A medical microscopic image scanning system

Abstract

This application discloses a medical microscopic image scanning system. In this embodiment, a slide holder, an image scanner, and a slide transfer device are arranged on an operating table. The slide transfer device is located between the slide holder and the image scanner. The slide transfer device includes a four-axis robotic arm, slide grippers, and a laser rangefinder. The four-axis robotic arm can drive the slide grippers to remove the slide to be scanned from a slot on the slide holder and transfer it to the slide slot of the image scanner. The laser rangefinder detects the position of the slide grippers and whether the slide to be scanned is held on the grippers by measuring distance. This enables automated slide transfer, reduces the risk of contamination, and improves the speed of acquiring slide images.

Description

Technical Field

[0001] This application relates to the field of image acquisition technology, specifically to a medical microscopic image scanning system. Background Technology

[0002] In the process of acquiring chromosome and cell images, chromosome and cell samples must first be prepared into glass slides, and then the slides are transferred to a scanner for automated scanning to achieve image acquisition.

[0003] Currently, there is a lack of suitable robotic arms for transferring slides to scanners, and manual transfer poses a risk of sample contamination. Furthermore, the chromosome and cell image acquisition process, from traditional manual microscopic observation to semi-automated scanning and then to automated instrument scanning and acquisition, is complex and inefficient. Even with robotic arms for slide transfer, compatibility issues remain, hindering precise slide positioning and necessitating manual slide loading, ultimately resulting in slow chromosome and cell image acquisition. Summary of the Invention

[0004] This application provides a medical microscopic image scanning system that can solve the technical problems of the risk of contamination when transferring slides manually, the low compatibility and inability to accurately position slides when using a robotic arm to transfer slides, and the cumbersome and inefficient process of acquiring complex chromosome and cell images, which involves the transition from traditional manual microscopic observation to semi-automatic scanning and then to automated scanning and acquisition by instruments.

[0005] This application provides a medical microscopic image scanning system, including:

[0006] Control panel;

[0007] A slide holder is provided on the operating table, and the slide holder has multiple horizontally arranged slots.

[0008] An image scanner is provided on the operating table. The image scanner includes a stage and a microscope scanner. The stage is provided with at least one slide slot for holding a slide to be scanned. The microscope scanner is located above the stage and faces the slide slot.

[0009] A slide transfer device is disposed on the operating table. The slide transfer device includes a four-axis robotic arm, slide grippers, and a laser rangefinder. The four-axis robotic arm is disposed between the slide holder and the image scanner. The slide grippers are rotatably connected to the four-axis robotic arm. The laser rangefinder is installed at the bottom of the slide grippers. The four-axis robotic arm can drive the slide grippers to remove the slide to be scanned from the slot and transfer it to the slide slot. The laser rangefinder detects the position of the slide grippers and whether the slide to be scanned is held on the slide grippers by measuring distance.

[0010] In some embodiments, the four-axis robotic arm includes:

[0011] A vertical lifting frame is installed vertically on the operating platform;

[0012] The lifting structure is connected in a lifting manner along the vertical lifting frame;

[0013] The first steering structure is rotatably connected to the bottom of the lifting structure;

[0014] The second steering structure is rotatably connected to the bottom of the first steering structure, and the glass slide clamp is rotatably connected to the bottom of the second steering structure.

[0015] In some embodiments, the slide gripper includes two clamps and a clamping driver. The clamping driver is rotatably connected to the bottom of the second steering structure. The two clamps are symmetrically arranged, forming a space between them for clamping the slide to be scanned. Each clamp includes an L-shaped extension and a clamping portion. The L-shaped extension is connected to the clamping driver, and the clamping portion is horizontally arranged at the end of the L-shaped extension opposite to the clamping driver. The clamping driver drives the two clamps to horizontally clamp and release the slide.

[0016] In some embodiments, the clamping part is provided with a guide groove, and the upper and lower sides of the guide groove are provided with paired guide inclined surfaces. A space for clamping the edge of the glass slide is formed between the paired guide inclined surfaces, and the glass slide is clamped between the guide grooves of the two jaws. The bottom surface of the guide groove is vertically arranged, and the width of the bottom surface of the guide groove is greater than or equal to the thickness of the glass slide.

[0017] In some embodiments, the medical microscopic image scanning system further includes:

[0018] A slide rail mechanism is provided on the operating table. An in-position sensor is provided at the end of the slide rail mechanism. The in-position sensor is used to detect whether the slide holder is in position. The slide holder is slidably disposed on the slide rail mechanism.

[0019] In some embodiments, the medical microscopic image scanning system further includes:

[0020] A slot detection device is provided on one side of the slide rail mechanism. The slot detection device includes multiple slot sensors, each corresponding to a slot. The slot sensors are used to detect whether a glass slide exists in its corresponding slot.

[0021] In some embodiments, the stage includes:

[0022] The base has at least two first sliding grooves on its upper surface, the first sliding grooves extending along a first direction;

[0023] The first slide plate has at least two first slide rails on its lower surface, the first slide rails being slidably disposed in the first slide groove, and at least two second slide rails on its upper surface, the second slide rails extending along a second direction, the second direction being intersecting with the first direction;

[0024] A first telescopic drive device is disposed on one side of the base. The first telescopic drive device is connected to the first sliding plate. The first telescopic drive device can control the first sliding plate to move relative to the base along a first direction.

[0025] The second slide plate has at least two second slide grooves on its lower surface, and the second slide rail is slidably disposed in the second slide grooves. The glass slide groove is provided on the upper surface of the second slide plate.

[0026] The second telescopic drive device is disposed on the upper surface of the first slide plate and located on one side of the second slide plate. The second telescopic drive device is connected to the second slide plate and can control the second slide plate to move relative to the first slide plate in a second direction.

[0027] In some embodiments, the stage further includes:

[0028] An elastic clamping member is provided on the side of the slide groove adjacent to the slide transfer device, and the elastic clamping member is adapted to clamp the slide to be scanned placed in the slide groove.

[0029] In some embodiments, the resilient clamping member includes:

[0030] A guide plate is located on the side of the slide groove adjacent to the slide transfer device, and the guide plate is provided with a plurality of guide through holes;

[0031] The guide post is slidably disposed within the guide through hole;

[0032] A spring is fitted onto the guide post;

[0033] A pressure plate is arranged parallel to the guide plate, and the pressure plate is connected to at least two of the guide posts.

[0034] In some embodiments, the medical microscopic image scanning system further includes:

[0035] A barcode scanner is located between the slide transfer device and the image scanner. The barcode scanner is used to scan and obtain the QR code of the slide to be scanned when the slide grippers hold the slide to be scanned.

[0036] The medical microscopic image scanning system provided in this application embodiment, by setting up a slide holder, an image scanner, and a slide transfer device on the operating table, with the slide transfer device located between the slide holder and the image scanner, includes a four-axis robotic arm, slide grippers, and a laser rangefinder. The four-axis robotic arm can drive the slide grippers to remove the slide to be scanned from the slot on the slide holder and transfer it to the slide slot of the image scanner. The laser rangefinder detects the position of the slide grippers and whether the slide to be scanned is held on the slide grippers by measuring distance, thereby realizing automated transfer of slides, reducing the risk of contamination, and improving the acquisition speed of scanning and acquiring slide images. Attached Figure Description

[0037] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0038] Figure 1 This is a schematic diagram of the structure of the medical microscopic image scanning system provided in the embodiments of this application from a first-view perspective.

[0039] Figure 2 This is a schematic diagram of the medical microscopic image scanning system provided in the embodiments of this application from a second perspective.

[0040] Figure 3 This is a schematic diagram of the structure of the slide holder provided in an embodiment of this application.

[0041] Figure 4 This is a schematic diagram of the slide transfer device provided in an embodiment of this application.

[0042] Figure 5 This is a schematic diagram of the structure of the glass slide gripper provided in an embodiment of this application.

[0043] Figure 6 This is a schematic diagram of the stage provided in the embodiments of this application from a first-view perspective.

[0044] Figure 7 This is a schematic diagram of the stage provided in an embodiment of this application from a second perspective.

[0045] Figure 8 This is a side view of the stage provided in an embodiment of this application.

[0046] The markings in the diagram are as follows:

[0047] Operating table 1, slide holder 2, slot 21, image scanner 3, stage 31, slide slot 310, base 311, first slide rail 3111, first sliding plate 312, first slide rail 3121, second slide rail 3122, first telescopic drive device 313, second sliding plate 314, second slide rail 3141, second telescopic drive device 315, elastic clamping element 316, guide plate 3161, guide column 3162, spring 3163 , pressure plate 3164, micro scanner 32, slide transfer device 4, four-axis robotic arm 41, vertical lifting frame 411, lifting structure 412, first steering structure 413, second steering structure 414, slide gripper 42, clamp 421, L-shaped extension 4211, clamping part 4212, guide slot 4213, guide slope 4214, clamping driver 422, laser rangefinder 43, slide rail mechanism 5, barcode scanner 6. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0049] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0050] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] For details, please refer to Figure 1 , Figure 2 , Figure 3 This application provides a medical microscopic image scanning system, including: an operating table 1, a slide holder 2, an image scanner 3, and a slide transfer device 4; the slide holder 2 is disposed on the operating table 1, and the slide holder 2 has a plurality of horizontally arranged slots 21; the slots 21 are used to place slides; the image scanner 3 is disposed on the operating table 1, and the image scanner 3 includes a stage 31 and a microscopic scanner 32, the stage 31 has at least one slide slot 310, the slide slot 310 is used to hold the slide to be scanned, and the microscopic scanner 32 is disposed above the stage 31 and facing the slide slot 310; the slide transfer device 4 is disposed on the operating table 1. On the operating table 1, the slide transfer device 4 includes a four-axis robotic arm 41, a slide gripper 42, and a laser rangefinder 43. The four-axis robotic arm 41 is located between the slide holder 2 and the image scanner 3. The slide gripper 42 is rotatably connected to the four-axis robotic arm 41. The laser rangefinder 43 is installed at the bottom of the slide gripper 42. The four-axis robotic arm 41 can drive the slide gripper 42 to remove the slide to be scanned from the slot 21 and transfer it to the slide slot 310. The laser rangefinder 43 detects the position of the slide gripper 42 and whether the slide to be scanned is held on the slide gripper 42 by measuring distance.

[0052] This embodiment enables automated transfer of glass slides, reducing the risk of contamination and improving the speed of acquiring images of glass slides through scanning.

[0053] Please see Figure 4The four-axis robotic arm 41 includes: a vertical lifting frame 411, a lifting structure 412, a first steering structure 413, and a second steering structure 414. The vertical lifting frame 411 is vertically mounted on the operating table 1; the lifting structure 412 is vertically connected to the vertical lifting frame 411; the first steering structure 413 is rotatably connected to the bottom of the lifting structure 412; the second steering structure 414 is rotatably connected to the bottom of the first steering structure 413; and the slide gripper 42 is rotatably connected to the bottom of the second steering structure 414.

[0054] The vertical lifting frame 411 is equipped with a lifting drive device, which can drive the lifting structure 412 to move up and down along the vertical lifting frame 411. The lifting structure 412, the first steering structure 413, the second steering structure 414 and the slide gripper 42 are rotatably connected to each other, which can realize the transfer of the slide by controlling the slide gripper 42 at different angles and distances, thus improving the flexibility of movement.

[0055] Please see Figure 4 , Figure 5 The slide gripper 42 includes two clamps 421 and a clamping driver 422. The clamping driver 422 is rotatably connected to the bottom of the second steering structure 414. The two clamps 421 are symmetrically arranged, forming a space between them for clamping the slide to be scanned. Each clamp 421 includes an L-shaped extension 4211 and a clamping part 4212. The L-shaped extension 4211 is connected to the clamping driver 422. The clamping part 4212 is horizontally arranged at the end of the L-shaped extension 4211 away from the clamping driver 422. The clamping driver 422 drives the two clamps 421 to horizontally clamp and release the slide.

[0056] The laser rangefinder 43 is mounted on the bottom of the clamping driver 422. On one hand, the laser rangefinder 43 detects the distance between itself and the slide holder 2 to determine whether the slide gripper 42 is close to the slide holder 2 and has reached the position to grip the slide. On the other hand, the laser rangefinder 43 detects the distance within the slide gripper 42 to determine whether it is holding the slide to be scanned. Furthermore, the laser rangefinder 43 detects the distance between itself and the stage 31 of the image scanner 3 to determine whether it has reached the position to place the slide to be scanned in the slide slot 310.

[0057] Please see Figure 4 , Figure 5The clamping part 4212 is provided with a guide groove 4213. The upper and lower sides of the guide groove 4213 are provided with a pair of guide inclined surfaces 4214. A space for clamping the edge of the glass slide is formed between the pair of guide inclined surfaces 4214. The glass slide is clamped between the guide grooves 4213 of the two grippers. The bottom surface of the guide groove 4213 is vertically arranged, and the width of the bottom surface of the guide groove 4213 is greater than or equal to the thickness of the glass slide.

[0058] The guide slope 4214 is either flat or curved, and the paired guide slopes 4214 form acute angles. The guide slope 4214 guides and clamps the glass slide within the guide groove 4213. When the glass slide is clamped within the guide groove 4213, the bottom surface of the guide groove 4213 remains in contact with the side wall of the glass slide, keeping the glass slide horizontally raised.

[0059] Please see Figure 1 , Figure 2 The medical microscopic image scanning system also includes a slide rail mechanism 5, which is mounted on the operating table 1. The end of the slide rail mechanism 5 is equipped with an in-situ sensor, which is used to detect whether the slide holder 2 is in position. The slide holder 2 is slidably mounted on the slide rail mechanism 5.

[0060] This configuration allows for automatic detection to determine whether the slide holder 2 is in place. When in place, the slides clamped by the slide claws 42 can be transferred and placed into the slot 21 of the slide holder 2.

[0061] In some embodiments, the medical microscopic image scanning system further includes a slot detection device, which is disposed on one side of the slide rail mechanism 5. The slot detection device includes a plurality of slot sensors, which are configured one-to-one with the slots 21. The slot sensors are used to detect whether there is a glass slide in their corresponding slot 21.

[0062] This configuration allows for the detection of whether a glass slide is present in each slot 21, and the glass slide clamped by the glass slide claw 42 is transferred and placed into a slot 21 without a glass slide.

[0063] Please see Figure 6 , Figure 7 , Figure 8The platform 31 includes: a base 311, a first sliding plate 312, a first telescopic drive device 313, a second sliding plate 314, and a second telescopic drive device 315. The upper surface of the base 311 is provided with at least two first sliding grooves 3111, extending along a first direction; the lower surface of the first sliding plate 312 is provided with at least two first sliding rails 3121, slidably disposed within the first sliding grooves 3111; the upper surface of the first sliding plate 312 is provided with at least two second sliding rails 3122, extending along a second direction intersecting the first direction; the first telescopic drive device 313 is disposed on one side of the base 311 and connected to the first sliding plate 312. 3. The first slide plate 312 can be controlled to move relative to the base 311 in a first direction; the lower surface of the second slide plate 314 is provided with at least two second slide grooves 3141, the second slide rail 3122 is slidably disposed in the second slide grooves 3141, and the upper surface of the second slide plate 314 is provided with the glass slide groove 310; the second telescopic drive device 315 is disposed on the upper surface of the first slide plate 312 and located on one side of the second slide plate 314, the second telescopic drive device 315 is connected to the second slide plate 314, and the second telescopic drive device 315 can control the second slide plate 314 to move relative to the first slide plate 312 in a second direction.

[0064] The stage 31, by setting a first sliding plate 312 and a second sliding plate 314 that move relatively, can control the position of the slide to be scanned placed in the slide slot 310 in a plane parallel to the operating table 1, so as to realize the scanning and acquisition of slide images in conjunction with the microscope scanner 32.

[0065] Please see Figure 6 , Figure 7 , Figure 8 The stage 31 further includes an elastic clamping member 316, which is disposed on the side of the slide groove 310 adjacent to the slide transfer device 4. The elastic clamping member 316 is adapted to clamp the slide to be scanned placed in the slide groove 310.

[0066] Please see Figure 6 , Figure 7 , Figure 8The elastic clamping member 316 includes: a guide plate 3161, a guide post 3162, a spring 3163, and a pressure plate 3164. The guide plate 3161 is located on the side of the slide groove 310 adjacent to the slide transfer device 4, and the guide plate 3161 is provided with a plurality of guide through holes; the guide post 3162 is slidably disposed in the guide through holes; the spring 3163 is sleeved on the guide post 3162; the pressure plate 3164 is arranged parallel to the guide plate 3161, and the pressure plate 3164 is connected to at least two of the guide posts 3162.

[0067] When the slide to be scanned is placed in the slide groove 310 by the slide clamp 42, the slide clamp 42 can also help push the pressure plate 3164 of the elastic clamping member 316 to press the slide to be scanned placed in the slide groove 310.

[0068] Please see Figure 1 , Figure 2 The medical microscopic image scanning system also includes a barcode scanner 6, which is located between the slide transfer device 4 and the image scanner 3. The barcode scanner 6 is used to scan and obtain the QR code of the slide when the slide gripper 42 holds the slide to be scanned.

[0069] The medical microscopic image scanning system provided in this application embodiment, by setting up a slide holder 2, an image scanner 3, and a slide transfer device 4 on the operating table 1, with the slide transfer device 4 located between the slide holder 2 and the image scanner 3, includes a four-axis robotic arm 41, slide grippers 42, and a laser rangefinder 43. The four-axis robotic arm 41 can drive the slide grippers 42 to remove the slide to be scanned from the slot 21 on the slide holder 2 and transfer it to the slide slot 310 of the image scanner 3. The laser rangefinder 43 detects the position of the slide grippers 42 and whether the slide to be scanned is held on the slide grippers 42 by measuring the distance, thereby realizing automated transfer of slides, reducing the risk of contamination, and improving the acquisition speed of scanning and acquiring slide images.

[0070] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0071] The above provides a detailed description of a medical microscopic image scanning system provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A medical microscopic image scanning system, characterized in that, include: Control panel; A slide holder is provided on the operating table, and the slide holder has multiple horizontally arranged slots. An image scanner is provided on the operating table. The image scanner includes a stage and a microscope scanner. The stage is provided with at least one slide slot for holding a slide to be scanned. The microscope scanner is located above the stage and faces the slide slot. A slide transfer device is disposed on the operating table. The slide transfer device includes a four-axis robotic arm, slide grippers, and a laser rangefinder. The four-axis robotic arm is disposed between the slide holder and the image scanner. The slide grippers are rotatably connected to the four-axis robotic arm. The laser rangefinder is installed at the bottom of the slide grippers. The four-axis robotic arm can drive the slide grippers to remove the slide to be scanned from the slot and transfer it to the slide slot. The laser rangefinder detects the position of the slide grippers and whether the slide to be scanned is held on the slide grippers by measuring distance.

2. The medical microscopic image scanning system as described in claim 1, characterized in that, The four-axis robotic arm includes: A vertical lifting frame is installed vertically on the operating platform; The lifting structure is connected in a lifting manner along the vertical lifting frame; The first steering structure is rotatably connected to the bottom of the lifting structure; The second steering structure is rotatably connected to the bottom of the first steering structure, and the glass slide clamp is rotatably connected to the bottom of the second steering structure.

3. The medical microscopic image scanning system as described in claim 2, characterized in that, The slide gripper includes two clamps and a clamping driver. The clamping driver is rotatably connected to the bottom of the second steering structure. The two clamps are symmetrically arranged, forming a space between them for clamping the slide to be scanned. Each clamp includes an L-shaped extension and a clamping part. The L-shaped extension is connected to the clamping driver, and the clamping part is horizontally arranged at the end of the L-shaped extension away from the clamping driver. The clamping driver drives the two clamps to horizontally clamp and release the slide.

4. The slide clamping and positioning device as described in claim 3, characterized in that, The clamping part is provided with a guide groove, and the upper and lower sides of the guide groove are provided with a pair of guide inclined surfaces. A space for clamping the edge of the glass slide is formed between the pair of guide inclined surfaces, and the glass slide is clamped between the guide grooves of the two jaws. The bottom surface of the guide groove is vertically arranged, and the width of the bottom surface of the guide groove is greater than or equal to the thickness of the glass slide.

5. The medical microscopic image scanning system as described in claim 1, characterized in that, The medical microscopic image scanning system also includes: A slide rail mechanism is provided on the operating table. An in-position sensor is provided at the end of the slide rail mechanism. The in-position sensor is used to detect whether the slide holder is in position. The slide holder is slidably disposed on the slide rail mechanism.

6. The medical microscopic image scanning system as described in claim 5, characterized in that, The medical microscopic image scanning system also includes: A slot detection device is provided on one side of the slide rail mechanism. The slot detection device includes multiple slot sensors, each corresponding to a slot. The slot sensors are used to detect whether a glass slide exists in its corresponding slot.

7. The medical microscopic image scanning system as described in claim 1, characterized in that, The stage includes: The base has at least two first sliding grooves on its upper surface, the first sliding grooves extending along a first direction; The first slide plate has at least two first slide rails on its lower surface, the first slide rails being slidably disposed in the first slide groove, and at least two second slide rails on its upper surface, the second slide rails extending along a second direction, the second direction being intersecting with the first direction; A first telescopic drive device is disposed on one side of the base. The first telescopic drive device is connected to the first sliding plate. The first telescopic drive device can control the first sliding plate to move relative to the base along a first direction. The second slide plate has at least two second slide grooves on its lower surface, and the second slide rail is slidably disposed in the second slide grooves. The glass slide groove is provided on the upper surface of the second slide plate. The second telescopic drive device is disposed on the upper surface of the first slide plate and located on one side of the second slide plate. The second telescopic drive device is connected to the second slide plate and can control the second slide plate to move relative to the first slide plate in a second direction.

8. The medical microscopic image scanning system as described in claim 7, characterized in that, The stage also includes: An elastic clamping member is provided on the side of the slide groove adjacent to the slide transfer device, and the elastic clamping member is adapted to clamp the slide to be scanned placed in the slide groove.

9. The medical microscopic image scanning system as described in claim 8, characterized in that, The elastic clamping element includes: A guide plate is located on the side of the slide groove adjacent to the slide transfer device, and the guide plate is provided with a plurality of guide through holes; The guide post is slidably disposed within the guide through hole; A spring is fitted onto the guide post; A pressure plate is arranged parallel to the guide plate, and the pressure plate is connected to at least two of the guide posts.

10. The medical microscopic image scanning system as described in claim 1, characterized in that, The medical microscopic image scanning system also includes: A barcode scanner is located between the slide transfer device and the image scanner. The barcode scanner is used to scan and obtain the QR code of the slide to be scanned when the slide grippers hold the slide to be scanned.

Images