Object stage moving device, scanning device and pathological section scanner

Abstract

The utility model belongs to the technical field of pathological section scanning, and relates to an objective table moving device, a scanning device and a pathological section scanner, the objective table moving device comprises a base, an objective table assembly and a linear driving assembly, and the base is provided with a scanning channel; the scanning channel is located at the position corresponding to the scanning head, and the orthographic projection of the scanning head on the base in the height direction is located in the scanning channel. The objective table assembly is positioned in the scanning channel and is provided with a carrying surface for placing a glass slide; the linear driving assembly is mounted on the base in the first direction; when the linear driving assembly works, the objective table assembly reciprocates in the scanning channel in the first direction, and the part, passing through the scanning head, of the glass slide loaded on the objective table assembly is completely located in the scanning range of the scanning head. According to the utility model, multi-axis linkage is not needed, the overall structure is miniaturized, the carrying of the glass slide is more stable and more accurate, the scanning precision of the scanning device is higher, and the digital imaging of the slice is clearer.

Description

Technical Field

[0001] The utility model relates to the technical field of pathological section scanning, in particular to a stage moving device, a scanning device and a pathological section scanner. Background Art

[0002] A pathological section scanner is a medical device that can quickly scan the entire information and all aspects of a glass slide, turning the traditional materialized pathological information of the tissue sample to be analyzed sealed on the glass slide into digital pathological information. That is to say, it can digitalize the tissue glass slides in the fields of pathology, oncology, immunohistochemistry, cytology, etc., and convert them into high-resolution glass slide images, which can facilitate doctors to observe and diagnose diseases at any time and anywhere through the network, away from the microscope, and is conducive to realizing global online synchronous remote consultation or offline remote consultation, etc.

[0003] Existing pathological section scanners generally include at least a scanning head, a stage for loading glass slides, and a moving unit for aligning the scanning head and the glass slide. To achieve a full-range scan of the materialized glass slide on the glass slide, the current moving unit usually adopts a multi-axis motion structure. However, in this way, to a certain extent, the scanning area of the pathological section scanner occupies a large space and is not convenient to carry, etc. Moreover, the inventor found in the actual research and application process that during the scanning and / or moving process, the scanning area is prone to vibration, and it is difficult to control the scanning accuracy, affecting the imaging effect of the glass slide. Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art.

[0005] An embodiment of the utility model provides a stage moving device, which adopts the following technical solution:

[0006] The stage moving device includes:

[0007] A base provided with a scanning channel; the scanning channel is located at the corresponding position of the scanning head, and the orthographic projection of the scanning head on the base in its height direction is located within the scanning channel;

[0008] A stage assembly located in the scanning channel and provided with a carrier surface for placing a glass slide;

[0009] A linear drive assembly installed on the base along a first direction;

[0010] Wherein, when the linear drive assembly works, the stage assembly reciprocally moves along the first direction within the scanning channel, and the part of the glass slide loaded on the stage assembly that passes through the scanning head is completely within the scanning range of the scanning head.

[0011] In some embodiments of the present utility model, the linear drive assembly is a rod-shaped linear motor;

[0012] And / or, the stage moving device further includes:

[0013] A first linear movement assembly, installed on the base, for guiding the stage assembly to reciprocate along the first direction;

[0014] A transmission member, slidably installed on the first linear movement assembly, and having the linear drive assembly and the stage assembly installed thereon.

[0015] In some embodiments of the present utility model, when the stage moving device further includes a first linear movement assembly and a transmission member, the linear drive assembly, the first linear movement assembly, the transmission member, and the stage assembly are located on the same side of the base, and the first linear movement assembly is located between the linear drive assembly and the stage assembly;

[0016] And / or, the first linear movement assembly includes a target guide rail, which is installed on the base along the first direction; the target guide rail slidably installs the transmission member through a slider;

[0017] And / or, the transmission member is arranged along a second direction, and the second direction is perpendicular to the first direction;

[0018] And / or, the stage assembly is installed on the transmission member near the entrance and exit sides of the scanning channel;

[0019] And / or, the stage moving device further includes a driver, which is at least used to control the operation of the linear drive assembly, and has the linear drive assembly and the stage assembly installed thereon;

[0020] And / or, a position sensor is provided on the stage assembly, a first travel switch and a second travel switch are provided on the base, the first travel switch is used to cooperate with the position sensor to control the stage assembly to be in the initial position; the second travel switch is used to cooperate with the position sensor to control the stage assembly to be in the maximum travel position.

[0021] In some embodiments of the present utility model, the width of the target guide rail of the first linear movement assembly is equivalent to more than twice the width of the single-axis guide rail, so as to balance the forces on the relative two sides of the base in the target guide rail.

[0022] In some embodiments of the present utility model, the stage assembly includes:

[0023] A focusing stage, located in the scanning channel and reciprocating along the scanning channel under the drive of the linear drive assembly;

[0024] A stage, provided with the supporting surface; the stage is movably mounted on the focusing stage to swing or move along its height direction during movement, so as to adjust the glass slide on the supporting surface to achieve focusing of the glass slide relative to the scanning head.

[0025] In some embodiments of the present invention, the stage assembly further includes:

[0026] A leveling assembly, with at least three provided; the leveling assemblies are distributed on opposite sides of the supporting surface;

[0027] The stage is mounted on the focusing stage through at least three leveling assemblies that are not on the same straight line, so as to make the flatness of the glass slide on the supporting surface within a preset range relative to a preset reference plane by adjusting the leveling assemblies;

[0028] And / or, the stage assembly further includes:

[0029] A lifting stage, with the stage mounted on its top; the lifting stage is movably mounted on the focusing stage to drive the stage to move along its height direction or drive the stage to swing during movement.

[0030] In some embodiments of the present invention, each leveling assembly includes:

[0031] A first adjusting member, used to connect the focusing stage and the stage to lift the corresponding part of the stage relative to the focusing stage during adjustment;

[0032] A second adjusting member, used to connect the focusing stage and the stage to lower the corresponding part of the stage relative to the focusing stage during adjustment;

[0033] And / or, a mounting cavity is recessed in the top of the focusing stage, and a driving member and a second linear movement assembly are arranged in the mounting cavity. The stage and / or the lifting stage move along the depth direction of the mounting cavity under the drive of the driving member and guided by the second linear movement assembly;

[0034] And / or, when the stage assembly further includes a leveling assembly and a lifting stage, the focusing stage has a cubic structure, four leveling assemblies are provided, and the four leveling assemblies are arranged in a square on the lifting stage and the stage;

[0035] And / or, when the stage assembly further includes a lifting stage which is slidably mounted on the focusing stage, between the lifting stage and the stage, one of the lifting stage and the stage is provided with a positioning member in a protruding manner, and the other is provided with a positioning slot in a concave manner, and the positioning member and the positioning slot are in concave-convex fit.

[0036] In some embodiments of the present invention, the stage moving device further includes:

[0037] A grating measurement system for measuring the moving distance of the stage assembly in the scanning channel;

[0038] And / or, when a driving member is provided in the focusing stage of the stage assembly, the driving member is a voice coil motor.

[0039] In some embodiments of the present invention, the grating measurement system includes a grating scale, a magnetic grating scale or a distance sensor, and the grating scale, the magnetic grating scale or the distance sensor is arranged along the first direction and is located at a position close to the stage assembly.

[0040] To solve the above technical problems, an embodiment of the present invention further provides a scanning device, adopting the following technical solution: the scanning device includes a frame, a scanning head and the above-mentioned stage moving device; the frame is mounted on the base of the stage moving device;

[0041] The scanning head is mounted on the frame; the orthographic projection of the scanning head on the base in its height direction is located in the scanning channel of the stage moving device, and is used for scanning a glass slide on the stage assembly moving in the scanning channel.

[0042] In some embodiments of the present invention, the scanning head includes a plurality of microscopic objective lenses, and the plurality of microscopic objective lenses are arranged in an array to form an array objective lens;

[0043] The width of the effective scanning area of the array objective lens in the second direction is greater than or equal to the distance between two diagonals of the slice to be scanned on the glass slide on the loading surface in the second direction; the second direction is perpendicular to the extending direction of the scanning channel.

[0044] To solve the above technical problems, an embodiment of the present invention further provides a pathological slice scanner, adopting the following technical solution: the pathological slice scanner includes the above-mentioned stage moving device; or, the pathological slice scanner includes the above-mentioned scanning device.

[0045] Compared with the prior art, the stage moving device, the scanning device and the pathological slice scanner provided by the embodiments of the present invention mainly have the following beneficial effects:

[0046] The stage moving device sets the scanning channel on the base at the position corresponding to the scanning head, ensures that the orthographic projection of the scanning head on the base in its height direction is within the scanning channel, and ensures that the part of the slide loaded on the stage assembly passing through the scanning head can be completely within the scanning range of the scanning head. In this way, when the scanning head is fixed, by driving the stage assembly to move in the scanning channel along the first direction through a linear driving assembly, the all-round alignment scanning of the slide and the scanning head can be achieved. Generally speaking, the stage moving device does not require multi-axis linkage, the overall structure is miniaturized, the relative movement between the stage assembly and the scanning head is more stable and accurate, ensuring the stable and accurate transportation of the slide, which is beneficial to improving the scanning accuracy of the scanning device and making the digital imaging of the section clearer. Description of the Drawings

[0047] In order to more clearly illustrate the solutions in the present utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present utility model or the corresponding prior art. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts. Among them:

[0048] Figure 1 is a three-dimensional structural schematic diagram of a stage moving device in an example of the present utility model; wherein, in this figure, the stage assembly is in the initial position;

[0049] Figure 2 is another three-dimensional structural schematic diagram of a stage moving device in an example of the present utility model; wherein, in this figure, the stage assembly is in the maximum stroke position and a slide is placed;

[0050] Figure 3 is a three-dimensional structural schematic diagram of the stage assembly of a stage moving device in an example of the present utility model;

[0051] Figure 4 is a three-dimensional structural schematic diagram of the stage assembly of a stage moving device in an example of the present utility model with a slide placed;

[0052] Figure 5 is a three-dimensional structural schematic diagram of the stage assembly of the present utility model after removing the stage;

[0053] Figure 6 is a three-dimensional sectional view of the stage assembly of the present utility model after removing the stage;

[0054] Figure 7 is a three-dimensional structural schematic diagram of a scanning device in an example of the present utility model; wherein, in this figure, the stage assembly is in the initial position;

[0055] Figure 8 It is a schematic three - dimensional structure diagram of a scanning device in an example of the present utility model; wherein, in this figure, the stage assembly is in the maximum stroke position.

[0056] The reference numerals in the attached drawings are as follows:

[0057] 1000, scanning device; 100, stage moving device; 200, glass slide; 300, frame; 400, scanning head;

[0058] 1, base; 11, scanning channel; 111, entrance and exit; 12, minimum stroke switch; 13, maximum stroke switch;

[0059] 2, stage assembly; 21, loading surface; 22, focusing stage; 221, installation cavity; 222, driving part / voice coil motor; 223, second linear moving assembly; 23, leveling assembly; 231, first adjusting part; 232, second adjusting part; 24, stage; 25, lifting stage; 251, positioning part;

[0060] 3, linear driving assembly / rod - shaped linear motor;

[0061] 4, first linear moving assembly; 41, target guide rail; 42, slider; 5, transmission part; 6, grating measurement system; 61, grating scale; 7, functional component. Detailed implementation mode

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs; the terms used in this specification are only for the purpose of describing specific embodiments, and are not intended to limit the present utility model. For example, the terms such as "length", "width", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or position based on the orientation or position shown in the attached drawings, and are only for convenience of description and cannot be construed as a limitation to the technical solution.

[0063] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present utility model and the above - mentioned attached drawing descriptions are intended to cover non - exclusive inclusion; the terms "first", "second", etc. in the specification and claims of the present utility model or the above - mentioned attached drawings are used to distinguish different objects, rather than to describe a specific order. The meaning of "a plurality" is two or more, unless otherwise specifically and clearly defined.

[0064] In the description, claims and above-mentioned accompanying drawing description of the present utility model, when an element is referred to as being "fixed to", "mounted on", "arranged on" or "connected to" another element, it can be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.

[0065] It should be further understood that the term "and / or" used in the present specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0066] In addition, the mention of "embodiment" in this article means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present utility model. The appearance of this phrase at various positions in the specification 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 explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0067] An embodiment of the present utility model provides a stage moving device 100, which is mainly used for automatically transporting a target object. Among them, the target object described here includes, but is not limited to, a glass slide 200. In addition, the stage moving device 100 can be applied to, but is not limited to, the scanning device 1000 of a pathological slice scanner.

[0068] It should be noted that the glass slide 200 described here includes a glass sheet (not shown in the figure) and a section (not shown in the figure). The glass sheet is provided with a scanning area and a marking area. Among them, the scanning area is sealed with a section, and the marking area is provided with an information mark recording information related to the section. The information mark described here includes, but is not limited to, a two-dimensional code, a bar code or a handwritten mark.

[0069] For the convenience of description, the following takes the stage moving device 100 applied to the scanning device 1000 of a pathological slice scanner as an example for description.

[0070] As Figure 1 and Figure 2 shown, the stage moving device 100 includes a base 1, a stage assembly 2 and a linear drive assembly 3. The base 1 is provided with a scanning channel 11 having an entrance 111. The scanning channel 11 is located under the scanning head 400 of the scanning device 1000 (see Figure 7 or Figure 8) corresponding position; the stage assembly 2 is located in the scanning channel 11, and the stage assembly 2 is provided with a loading surface 21 for placing the slide 200; wherein, the orthographic projection of the scanning head 400 on the base 1 in the height direction of the scanning head 400 is located in the scanning channel 11. In this way, during the process of the stage assembly 2 transporting the slide 200 for scanning, it is beneficial to ensure that the scanning of the section on the slide 200 can be conveniently realized without moving the scanning head 400.

[0071] In an embodiment of the present invention, as Figure 1 shown, the linear drive assembly 3 is installed on the base 1 along the first direction. Wherein, when the linear drive assembly 3 works, the stage assembly 2 can reciprocate along the first direction in the scanning channel 11, and the part of the slide 200 loaded on the stage assembly 2 passing through the scanning head 400 is completely within the scanning range of the scanning head 400. In this way, by setting the scanning channel 11 at the corresponding position of the scanning head 400, and ensuring that when the stage assembly 2 moves in the scanning channel 11, the part of the slide 200 passing through the scanning head 400 can be completely covered and scanned by the scanning head 400, so that only one linear drive assembly 3 is needed to drive the stage assembly 2 to move along the first direction in the scanning channel 11, that is, the all-round alignment scanning of the slide 200 and the scanning head 400 is realized through the unidirectional movement, without the need to move the scanning head 400 through other moving mechanisms, and / or without the need to drive the stage assembly 2 to move along other directions through other moving mechanisms.

[0072] It can be understood that the stage moving assembly does not need to drive the stage assembly 2 and / or the scanning head 400 to move through multi-axis linkage. On the one hand, it is beneficial to simplify the overall structure of the stage moving device 100, reduce its occupied space, facilitate the realization of miniaturization of the structure, and is also convenient for handling; on the other hand, it can avoid multi-axis installation errors and multi-axis linkage control errors, be beneficial to reduce the vibration probability of the scanning area, ensure the stable movement of the stage assembly 2, and be beneficial to more accurately control the scanning accuracy, facilitate the scanning head 400 to scan the section on the slide 200 smoothly and clearly, and is beneficial to improve the scanning effect of the section.

[0073] Exemplarily, the scanning head 400 is fixed in place. At the initial position of the stage assembly 2, that is, at the entrance and exit 111 of the scanning channel 11, a single glass slide 200 can be placed on the carrying surface 21 of the stage assembly 2. Driven by the linear drive assembly 3, the stage assembly 2 can carry the glass slide 200 placed on the carrying surface 21 and move in the first direction away from the entrance and exit 111 within the scanning channel 11 (specifically, it can move backward) to slowly transport the glass slide 200 under the scanning head 400. During the process when the glass slide 200 passes under the scanning head 400, the scanning head 400 can scan the glass slide 200 that enters its lower part. When the glass slide 200 is completely transported out from under the scanning head 400, the scanning head 400 can complete the full - range scanning of the glass slide 200. After the glass slide 200 is digitized, driven by the linear drive assembly 3, the stage assembly 2 can carry the glass slide 200 and move in the first direction within the scanning channel 11 towards the entrance and exit 111 (specifically, it can move forward) to transport the glass slide 200 out of the scanning channel 11, so that the loading and unloading device can transfer the digitized glass slide 200 to the target position.

[0074] It should be noted that, to improve the moving accuracy, and the motion reliability and safety of the stage assembly 2, a minimum travel switch 12 (see Figure 2 ) and a maximum travel switch 13 (see Figure 1 ) are provided on the base 1. Correspondingly, a position sensor (not shown in the figure) is provided on the stage assembly 2. Exemplarily, when the position sensor is at the position of the minimum travel switch 12, the stage assembly 2 stops at the initial position; when the stage assembly 2 moves away from the entrance and exit 111 (specifically, it can move forward), if the position sensor moves to the position of the maximum travel switch 13, the controller (not shown in the figure) of the scanning device 1000 will control the stage assembly 2 to stop moving, so that the stage assembly 2 is at the maximum travel position.

[0075] It should also be noted that the first direction described herein is defined as the extension direction of the scanning channel 11, which may be parallel or non - parallel to the actual setting direction of the scanning channel 11; during the movement of the stage assembly 2 in the first direction, it is necessary to ensure that the part of the glass slide 200 passing under the scanning head 400 is completely covered by the orthographic projection of the scanning head 400 on the plane where the glass slide 200 is located, and there should not be a situation where part of the glass slide 200 passing under the scanning head 400 is partly under the scanning head 400 and partly outside the scanning head 400. For example, when the stage assembly 2 moves forward, when the glass slide 200 on the stage assembly 2 passes under the scanning head 400, for the glass slide 200 under the scanning head 400, the left and / or right parts of it can be covered by the scanning head 400.

[0076] In summary, compared with the prior art, the stage moving device 100 has at least the following beneficial effects:

[0077] The stage moving device 100 sets the scanning channel 11 on the base 1 at a position corresponding to the scanning head 400, ensures that the orthographic projection of the scanning head 400 on the base 1 in its height direction is located within the scanning channel 11, and ensures that the part of the slide 200 loaded on the stage assembly 2 passing through the scanning head 400 can be completely located within the scanning range of the scanning head 400. In this way, when the scanning head 400 is fixed, by driving the stage assembly 2 to move along the first direction within the scanning channel 11 through a linear drive assembly 3, the all-round alignment scanning of the slide 200 and the scanning head 400 can be achieved. Generally, the stage moving device 100 does not require multi-axis linkage, the overall structure is miniaturized, the relative movement between the stage assembly 2 and the scanning head 400 is more stable and accurate, ensuring the stable and precise transportation of the slide 200, which is beneficial to improving the scanning accuracy of the scanning device 1000 and ensuring the digital imaging effect of the section.

[0078] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the attached Figures 1 to 6 , and the technical solutions in the embodiments of the present invention will be clearly and completely described.

[0079] In some embodiments of the present invention, as Figure 1 and Figure 2 shown, the linear drive assembly 3 can be selected as the rod-shaped linear motor 3. Since the rod-shaped linear motor 3 has a small volume, the output force is more uniform than that of a general motor, and the control accuracy is higher. Therefore, it is beneficial to realize the miniaturization of the overall structure of the stage moving device 100, and it is also beneficial to ensure that the movement of the stage assembly 2 is more stable and accurate, thereby improving the scanning effect.

[0080] And / or, in some embodiments of the present invention, as Figure 1 and Figure 2 shown, the stage moving device 100 further includes a first linear movement assembly 4 and a transmission member 5. Among them, the first linear movement assembly 4 is installed on the base 1 and is mainly used to guide the stage assembly 2 to reciprocate along the first direction. In this way, the stage assembly 2 can be parallel to the linear drive assembly 3 during movement through the guidance of the first linear movement assembly 4, ensuring the smooth movement of the stage assembly 2 and being beneficial to further improving the movement stability and accuracy of the stage assembly 2.

[0081] It should be noted that the first linear movement assembly 4 itself does not necessarily need to be arranged along the first direction, and at least it is ensured that the first linear movement assembly 4 has a tendency to extend along the first direction.

[0082] Specifically, in the embodiments of the present utility model, optionally, to further ensure the compactness of the structure, the first linear movement component 4 is parallel to the linear drive component 3, that is, the first linear movement component 4 is arranged along the first direction.

[0083] Again, Figure 1 and Figure 2 As shown, the transmission member 5 is slidably mounted on the first linear movement component 4, and the transmission member 5 is mounted with the linear drive component 3 and the stage component 2. It can be understood that under the drive of the linear drive component 3, the transmission member 5 can drive the stage component 2 to reciprocate along the first direction under the guidance of the first linear movement component 4.

[0084] Optionally, as Figure 1 and Figure 2 shown, the stage moving device 100 further includes a grating measurement system 6. Among them, the grating measurement system 6 can be used to measure the moving distance of the stage component 2 in the scanning channel 11, so as to facilitate improving the motion control accuracy of the stage component 2. Of course, in other embodiments, the grating measurement system 6 can also be used to measure the lifting height of the loading surface 21, which is beneficial to improving the focusing accuracy between the scanning head 400 and the glass slide 200 on the stage component 2 and beneficial to improving the scanning effect.

[0085] Further optionally, as Figure 1 and Figure 2 shown, the grating measurement system 6 includes a grating scale 61, a magnetic grating scale or a distance sensor. Among them, the grating scale 61, the magnetic grating scale or the distance sensor can be arranged along the first direction and are located at a position close to the stage component 2. Exemplarily, as Figure 1 and Figure 2 shown, taking the grating measurement system 6 including the grating scale 61 as an example, the grating scale 61 is located on the side of the first linear movement component 4 close to the stage component 2. In this way, the grating scale 61 can be relatively close to the stage component 2 to more truly feedback the real-time position of the stage component 2, which is beneficial to more accurate control.

[0086] And / or, optionally, to further reduce the occupied space of the stage moving device 100, as Figure 1 and Figure 2 shown, the linear drive component 3, the first linear movement component 4, the transmission member 5 and the stage component 2 are located on the same side of the base 1 (specifically, the side close to the scanning head 400, for example, the upper side of the base 1), and the first linear movement component 4 is located between the linear drive component 3 and the stage component 2.

[0087] Exemplarily, the middle part of the transmission member 5 is slidably mounted on the first linear movement component 4. One end of the transmission member 5 is connected to the mover of the linear drive component 3 (specifically, the rod-shaped linear motor 3), and the other end of the transmission member 5 is mounted with the stage component 2.

[0088] Further optionally, the stage assembly 2 is mounted on the transmission member 5 on the side of the entrance and exit 111 of the scanning channel 11 close to the stage assembly 2 (specifically, it can be the front side of the transmission member 5), and / or the transmission member 5 is arranged in the second direction, and the second direction is perpendicular to the first direction, so as to reduce the distance between the stage assembly 2 and the linear drive assembly 3, thereby facilitating the reduction of the occupied space of the stage moving device 100.

[0089] It should be noted that to ensure the normal operation of the stage moving device 100, the stage moving device 100 further includes a functional component 7, and the functional component 7 is mainly used to ensure the normal operation of the stage moving device 100 and implement some preset functions.

[0090] Optionally, the functional component 7 at least includes a driver (not shown in the figure) electrically connected to the rod-shaped linear motor 3, and the driver is at least used to control the operation of the linear drive assembly 3. Among them, the driver is connected to the linear drive assembly 3 and the stage assembly 2. Exemplarily, the driver can be mounted on the transmission member 5 to move together with the stage assembly 2, which is beneficial to the miniaturization of the structure. Specifically, in this embodiment, the driver is located at a position close to the linear drive assembly 3 to be closely arranged with the linear drive assembly 3 to ensure the accuracy of the control of the linear drive assembly 3.

[0091] Of course, in other embodiments, the driver can also be fixedly mounted on other components. Specifically, in this embodiment, as Figure 1 and Figure 2 shown, the functional component 7 can be mounted on the transmission member 5 to move together with the stage and the mover of the rod-shaped linear motor 3, so as to reduce the movement of the electrical connection lines (not shown in the figure) between the components, thereby facilitating the reduction of the wear of the connection lines, and improving the safety, reliability and service life of the stage moving device 100.

[0092] It should be noted that if the functional component 7 is mounted on the transmission member 5, the functional component 7, the transmission member 5, the stage assembly 2, etc. will all become the loads of the rod-shaped linear motor 3 and can move together with the mover of the rod-shaped linear motor 3 under the drive of the rod-shaped linear motor 3. If the driver in the functional component 7 is not mounted on the transmission member 5, the driver may not be used as the load of the rod-shaped linear motor 3.

[0093] And / or, optionally, to simplify the structure of the stage moving device 100 and further optimize the spatial layout of its components, as Figure 1 and Figure 2 shown, the first linear movement assembly 4 includes a target guide rail 41, wherein the target guide rail 41 is mounted on the base 1 in the first direction, and the target guide rail 41 is slidably mounted with a transmission member 5 through a slider 42. It should be noted that the target guide rail 41 described herein is different from an ordinary single-axis guide rail and belongs to a special guide rail.

[0094] Further optionally, the width of the target guide rail 41 of the first linear movement component 4 is equivalent to more than twice the width of a single-axis guide rail, so as to balance the forces on the relative two sides (specifically, the left and right sides) of the base 1 with respect to the target guide rail 41. It can be understood that, because the weight of the stage component 2 located on the left side of the first linear movement component 4 is greater than the weight of the linear drive component 3 located on the right side of the first linear movement component 4, by increasing the width of a common single-axis guide rail to make the guide rail become the target guide rail 41 with a left-right balancing effect, the balance of the base 1 on the left and right sides of the first linear movement component 4 can be simply and effectively ensured, thereby ensuring that the stage component 2 can move smoothly and steadily.

[0095] In some embodiments of the present utility model, as Figures 1 to 3 shown, the stage component 2 includes a focusing stage 22 and a stage 24. Among them, the focusing stage 22 is located in the scanning channel 11 and reciprocates along the scanning channel 11 under the drive of the linear drive component 3. In addition, the stage 24 is provided with a loading surface 21, and the stage 24 is movably installed on the focusing stage 22 to swing or move along the height direction of the stage 24 during movement, so as to adjust the glass slide 200 on the loading surface 21 to achieve focusing relative to the scanning head 400, so that the scanning head 400 can perform high-definition scanning for glass slides 200 with different thicknesses.

[0096] In some embodiments of the present utility model, as Figures 1 to 6 shown, the stage component 2 further includes a leveling component 23. There are at least three leveling components 23, and the leveling components 23 are distributed on the relative two sides (specifically, the left and right sides) of the loading surface 21. Among them, the stage 24 can be installed on the focusing stage 22 through at least three leveling components 23 that are not on the same straight line, so as to adjust the flatness of the loading surface 21 relative to a preset reference plane within a preset range by adjusting the leveling components 23.

[0097] It can be understood that, in order to improve the scanning effect and ensure the flatness of the glass slide 200 carried on the stage component 2, the preset reference plane can be used as a reference surface, and the installation tightness of the local part of the stage 24 and the focusing stage 22 can be adjusted by adjusting the leveling components 23 arranged in a triangle, a quadrangle or other polygons, so as to adjust the flatness of the loading surface 21 for placing the glass slide 200 within a preset range.

[0098] It should be noted that the flatness of the preset reference plane described herein can be guaranteed by the manufacturing requirements of the manufacturer, that is, the preset reference plane is an inherent reference surface of the device using the stage moving device 100. Specifically in the embodiment, the preset reference plane can be the slider movement plane (not shown in the figure) fitted by the slider 42 during the movement in the first linear movement component 4. It can be understood that the slider movement plane is a virtual plane.

[0099] Of course, in other embodiments, the preset reference plane may also be other suitable planes, which will not be enumerated one by one here.

[0100] And / or, the stage assembly 2 further includes a lifting stage 25. A stage 24 is mounted on the top of the lifting stage 25, and the lifting stage 25 is movably mounted on the focusing stage 22 to drive the stage 24 to move along the height direction of the stage 24 or drive the stage 24 to swing when moving.

[0101] In a specific embodiment, to make the stage assembly 2 applicable to glass slides 200 of different thicknesses, when the lifting stage 25 moves, the lifting stage 25 can drive the stage 24 to move along the height direction of the lifting stage 25, so as to adaptively adjust the height difference between the top surface of the glass slide 200 on the stage 24 and the scanning head 400 according to the different thicknesses of the glass slides 200 on the stage 24, so as to ensure the scanning effect of different scanning heads 400 on glass slides 200 of different thicknesses.

[0102] Optionally, when the lifting stage 25 is slidably mounted on the focusing stage 22 so that the lifting stage 25 can drive the stage 24 to move along the height direction of the lifting stage 25, between the lifting stage 25 and the stage 24, one of the lifting stage 25 and the stage 24 protrudes a positioning member 251 (see Figure 5 and Figure 6 ), and the other is recessed with a positioning slot hole (not shown in the figure). Among them, the positioning member 251 and the positioning slot hole are in concave-convex fit, which is convenient for quickly realizing the installation alignment between the lifting stage 25 and the stage 24 and ensuring the structural stability of the stage assembly 2.

[0103] Optionally, to enable the lifting stage 25 and / or the stage 24 to automatically move along their height directions, as Figure 6 shown, the top of the focusing stage 22 is recessed with an installation cavity 221. Among them, a driving member 222 and a second linear movement assembly 223 are provided in the installation cavity 221. The lifting stage 25 or the stage 24 is mounted on the top of the focusing stage 22 through the second linear movement assembly 223 and moves along the depth direction of the installation cavity 221 under the drive of the driving member 222 and the guidance of the second linear movement assembly 223. It can be understood that the second linear movement assembly 223 is mainly used to guide the lifting stage 25 to move along the depth direction of the installation cavity 221.

[0104] It can also be understood that to improve the scanning effect, after the slide 200 is placed on the carrying surface 21 of the stage 24, it is necessary to focus the scanning head 400 and the slide 200 on the stage 24 to determine whether it is necessary to adjust the height of the stage 24 by lifting the lifting platform 25. Exemplarily, after the slide 200 is placed on the carrying surface 21 of the stage 24, the linear drive assembly 3 can drive the stage assembly 2 to quickly move backward in the first direction. When the slide 200 on the stage assembly 2 passes by the stationary scanning head 400, the scanning head 400 can initially scan the slide 200. If it is determined that the imaging picture does not meet the requirements, the drive member 222 in the installation cavity 221 will automatically receive relevant signals to drive the lifting platform 25 to adaptively lift. After the imaging picture meets the requirements, the focusing operation of the slide 200 can be completed.

[0105] Optionally, to miniaturize the stage assembly 2, thereby further improving the miniaturization degree of the stage moving device 100 and realizing the large-stroke adjustment of the lifting platform 25, the drive member 222 in the installation cavity 221 of the focusing platform 22 is a voice coil motor 222.

[0106] Or, in another specific embodiment, when the lifting platform 25 moves, the lifting platform 25 can drive the stage 24 to swing, so as to adjust the flatness of the carrying surface 21 of the stage 24. In this way, after the operator completes the flatness debugging of the carrying surface 21, if there is still a problem with the flatness of the slide 200 on the stage 24 during the use of the device, the stage assembly 2 itself can also adjust the flatness of the slide 200 on the stage 24 by the left-right swing or the front-back swing of the lifting platform 25 to ensure the scanning effect of the stationary scanning head 400 on the slide 200.

[0107] Exemplarily, the top of the lifting platform 25 is installed on the stage 24 through the leveling assembly 23. It can be understood that the stage assembly 2 is provided with the lifting platform 25 movably between the focusing platform 22 and the stage 24, and the leveling assemblies 23 are distributed on the opposite sides (specifically, the left and right sides) of the carrying surface 21, which is equivalent to setting a "pair of hands" on the focusing platform 22 to lift the stage 24, so as to flexibly and stably adjust the height or flatness of the stage 24.

[0108] Optionally, specifically in this embodiment, such as Figure 1 and Figure 3As shown, when the stage assembly 2 further includes a leveling assembly 23 and a lifting stage 25, the focusing stage 22 has a cubic structure. To improve the leveling accuracy, there are four leveling assemblies 23. Among them, the four leveling assemblies 23 are arranged in a square shape on the lifting stage 25 and the stage 24. Specifically, the four leveling assemblies 23 are disposed at the four corners of the lifting stage 25 and the stage 24. Of course, in other embodiments, there may also be three leveling assemblies 23, which are arranged in a triangle; or there may be more leveling assemblies 23, which will not be enumerated one by one here.

[0109] Optionally, as Figure 1 and Figure 3 shown, to adjust the flatness of the supporting surface 21 of the stage 24 through the leveling assembly 23, each leveling assembly 23 includes a first adjusting member 231 and a second adjusting member 232. Among them, the first adjusting member 231 can be used to connect the focusing stage 22 and the stage 24, so that the corresponding part of the stage 24 can be lifted relative to the focusing stage 22 during adjustment (see Figure 3 , the upward arrow of the dotted line represents lifting). Correspondingly, the second adjusting member 232 can be used to connect the focusing stage 22 and the stage 24, so that the corresponding part of the stage 24 can be lowered relative to the focusing stage 22 during adjustment (see Figure 3 , the downward arrow of the dotted line represents lowering).

[0110] Exemplarily, as Figure 3 shown, when the stage assembly 2 includes a lifting stage 25, both the first adjusting member 231 and the second adjusting member 232 of each leveling assembly 23 are used to connect the lifting stage 25 and the stage 24, that is, they are connected to the focusing stage 22 through the lifting stage 25. Optionally, both the first adjusting member 231 and the second adjusting member 232 can be screw members. The screw members here include but are not limited to screws, bolts, etc. For example, the first adjusting member 231 and the second adjusting member 232 can also be motors with screws, gear-rack assemblies, etc.

[0111] Based on the above stage moving device 100, as Figure 7 and Figure 8 shown, an embodiment of the present invention further provides a scanning device 1000. The scanning device 1000 includes a frame 300, a scanning head 400 and the above stage moving device 100. Among them, the frame 300 is installed on the base 1 of the stage moving device 100; the scanning head 400 is installed on the frame 300; the orthographic projection of the scanning head 400 on the base 1 along its height direction is located in the scanning channel 11 of the stage moving device 100. The scanning head 400 can be used to scan the glass slide 200 on the stage assembly 2 moving in the scanning channel 11.

[0112] Understandably, the frame 300 is installed on the top of the base 1, and the scanning head 400 is hoisted on the frame 300 directly above the scanning channel 11. When the glass slide 200 on the stage assembly 2 passes through the scanning head 400, the scanning head 400 can completely cover the part of the glass slide 200 passing below it. Therefore, when the stage assembly 2 transports the glass slide 200 along the first direction and passes through the stationary scanning head 400 within the scanning channel 11, the omnidirectional alignment scanning of the glass slide 200 can be completed.

[0113] In summary, compared with the prior art, the scanning device 1000 has at least the following beneficial effects:

[0114] By adopting the above-mentioned stage moving device 100, the scanning device 1000 can not only achieve miniaturization of the structure, but also ensure that the stage assembly 2 moves more smoothly and precisely, so as to realize the stable and precise transportation of the glass slide 200, which is beneficial to improving the scanning effect of the scanning device 1000.

[0115] In some embodiments, the scanning head 400 includes a plurality of microscopic objective lenses (not shown in the figure), and the plurality of microscopic objective lenses are arranged in an array to form an array objective lens (not shown in the figure). Among them, the width of the effective scanning area of the array objective lens in the second direction is greater than or equal to the distance between the two diagonals of the slice to be scanned of the glass slide 200 on the loading surface in the second direction. In this way, the one-way movement of the glass slide 200 can be realized, so that when passing through the scanning head 400, whether the glass slide 200 is placed parallel to the first direction or slightly inclined relative to the first direction, the scanning area of the array objective lens can cover all the parts of the slices to be scanned directly below the scanning head 400, ensuring that the omnidirectional scanning of the glass slide 200 can be realized without the need for the scanning head 400 to move (such as moving left and right).

[0116] Wherein, the second direction in this article is perpendicular to the extending direction of the scanning channel 11. In addition, the scanning focal plane of the scanning head 400 is a virtual focal plane (not shown in the figure) fitted by the focal points of the plurality of microscopic objective lenses in the array objective lens.

[0117] Based on the above-mentioned stage moving device 100, the embodiment of the present invention further provides a pathological slice scanner (not shown in the figure), wherein the pathological slice scanner includes the above-mentioned stage moving device 100. Or, the pathological slice scanner includes the above-mentioned scanning device 1000.

[0118] In summary, compared with the prior art, the pathological slice scanner has at least the following beneficial effects:

[0119] By adopting the above-mentioned stage moving device 100 or scanning device 1000, the pathological slice scanner can achieve miniaturization of the structure, safely and precisely transport the glass slide 200, and has a better scanning effect.

[0120] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, various modifications and variations can be made to the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the scope of the claims of the present utility model.

Claims

1. A stage moving device, characterized in that, The stage moving device includes: A base provided with a scanning channel; the scanning channel is located at a position corresponding to the scanning head, and the orthographic projection of the scanning head on the base in its height direction is located within the scanning channel; A stage assembly located within the scanning channel and provided with a carrier surface for placing a glass slide; A linear drive assembly mounted on the base along a first direction; Wherein, when the linear drive assembly operates, the stage assembly reciprocates within the scanning channel along the first direction, and the portion of the glass slide loaded on the stage assembly that passes through the scanning head is completely within the scanning range of the scanning head.

2. The stage moving device according to claim 1, wherein The linear drive assembly is a rod-shaped linear motor; And / or, the stage moving device further includes: A first linear movement assembly mounted on the base for guiding the stage assembly to reciprocate along the first direction; A transmission member slidably mounted on the first linear movement assembly and having the linear drive assembly and the stage assembly mounted thereon.

3. The stage moving device according to claim 2, wherein, When the stage moving device further includes a first linear movement assembly and a transmission member, the linear drive assembly, the first linear movement assembly, the transmission member, and the stage assembly are located on the same side of the base, and the first linear movement assembly is located between the linear drive assembly and the stage assembly; And / or, the first linear movement assembly includes a target guide rail mounted on the base along the first direction; the transmission member is slidably mounted on the target guide rail through a slider; And / or, the transmission member is arranged along a second direction, and the second direction is perpendicular to the first direction; And / or, the stage assembly is mounted on the transmission member near the entrance and exit sides of the scanning channel; And / or, the stage moving device further includes a driver that is at least used to control the operation of the linear drive assembly and has the linear drive assembly and the stage assembly mounted thereon; And / or, a position sensor is provided on the stage assembly, and a first travel switch and a second travel switch are provided on the base. The first travel switch is used to cooperate with the position sensor to control the stage assembly to be in the initial position; the second travel switch is used to cooperate with the position sensor to control the stage assembly to be in the maximum travel position.

4. The stage moving device according to claim 3, wherein The width of the target guide rail of the first linear movement assembly is equivalent to more than twice the width of a single-axis guide rail, so that the forces on the two opposite sides of the base relative to the target guide rail are balanced.

5. The stage moving device according to any one of claims 1 to 4, characterized in that, The stage assembly includes: A focusing stage located within the scanning channel and reciprocating within the scanning channel under the drive of the linear drive assembly; A stage provided with the carrier surface; the stage is movably mounted on the focusing stage to swing or move along its height direction during movement, so as to adjust the glass slide on the carrier surface to achieve focusing of the glass slide relative to the scanning head.

6. The stage moving device according to claim 5, characterized in that, The stage assembly further includes: At least three leveling components; the leveling components are distributed on opposite sides of the carrier surface; The stage is mounted on the focusing stage by at least three of the leveling components that are not on the same straight line, so that the flatness of the glass slide on the carrier surface relative to a preset reference plane is within a preset range by adjusting the leveling components; and / or, the stage assembly further includes: a lifting stage with the stage mounted on its top; the lifting stage is movably mounted on the focusing stage to drive the stage to move along its height direction or drive the stage to swing when moving.

7. The stage moving device according to claim 6, wherein Each of the leveling components includes: a first adjusting member for connecting the focusing stage and the stage to lift the corresponding part of the stage relative to the focusing stage during adjustment; a second adjusting member for connecting the focusing stage and the stage to lower the corresponding part of the stage relative to the focusing stage during adjustment; and / or, an installation cavity is recessed in the top of the focusing stage, and a driving member and a second linear movement assembly are arranged in the installation cavity, and the stage and / or the lifting stage move along the depth direction of the installation cavity under the drive of the driving member and guided by the second linear movement assembly; and / or, when the stage assembly further includes a leveling component and a lifting stage, the focusing stage has a cubic structure, there are four leveling components, and the four leveling components are arranged in a square on the lifting stage and the stage; and / or, when the stage assembly further includes a lifting stage and the lifting stage is slidably mounted on the focusing stage, between the lifting stage and the stage, one of the lifting stage and the stage protrudes with a positioning member, and the other is recessed with a positioning groove hole, and the positioning member and the positioning groove hole are in concave-convex fit.

8. The stage moving device according to claim 1, wherein The stage moving device further includes: a grating measurement system for measuring the moving distance of the stage assembly in the scanning channel; and / or, when a driving member is arranged in the focusing stage of the stage assembly, the driving member is a voice coil motor.

9. The stage moving device according to claim 8, wherein, The grating measurement system includes a grating scale, a magnetic grating scale or a distance sensor, and the grating scale, the magnetic grating scale or the distance sensor is arranged along the first direction and is located at a position close to the stage assembly.

10. A scanning device, characterized in that, The scanning device includes a frame, a scanning head and the stage moving device according to any one of claims 1 to 9; the frame is mounted on the base of the stage moving device; the scanning head is mounted on the frame; the orthographic projection of the scanning head on the base along its height direction is located in the scanning channel of the stage moving device, and is used for scanning the glass slide on the stage assembly moving in the scanning channel.

11. The scanning device according to claim 10, wherein, The scanning head includes a plurality of microscopic objectives, and the plurality of microscopic objectives are arranged in an array to form an array objective; the width of the effective scanning area of the array objective in the second direction is greater than or equal to the distance between the two diagonals of the slice to be scanned of the glass slide on the carrier surface in the second direction; the second direction is perpendicular to the extending direction of the scanning channel.

12. A pathological section scanner, characterized in that, The pathological section scanner includes the stage moving device according to any one of claims 1 to 9; alternatively, the pathological section scanner includes the scanning device according to claim 10 or 11.

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