Automatic pathological tissue sorting device based on mechanical arm

Abstract

The utility model is suitable for the technical field of mechanical automatic production of medical instruments, and provides an automatic pathological tissue sorting device based on a mechanical arm. Comprising a tissue bottle feeding tray, an embedding box taking tray, an embedding box stock bin, an identification device, an embedding box cover opening and closing device, a collaborative robot, a tissue bottle clamping and scanning device, a bottle cover opening device, a bottom waste recovery device, an operation touch screen and a device shell. According to the invention, the influence of formalin solution on a mechanical structure is avoided, a mechanical arm part is adopted to replace manual operation, an original tiny biological tissue storage means is replaced, a pathological tissue information code is combined with an identification code on an embedding box, and a self-active information matching function is realized; explosion-proof glass, 201 stainless steel, 304 stainless steel and an aluminum material are adopted to serve as a system shell, and independence and safety of the whole system are achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical automation production of medical devices, and particularly relates to an automatic sorting device for pathological tissues realized based on a robotic arm. Background Art

[0002] At present, for the packing operation of embedding boxes in most hospital pathology departments, biological tissues are soaked in formalin in advance by manual operation and placed in tissue bottles for storing biological tissues. Then, the biological tissue transfer work is carried out. In the traditional transfer process, a professional physician operator needs to use forceps to pick out the biological tissue, then carry out the filter paper packaging work and put it into the embedding box. After that, the embedding box is put into an embedding machine for paraffin embedding.

[0003] In the prior art, the following problems exist;

[0004] 1. Physicians often use means such as paper strip adhesion to fix tiny biological tissues in tissue bottles filled with formalin, which is extremely prone to the risks of falling and sticking to the bottle wall.

[0005] 2. The operator needs to use forceps to place the tiny biological tissue on the filter paper, and use forceps to fold the filter paper for packaging according to the specified method. Then, the packaged filter paper is put into the embedding box for subsequent work. This operation requires professional training for personnel, and at the same time, a single packaging process takes more than 1 minute.

[0006] 3. The data systems in most hospital pathology departments still complete the information recording of tissue bottles and the identification code recording on the embedding box in the form of manual copying, and perform data matching on the data. In this operation process, information errors and losses are extremely prone to occur. At the same time, at least two people are required to cooperate to complete this operation.

[0007] All the above-described processes need to occupy a large working area. At the same time, due to the contact with formalin solution, it is extremely easy to cause biological pollution and biochemical hazards. Content of the Utility Model

[0008] The utility model provides an automatic sorting device for pathological tissues realized based on a robotic arm, aiming to solve the above problems.

[0009] The present utility model is implemented as follows. An automatic pathological tissue sorting device based on a robotic arm includes: a support table, on which there are provided a tissue bottle feeding tray, an embedding cassette picking tray, an identification device, an embedding cassette lid opening / closing device, a collaborative robot, a tissue bottle clamping and scanning device, a bottle cap opening device, an operation touch screen, and a device housing disposed outside the support plate. The operation touch screen is installed on the surface of the device housing; at the bottom of the support plate, there is provided a bottom waste recycling device, the top of the bottom waste recycling device is communicated with the top of the support table through an opening, the device housing is sleeved on the upper end of the support plate, and the tissue bottle feeding tray, the embedding cassette picking tray, the identification device, the embedding cassette lid opening / closing device, the collaborative robot, the tissue bottle clamping and scanning device, and the bottle cap opening device are all located inside the device housing; the tissue bottle feeding tray includes a plurality of tissue bottle grooves, and tissue bottles are respectively placed in a plurality of the tissue bottle grooves, and a leakage prevention structure is provided in each of the plurality of tissue bottles.

[0010] Preferably, the embedding cassette picking tray includes a water guide groove and an embedding cassette storage bin, and the extended end of the water guide groove is communicated with the bottom waste recycling device; the embedding cassette storage bin is electrically connected to the identification device, the tissue bottle clamping and scanning device; an embedding cassette lid is provided on the embedding cassette storage bin, and the embedding cassette lid opening / closing device is disposed on one side of the embedding cassette lid and is electrically connected to the embedding cassette lid.

[0011] Preferably, the collaborative robot is a six-axis small collaborative robot, and a high-precision electric gripper is provided on the collaborative robot.

[0012] Preferably, the tissue bottle clamping and scanning device is used to clamp the tissue bottle and scan the pathological tissue information code on the bottle cap, for collecting the leakage position and state information inside the tissue bottle, and the operation touch screen is used for operation, information display, and recording.

[0013] Preferably, the bottle cap opening device is used to unscrew the bottle cap of the tissue bottle by using an electric cylinder and a gripper and drop the tissue bottle cap into the bottom waste recycling device through the opening, and the bottle cap opening device is controlled to open by the scanning result of the tissue bottle clamping and scanning device.

[0014] Preferably, in the bottom waste recycling device, there is a recovery pool for solid-liquid separation, and a sealed room is also provided in the bottom waste recycling device. A controller and a host computer are installed inside the sealed room, and the controller and the host computer are used to control the tissue bottle feeding tray, the embedding cassette picking tray, the identification device, the embedding cassette lid opening / closing device, the collaborative robot, the tissue bottle clamping and scanning device, the bottle cap opening device, and the operation touch screen.

[0015] Compared with the prior art, the embodiments of the present application mainly have the following beneficial effects:

[0016] Since all surface devices are designed with IP68-level waterproof, the impact of formalin solution on the mechanical structure is avoided.

[0017] In the present utility model, components of a robotic arm are adopted to replace manual operations, and at the same time, a tissue bottle with a strainer structure is used to replace the original method of storing tiny biological tissues.

[0018] In the present utility model, a machine vision information matching system is adopted to combine the pathological tissue information code with the identification code on the embedding cassette, realizing the function of autonomous information matching, and at the same time, the information can be directly synchronized to the hospital information management system.

[0019] In the present utility model, explosion-proof glass, 201 stainless steel, 304 stainless steel and aluminum materials are used as the system housing, realizing the independence and safety of the overall system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 FIG. is a schematic internal structure diagram of a pathological tissue automatic sorting device implemented based on a robotic arm proposed by the present utility model.

[0021] Figure 2 FIG. is a schematic external structure diagram of a pathological tissue automatic sorting device implemented based on a robotic arm proposed by the present utility model;

[0022] In the figure: 1. Tissue bottle loading tray; 2. Embedding cassette picking tray; 3. Identification device; 4. Embedding cassette lid opening / closing device; 5. Collaborative robot; 6. Tissue bottle clamping and scanning device; 7. Bottle cap opening device; 8. Bottom waste recycling device; 9. Operation touch screen; 10. Device housing. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used in the description of the present application in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of this application or the above drawings are used to distinguish different objects and are not used to describe a specific order.

[0024] References herein to "embodiments" mean that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0025] An embodiment of the present utility model provides an automatic pathological tissue sorting device implemented based on a robotic arm. Referring to Figure 1 With Figure 2 , an automatic pathological tissue sorting device implemented based on a robotic arm, the device includes a tissue bottle loading tray 1, an embedding cassette picking tray 2, an embedding cassette bin, an identification device 3, an embedding cassette lid opening and closing device 4, a collaborative robot 5, a tissue bottle clamping and scanning device 6, a bottle cap opening device 7, a bottom waste recycling device 8, an operation touch screen 9, and a device housing 10. The bottom waste recycling device 8 is the main body of the device, and the tissue bottle loading tray 1, the embedding cassette picking tray 2, the embedding cassette bin, the identification device 3, the embedding cassette lid opening and closing device 4, the collaborative robot 5, the tissue bottle clamping and scanning device 6, and the bottle cap opening device 7 are installed on the upper surface of the bottom waste recycling device 8.

[0026] In an alternative embodiment: The device housing 10 is installed on top of the entire bottom waste recycling device 8 to play a closing role.

[0027] In an alternative embodiment: The tissue bottle loading tray 1 has thirty grooves for installing tissue bottles, and special biological tissue bottles are placed therein.

[0028] It should be noted that the tissue bottle in the tissue bottle loading tray 1 has a sieve structure, which is a separable component, and the tiny biological tissue is placed in the sieve.

[0029] In an alternative embodiment: The embedding cassette picking tray 2 is the final position for the operator to pick up the embedding cassette. This structure is provided with a water guide groove structure, and the overflowed waste liquid will flow along the water guide groove into the bottom waste recycling device 8.

[0030] In an alternative embodiment: In the embedding cassette bin and the identification device 3, the operator will put up to several embedding cassettes with identification codes into the device, and one embedding cassette will be ejected each time.

[0031] It should be noted that in the embedding cassette bin and the identification device 3, whenever one embedding cassette is ejected from the device, the internal code scanning mechanism of the device will collect the identification code on the embedding cassette.

[0032] In an alternative embodiment: The function of the embedding cassette lid opening and closing device 4 is to open and close the embedding cassette lid.

[0033] In an alternative embodiment: The collaborative robot 5 is a six-axis small collaborative robot, and its functions are to transport tissue bottles, strainers, and embedding cassettes.

[0034] It should be noted that the collaborative robot 5 is equipped with high-precision electric grippers, which are convenient for grasping tissue bottles, strainers, and embedding cassettes.

[0035] In an alternative embodiment: The function of the tissue bottle gripping and scanning device 6 is to hold the tissue bottle and scan the pathological tissue information code on the bottle cap.

[0036] In an alternative embodiment: The function of the bottle cap opening device 7 is to use an electric cylinder and a gripper to unscrew the bottle cap of the tissue bottle and drop the tissue bottle cap into the bottom waste recycling device 8 through an opening.

[0037] It should be noted that after the bottle cap opening device 7 finishes working, the camera in the tissue bottle gripping and scanning device 6 will collect the position and status information of the strainer in the tissue bottle.

[0038] In an alternative embodiment: The operation touch screen 9 is a manual operation and information display component, which has functions such as information matching display, machine notification operation, and machine information recording.

[0039] In an alternative embodiment: The bottom waste recycling device 8 has a recovery tank for solid-liquid separation. The used tissue bottles, tissue bottle caps, and formalin waste liquid will decompose and enter the corresponding recovery tanks.

[0040] It should be noted that there is an independent enclosed space in the bottom waste recycling device 8, which houses the controller and the host computer of the device for the control and information processing functions of the entire system.

[0041] Working principle:

[0042] The operator uses the operation touch screen 9 to complete the control of the overall system. Before the device starts working, it is necessary to place the small biological tissue samples in the strainer of the tissue bottle and place the tissue bottles to be operated into the tissue bottle loading tray 1 (at most thirty). At the same time, it is necessary to ensure that the embedding cassette bin and the identification device 3 are filled with sufficient embedding cassettes.

[0043] After preparation, use the operation touch screen 9 to start the operation. After the device receives the start signal, use the collaborative robot 5 to pick up the tissue bottle and place it on the tissue bottle gripping and scanning device 6. There is a scanning device on the device that scans the barcode on the bottle cap into the device, and then the bottle cap is opened by the bottle cap opening device 7.

[0044] On the other side of the device, there is an embedding cassette bin and an identification device 3. The operator will pre-place a large number of embedding cassettes with identification codes in the embedding cassette bin and the identification device 3. Whenever an organizational bottle needs to be operated, the device will eject an embedding cassette and scan the character information on the embedding cassette through a scanning device.

[0045] Then, the collaborative robot 5 is used to place the embedding cassette into the embedding cassette switch cover device 4, and then the device lifts the cover of the embedding cassette. The tissue bottle clamping and scanning device 6 will identify the missed information in the tissue bottle.

[0046] Subsequently, the collaborative robot 5 will extract the missed object from the tissue bottle and place it into the embedding cassette. The embedding cassette switch cover device 4 will detect whether the missed object is properly placed in the embedding cassette, and then close the cover of the embedding cassette. Subsequently, the collaborative robot 5 will move the processed embedding cassette to the embedding cassette picking tray 2.

[0047] After the operation is completed, the collaborative robot 5 will throw the tissue bottle into the bottom waste recycling device 8. After all operations are completed, the device will repeat the above steps until all tissue bottles are processed, and then the device will end the operation. All operations of this device will be displayed on the operation touch screen 9.

[0048] During the operation of the medical operator, this device is provided with an automatic trigger alarm function, including no material in the embedding cassette and the tissue bottle bin, unable to identify the medical bottle information, the medical bottle cap is too tight to open the lid, unable to identify the position of the missed object (including inside the bottle and inside the embedding cassette), the waste water tank is full, the waste water tank is about to be full, the equipment is emergently stopped, the equipment door is not closed, mechanism failure, etc. When an alarm occurs, the operator will obtain information from the touch screen and perform manual intervention steps in a timely manner.

[0049] It should be noted that for the foregoing embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps may be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0050] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units may have other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection between devices or units can be in the form of telecommunications or other forms.

[0051] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still, without conflict and without creative efforts, combine, add, delete or make other adjustments to the features in the embodiments of the present invention according to the circumstances, so as to obtain different technical solutions that essentially do not deviate from the concept of the present invention. These technical solutions also belong to the scope of protection of the present invention.

Claims

1. An automatic sorting device for pathological tissues implemented based on a robotic arm, characterized in that, Comprising: A support platform, on which there are provided a tissue bottle loading tray (1), an embedding cassette picking tray (2), an identification device (3), an embedding cassette lid opening / closing device (4), a collaborative robot (5), a tissue bottle clamping and scanning device (6), a bottle cap opening device (7), an operation touch screen (9), and a device housing (10) disposed outside the support plate. The operation touch screen (9) is installed on the surface of the device housing (10); At the bottom of the support plate, there is provided a bottom waste recycling device (8). The top of the bottom waste recycling device (8) communicates with the top of the support platform through an opening. The device housing (10) is sleeved on the upper end of the support plate. The tissue bottle loading tray (1), the embedding cassette picking tray (2), the identification device (3), the embedding cassette lid opening / closing device (4), the collaborative robot (5), the tissue bottle clamping and scanning device (6), and the bottle cap opening device (7) are all located inside the device housing (10) and are electrically connected to each other; The tissue bottle loading tray (1) includes a number of tissue bottle grooves, and tissue bottles are respectively placed in some of the tissue bottle grooves. A leakage net structure is provided in each of the tissue bottles.

2. The automatic pathological tissue sorting device implemented based on a robotic arm as described in claim 1, wherein The embedding cassette picking tray (2) includes a water guide groove and an embedding cassette bin. The extended end of the water guide groove communicates with the bottom waste recycling device (8); The embedding cassette bin is electrically connected to the identification device (3) and the tissue bottle clamping and scanning device (6); An embedding cassette lid is provided on the embedding cassette bin. The embedding cassette lid opening / closing device (4) is disposed on one side of the embedding cassette lid and is electrically connected to the embedding cassette lid.

3. The automatic pathological tissue sorting device implemented based on a robotic arm according to claim 2, wherein The collaborative robot (5) is a six-axis small collaborative robot, and a high-precision electric gripper is provided on the collaborative robot (5).

4. The automatic pathological tissue sorting device implemented based on a robotic arm as claimed in claim 1, wherein, The tissue bottle clamping and scanning device (6) is used to clamp the tissue bottle and scan the pathological tissue information code on the bottle cap, and is used to collect the leakage net position and status information inside the tissue bottle. The operation touch screen (9) is used for operation, information display, and recording.

5. The automatic pathological tissue sorting device implemented based on a robotic arm according to claim 1, wherein The bottle cap opening device (7) is used to unscrew the bottle cap of the tissue bottle by using an electric cylinder and a gripper and drop the tissue bottle cap into the bottom waste recycling device (8) through the opening. The bottle cap opening device (7) is controlled to open according to the scanning result of the tissue bottle clamping and scanning device (6).

6. The automatic pathological tissue sorting device implemented based on a robotic arm according to claim 1, wherein In the bottom waste recycling device (8), there is a recovery pool for solid-liquid separation. A sealed room is also provided in the bottom waste recycling device (8). A controller and a host computer are installed inside the sealed room. The controller and the host computer are used to control the tissue bottle loading tray (1), the embedding cassette picking tray (2), the identification device (3), the embedding cassette lid opening / closing device (4), the collaborative robot (5), the tissue bottle clamping and scanning device (6), the bottle cap opening device (7), and the operation touch screen (9).

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