present application may include the following beneficial effects: The present application designs a material transfer component, a loading and unloading mechanism, and a pathological section scanner. The material transfer component includes a material transfer jaw and a moving component connected to the material transfer jaw. The material transfer jaw includes a first clamping portion, a second clamping portion, and a jaw driving member. The jaw driving member is connected to the first clamping portion and the second clamping portion and is used to drive the opening and closing of the first clamping portion and the second clamping portion to realize the clamping or releasing of the section by the moving jaw, so that the material transfer component can transfer the section, avoid the section from being broken due to uneven force, is convenient to operate, has a simple structure, and effectively improves the working efficiency of the pathological section scanner.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 is a partial schematic diagram of a pathological section scanner provided by an embodiment of the present application;

[0021] Figure 2 is Figure 1 the structural schematic diagram of the scanning mechanism in;

[0022] Figure 3 is Figure 1 the structural schematic diagram of the loading and unloading mechanism in;

[0023] Figure 4 is Figure 3 the exploded schematic diagram of the loading and unloading mechanism in;

[0024] Figure 5 is Figure 4 the structural schematic diagram of the material transfer component in;

[0025] Figure 6 is Figure 5 the exploded schematic diagram of the material transfer component in;

[0026] Figure 7 is Figure 3 the schematic diagram of the conveying component and the loading component in;

[0027] Figure 8 is Figure 7 the exploded schematic diagram of the loading component and the section rack in.

[0028] Description of reference numerals in the drawings:

[0029] 100, material transfer assembly;

[0030] 10, material transfer gripper; 10a, first gripper; 10b, second gripper; 10c, rotating structure; 101c, first connecting part; 102c, first connecting block; 10d, connecting assembly; 11, clamping part; 11a, first clamping part; 11b, second clamping part; 10e, first fixing block; 10f, first mounting block; 10g, first movable block; 10f, first detection part; 10g, second detection part; 111, gripper; 12, gripper driving part;

[0031] 20, longitudinal assembly; 21, longitudinal mounting plate; 211, first longitudinal mounting plate; 212, second longitudinal mounting plate; 22, longitudinal driving part; 23, longitudinal transmission part; 231, longitudinal gear; 232, longitudinal rack; 24, longitudinal guiding part;

[0032] 30, transverse assembly; 31, transverse mounting plate; 311, first transverse mounting plate; 312, first transverse mounting bracket; 32, transverse driving part; 33, transverse transmission part; 331, transverse gear; 332, transverse rack; 34, transverse guiding part;

[0033] 40, vertical assembly; 41, vertical connecting seat; 411, vertical seat body; 412, vertical cover plate; 42, vertical driving part; 43, vertical transmission part; 44, vertical mounting seat; 45, vertical supporting seat;

[0034] 200, loading assembly; 200a, accommodating groove; 201, loading seat; 202, positioning structure;

[0035] 300, conveying assembly; 300a, slice feeding station; 300b, slice discharging station; 301, conveying seat; 302, conveying track; 303, conveying motor; 304, limiting structure;

[0036] 400, scanning mechanism; 401, carrier table; 402, image recognition component; 403, moving part; 404, scanning seat body;

[0037] 500, detection component; 501, detection module; 5011, camera; 502, detection bracket;

[0038] 600, slice rack;

[0039] 700, slice. Detailed implementation manners

[0040] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0041] It should also be understood that the terms used in the specification of the present utility model are only for the purpose of describing specific embodiments. In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the technical features indicated. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of this application, "a plurality" means two or more, unless otherwise specifically defined.

[0042] Next, some embodiments of this application will be described in detail in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0043] As Figures 1 to 2 shown, this application provides a pathological section scanner, which includes a loading and unloading mechanism, a scanning mechanism 400 and a frame. The loading and unloading mechanism and the scanning mechanism 400 are both installed in the frame. The loading and unloading mechanism is used to convey the section 700 to the scanning mechanism 400 for scanning, and then transfer the section 700 that has been scanned by the scanning mechanism 400. During the whole process, no manual participation is required, and the transfer of the section 700 can be realized quickly and accurately, reducing the manual participation process during the transfer of the section 700. This not only reduces the labor cost, but also improves the working efficiency of the pathological section scanner, and greatly avoids the problems of debris or section damage caused by manual participation.

[0044] In an alternative embodiment, as Figures 1 to 2 shown, the scanning mechanism 400 includes a stage 401. The stage 401 is arranged on the frame and is used to place the section 700.

[0045] In an alternative embodiment, the scanning mechanism 400 further includes an image recognition component 402 and a scanning component. The image recognition component 402 is configured to read the identity information on the slice 700 to organically integrate the identity information on the slice 700 with the pathological information.

[0046] The slice 700 has a scanning area and a marking area. The scanning area has pathological tissue to be analyzed and a coverslip, and the marking area is provided with identity information recording relevant information of the slice 700. The identity information includes, but is not limited to, two-dimensional codes, barcodes, or handwritten marks. In this embodiment, the image recognition component 402 is configured to read the identity information on the slice 700 to obtain the identity information on the slice 700; the scanning component is configured to scan the pathological tissue to be analyzed to obtain the pathological information on the slice. Therefore, through the arrangement of the image recognition component 402 in the present application, the identity information on the slice 700 can be organically integrated with the pathological information.

[0047] In an alternative embodiment, the scanning mechanism 400 includes a moving component 403 and a scanning base 404. The stage 401 is mounted on the scanning base 404 through the moving component 403. The image recognition component 402 is disposed above the stage 401 and on one side close to the loading and unloading mechanism so as to be able to read the information on the slice 700 after the slice 700 is placed on the stage 401. The moving component 403 is configured to drive the stage 401 to drive the slice 700 to move along the guiding direction of the moving component 403 to the detection position so that the scanning component at the detection position can scan the slice 700 to obtain the pathological information on the slice, thereby enabling the identity information and the pathological information on the slice to be organically integrated.

[0048] In an alternative embodiment, as Figures 1 to 4 shown, the loading and unloading mechanism includes a material transfer component 100, a conveying component 300, and a loading component 200. The material transfer component 100, the conveying component 300, and the loading component 200 are all disposed on the frame. The conveying component 300 is configured to convey the slice 700 on the loading component 200, and the material transfer component 100 is configured to transfer the slice 700 on the loading component 200 to the stage 401, and / or transfer the slice 700 scanned on the stage 401 to the loading component 200. The entire process does not require manual participation, greatly avoiding the problems of fragmentation or slice damage caused by manual participation. The structure is simple and the operation is convenient, which not only reduces the labor cost but also improves the working efficiency of the pathological slice scanner.

[0049] It should be noted that a receiving groove 200a is formed in the loading component 200. The receiving groove 200a can be used to place the section 700, and the receiving groove 200a can also be used to place the section rack 600 containing the section 700, so that the section 700 or the section rack 600 can be moved to the position of the stage 401 through the conveying component 300, and then moved onto the stage 401 through the material transfer component 100. The stage 401 moves in a direction perpendicular to the conveying direction of the conveying component 300 under the drive of the moving part 403, so as to organically combine the identity information and pathological information on the section. After all the sections 700 are scanned, the material transfer component 100 transfers the section 700 from the stage 401 to the loading component 200, and the conveying component 300 then moves the loading component 200 containing the section 700 or the section rack 600 outside the frame, so as to facilitate retrieving the section 700 or the section rack 600.

[0050] In an alternative embodiment, the loading and unloading mechanism further includes a detection component 500, which is used to detect the status information of the section 700 placed in the loading component 200, so that the material transfer component 100 can transfer the section 700 in the loading component 200 according to the status information detected by the detection component 500. Among them, the detection component 500 is installed on the frame. The status information of the section 700 can include the status information of the section 700 placed in the receiving groove 200a, and the status information of the section 700 can also include the status information of the section 700 placed in the section rack 600, which is not limited in this application. Exemplarily, the detection component 500 can be used to detect the skew value of the section 700 in the receiving groove 200a or the section rack 600, and then compare the measured skew value with the pre-stored standard skew value, so as to judge whether there are states such as inclined insertion, overlapping or missing of the section 700 in the receiving groove 200a or the section rack 600; or, the detection component 500 can be used to detect the distance value between two adjacent sections 700, and then compare the measured distance value with the pre-stored standard distance value, so as to judge whether there are states such as inclined insertion, overlapping or missing of the section 700 in the receiving groove 200a or the section rack 600; or, the detection component 500 can be used to detect the number of sections 700 in the receiving groove 200a or the section rack 600, and then compare the measured number with the pre-stored standard number, so as to judge whether there are states such as overlapping, inclined insertion or missing of the section 700 in the receiving groove 200a or the section rack 600, and so on.

[0051] Therefore, the material transfer component 100 can transfer the corresponding slice 700 in the accommodation groove 200a or the slice rack 600 to the stage 401 for scanning according to the detected status information, and then transfer the scanned slice 700 from the stage 401 to the corresponding position of the accommodation groove 200a or the slice rack 600. Without manual correction by the operator, it can not only save time and improve work efficiency, but also avoid accidents during the transfer of the slice 700 by the material transfer component 100, such as the risk of the slice 700 being broken during clamping, the problem of the slice 700 falling during transfer, or the slice 700 being tilted or skewed during transfer, or the material transfer component 100 being unable to transfer due to the abnormal status of the slice 700 in the accommodation groove 200a or the slice rack 600. Thus, the unattended safety is fully improved, ensuring that the slice 700 can be accurately transferred to the stage 401 for scanning and guaranteeing the work efficiency.

[0052] In an optional embodiment, the detection component 500 includes a detection module 501 and a detection bracket 502. The detection module 501 is installed on the frame through the detection bracket 502. The conveying component 300 is located below the detection module 501, so that the detection module 501 can detect the slice 700 placed in the loading component 200 to obtain the status information of the slice 700, so that the material transfer component 100 can transfer the corresponding slice 700 in the accommodation groove 200a or the slice rack 600 to the stage 401 for scanning according to the detected status information. Without the need for the operator to monitor the whole process, it saves time and improves the transfer efficiency of the material transfer component 100, and also avoids abnormalities such as dropping or fragmentation of the slice 700 during the transfer of the slice 700 by the material transfer component 100.

[0053] It should be noted that the detection bracket 502 can be a separate structural member, or the detection bracket 502 can also be a part of the frame structure. Its main purpose is to achieve the fixed installation of the detection module 501, and this application does not impose any restrictions.

[0054] Exemplarily, when the detection module 501 detects the state information of the sliced specimens 700 in the accommodation groove 200a or the specimen rack 600, such as the sliced specimens 700 being inserted obliquely, stacked, or missing, the material transfer assembly 100 can transfer the sliced specimens 700 without such abnormal state information, eliminating the cumbersome on-site monitoring by the operator and reducing the waiting time for repositioning the sliced specimens 700 with abnormal state information. This ensures the working efficiency of the pathological sliced specimen scanner and can also avoid the risk of fragmentation when the material transfer assembly 100 picks up these abnormal sliced specimens 700, greatly protecting the safety of the sliced specimens 700. In addition, the detection module 501 can also output the detected state information through the output module of the pathological sliced specimen scanner, facilitating the operator to conduct a re-examination after the sliced specimens 700 are scanned or to remove the sliced specimens 700 with abnormal state information such as oblique insertion, stacking, or missing slices.

[0055] It should be noted that since the sliced specimens 700 are made of glass and have characteristics such as being fragile, slippery, and thin, it is rather troublesome for the material transfer assembly 100 to transfer the sliced specimens 700. The sliced specimens 700 need to be neatly arranged in the accommodation groove 200a or the specimen rack 600, and it is easy to break the sliced specimens 700 due to the placement problem of the sliced specimens 700, which will also easily affect the flatness of the sliced specimens 700 placed on the stage 401. Therefore, in this application, the detection module 501 detects the number of sliced specimens 700 to be scanned in the accommodation groove 200a or the specimen rack 600 and confirms whether there are states such as stacking, oblique insertion, and missing slices, so that the material transfer assembly 100 can transfer the corresponding sliced specimens 700 in the accommodation groove 200a or the specimen rack 600 to the stage 401 for scanning according to the detected state information, and then transfer the scanned sliced specimens 700 from the stage 401 to the corresponding positions in the accommodation groove 200a or the specimen rack 600, achieving precise positioning of the sliced specimens 700 without manual correction by the operator, saving time and improving work efficiency.

[0056] In an alternative embodiment, the conveying assembly 300 has a slice feeding station 300a and a slice discharging station 300b. The detection module 500 is disposed above the slice feeding station 300a, and the position of the slice discharging station 300b corresponds to the position of the stage 401, so that the detection module 500 can detect the status information of the slice 700 in the receiving groove 200a or the slice rack 600 at the slice feeding station 300a, and then transmit the detected status information to the controller of the pathological slice scanner, so that the controller can control the material transfer assembly 100 to work according to the detected status information, and transfer the corresponding slice 700 in the receiving groove 200a or the slice rack 600 to the stage 401 for scanning. Among them, since the position of the slice discharging station 300b corresponds to the position of the stage 401, the material transfer assembly 100 can quickly transfer the slice 700 in the receiving groove 200a or the slice rack 600 to the stage 401 for scanning, without redundant actions, can efficiently transfer the slice 700, and can also simplify the structure of the entire pathological slice scanner and reduce the volume.

[0057] Exemplarily, the detection assembly 500 includes a camera 5011. The camera 5011 is disposed above the slice feeding station 300a or on one side of the conveying assembly 300 close to the slice feeding station 300a, so that the camera 5011 can identify the slice 700 in the receiving groove 200a or the slice rack 600 at the slice feeding station 300a at one time, without separately detecting each slice; then the camera 5011 conveys the detected status information to the controller of the pathological slice scanner, so that the controller can transfer the corresponding slice 700 in the receiving groove 200a or the slice rack 600 to the stage 401 for scanning when the loading assembly 200 is conveyed to the slice discharging station 300b, which is beneficial to improving the working efficiency of the pathological slice scanner.

[0058] In an alternative embodiment, the status information includes at least one of the tilt state, arrangement state, and abnormal state of the slice 700. Among them, the tilt state refers to whether the slice 700 is inserted obliquely, such as being placed crooked, in the receiving groove 200a or the slice rack 600. The arrangement state refers to whether there are situations such as overlapping slices or missing slices of the slice 700 in the receiving groove 200a or the slice rack 600. The abnormal state refers to other states of the slice 700 in the receiving groove 200a or the slice rack 600 other than the tilt state and the arrangement state, including but not limited to the state where the slice 700 is broken, etc.

[0059] It should be noted that the slice 700 of the present application is stored in a dedicated slice rack 600. The slice rack 600 can be stored in the storage mechanism of the pathological slice scanner. When the scanning mechanism 400 needs to read the information of the slice 700, the slice rack 600 in the storage mechanism can be manually or by a manipulator transferred to the receiving slot 200a of the loading component 200, and then conveyed to the slice removal station 300b through the conveying component 300, so that the material transfer component 100 can transfer the slice 700 to be scanned in the slice rack 600 to the stage 401 for scanning, and then transfer the scanned slice 700 from the stage 401 to the slice rack 600, so that the conveying component 300 can convey the scanned slice 700 out.

[0060] Wherein, when the conveying component 300 conveys the slice rack 600 containing the slice 700 to be scanned to the slice removal station 300b, the detection module 501 can detect the slice 700 to be scanned in the slice rack 600 to obtain the status information of the slice 700 to be scanned, so as to be able to transfer the slice 700 to be scanned in the slice rack 600 to the stage 401 for scanning according to the status information correspondingly, eliminating the cumbersome on-site monitoring by the operator and ensuring the working efficiency of the pathological slice scanner. However, the present application does not limit the situation where the slice 700 to be scanned is directly placed in the receiving slot 200a, that is, the slice 700 to be scanned does not need to be stored in the slice rack 600 and then the slice rack 600 is placed in the receiving slot 200a.

[0061] In an optional embodiment, the position of the material transfer component 100 corresponds to the position of the slice removal station 300b, so that the material transfer gripper of the material transfer component 100 can move vertically to the loading component 200 to take out the slice 700 in the loading component 200, without redundant actions, can efficiently transfer the slice 700, and can also simplify the structure of the entire pathological slice scanner and reduce the volume.

[0062] In an optional embodiment, as Figure 1 、 Figure 3 and Figure 6 shown, the material transfer component 100 includes a material transfer gripper 10 and a moving component. The material transfer gripper 10 is installed on the frame through the moving component, so that the moving component can drive the material transfer gripper 10 to move in at least one degree-of-freedom direction, for realizing the transfer of the slice 700 between the stage 401 and the loading component 200, improving the automation degree of the pathological slice scanner, saving labor, reducing labor costs and improving work efficiency.

[0063] In an alternative embodiment, the moving component includes a longitudinal component 20 and a vertical component 40. The material transfer gripper 10 is connected to the vertical component 40 through the longitudinal component 20, and the vertical component 40 is installed on the frame, so that the material transfer gripper 10 can move along two degrees of freedom directions under the drive of the moving component to stably transfer the slice 700. The structure is reasonable and simple, and the degree of automation is high.

[0064] In an alternative embodiment, the vertical component 40 is used to drive the material transfer gripper 10 to move up and down in the vertical direction, so that the material transfer gripper 10 can pick up the slice 700 on the loading component 200. Among them, when the material transfer gripper 10 is moved downward by the vertical component 40, the material transfer gripper 10 takes out the slice to be scanned from the loading and unloading component 200 from above, without redundant actions, can efficiently transfer the slice 700, and can also simplify the structure of the entire pathological slice scanner and reduce the volume.

[0065] In an alternative embodiment, the longitudinal component 20 is used to drive the material transfer gripper 10 to move back and forth in the horizontal direction. When the material transfer gripper 10 is moved backward by the longitudinal component 20, the slice 700 to be scanned is placed on the stage 401, so that the image recognition component 402 above the stage 401 can read the information on the slice 700, and when the slice 700 moves to the detection position, the scanning component at the detection position can scan the slice 700 to obtain the pathological information on the slice, so that the identity information and pathological information on the slice can be organically combined. It should be noted that the longitudinal component 20 and the vertical component 40 can be independent mechanisms, and the present application does not limit them.

[0066] In an alternative embodiment, the material transfer gripper 10 includes a gripper structure and a rotating structure 10c. The gripper structure is connected to the moving component through the rotating structure 10c, so that the gripper structure can rotate toward the side of the stage 401 around the rotation axis of the rotating structure 10c, so as to be able to move the slice 700 to be scanned in the slice rack 600 to the vertically arranged stage 401 for scanning, reducing the rotation angle of the gripper structure and without redundant actions; after the slice 700 is scanned, the gripper structure then transfers the slice 700 from the stage 401 to the slice rack 600, efficiently transferring the slice 700, simplifying the structure of the entire pathological slice scanner, and also reducing the volume.

[0067] In an alternative embodiment, the number of the material transfer grippers 10 is at least two, and at least two material transfer grippers 10 are arranged at intervals along the direction away from the moving component, and are used to alternately realize the slice transfer between the stage 401 and the loading component 200.

[0068] In an alternative embodiment, the moving component includes a lateral component 30 for driving at least two material transfer jaws 10 to move left and right in the horizontal direction. When one of the material transfer jaws 10 removes the scanned slice 700 from the stage 401, the lateral component 30 drives the other material transfer jaw 10 to place the slice to be scanned on the stage 401. During the slice scanning process, the material transfer jaw 10 can place the scanned slice 700 back into the loading component 200 and then pick up a new slice 700 to be scanned, greatly saving the waiting time during the slice picking process and accelerating the slice scanning speed. Among them, the lateral component 30 is used to align the multiple material transfer jaws 10 and the stage 401 during the switching process.

[0069] In an alternative embodiment, the material transfer jaw 10 includes a first jaw 10a and a second jaw 10b, which are arranged at intervals along the conveying direction of the conveying component and are used to alternately transfer the slice 700 between the stage 401 and the loading component 200, so that the first jaw 10a and the second jaw 10b can respectively pick up and place the slice 700 in the slice rack 600. During the slice scanning process, one of the first jaw 10a and the second jaw 10b can pick up a new slice 700 to be scanned, which is equivalent to a two-station design, greatly saving the waiting time during the slice picking process and accelerating the slice scanning speed.

[0070] Exemplarily, after the first jaw 10a and the second jaw 10b respectively pick up the slices 700 to be scanned in the slice rack 600, the first jaw 10a places the slice 700 to be scanned on the stage 401 for scanning. When the slice 700 is scanned, the first jaw 10a removes the slice 700 on the stage 401, and the lateral component 30 drives the second jaw 10b to place the slice 700 to be scanned held by it on the stage 401 for scanning. Then, the moving component drives the first jaw 10a to place the scanned slice 700 back into the slice rack 600 and replace it with a new slice 700 to be scanned, so that after the second jaw 10b picks up the scanned slice 700 on the stage 401, the first jaw 10a can place the new slice 700 to be scanned on the stage 401 for scanning, and this process alternates in a cycle, greatly saving the waiting time during the slice picking process and accelerating the slice scanning speed.

[0071] It should be noted that the first jaw 10a and the second jaw 10b can also pick up the slices 700 to be scanned in the slice rack 600 simultaneously, and then alternately place the slices 700 to be scanned on the stage 401 for scanning, or the first jaw 10a and the second jaw 10b place the slices 700 to be scanned on different stations of the stage 401 simultaneously, and the present application does not limit this.

[0072] In an alternative embodiment, the stage 401 has a plurality of independent workstations, the image recognition component 402 is disposed above each workstation, and the first gripper 10a and the second gripper 10b are used to transfer the slices 700 between the loading component 200 and the plurality of workstations or between the plurality of workstations, so that the image recognition component 402 can read the identity information on the slices 700, and the array objective lens on each workstation can scan the slices 700, so as to shorten the waiting time of the first gripper 10a and the second gripper 10b during the scanning process of the slices 700, not only improving the gripping efficiency of the first gripper 10a and the second gripper 10b, but also accelerating the slice scanning speed.

[0073] Exemplarily, the number of workstations is two, namely a first workstation and a second workstation, and both the first workstation and the second workstation can be individually moved along a direction perpendicular to the conveying direction of the conveying component 300 by the moving member 403. When the first gripper 10a and the second gripper 10b respectively transfer the slices 700 in the slice rack 600 to the first workstation and the second workstation, the image recognition component 402 can read the information on the slices 700 on the first workstation and the second workstation to obtain the identity information on the slices 700; then the moving member 403 moves the slices 700 on the first workstation and the second workstation to the detection position, and the array objective lens at the detection position can scan the slices 700. After the slices 700 are scanned, the first gripper 10a and the second gripper 10b transfer the slices 700 on the first workstation and the second workstation back into the slice rack 600.

[0074] In an alternative embodiment, the image recognition component 402 includes a supplementary light source and a camera. The supplementary light source is located at least on one of the two sides of the camera. The camera is used to take pictures of the slices 700 before the start of scanning or after the scanning is completed to identify information related to the slices 700. The information includes but is not limited to two-dimensional codes, barcodes, handwritten characters, pictures, etc., so as to digitize the slice information and facilitate the staff to distinguish different slices 700.

[0075] In an alternative embodiment, both the first gripper 10a and the second gripper 10b have a clamping portion and a gripper driving member. The gripper driving member is connected to the rotating structure 10c, and the clamping portion is connected to the gripper driving member and is used to abut against the slice 700 under the drive of the gripper driving member to grab the slice 700, so that the slice 700 can be transferred.

[0076] Exemplarily, the clamping part includes a first clamping part and a second clamping part. The first clamping part and the second clamping part are arranged opposite to each other and can move towards or away from each other under the drive of the jaw drive, so as to realize the clamping or releasing of the slice 70 by the material transfer jaw 10. Thus, the transfer of the slice 700 can be realized under the drive of the rotating structure 10c and the moving component, avoiding the fragmentation of the slice 700 due to uneven force, ensuring the safe transfer of the slice and preventing fragments, with convenient operation and simple structure, effectively improving the working efficiency of the pathological slice scanner.

[0077] It should be noted that the material transfer jaw 10 of the present application is not only used to transfer the slice 700 in the slice rack 600 to the stage 401 for scanning, but also can be used for the transfer of the slice 700 in other scenarios. The main purpose is to avoid the fragmentation of the slice 700 due to uneven force during the transfer process, and solve the problem that the slice 700 is broken when it is pushed into the stage 401 or other workstations in the prior art by the pushing method. In addition, the material transfer jaw 10 can also cooperate with only one of the longitudinal component 20, the transverse component 30 and the vertical component 40. In other words, when the number of the material transfer jaws 10 is one, the transverse component 30 is not required. The transverse component 30 is mainly used to realize the alignment between multiple material transfer jaws 10 and the stage 401 or other workstations. etc., and the present application does not limit it.

[0078] In an alternative embodiment, as Figure 1 、 Figure 5 and Figure 6 shown, at least one of the first clamping part and the second clamping part is provided with two jaws arranged at intervals. The clamping part with two jaws is used to abut against the side of the slice 700 with identity information. It can not only realize multi-point contact with the slice 700 to form a firm clamping and ensure the stability of the slice 700 during the clamping process; but also play a role in avoiding position, not blocking the identity information on the slice 700, so that after the slice 700 is placed on the stage 401, the image recognition component 402 can read the identity information.

[0079] Exemplarily, the first clamping part is provided with two jaws arranged at intervals, and the second clamping part is only provided with one jaw. The first clamping part abuts against the side of the slice 700 with identity information, and the second clamping part abuts against the other side of the slice 700, so that the three jaws can make three-point contact with the slice 700 to achieve the clamping purpose, so that the slice 700 can be stably transferred, without using an expensive vacuum adsorption structure, greatly reducing the design cost, with reasonable structure design, and can cooperate well with other mechanisms of the pathological slice scanner to quickly and accurately transfer the slice 700 to the scanning mechanism 400 for scanning, and / or remove the slice 700 scanned on the scanning mechanism 400.

[0080] Exemplarily, two spaced-apart jaws are provided on each of the first clamping portion and the second clamping portion. One of the first clamping portion and the second clamping portion abuts against the side of the slice 700 with identity information, and the other of the first clamping portion and the second clamping portion abuts against the other side of the slice 700, so that the four jaws can make four-point contact with the slice 700 to achieve the clamping purpose, thereby enabling the stable transfer of the slice 700.

[0081] In an alternative embodiment, the transfer jaw 10 includes a connecting assembly 10d. The second jaw 10b is connected to the first jaw 10a through the connecting assembly 10d. The first jaw 10a or the second jaw 10b is connected to the rotating structure 10c to realize the connection of the first jaw 10a and the second jaw 10b with the rotating structure 10c, so that the rotating structure 10c can drive the first jaw 10a and the second jaw 10b to rotate simultaneously.

[0082] Exemplarily, the connecting assembly 10d includes a first connecting portion and a first connecting block. The first jaw 10a and the second jaw 10b are respectively connected to both ends of the first connecting portion. The first connecting block is connected to the same side of the first connecting portion, the first jaw 10a and the second jaw 10b to ensure the stability of the connection between the first jaw 10a and the second jaw 10b, and also to prevent interference between the first jaw 10a and the second jaw 10b when clamping the slice 700.

[0083] In an alternative embodiment, the transfer jaw 10 includes a first mounting block, a first fixing block and a first movable block. The first mounting block is fixedly connected to the first fixing block. The rotating structure 10c is mounted on the longitudinal assembly 20 through the first fixing block. The first movable block is connected to the output end of the rotating structure 10c, the first jaw 10a and the second jaw 10b, so that the rotating structure 10c can drive the first movable block, the first jaw 10a and the second jaw 10b to rotate relative to the first mounting block. In this embodiment, the first mounting block is provided with a first detection portion, and the first movable block is provided with a second detection portion. The second detection portion cooperates with the first detection portion to detect the rotation angle of the first jaw 10a and the second jaw 10b relative to the first fixing block.

[0084] In an alternative embodiment, the longitudinal assembly 20 includes a longitudinal mounting seat, a longitudinal driving member, a longitudinal guiding member and a longitudinal transmission member. The transfer jaw 10 is slidably mounted on the longitudinal mounting seat through the longitudinal guiding member. The longitudinal driving member is in transmission connection with the transfer jaw 10 through the longitudinal transmission member. The longitudinal mounting seat is connected to the transverse assembly 30, so that the transfer jaw 10 can move in the longitudinal direction under the drive of the longitudinal driving member.

[0085] In an alternative embodiment, the transverse assembly 30 includes a transverse mounting base, a transverse driving member, a transverse guiding member, and a transverse transmission member. The longitudinal assembly 20 is slidably mounted on the transverse mounting base through the transverse guiding member. The transverse driving member is in transmission connection with the longitudinal assembly 20 through the transverse transmission member. The transverse mounting base is connected to the vertical assembly 40, so that the material transfer gripper 10 can move in the transverse direction under the drive of the transverse driving member.

[0086] In an alternative embodiment, the vertical assembly 40 includes a vertical connection base, a vertical driving member, and a vertical transmission member. The vertical driving member is in transmission connection with the transverse assembly 30 through the vertical transmission member. The vertical driving member and the vertical transmission member are mounted on the frame of the pathological slice scanner through the vertical connection base.

[0087] In an alternative embodiment, the vertical assembly 40 includes a vertical mounting base, and the transverse assembly 30 is connected to the moving base through the vertical mounting base.

[0088] In an alternative embodiment, the vertical assembly 40 includes a vertical support base, and the vertical connection base is mounted on the frame of the pathological slice scanner through the vertical support base.

[0089] In an alternative embodiment, as Figure 1 , Figure 7 and Figure 8 shown, the loading assembly 200 includes a loading base 201 and a positioning structure 202 for restricting the position of the slice rack 600. The loading base is connected to the conveying assembly 300, and the positioning structure is arranged on the loading base.

[0090] Exemplarily, the positioning assembly 202 includes a pushing structure and a positioning portion. The positioning portion is connected to the pushing structure, so that the positioning portion can abut against the side wall of the slice rack 600 under the drive of the pushing structure to form a limit. Among them, a receiving groove 200a is formed in the loading base 201. The pushing structure is fixed on the loading base 201. The positioning portion is movably mounted in the receiving groove 200a and can move along the first direction to restrict the slice rack 600 in the receiving groove 200a, realizing the pressing of the slice rack 600, avoiding the movement of the slice rack 600 relative to the loading base 201, preventing the slice rack 600 from shaking during the conveying process, thereby affecting the detection result of the detection assembly 500. The whole structure is simple and reliable, and the operation is convenient, improving the versatility of the pathological slice scanner.

[0091] In an alternative embodiment, the advancing structure includes a driving member and a transmission member. The driving member is mounted on the loading base 201, and the positioning portion is in transmission connection with the driving member through the transmission member, so that the positioning portion can abut against the slicing rack 600 under the drive of the driving member to form a limit, ensuring that the slicing rack 600 can be stably placed in the accommodation groove 200a. Especially during the transportation of the loading assembly 200 by the conveying assembly 300, the slices 700 are likely to be damaged due to the sliding and collision of the slicing rack 600 in the accommodation groove 200a.

[0092] In an alternative embodiment, the positioning assembly 202 includes a guide rod 202c and a fixing member. The driving member is fixed on the loading base through the fixing member. One end of the guide rod 202c is fixedly connected to the positioning portion, and the other end of the guide rod 202c is slidably connected to the fixing member, so that the positioning portion can uniformly apply pressure to the slicing rack 600 in combination with the guide rod 202c. The guide rod 202c not only defines the sliding track of the positioning portion, making it difficult for the positioning portion to deviate during sliding; but also improves the stability of the positioning portion sliding in the accommodation groove 200a and enhances the effect of tightly pressing against the slicing rack 600.

[0093] In an alternative embodiment, the positioning portion has a connecting portion and a buffer portion. The advancing structure is connected to the connecting portion, and the buffer portion is disposed on the side of the connecting portion facing the slicing rack 600. During the movement of the positioning portion towards the slicing rack 600, the buffer portion can slow down the impact force of the positioning portion on the slicing rack 600, thereby playing a role in protecting the slices 700 in the slicing rack 600.

[0094] In an alternative embodiment, the positioning portion includes a limiting piece 202e. A limiting groove is provided on the loading base 201. One end of the limiting piece 202e is fixedly connected to the positioning portion, and the other end of the guiding piece is movably installed in the guiding groove, so that the driving member can drive the positioning portion to move along the guiding direction of the guide rod 202c, ensuring that the positioning portion is not prone to deviation during movement.

[0095] In an alternative embodiment, the loading base 201 includes a base which is inclined towards the side away from the stage 401, such that the section 700 of the section rack 600 placed on the loading base 201 can be inclined towards the side away from the stage. This can not only prevent the section 700 in the section rack 200 from tilting backward, i.e., the inner side when the conveying assembly 20 transfers the loading assembly 10, but also avoid interference of the section 700 by the internal structure of the pathological section scanner during movement, thus ensuring the safety of the section 700. At the same time, it can cooperate with the material transfer assembly 100, enabling the transfer gripper 10 to quickly grip the section 700 and then rotate towards the side of the stage, so that the identification information on the section 700 can face the outside of the stage, i.e., the two-dimensional code or handwritten code information on the section 700, facilitating the image recognition component 402 on the stage to read the two-dimensional code or handwritten code information, thereby reducing the angle by which the section 700 needs to rotate.

[0096] In an alternative embodiment, the inclination angle of the base is between 1 degree and 10 degrees, which can not only ensure the inclined setting of the section 700 in the section rack 600 but also facilitate the removal of the section 700 from the section rack 600.

[0097] In an alternative embodiment, the base includes a first base 2011 and a second base 2012 which are spaced apart along the height direction of the loading base 201. Among them, the accommodation groove 200a is formed at the upper end of the second base 2012, and the limiting groove is formed at the lower end of the second base 2012.

[0098] In an alternative embodiment, a part of the structure of the positioning portion is disposed above the second base 2012, and another part of the structure of the positioning portion is disposed below the second base 2012.

[0099] In an alternative embodiment, the loading base 201 includes a first limiting portion and a second limiting portion which are spaced apart along the second direction, the second direction being perpendicular to the first direction. The first limiting portion and the second limiting portion cooperate to limit the position of the section rack 600 in the second direction, such that the section rack 600 can be restricted in the first direction and the second direction within the accommodation groove 200a, thereby being stably placed within the accommodation groove 200a.

[0100] It should be noted that the first direction refers to the length direction of the slicing rack 600, and the second direction refers to the width direction of the slicing rack 600. That is, the positioning portion is used to limit the position of the slicing rack 600 in the length direction, so that the receiving groove 200a can accommodate slicing racks 600 of different lengths; and the cooperation between the first limiting portion and the second limiting portion is used to limit the position of the slicing rack 600 in the width direction, so that the receiving groove 200a can accommodate slicing racks 600 of different widths. In addition, the present application can also only limit the position of the slicing rack 600 in the length direction or the width direction, or the first direction refers to the width direction of the slicing rack 600, and the second direction refers to the length direction of the slicing rack 600. The present application does not impose any restrictions.

[0101] In an alternative embodiment, waist groove recesses are provided on both sides of the loading seat 201 to facilitate the clamping of the slicing rack 600 from the loading seat 201 by a human hand or a robotic gripper.

[0102] Exemplarily, the waist groove recesses include a first waist groove recess and a second waist groove recess. The first waist groove recess is formed on the first limiting portion, and the second waist groove recess is formed on the second limiting portion, and the positions of the first waist groove recess and the second waist groove recess correspond to each other to facilitate the clamping of the slicing rack 600 from the loading seat 201 by a human hand or a robotic gripper.

[0103] In an alternative embodiment, the loading seat 201 further includes a front baffle. The first limiting portion is one of the side plates of the loading seat 201, and the second limiting portion is the other side plate of the loading seat 201. The front baffle is connected to one end of the two side plates, and the fixing member is connected to the other end of the two side plates, so that the front baffle, the fixing member and the two side plates can jointly enclose the above-mentioned receiving groove 200a.

[0104] Among them, the first limiting portion is fixedly connected relative to the front baffle, and the second limiting portion is movably connected relative to the front baffle. When the slicing rack 600 is placed in the receiving groove 200a and the positioning portion moves toward the side of the front baffle to cooperate with the front baffle to limit the slicing rack 600 in the length direction, the second limiting portion moves toward the side of the first limiting portion, or the relative position between the second limiting portion and the first limiting portion has been adjusted before the slicing rack 600 is placed in the receiving groove, so that the second limiting portion and the first limiting portion, and the positioning portion and the front baffle can jointly position the slicing rack, and the positioning reference of the slicing rack 600 in the receiving groove 200a is determined by the fixed connection between the first limiting portion and the front baffle. Therefore, this can not only meet the compatibility storage of slicing racks 600 of different sizes, but also facilitate the positioning of the slicing rack 600 to ensure the accuracy of its relative position and facilitate the subsequent removal of a single slice from the slicing rack 600.

[0105] In an alternative embodiment, the loading base 201 includes an elastic structure and a slide rail structure. The second limiting portion is slidably mounted on the second side through the slide rail structure. Two ends of the elastic structure respectively abut against the first limiting portion and the second limiting portion, so that the elastic structure always maintains an elastic force to drive the second limiting portion to move away from the first limiting portion; when the second limiting portion needs to move towards the first limiting portion, the distance between the second limiting portion and the base in the second direction can be adjusted through a locking member to overcome the elastic force of the elastic structure.

[0106] In an alternative embodiment, the loading assembly 200 further includes a detecting member disposed on the loading base 201 for detecting the slide rack 600 placed in the accommodating groove 200a to determine whether the slide rack 600 is placed in the accommodating groove 200a.

[0107] In an alternative embodiment, the conveying assembly 300 includes a conveying base 301, a conveying track 302 and a conveying motor 303. The loading assembly 200 is slidably mounted on the conveying base 301 through the conveying track 302. The conveying motor 303 is configured to drive the loading assembly 200 to reciprocate between the slice feeding station 300a and the slice discharging station 300b along the conveying track 302, so as to realize the conveying of the loading assembly 200.

[0108] In an alternative embodiment, the loading assembly 200 reciprocates along the length direction of the conveying track 302. The length direction of the loading base 301 is perpendicular to the length direction of the conveying track 302, so that the conveying assembly 300 can convey the loading assembly 200 from the slice feeding station to the slice discharging station. At this time, the length direction of the slide rack 600 is arranged perpendicular to the conveying track 302, so that the material transferring assembly 100 can move the slices in the slide rack 600.

[0109] In an alternative embodiment, the conveying track 302 includes a conveying slide rail and a conveying slider cooperating with the conveying slide rail. The loading assembly 200 is connected to the conveying slider, and the length direction of the loading base 201 is perpendicular to the length direction of the conveying base 301. The conveying slide rail is arranged along the length direction of the conveying base 301.

[0110] In an alternative embodiment, the conveying assembly 300 includes a limiting structure 304 disposed at the slicing removal station. After the conveying assembly 300 conveys the loading assembly 200 to the slicing removal station, the limiting structure 304 can limit the second limiting portion and push the second limiting portion to move towards the first limiting portion, so that the slicing rack 600 can be positioned in the receiving groove 200a. Wherein, the minimum distance between the second limiting portion and the first limiting portion is adapted to the width of the base, thereby limiting the moving distance of the second limiting portion. When the conveying assembly 300 conveys the loading assembly 200 to the slicing feeding station, the limiting structure 304 releases the limitation on the second limiting portion, and the second limiting portion moves away from the first limiting portion, releasing the limitation and positioning effect on the slicing rack 600, facilitating the removal of the slicing rack from the loading assembly.

[0111] In the description of the present application, it should be noted that, unless otherwise clearly specified and defined, the terms "mounted", "connected" and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection. It may be a mechanical connection or an electrical connection. It may be directly connected, or indirectly connected through an intermediate medium. It may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0112] In the present application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0113] The above disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0114] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

Claims

1. A material transfer assembly, used in a pathology slice scanner, characterized in that: The material moving assembly comprises a material moving jaw and a moving assembly connected to the material moving jaw, wherein the moving assembly is used to drive the material moving jaw to move along at least one degree of freedom direction to move the slice; Among them, the material transferring clamp includes a first clamping part, a second clamping part and a clamp driving member, and the clamp driving member is connected to the first clamping part and the second clamping part, and is used to drive the opening and closing of the first clamping part and the second clamping part to achieve the clamping or release of the slice by the material transferring clamp.

2. The material transfer assembly according to claim 1, characterized in that: At least one of the first clamping portion and the second clamping portion is provided with two clamping jaws arranged at intervals, and the clamping portion with the two clamping jaws is used to abut against a side of the slice with printed information.

3. The material transfer assembly according to claim 1, characterized in that: The moving assembly includes a longitudinal assembly and a vertical assembly. The vertical assembly is used to drive the material moving clamp to move up and down in the vertical direction, and the longitudinal assembly is used to drive the material moving clamp to move forward and backward in the horizontal direction.

4. The material transfer assembly according to claim 3, characterized in that: The longitudinal assembly includes a longitudinal mounting seat, a longitudinal driving member, a longitudinal guiding member and a longitudinal transmission member. The material moving clamp is slidably mounted on the longitudinal mounting seat via the longitudinal guiding member. The longitudinal driving member is transmission-connected to the material moving clamp via the longitudinal transmission member, and is used to drive the material moving clamp to move along the direction of the front and rear mounting seats.

5. The material transfer assembly according to claim 3, characterized in that: The vertical assembly includes a vertical connecting seat, a vertical driving member and a vertical transmission member. The vertical driving member is transmission-connected to the material moving clamp through the vertical transmission member. The vertical driving member is installed on the frame of the pathology slice scanner through the vertical connecting seat.

6. The material transfer assembly according to claim 1, characterized in that: The number of the material moving clamps is at least two, and at least two of the material moving clamps are arranged at intervals along the width direction of the slice.

7. The material transfer assembly according to claim 6, characterized in that: The moving assembly also includes a transverse assembly, and at least two of the material moving jaws are transmission-connected to the transverse assembly, so that at least two of the material moving jaws can move in the left-right direction under the drive of the transverse assembly.

8. The material transfer assembly according to claim 1, characterized in that: The material-transferring clamp comprises a rotating structure, and the clamp driving member is connected to the moving assembly via the rotating structure, so that the clamp driving member can rotate around the rotating axis of the rotating structure.

9. The material moving assembly according to claim 8, characterized in that: The material moving assembly includes a connecting assembly, the material moving jaw includes a first jaw and a second jaw, the second jaw is connected to the first jaw via the connecting assembly, and the first jaw or the second jaw is connected to the rotating structure.

10. A loading and unloading mechanism, characterized in that: It comprises a loading component and a material moving component as described in any one of claims 1 to 9, wherein the loading component is used to hold slices to be scanned, and the material moving claws of the material moving component are used to transfer the slices in the loading component to the stage for scanning, and / or transfer the slices scanned on the stage to the loading component.

11. A pathological slice scanner, characterized in that: It comprises a frame, a scanning mechanism and a loading and unloading mechanism as described in claim 10, wherein the loading and unloading mechanism and the scanning mechanism are both installed on the frame, and the loading and unloading mechanism is used to transfer slices to the scanning mechanism for scanning, and / or remove the slices that have been scanned from the scanning mechanism.

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