Pathology slide automation system and method

Abstract

The slide carrier comprises a base support and a slide platform having a surface parallel to a first plane defined by a first vector and a second vector, where a vector extending in a direction opposite to the direction of gravity is perpendicular to a second plane defined by a third vector and a fourth vector, an angle between the first vector and the third vector is greater than 0 degrees and less than 90 degrees, and an angle between the second vector and the fourth vector is greater than 0 degrees and less than 90 degrees.

Description

Related Applications

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and the benefit of U.S. Provisional Patent Application No. 63 / 327,744, filed April 5, 2022, and further claims priority to and the benefit of U.S. Provisional Patent Application No. 63 / 456,345, filed March 31, 2023, the entire disclosures of each of which are incorporated herein by reference. [Technical field]

[0002] Field One or more aspects of some embodiments of the present disclosure relate to a pathology slide manufacturing system and method. [Background technology]

[0003] background

[0003] In the field of pathology, the process of producing individual slides with tissue or fluid samples can be complex and time consuming. Various steps and operations can be involved from the time the sample is collected until the final slide is ready for review by the pathologist. Furthermore, the process becomes even more complicated when multiple slides are to be produced for multiple tissue or fluid samples and from multiple patients.

[0004]

[0004] The above information disclosed in this Background section is intended merely to enhance understanding of the background art, and therefore, the information discussed in this Background section does not necessarily constitute prior art. Summary of the Invention

[0005] overview

[0005] According to some embodiments of the present disclosure, a slide carrier comprises a base support and a slide platform having a surface parallel to a first plane defined by a first vector and a second vector, where a vector extending in a direction opposite to the direction of gravity is perpendicular to a second plane defined by a third vector and a fourth vector, an angle between the first vector and the third vector is greater than 0 degrees and less than 90 degrees, and an angle between the second vector and the fourth vector is greater than 0 degrees and less than 90 degrees.

[0006] According to some embodiments, the slide platform comprises a first long edge and a second long edge, the height of the first long edge being greater than the height of the second long edge.

[0007] According to some embodiments, the slide carrier further includes a barrier protruding from the slide platform at the second long edge.

[0008]

[0008] According to some embodiments, the slide carrier further includes a projection extending from the barrier.

[0009]

[0009] According to some embodiments, the slide platform comprises a first elongated support portion extending along the length of the slide platform and a second elongated support portion extending along the length of the slide platform, the first elongated support portion and the second elongated support portion being separated from each other by a gap.

[0010]

[0010] According to some embodiments, the slide carrier further includes a cross member support extending between the first elongated support portion and the second elongated support portion and connecting the first elongated support portion and the second elongated support portion.

[0011]

[0011] According to some embodiments, the slide carrier further includes a first narrow support portion connected to an upper end of the first elongated support portion, wherein an upper end surface of the first narrow support portion is flush with an upper end surface of the first elongated support portion, and a second narrow support portion connected to an upper end of the second elongated support portion, wherein an upper end surface of the second narrow support portion is flush with an upper end surface of the second elongated support portion, and the width between the first narrow support portion and the second narrow support portion is smaller than the width between the first elongated support portion and the second elongated support portion.

[0012]

[0012] According to some embodiments of the present disclosure, a pathology slide manufacturing system includes a mechanical arm, a gripper connected to the mechanical arm, and a slide carrier within a proximal range of reach of the gripper, wherein the slide carrier has a slide platform having a surface parallel to a first plane defined by a first vector and a second vector, a vector extending in a direction opposite to the direction of gravity is perpendicular to a second plane defined by a third vector and a fourth vector, an angle between the first vector and the third vector is greater than 0 degrees and less than 90 degrees, and an angle between the second vector and the fourth vector is greater than 0 degrees and less than 90 degrees.

[0013] According to some embodiments, the slide platform comprises a first long edge and a second long edge, the height of the first long edge being greater than the height of the second long edge.

[0014]

[0014] According to some embodiments, the pathology slide manufacturing system further includes a barrier protruding from the slide platform at the second long edge.

[0015]

[0015] According to some embodiments, the pathology slide manufacturing system further includes a protrusion extending from the barrier.

[0016]

[0016] According to some embodiments, the slide platform comprises a first elongated support portion extending along the length of the slide platform and a second elongated support portion extending along the length of the slide platform, the first elongated support portion and the second elongated support portion being separated from each other by a gap.

[0017]

[0017] According to some embodiments, the pathology slide manufacturing system further includes a cross member support extending between the first elongated support and the second elongated support and connecting the first elongated support and the second elongated support.

[0018]

[0018] According to some embodiments, the pathology slide manufacturing system further includes a first narrow support portion connected to an upper end of the first elongated support portion, wherein an upper end surface of the first narrow support portion is flush with an upper end surface of the first elongated support portion, and a second narrow support portion connected to an upper end of the second elongated support portion, wherein an upper end surface of the second narrow support portion is flush with an upper end surface of the second elongated support portion, wherein the width between the first narrow support portion and the second narrow support portion is smaller than the width between the first elongated support portion and the second elongated support portion.

[0019]

[0019] According to some embodiments of the present disclosure, in a method of producing pathology slides in a slide processing system, the slide processing system includes a mechanical arm, a gripper connected to the mechanical arm, and a slide carrier within a proximal range of reach of the gripper, the method includes gripping a slide in a first orientation with the gripper, placing the slide on a slide platform of the slide carrier with the gripper, allowing the slide to shift position on the slide platform to align with a predetermined position on the slide platform, gripping the slide with the gripper in a second orientation corresponding to a component of the slide processing system, and placing the slide in a component of the slide processing system using the gripper with the slide in the second orientation by the gripper to enable a slide processing step corresponding to the component to be performed on the slide by the slide processing system.

[0020]

[0020] According to some embodiments, the slide platform has a surface parallel to a first plane defined by a first vector and a second vector, a vector extending in a direction opposite to the direction of gravity is perpendicular to a second plane defined by a third vector and a fourth vector, an angle between the first vector and the third vector is greater than 0 degrees and less than 90 degrees, and an angle between the second vector and the fourth vector is greater than 0 degrees and less than 90 degrees.

[0021] According to some embodiments, the slide platform comprises a first long edge and a second long edge, the height of the first long edge being greater than the height of the second long edge.

[0022] According to some embodiments, the slide carrier includes a barrier protruding from the slide platform at the second long edge, the predetermined location corresponding to the barrier.

[0023] According to some embodiments, a protrusion extends from the barrier.

[0024] According to some embodiments, at least one of the first orientation or the second orientation involves a lateral grip in which the grippers apply a lateral compressive force to opposite edges of the slide.

[0025] According to some embodiments, at least one of the first orientation or the second orientation involves a longitudinal grip in which the gripper applies a longitudinal compressive force against opposite edges of the slide.

[0026] According to some embodiments, at least one of the first orientation or the second orientation involves a thickness grip in which the gripper applies a compressive force against both sides of the slide.

[0027]

[0027] According to some embodiments, the slide platform comprises a first elongated support portion extending along the length of the slide platform and a second elongated support portion extending along the length of the slide platform, the first elongated support portion and the second elongated support portion being separated from each other by a gap.

[0028] According to some embodiments, the cross member support extends between and connects the first elongated support portion and the second elongated support portion.

[0029]

[0029] According to some embodiments, the slide platform further includes a first narrow support portion connected to an upper end of the first elongated support portion, wherein an upper end surface of the first narrow support portion is flush with an upper end surface of the first elongated support portion, and a second narrow support portion connected to an upper end of the second elongated support portion, wherein an upper end surface of the second narrow support portion is flush with an upper end surface of the second elongated support portion, and the width between the first narrow support portion and the second narrow support portion is smaller than the width between the first elongated support portion and the second elongated support portion.

[0030]

[0030] According to some embodiments of the present disclosure, the gripper includes a first gripper finger having a first groove and a second groove on an inner edge of the first gripper finger and a second gripper finger having a first groove and a second groove on an inner edge of the second gripper finger, the first groove of the first gripper finger facing the first groove of the second gripper finger such that at these first grooves the gripper is configured to apply a first compressive force in a width direction to the length edge of the slide and the second groove of the first gripper finger facing the second groove of the second gripper finger such that at these second grooves the gripper is configured to apply a second compressive force in a longitudinal direction to the width edge of the slide.

[0031]

[0031] According to some embodiments, the distance between the first groove of the first gripper finger and the first groove of the second gripper finger is smaller than the distance between the second groove of the first gripper finger and the second groove of the second gripper finger.

[0032]

[0032] According to some embodiments, the first groove of the first gripper finger is in a first portion of the first gripper finger extending from the actuator in a direction parallel to a centerline between the first gripper finger and the second gripper finger.

[0033]

[0033] According to some embodiments, the second groove of the first gripper finger is in a second portion of the gripper finger extending from the first portion in a direction that forms an angle greater than 0 degrees and less than 90 degrees with respect to the centerline.

[0034]

[0034] According to some embodiments, the second groove of the first gripper finger is defined by the space between a protrusion extending from the first gripper finger toward a centerline that bisects the space between the first gripper finger and the second gripper finger and the body of the first gripper finger.

[0035]

[0035] According to some embodiments, the first gripper finger and the second gripper finger each have a protrusion at an end of the first gripper finger and the second gripper finger, respectively, extending in a direction parallel to a center line bisecting the first gripper finger and the second gripper finger, the distance between the protrusion of the first gripper finger and the protrusion of the second gripper finger is greater than the distance between the second groove of the first gripper finger and the second groove of the second gripper finger, and the gripper is configured to apply a third compressive force in the longitudinal direction against the width edge of the slide.

[0036]

[0036] According to some embodiments, the first gripper finger has a third groove on an outer edge of the first gripper finger, the third groove extending perpendicular to a centerline that bisects the space between the first gripper finger and the second gripper finger.

[0037]

[0037] According to some embodiments, the first gripper finger has a third groove extending in a direction parallel to the first groove of the first gripper finger, the second gripper finger has a third groove opposing the third groove of the first gripper finger and extending in a direction parallel to the first groove of the first gripper finger, and the distance between the third groove of the first gripper finger and the third groove of the second gripper finger is greater than the distance between the first groove of the first gripper finger and the first groove of the second gripper finger.

[0038]

[0038] According to some embodiments, the gripper is configured to apply a third compressive force longitudinally to the width edge of the slide in an orientation that rotates the slide 90 degrees about an axis extending parallel to the length of the slide compared to an orientation corresponding to the gripping position of the second groove.

[0039]

[0039] According to some embodiments of the present disclosure, a pathology slide manufacturing system comprises a mechanical arm and a gripper connected to the mechanical arm, a first gripper finger having a first groove and a second groove on an inner edge of the first gripper finger, and a second gripper finger having a first groove and a second groove on an inner edge of the second gripper finger, the first groove of the first gripper finger facing the first groove of the second gripper finger such that at the first grooves the gripper is configured to apply a widthwise compressive force to a length edge of the slide and the second groove of the first gripper finger facing the second groove of the second gripper finger such that at the second grooves the gripper is configured to apply a longitudinal compressive force to a width edge of the slide.

[0040]

[0040] According to some embodiments, the distance between the first groove of the first gripper finger and the first groove of the second gripper finger is smaller than the distance between the second groove of the first gripper finger and the second groove of the second gripper finger.

[0041]

[0041] According to some embodiments, the first groove of the first gripper finger is in a first portion of the first gripper finger extending from the actuator in a direction parallel to a centerline between the first gripper finger and the second gripper finger.

[0042]

[0042] According to some embodiments, the second groove of the first gripper finger is in a second portion of the gripper finger extending from the first portion in a direction that forms an angle greater than 0 degrees and less than 90 degrees with respect to the centerline.

[0043]

[0043] According to some embodiments, the second groove of the first gripper finger is defined by the space between a protrusion extending from the first gripper finger toward a centerline that bisects the space between the first gripper finger and the second gripper finger and the body of the first gripper finger.

[0044]

[0044] According to some embodiments, the first gripper finger and the second gripper finger each have a protrusion at an end of the first gripper finger and the second gripper finger, respectively, extending in a direction parallel to a center line bisecting the first gripper finger and the second gripper finger, the distance between the protrusion of the first gripper finger and the protrusion of the second gripper finger is greater than the distance between the second groove of the first gripper finger and the second groove of the second gripper finger, and the gripper is configured to apply a third compressive force in the longitudinal direction against the width edge of the slide.

[0045]

[0045] According to some embodiments, the first gripper finger has a third groove on an outer edge of the first gripper finger, the third groove extending perpendicular to a centerline that bisects the space between the first gripper finger and the second gripper finger.

[0046]

[0046] According to some embodiments, the first gripper finger has a third groove extending in a direction parallel to the first groove of the first gripper finger, the second gripper finger has a third groove opposing the third groove of the first gripper finger and extending in a direction parallel to the first groove of the first gripper finger, and the distance between the third groove of the first gripper finger and the third groove of the second gripper finger is greater than the distance between the first groove of the first gripper finger and the first groove of the second gripper finger.

[0047]

[0047] According to some embodiments, the gripper is configured to apply a third compressive force longitudinally to the width edge of the slide in an orientation that rotates the slide 90 degrees about an axis extending parallel to the length of the slide compared to an orientation corresponding to the gripping position of the second groove.

[0048]

[0048] According to some embodiments of the present disclosure, in a method of manufacturing a slide in a slide processing system, the slide processing system includes a mechanical arm and a gripper connected to the mechanical arm, a first gripper finger having a first groove and a second groove on an inner edge of the first gripper finger, and a second gripper finger having a first groove and a second groove on an inner edge of the second gripper finger, the first groove of the first gripper finger being configured to fit against the first groove of the second gripper finger at the first grooves such that the gripper applies a first compressive force widthwise to a length edge of the slide. and the second grooves of the first gripper fingers face relative to the second grooves of the second gripper fingers such that the grippers are configured to apply a second compressive force longitudinally to a width edge of the slide, and the method includes gripping the slide in a first orientation using the first grooves of the first gripper fingers and the first grooves of the second gripper fingers, placing the slide in the first orientation on a first component of a slide handling system, gripping the slide in a second orientation using the second grooves of the first gripper fingers and the second grooves of the second gripper fingers, and placing the slide in the second orientation on a second component of the slide handling system.

[0049]

[0049] According to some embodiments, the distance between the first groove of the first gripper finger and the first groove of the second gripper finger is smaller than the distance between the second groove of the first gripper finger and the second groove of the second gripper finger.

[0050]

[0050] According to some embodiments, the first groove of the first gripper finger is in a first portion of the first gripper finger extending from the actuator in a direction parallel to a centerline between the first gripper finger and the second gripper finger.

[0051]

[0051] According to some embodiments, the second groove of the first gripper finger is in a second portion of the gripper finger extending from the first portion in a direction that forms an angle greater than 0 degrees and less than 90 degrees with respect to the centerline.

[0052]

[0052] According to some embodiments, the second groove of the first gripper finger is defined by the space between a protrusion extending from the first gripper finger toward a centerline that bisects the space between the first gripper finger and the second gripper finger and the body of the first gripper finger.

[0053] According to some embodiments, the first gripper finger is provided with a protrusion at an end of the gripper finger that extends in a direction parallel to a center line that bisects the first gripper finger and the second gripper finger.

[0054]

[0054] According to some embodiments, the first gripper finger has a third groove on an outer edge of the first gripper finger, the third groove extending perpendicular to a centerline that bisects the space between the first gripper finger and the second gripper finger.

[0055]

[0055] According to some embodiments, the method further includes aligning the third groove with an edge of the slide and applying a force to the edge of the slide horizontally or vertically relative to the face of the slide.

[0056]

[0056] According to some embodiments, the first gripper finger has a third groove extending in a direction parallel to the first groove of the first gripper finger, the second gripper finger has a third groove opposing the third groove of the first gripper finger and extending in a direction parallel to the first groove of the first gripper finger, and the distance between the third groove of the first gripper finger and the third groove of the second gripper finger is greater than the distance between the first groove of the first gripper finger and the first groove of the second gripper finger.

[0057]

[0057] According to some embodiments, the method further includes applying a third compressive force longitudinally to the width edge of the slide in an orientation in which the slide is rotated 90 degrees about an axis extending parallel to the length of the slide compared to an orientation corresponding to the gripping position of the second groove.

[0058]

[0058] According to some embodiments of the present disclosure, a slide carrier cassette system includes a sloW carrier cassette having a body and a plurality of slots in the body aligned along an alignment direction, each slot having an opening on an upper end side of the body and con?gured to receive a slide, each slot forming an angle With the alignment direction that is greater than 0 degrees and less than 90 degrees.

[0059]

[0059] According to some embodiments, each slot has a first portion having a thickness corresponding to the thickness of the slide and a second portion having a thickness greater than the thickness of the first portion.

[0060] According to some embodiments, the slide carrier cassette system further includes a spring on the exterior of the body configured to engage the cavity of the slide carrier cassette queue to retain the slide carrier cassette within the cavity.

[0061] According to some embodiments, the slide carrier cassette system further includes a storage queue having a plurality of cavities, each cavity configured to receive a slide carrier cassette.

[0062] According to some embodiments, the cavities are arranged in a matrix of rows and columns.

[0063]

[0063] According to some embodiments, the cue has a cylindrical shape and the cavities are arranged about a central axis.

[0064] According to some embodiments, each cavity is rotated clockwise or counterclockwise with respect to the vertical at an angle greater than 0 degrees and less than 90 degrees.

[0065] According to some embodiments, the slide carrier cassette further comprises a tab handle on a top side of the slide carrier cassette adjacent the slot opening.

[0066]

[0066] According to some embodiments of the present disclosure, a pathology slide manufacturing system includes a mechanical arm, a gripper connected to the mechanical arm, and a slide carrier cassette system within proximal range of reach of the gripper, the slide carrier cassette system comprising a slide carrier cassette having a body and a plurality of slots in the body aligned along an alignment direction, each slot having an opening on an upper end side of the body and configured to receive a slide, each slot forming an angle with respect to the alignment direction greater than 0 degrees and less than 90 degrees.

[0067]

[0067] According to some embodiments, each slot has a first portion having a thickness corresponding to the thickness of the slide and a second portion having a thickness greater than the thickness of the first portion.

[0068]

[0068] According to some embodiments, the pathology slide manufacturing system further includes a spring on the exterior of the body configured to engage the cavity of the slide carrier cassette queue to retain the slide carrier cassette within the cavity.

[0069]

[0069] According to some embodiments, the pathology slide manufacturing system further includes a storage queue having a plurality of cavities, each cavity shaped to be configured to receive a slide carrier cassette.

[0070] According to some embodiments, the cavities are arranged in a matrix of rows and columns.

[0071]

[0071] According to some embodiments, the cue has a cylindrical shape and the cavities are arranged about a central axis.

[0072] According to some embodiments, each cavity is rotated clockwise or counterclockwise with respect to the vertical at an angle greater than 0 degrees and less than 90 degrees.

[0073] According to some embodiments, the slide carrier cassette further comprises a tab handle on a top side of the slide carrier cassette adjacent the slot opening.

[0074]

[0074] According to some embodiments of the present disclosure, in a method of manufacturing pathology slides in a slide processing system, the slide processing system includes a mechanical arm, a gripper connected to the mechanical arm, and a slide carrier cassette within a proximal range of reach of the gripper, the method includes gripping a slide with the gripper, inserting the slide into a slot of the slide carrier cassette with the gripper, placing the slide carrier cassette in a queue having a cavity corresponding to a shape of the slide carrier cassette with the gripper, removing the slide from the slide carrier cassette with the gripper, and placing the slide into a component of the slide processing system using the gripper so that a slide manufacturing operation can be performed on the slide.

[0075]

[0075] According to some embodiments, the slide carrier cassette comprises a body and a plurality of slots in the body aligned along an alignment direction, each slot having an opening on an upper end side of the body and configured to receive a slide, each slot forming an angle with respect to the alignment direction that is greater than 0 degrees and less than 90 degrees.

[0076]

[0076] According to some embodiments, each slot has a first portion having a thickness corresponding to the thickness of the slide and a second portion having a thickness greater than the thickness of the first portion.

[0077]

[0077] According to some embodiments, the slide carrier cassette further includes a spring exterior to the body and configured to engage a cavity in the slide carrier cassette queue to retain the slide carrier cassette within the cavity.

[0078] According to some embodiments, the cavities are arranged in a matrix of rows and columns.

[0079]

[0079] According to some embodiments, the cue has a cylindrical shape and the cavities are arranged about a central axis.

[0080] According to some embodiments, each cavity is rotated clockwise or counterclockwise with respect to the vertical at an angle greater than 0 degrees and less than 90 degrees.

[0081] According to some embodiments, the slide carrier cassette further includes a tab handle on a top side of the slide carrier cassette adjacent the slot opening.

[0082]

[0082] According to some embodiments of the present disclosure, a slide processing system includes a mechanical arm, a slide portal having a plurality of portal slots, a processor in communication with the mechanical arm and the slide portal, and a memory in communication with the processor for storing instructions that, when executed by the processor, cause the processor to receive slide information, identify a portal slot from the plurality of portal slots for receiving a slide corresponding to the slide information, send a signal to the mechanical arm to insert a carriage having an internal cavity corresponding to the slide information into the portal slot, send a signal to the mechanical arm to retrieve the carriage from the portal slot, and send a signal to the mechanical arm to remove the slide from the carriage and store the slide in a storage location.

[0083]

[0083] According to some embodiments, the slide information includes information indicating whether the slide is located in a slide tray or a slide rack, and information indicating the form factor of the slide tray or slide rack.

[0084]

[0084] According to some embodiments, the instructions further cause the processor to send a signal indicating that a slide tray or slide rack is inserted into the carriage before sending a signal to the mechanical arm to retrieve the carriage from the portal slot.

[0085]

[0085] According to some embodiments, the instructions further cause the processor to send a signal to the mechanical arm to transfer the slides to a slide carrier cassette and to transfer the slide carrier cassette to a slide carrier queue for storage.

[0086]

[0086] According to some embodiments, the instructions further cause the processor to send a signal to the mechanical arm to return the carriage to the portal slot after all of the slides have been removed.

[0087]

[0087] According to some embodiments, the slide processing system further comprises a user interface comprising a display panel, and the instructions further cause the processor to receive the slide information as user input at the user interface.

[0088]

[0088] According to some embodiments, the slide processing system further includes a slide position sensor, and the instructions further cause the processor to send a signal to the slide position sensor to detect the slide position of the slide before removing the slide from the carriage.

[0089]

[0089] According to some embodiments, the instructions further cause the processor to send a signal to the slide position sensor to initiate slide position detection, send a signal to the slide position sensor to capture one or more images, identify a position of a slide among the plurality of slides based on the one or more images, and send a signal to the mechanical arm to remove the slide after the slide is located.

[0090]

[0090] According to some embodiments of the present disclosure, in a method for processing a slide, the method includes receiving, by a processor, slide information; identifying, by the processor, a portal slot from among a plurality of portal slots for receiving a slide corresponding to the slide information; sending, by the processor, a signal to the mechanical arm to insert a carriage into the portal slot, the carriage having an internal cavity corresponding to the slide information; sending, by the processor, a signal to the mechanical arm to retrieve the carriage from the portal slot; and sending, by the processor, a signal to the mechanical arm to remove the slide from the carriage and store the slide in a storage location.

[0091]

[0091] According to some embodiments, the slide information includes information indicating whether the slide is located in a slide tray or a slide rack, and information indicating the form factor of the slide tray or slide rack.

[0092]

[0092] According to some embodiments, the method further includes the processor sending a signal indicating that a slide tray or slide rack is inserted into the carriage before sending a signal to the mechanical arm to retrieve the carriage from the portal slot.

[0093]

[0093] According to some embodiments, the method further includes sending, by the processor, a signal to the mechanical arm to transfer the slides to the slide carrier cassette and to transfer the slide carrier cassette to a slide carrier queue for storage.

[0094]

[0094] According to some embodiments, the method further includes sending, by the processor, a signal to the mechanical arm to return the carriage to the portal slot after all of the slides have been removed.

[0095]

[0095] According to some embodiments, the method further includes receiving, by the processor, the slide information as user input at a user interface, the user interface comprising a display panel.

[0096]

[0096] According to some embodiments, the method further includes transmitting, by the processor, a signal to a slide position sensor for detecting a slide position of the slide before removing the slide from the carriage.

[0097]

[0097] According to some embodiments, the method further includes the processor sending a signal to the slide position sensor to initiate slide position detection; the processor sending a signal to the slide position sensor to capture one or more images; the processor determining a position of a slide among the plurality of slides based on the one or more images; and the processor sending a signal to the mechanical arm to remove the slide after the slide's position is determined.

[0098]

[0098] According to some embodiments of the present disclosure, a slide processing system includes a mechanical arm, a slide portal having a plurality of portal slots, a processor in communication with the mechanical arm and the slide portal, and a memory in communication with the processor for storing instructions that, when executed by the processor, cause the processor to receive slide information, identify a portal slot from among the plurality of portal slots for depositing a slide corresponding to the slide information, send a signal to the mechanical arm to retrieve the slide corresponding to the slide information, send a signal to the mechanical arm to insert the slide corresponding to the slide information into a tray or rack, and send a signal to the mechanical arm to transport the tray or rack having the slides to the portal slot.

[0099]

[0099] According to some embodiments, the instructions further cause the processor to send a signal to a user interface to display a prompt encouraging the user to insert a tray or rack corresponding to the slide information into the portal slot, the user interface comprising a display panel for displaying the prompt.

[0100]

[0100] According to some embodiments, the instructions further cause the processor to send a signal to the mechanical arm to remove the tray or rack from the portal slot and transfer the tray or rack to the nest.

[0101]

[0101] According to some embodiments, the instructions further cause the processor to send a signal to the mechanical arm to insert a slide corresponding to the slide information into a tray or rack within the nest.

[0102]

[0102] According to some embodiments, the instructions further cause the processor to identify a slide in the slide archiving system that corresponds to the slide information.

[0103]

[0103] According to some embodiments, the slide processing system further includes a user interface comprising a display panel, and the instructions further cause the processor to receive the slide information as user input at the user interface.

[0104]

[0104] According to some embodiments of the present disclosure, in a method of processing slides, the method includes receiving, by a processor, slide information; identifying, by the processor, a portal slot from among a plurality of portal slots for depositing a slide corresponding to the slide information; sending, by the processor, a signal to the mechanical arm to retrieve the slide corresponding to the slide information; sending, by the processor, a signal to the mechanical arm to insert the slide corresponding to the slide information into a tray or rack; and sending, by the processor, a signal to the mechanical arm to transport the tray or rack having the slide to the portal slot.

[0105]

[0105] According to some embodiments, the method further includes the processor sending a signal to a user interface for displaying a prompt to insert a tray or rack corresponding to the slide information into the portal slot, the user interface having a display panel for displaying the prompt.

[0106]

[0106] According to some embodiments, the method further includes sending, by the processor, a signal to the mechanical arm to remove the tray or rack from the portal slot and transfer the tray or rack to the nest.

[0107]

[0107] According to some embodiments, the method further includes sending, by the processor, a signal to a mechanical arm to insert a slide corresponding to the slide information into a tray or rack within the nest.

[0108]

[0108] According to some embodiments, the method further includes identifying, by the processor, a slide in the slide archiving system that corresponds to the slide information.

[0109]

[0109] According to some embodiments, the method further includes receiving, by the processor, the slide information as user input at the user interface.

[0110]

[0110] According to some embodiments of the present disclosure, a gripper includes an actuator, a first gripper finger coupled to the actuator, the first gripper finger having a first groove on an inner edge of a body of the first gripper finger and a first protrusion extending from the body of the first gripper finger with a second groove between the first protrusion and the body of the first gripper finger, and a second gripper finger coupled to the actuator, the second gripper finger having a second groove on an inner edge of a body of the second gripper finger and a first protrusion extending from the body of the first gripper finger with a second groove between the first protrusion and the body of the first gripper finger. and a second gripper finger having a second protrusion extending from the body of the second gripper finger and a second groove between the body of the second gripper finger and the second protrusion, wherein the first gripper finger and the second gripper finger are configured to apply a first compressive force in the width direction against the length edge of the slide at the first groove in a first gripping mode, and the first gripper finger and the second gripper finger are configured to apply a second compressive force in the longitudinal direction against the width edge of the slide at the second groove in a second gripping mode.

[0111]

[0111] According to some embodiments, the first gripper finger and the second gripper finger are equidistant from a centerline between the first gripper finger and the second gripper finger and are configured to move toward and away from the centerline in coordination with each other.

[0112]

[0112] According to some embodiments, the distance between the first groove of the first gripper finger and the second gripper finger is smaller than the distance between the second groove of the first gripper finger and the second gripper finger.

[0113]

[0113] According to some embodiments, the gripper further includes a gripper bracket coupled between the actuator and the first gripper finger, the first gripper finger being configured to be connected and disconnected from the bracket.

[0114]

[0114] According to some embodiments of the present disclosure, a slide handling system includes a slide carriage having a first channel on a first side of the slide carriage and a second channel on the slide carriage, an actuator, a first gripper rod coupled to the actuator, and a second gripper rod coupled to the actuator, the first gripper rod and the second gripper rod configured to fit within the first channel and the second channel, respectively.

[0115]

[0115] According to some embodiments, the first gripper rod comprises multiple segments separated by flared portions.

[0116]

[0116] According to some embodiments, the flared portion includes an O-ring.

[0117]

[0117] According to some embodiments, the slide handling system further includes a bracket coupled between the actuator and the first gripper rod.

[0118]

[0118] According to some embodiments, the slide carriage is a tray carriage.

[0119]

[0119] According to some embodiments, the slide carriage is a rack carriage.

[0120]

[0120] According to some embodiments, the slide carriage comprises a plurality of slide carriages, a first of the slide carriages having an internal cavity with a first internal form factor corresponding to a first type of slide tray, and a second of the slide carriages having an internal cavity with a second internal form factor corresponding to a second type of slide tray, the first internal form factor being different from the second internal form factor, and the first slide carriage and the second slide carriage having the same external form factor.

[0121]

[0121] According to some embodiments, the slide carriage comprises a plurality of slide carriages, a first slide carriage among the slide carriages has an internal cavity with a first internal form factor corresponding to a first type of slide rack, and a second slide carriage among the slide carriages has an internal cavity with a second internal form factor corresponding to a second type of slide rack, the first internal form factor being different from the second internal form factor, and the first slide carriage and the second slide carriage having the same external form factor.

[0122]

[0122] Non-limiting and non-exhaustive embodiments of the present disclosure are described in connection with the accompanying drawings, in which like reference numerals refer to like parts throughout the various views unless otherwise specified. [Brief description of the drawings]

[0123] [Figure 1]

[0123] FIG. 1 is a flow diagram illustrating various steps that may occur in a pathological situation or environment, according to some embodiments. [Figure 2A]

[0124] 1 illustrates a slide processing or manufacturing environment according to some embodiments. [Figure 2B]

[0125] 1 illustrates an example of a slide after manufacture, according to some embodiments. [Figure 3A]

[0126] FIG. 13 is a right front perspective view of a slide carrier according to some embodiments. [Figure 3B]

[0127] FIG. 2 is a front view of a slide carrier according to some embodiments. [Figure 3C]

[0128] FIG. 13 is a right side view of a slide carrier according to some embodiments. [Figure 3D]

[0129] FIG. 2 is a left side view of a slide carrier according to some embodiments. [Figure 3E]

[0130] FIG. 2 is a left front perspective view of a slide carrier according to some embodiments. [Figure 3F]

[0131] FIG. 13 is a right rear perspective view of a slide carrier according to some embodiments. [Figure 3G]

[0132] FIG. 2 is a rear view of a slide carrier according to some embodiments. [Figure 3H]

[0133] FIG. 2 is a top view of a slide carrier according to some embodiments. [Figure 3I]

[0134] FIG. 2 is a bottom view of a slide carrier according to some embodiments. [Figure 3J]

[0135] FIG. 1 is a flow diagram illustrating a method for producing pathology slides in a slide processing system according to some embodiments. [Figure 4A]

[0136] 1 illustrates a gripper holding a slide in a first gripping mode according to some embodiments. [Figure 4B]

[0137] 1 illustrates a gripper holding a slide in a second gripping mode according to some embodiments. [Figure 4C]

[0138] 13 illustrates a gripper holding a slide in a third gripping mode according to some embodiments. [Figure 4D]

[0139] 13 illustrates a gripper holding a slide in a fourth gripping mode according to some embodiments. [Figure 4E]

[0140] 13 illustrates a gripper that uses external grooves to manipulate a slide, according to some embodiments. [Figure 4F]

[0141] FIG. 13 is a top front perspective view of gripper fingers according to some embodiments. [Figure 4G]

[0142] FIG. 13 is a top rear perspective view of gripper fingers according to some embodiments. [Figure 4H]

[0143] FIG. 13 is a bottom view of a gripper finger according to some embodiments. [Figure 4I]

[0144] FIG. 4C is a magnified view of portion A of FIG. 4H according to some embodiments. [Figure 4J]

[0145] FIG. 4C is an enlarged view of portion B of FIG. 4H according to some embodiments. [Figure 4K]

[0146] FIG. 13 is a left side view of a gripper finger according to some embodiments. [Figure 4L]

[0147] FIG. 4C is an enlarged view of portion C of FIG. 4K according to some embodiments. [Figure 4M]

[0148] FIG. 1 is a flow diagram illustrating a method for manufacturing slides in a slide processing system, according to some embodiments. [Figure 5A]

[0149] FIG. 2 is a front perspective view of a slide carrier cassette according to some embodiments. [Figure 5B]

[0150] FIG. 2 is a rear perspective view of a slide carrier cassette according to some embodiments. [Figure 5C]

[0151] FIG. 2 is a front view of a slide carrier cassette according to some embodiments. [Figure 5D]

[0152] FIG. 5D is a cross-sectional view taken along line AA of FIG. 5C according to some embodiments. [Figure 5E]

[0153] FIG. 5B is an enlarged view of portion B of FIG. 5D according to some embodiments. [Figure 5F]

[0154] 1 illustrates an example of a queue or storage rack for multiple slide carrier cassettes according to some embodiments. [Figure 5G]

[0155] 1 illustrates an example of a queue or storage rack having a cylindrical shape according to some embodiments. [Figure 5H]

[0156] 1 illustrates an example of a queue or storage rack in a stacked configuration according to some embodiments. [Figure 5I]

[0157] 1 illustrates an example of a slide processing environment according to some embodiments. [Figure 5J]

[0158] FIG. 1 is a flow diagram illustrating a method for manufacturing slides in a slide processing system, according to some embodiments. [Figure 6A]

[0159] 1 illustrates aspects of an exemplary automated histology archiving system and environment, according to some embodiments. [Figure 6B]

[0160] 1 illustrates an exemplary automated histology archiving system according to some embodiments. [Figure 6C]

[0161] 1 illustrates further details of an exemplary automated histology archiving system, according to some embodiments. [Figure 6D]

[0162] 1 illustrates an exemplary top view of an automated histological archiving system according to some embodiments. [Figure 7A]

[0163] 1 illustrates an example of various slide racks according to some embodiments. [Figure 7B]

[0164] 1 illustrates an example of various slide trays according to some embodiments. [Figure 7C]

[0165] 1 illustrates an example of an input or output portal according to some embodiments. [Figure 7D]

[0166] 1 illustrates further details of an exemplary tray portal according to some embodiments. [Figure 7E]

[0167] 1 illustrates further details of the internal components of a tray portal according to some embodiments. [Figure 7F]

[0168] 1 illustrates further details of an example tray carriage according to some embodiments. [Figure 7G]

[0169] 1 illustrates a bottom view of a portion of a portal slot of a tray portal according to some embodiments. [Figure 7H]

[0170] 1 illustrates a close-up view of an exemplary tray carriage rail according to some embodiments. [Figure 7I]

[0171] 1 illustrates a close-up view of a portion of the internal structure of the tray portal slot when the carrier tray is in an extended or extended position, according to some embodiments. [Figure 7J]

[0172] 1 illustrates a close-up view of a portion of the internal structure of the portal slot when the carrier tray is in a retracted or pushed-in position according to some embodiments. [Figure 7K]

[0173] 1 illustrates further details of the internal components of a rack portal according to some embodiments. [Figure 7L]

[0174] 1 illustrates further details of an example rack carriage according to some embodiments. [Figure 7M]

[0175] 1 illustrates an exemplary rack carriage nest according to some embodiments. [Figure 7N]

[0176] 1 illustrates an exemplary tray carriage nest according to some embodiments. [Figure 7O]

[0177] 1 illustrates a side view of an exemplary rack nest according to some embodiments. [Figure 7P]

[0178] 1 illustrates a perspective view of an exemplary rack nest according to some embodiments. [Figure 8A]

[0179] 1 illustrates an exemplary slide position detection system according to some embodiments. [Figure 8B]

[0180] 1 illustrates an image of an exemplary first slide position in a slide position detection system according to some embodiments. [Figure 8C]

[0181] 1 illustrates an exemplary image of a second slide position in a slide position detection system according to some embodiments. [Figure 8D]

[0182] 1 illustrates an exemplary method for determining one or more slide positions according to some embodiments. [Figure 8E]

[0183] 1 illustrates an exemplary method for determining one or more slide positions according to some embodiments. [Figure 9A]

[0184] 1 illustrates an example of a gripper holding a slide in a first gripping mode according to some embodiments. [Figure 9B]

[0185] 1 illustrates an example of a gripper holding a slide in a second gripping mode according to some embodiments. [Figure 9C]

[0186] 1 illustrates further details of an exemplary gripper, according to some embodiments. [Figure 9D]

[0187] 13 illustrates further details of the inner edges of the gripper fingers according to some embodiments. [Figure 9E]

[0188] 13 illustrates further details of the gripper fingers according to some embodiments. [Figure 10A]

[0189] 1 illustrates an example of a gripper according to some embodiments. [Figure 10B]

[0190] 1 illustrates an exemplary gripper finger rod according to some embodiments. [Figure 10C]

[0191] 1 illustrates an example of a gripping channel of a rack carriage according to some embodiments. [Figure 10D]

[0192] 1 illustrates an example of a gripping channel of a tray carriage according to some embodiments. [Figure 10E]

[0193] 1 illustrates an example of a gripper that holds a rack carriage according to some embodiments. [Figure 10F]

[0194] 1 illustrates an example of a gripper for holding a tray carriage according to some embodiments. [Figure 11A]

[0195] 1 illustrates an example of a gripper according to some embodiments. [Figure 11B]

[0196] 1 illustrates a rear view of a gripper according to some embodiments. [Figure 12A]

[0197] 1 illustrates an exemplary process for an automated histology archive system to receive slides from a user or technician, according to some embodiments. [Figure 12B]

[0198] 1 illustrates an exemplary process by which an automated histology archive system retrieves slides from an archive device and transports them to a user or technician, according to some embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0124] Detailed Description

[0199] Aspects of some exemplary embodiments will now be described in more detail with reference to the accompanying drawings, in which like reference numbers refer to like elements throughout. However, the present invention may be embodied in various different forms and should not be construed as being limited to only the embodiments illustrated herein. Rather, these embodiments are provided as examples so that this disclosure will be thorough and complete and will fully convey the aspects and features of the present invention to those skilled in the art. Thus, processes, elements, and techniques that are not necessary for those skilled in the art to fully understand the aspects and features of the present invention may not be described. Unless otherwise stated, like reference numbers refer to like elements throughout the accompanying drawings and specification, and therefore the description will not be repeated. In the drawings, the relative sizes of elements, layers, and regions may be exaggerated for clarity.

[0125]

[0200] Terms such as "first", "second", "third", etc. may be used herein to describe various elements, components, regions, layers and / or portions, but it can be understood that these elements, components, regions, layers and / or portions should not be limited by these terms. These terms are used to distinguish one element, component, region, layer or portion from another element, component, region, layer or portion. Thus, a first element, component, region, layer or portion described below may be referred to as a second element, component, region, layer or portion without departing from the spirit and scope of the present invention.

[0126]

[0201] Spatially relative terms such as "beneath," "below," "lower," "under," "above," "upper," and the like may be used herein for ease of description to describe the relationship of one element or feature to other elements or features as depicted in the figures. It may be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in a figure is turned over, an element described as "below" or "beneath" or "under" the other element or feature would be oriented "above" the other element or feature. Thus, example terms "below" and "under" may encompass both an orientation above and below. The device may be otherwise oriented (e.g., rotated 90 degrees or to other orientations) and the spatially relative descriptors used herein should be interpreted accordingly.

[0127]

[0202] When an element or layer is referred to as being "on," "connected to," or "bonded to" another element or layer, it will be understood that the element or layer can be directly on the other element or layer, directly connected to the other element or layer, or directly bonded to the other element or layer, or that one or more intervening elements or layers can be present. Additionally, when an element or layer is referred to as being between two elements or layers, it will be understood that the element or layer can be the only element or layer between the two elements or layers, or that one or more intervening elements or layers can also be present.

[0128]

[0203] The terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the invention. As used herein, the singular forms "a" and "an" are intended to include the plural unless the context clearly indicates otherwise. It can be further understood that the terms "comprises," "comprising," "includes," and "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The term "and / or," as used herein, includes any and all combinations of one or more of the associated listed items. A phrase such as "at least one of," when preceding a list of elements, modifies the entire list of elements and does not modify the individual elements of the list.

[0129]

[0204] As used herein, the terms "substantially," "about," and similar terms are used as terms of approximation, not as terms of degree, and are intended to account for inherent variations in measurements or calculations that are recognized by those of ordinary skill in the art. Furthermore, the use of "may" in describing embodiments of the present invention refers to "one or more embodiments of the present invention." As used herein, the terms "use," "using," and "used" may be considered synonymous with the terms "utilize," "utilizing," and "utilized," respectively. Additionally, the term "exemplary" is intended to refer to an example or illustration.

[0130]

[0205] Pathology is a branch of medicine that attempts to facilitate the diagnosis and treatment of disease by studying tissue, cell, and bodily fluid samples from patients. In many applications, tissue samples may be collected from a patient and processed into a form that can be analyzed by a physician (e.g., a pathologist), often under magnification, to diagnose and characterize the relevant medical condition based on the tissue sample.

[0131]

[0206] 1 is a flow diagram illustrating various steps that may occur in a pathology environment or system 100. For example, if a treating physician or health care provider identifies a patient for whom analysis of a tissue or fluid sample may be beneficial in diagnosing or treating a medical condition, a tissue or fluid sample may be collected at step 102. Patient identification information may be collected and matched to the patient's sample, and the sample may be placed in a sterile container and / or collection medium for further processing.

[0132]

[0207] The sample may then be transported to a pathology additional laboratory in step 104, where it may be received, sorted, organized, and labeled along with other samples from other patients for further processing.

[0133]

[0208] In step 106, the samples may be further processed as part of a grossing process. For example, individual tissue samples or specimens may be sliced ​​into smaller sections for embedding and subsequent sectioning for assembly onto slides.

[0134]

[0209] The sample or specimen may then be mounted or deposited onto one or more glass slides in step 108. Preparation of the slides may involve applying one or more reagents or stains to the sample, for example, to improve the visibility of, or contrast between, different portions of the sample.

[0135]

[0210] In some instances, several slides may be assembled or collected in a case or bi-fold, either during the reagent or staining process or after the process is completed, step 110. The case may be carefully labeled, for example, with the individual patient's identifying information.

[0136]

[0211] Between steps 102 and 110, in step 112, the sample, specimen, or slide may be transported within or between medical facilities (e.g., between a doctor's office and a laboratory) or may be stored between processing steps.

[0137]

[0212] Once sample and slide processing is complete and the sample is ready for review by a pathologist, the slide and / or a case holding a number of slides corresponding to a patient may be transported back to the pathologist in step 112. In step 114, the pathologist may review the slides under magnification, for example, using a microscope. Each slide may be placed under the objective lens of the microscope, and the microscope and slides may be manipulated and adjusted as the pathologist reviews the tissue or fluid.

[0138]

[0213] Once the pathologist's case has been completed reviewing the slides, the pathologist may attempt to make a medical finding or diagnosis in step 116. Alternatively, the sample or slide may be transported again to a longer term storage facility in step 112. In some cases, the sample or slide may be transported again to another physician before or after a period of storage for further analysis, second opinions, etc.

[0139]

[0214] Thus, as can be seen based on the pathology process flow above, the pathology system 100 involves a wide variety of processing steps. At each step, there is an opportunity for the tissue sample to be damaged or contaminated, or for information to be lost. Furthermore, processing of individual slides can be very time consuming and complicated, and it can be difficult for laboratories to manage the processing of large numbers of patient samples simultaneously. There is also a time constraint in many cases, as earlier diagnosis of disease may result in better patient outcomes, but each step in the pathology system 100 presents an opportunity for delays.

[0140]

[0215] Thus, embodiments of the present disclosure may improve the efficiency and productivity of the pathology system 100.

[0141]

[0216] Figure 2A illustrates a slide processing or manufacturing system 200. According to some embodiments, the slide processing system 200 may be present as part of the pathology system 100 shown in Figure 1 (e.g., as part of steps 108 and 110).

[0142]

[0217] As shown in FIG. 2A, the slide processing system 200 may include one or more mechanical arms 202. The mechanical arms 202 may be utilized to transfer slides 204 having samples 206 deposited thereon from a slide carrier 208 to one or more slide processing stations 210a-210e. Although FIG. 2A illustrates that the slide processing system 200 includes five slide processing stations 210a-210e, embodiments of the present disclosure are not so limited and the slide processing environment may include fewer or additional slide processing stations without departing from the spirit and scope of embodiments of the present disclosure. Each of the slide processing stations 210a-210e may be a mechanical device configured to perform one or more specific processing steps during the process of manufacturing a slide. For example, the slide processing stations 210a-210e may be configured to apply different specific reagents or stains to the samples 206.

[0143]

[0218] In some embodiments, slide carrier 208 may act as a temporary platform or storage area between processing steps and / or between transfers from one of slide processing stations 210a-210e to another of slide processing stations 210a-210e, and may be configured to accept one or more slides at a time.

[0144]

[0219] Additionally, a variety of other slide carriers 214a-b may be utilized in one or more processing steps. Although two slide carriers 214a-b are shown in FIG. 2A for illustrative purposes, embodiments of the present disclosure are not so limited, and the number and type of slide carriers utilized in any given manufacturing process may vary according to various embodiments depending on the slide processing stations 210a-e and the particular processing steps involved. For example, in some cases, the different slide processing stations 210a-210e may be designed to accommodate slide carriers with particular shapes or designs that are a function of the processing steps to be performed, the size and shape of the slide processing stations, and the chemicals or treatments to be applied to the slides.

[0145]

[0220] As mentioned above, between each processing step, the mechanical arm 202 may be configured to transfer the slide 204 between different components within the slide processing system 200. For example, the mechanical arm 202 may be configured to pick up the slide 204 from the slide carrier 208 by using the gripper 216 and transfer the slide 204 directly to one of the slide processing stations 210a-210e to be inserted therein. The corresponding slide processing station 210a-210e may then perform a processing step on the slide 204 (e.g., by applying a reagent or stain to the sample 206). After the processing step is completed, the mechanical arm 202 may remove the slide 204 from the slide processing station 210a-210e and transfer the slide back to the slide carrier 208, or may transfer the slide 204 to another one of the slide processing stations 210a-210e or one of the slide carriers 214a-214b. In this manner, the slide manufacturing process can continue with the mechanical arm 202 transporting the slide 204 between different components or stations within the slide processing system 200 until all of the manufacturing steps are completed and the slide is ready to be stored or transported from the slide processing system 200 for subsequent pathology steps.

[0146]

[0221] To physically pick up, handle, and / or manipulate the slide 204 during various transfer operations, the mechanical arm 202 may include one or more grippers 216. Although Figure 2A illustrates two opposing gripper fingers 216a and 216b (which may be collectively referred to herein as grippers 216), embodiments in accordance with the present invention are not so limited and some embodiments may include a variety of gripper configurations or forms. Further details of an exemplary structure of the gripper 216 according to some embodiments are described in more detail below.

[0147]

[0222] According to some embodiments, the mechanical arm 202 may be in electronic communication with a controller system 220 configured to control the movement and operation of the mechanical arm 202 and the gripper 216 to move the slide 204 between different positions and components within the slide processing system 200.

[0148]

[0223] The controller system 220 may include a processor 222 and a memory 224 that stores instructions that, when executed by the processor 222, cause the processor 222 to send and receive electronic (e.g., data) signals to and from the mechanical arm 202 and gripper 216 for controlling the movement and operation of the mechanical arm 202 (e.g., one or more actuators and motors of the mechanical arm 202) and gripper 216 (e.g., one or more gripper fingers of the gripper 216). The instructions stored in the memory 224 may include, for example, instructions corresponding to one or more slide processing steps described herein, including, for example, placing slides in a slide carrier or processing machine or station to produce pathology slides, adjusting gripping orientations of the grippers, and any other operations associated with manipulating and handling slides as part of the slide processing system 200, as described in more detail below.

[0149]

[0224] FIG. 2B illustrates an example of a manufactured slide according to some embodiments. In some embodiments, the slide 204 includes a substrate 230, which may be formed from any suitable transparent material, such as glass. A sample or specimen (e.g., tissue slice, bodily fluid, cavity swap, etc.) 206 may be deposited on the front side of the slide 204 opposite the rear side of the slide 204. After the sample 206 is deposited on the front side of the slide 204, the sample may be treated by various manufacturing processes or steps, for example, by applying one or more reagents and / or stains to the sample 206. A slip 232 may be placed over the sample 206 to protect the integrity of the sample 206, prevent or reduce physical impact or contact with the sample 206, and prevent or reduce contamination by foreign objects. In the following, a slide having a tissue sample or specimen with a slip covering the sample may be referred to as a "cover slipped" slide.

[0150]

[0225] Additionally, a label 234 may be affixed to the front of the slide adjacent to the sample and the slip. The label 234 may include a variety of information, including a unique identification for the slide to allow identification of the contents of the sample, patient, etc. For example, the label 234 may include a bar code or other alphanumeric characters that serve as an identification indicia for the slide.

[0151]

[0226] The slip 232 may be relatively thin compared to the thickness of the substrate 230. The substrate 230 may have a relatively thin thickness compared to the length and width of the substrate 230. As used herein, the width of a slide refers to the shorter distance across the front of the slide, and the length of a slide refers to the longer distance across the front of the slide. A width edge or narrow edge of a slide refers to the edge or side of a slide along the width that does not include the front or back. A length edge or long edge of a slide refers to the edge or side of a slide along the length that does not include the front or back. A top edge of a slide refers to the edge corresponding to the label 234, and a bottom edge refers to the edge opposite the top edge.

[0152]

[0227] 3A-3J illustrate an exemplary slide carrier 300 according to some embodiments of the present disclosure. Slide carrier 300 may be utilized, for example, as slide carrier 208 (or may be the same as slide carrier 208) shown in FIG. According to some embodiments, slide carrier 300 may be utilized as a temporary or intermediate slide carrier upon which a slide (e.g., slide 204) may be temporarily placed within a slide processing environment (e.g., slide processing system 200), for example, between steps in a slide manufacturing process.

[0153]

[0228] Slide carrier 300 may be formed from any suitable material that is rigid enough to support glass slide 204 without substantial friction between the glass and the material of slide carrier 300. For example, in some embodiments, slide carrier 300 may be formed from a plastic or polymeric material, although embodiments of the present disclosure are not limited in this respect.

[0154]

[0229] According to some embodiments, as shown in FIG. 3A, slide carrier 300 may be mounted on a surface or plane 302. Surface 302 may be, for example, a workbench or table configured to hold one or more slide carriers 300 during the manufacturing process of one or more slides. In some embodiments, surface 302 may be a flat surface parallel to a plane defined by an x-direction vector and a y-direction vector (i.e., an xy-plane). The plane defined by the x-direction vector and the y-direction vector may be perpendicular to the direction of gravity. In other words, a z-direction vector that is perpendicular or orthogonal to surface 302 and / or the plane defined by the x-direction vector and the y-direction vector may extend in a direction opposite to gravity.

[0155]

[0230] As shown in FIG. 3A, according to some embodiments, the slide carrier may have one or more base supports 304 configured to be mechanically connected and secured to the surface 302. Although FIG. 3A shows two base supports 304a and 304b, embodiments of the present disclosure are not so limited, and in some embodiments, the slide carrier 300 may include a single base support 304 or may include three or more base supports without departing from the spirit and scope of the embodiments of the present disclosure. Furthermore, in some embodiments, the bottom of each base support 304 may be flush with the bottom of each of the other base supports 304, but embodiments of the present disclosure are not so limited. For example, in some embodiments, the height of the bottom of one base support 304 (e.g., measured from ground level or the xy plane) may be higher or lower than the height of the other base support 304.

[0156]

[0231] In addition to providing a mechanical structure for securing slide carrier 300 to surface 302, base support 304 provides a platform or structure for supporting one or more posts or vertical supports 306 that provide vertical support in the z-direction for a slide platform 308 configured to receive a slide (e.g., slide 204). According to some embodiments, slide platform 308 may be a flat surface parallel to the xy plane and / or a plane that is rotated along both the x and y directions relative to surface 302.

[0157]

[0232] Further details of the relative orientation of the plane of the slide platform 308 are described in relation to Figures 3B and 3C. Figure 3B shows a front view (as viewed from the y direction of Figure 3A) of the slide carrier 300 according to some embodiments. As shown in Figure 3B, the plane of the slide platform 308 may be rotated about an axis parallel to the y direction. For example, the plane of the slide platform 308 may be parallel to a plane defined by a vector or direction X' and a vector or direction Y' (the X'-Y' plane). The X' direction may be at an angle with respect to an axis parallel to the x direction such that the plane of the slide platform 308 is rotated about an axis parallel to the y direction by an angle θ with respect to the x direction. According to some embodiments, the angle θ may be greater than 0 degrees and less than 90 degrees, although the angle θ may be different in different embodiments. According to some embodiments, the angle θ is greater than a first predetermined minimum angle and less than a first predetermined maximum angle. In some embodiments, the first predetermined minimum angle may be an angle that a value equal to or greater than the first predetermined minimum angle will cause a slide (e.g., slide 204) to move in the x-direction (and X'-direction) taking into account gravity and frictional forces when the slide is placed on slide platform 308. The first predetermined maximum angle may be an angle equal to or less than the predetermined maximum angle, where the slide (e.g., slide 204) will not have stability issues or be in danger of falling off slide platform 308.

[0158]

[0233] FIG. 3C illustrates a right side view (as viewed from the opposite direction to the x direction of FIG. 3A ) of slide carrier 300 according to some embodiments. As illustrated in FIG. 3C , the flat X′-Y′ plane of slide platform 308 may be rotated about an axis parallel to the x direction. For example, the Y′ direction may be at an angle with respect to an axis parallel to the y direction such that the X′-Y′ plane of slide platform 308 is rotated about an axis parallel to the x direction by an angle α with respect to the y direction. According to some embodiments, the angle α may be greater than 0 degrees and less than 90 degrees, although in different embodiments the angle α may be different. According to some embodiments, the angle α may be greater than a second predetermined minimum angle and less than a second predetermined maximum angle. In some embodiments, the second predetermined minimum angle may be an angle that causes a slide (e.g., slide 204) to move in a direction opposite to the y direction (and opposite to the Y′ direction) taking into account gravity and frictional forces when the slide is placed on slide platform 308. The second predetermined maximum angle may be a value equal to or less than the second predetermined maximum angle, an angle at which a slide (eg, slide 204) does not have stability issues or risk falling off slide platform 308.

[0159]

[0234] 3B and 3C, the slide platform 308 may include an elongated support 310 extending or elongated in the Y' direction and one or more cross member supports 312 extending between the supports 310 in the X' direction. According to some embodiments, the top end surfaces of the supports 310 and the cross member supports 312 may be coplanar with each other and with the X'-Y' plane. Collectively, the top end surfaces of the supports 310 and the cross member supports 312 may provide a platform or surface on which a slide (e.g., slide 204) may be placed. In addition to gravity exceeding the frictional reaction force according to some embodiments, the relative angle of the slide platform 308 in the X'-Y' plane may cause the slide (e.g., slide 204) to be pulled by gravity toward or aligned with the lowest corner or intersection C. That is, the X'-Y' plane of the slide platform 308 is rotated or tilted about the x-axis and the y-axis so that when a slide is placed on the slide platform 308, the slide can drift or move toward its lowest point on the slide platform 308 at corner C.

[0160]

[0235] According to some embodiments, the width W1, which is the width measured from the outermost edge of the support 310 along the x-direction, may be greater than the width of the slide (e.g., slide 204) to be placed on the slide platform 308. Furthermore, the width W2, which is the width measured from the outside of the lower long edge (e.g., the outer edge of support 310b) of the slide platform 308 to the inside or nearest edge of the opposing support 310 (e.g., support 310a), may also be greater than the width of the slide. Thus, since both the width W1 and the width W2 may be greater than the width of the slide, the risk of the slide falling or wobbling from the slide platform 308 may be relatively reduced or minimized. However, in other embodiments, the width W2 may be less than the width of the slide, and the cross member support 312 may provide support for the slide 204 to prevent the slide from sliding or slipping between the spaces or openings between the opposing supports 310a and 310b.

[0161]

[0236] FIG. 3D illustrates a left side view of a slide carrier 300 according to some embodiments. As shown in FIG. 3D, when viewed from the left side of the slide carrier 300, the top surface of support 310a may be visible, but support 310b is at a lower level (e.g., a lower height or elevation) compared to support 310a. Additionally, as shown in FIG. 3D, according to some embodiments, there may be openings or spaces between pillars or vertical supports 306 in the y direction. In some embodiments, there may be openings or spaces between vertical supports 306 in the x direction. Thus, in some embodiments, the slide carrier 300 may include two vertical supports 306 at or near opposing ends of the slide carrier 300, or the slide carrier 300 may include additional vertical supports 306, e.g., four vertical supports 306, at or near different corners of the slide carrier 300. By forming openings between different vertical supports 306, the slide carrier 300 may be relatively light weight and utilize a reduced amount of material while still maintaining structural integrity and strength.

[0162]

[0237] FIG. 3E shows a left side perspective view of a slide carrier 300 according to some embodiments. As shown in FIG. 3E (as also shown in FIG. 3B), the slide carrier 300 may include a barrier or wall 314 that protrudes above the surface of the slide platform 308 at the lower long and short edges of the slide platform 308. The barrier 314 may operate to prevent the slide from sliding off the slide carrier 300 due to gravity. In some embodiments, one or more bumpers or protrusions 316 may extend or protrude from the barrier 314 (e.g., with one or more spaces or gaps along the barrier 314 between adjacent bumpers 316), which may further assist in aligning the slide in its intended position. In some embodiments, the bumpers 316 may have a softer texture or be more compressible than the material of the barrier 314, which may prevent damage to the slide.

[0163]

[0238] Further, in some embodiments, the bumper 316 may be raised above the slide platform 308 or may have a lip or slope above the slide platform 308 to allow the slide to extend at least partially under a portion of the bumper 316, thereby providing additional force or pressure against the slide toward the slide platform 308 and preventing the slide from inadvertently sliding off the slide platform 308.

[0164]

[0239] 3E and 3B, in some embodiments, a connecting structure 318 may extend between opposing supports 310a and 310b to provide a mechanical connection between supports 310a and 310b and improve the structural integrity of the entire slide carrier 300. However, according to some embodiments, a top surface of the connecting structure 318 may be recessed with respect to the X'-Y' plane of the slide platform 308. That is, in some embodiments, the connecting structure 318 may be located below the surface of the slide platform 308, which may reduce friction with the slide and reduce the possibility that an edge of the slide will unintentionally contact or catch on a sidewall of the connecting structure 318 when the slide is positioned on the slide platform 308.

[0165]

[0240] Additionally, in some embodiments, various positions on slide platform 308 may be utilized as teach positions for aligning an automated or robotic system. In some embodiments, additional or alternative teach positions may be located at various known angles and positions relative to slide platform 308 to allow an automated or robotic system to determine the position of slide carrier 300 and slide platform 308.

[0166]

[0241] FIG. 3F illustrates a rear perspective view of the slide carrier 300 according to some embodiments. As shown in FIG. 3F, one or more of the base supports 304 may include an aperture or hole 320. The hole 320 may be utilized to secure the slide carrier 300 to the surface 302, for example, by using a screw or bolt. Although FIG. 3F illustrates two holes 320a and 320b located on each base support 304a and 304b, respectively, embodiments according to the present invention are not so limited, and in some embodiments, each base support 304 may include multiple apertures or holes 320 for securing the slide carrier 300 to the surface 302. Alternatively, in some embodiments, the apertures or holes 320 may be omitted for one or more of the base supports 304. Additionally, the slide carrier 300 may be mounted or secured to the surface 302 by utilizing any other suitable mechanical mounting mechanism. For example, in some embodiments, an adhesive, one or more clips, springs, grooves, teeth, etc. may be utilized to secure the slide carrier 300 to the surface 302.

[0167]

[0242] Further, according to some embodiments, as shown in FIG. 3F, the support 310 may have narrow support portions 324a and 324b at the higher height ends of each support 310a and 310b, respectively. The upper end surface of the narrow support portion 324a may be flush with the upper end surfaces of the supports 310a and 310b and the cross member support 312. However, the distance between the narrow support portions 324a and 324b may be less than the distance between the supports 310a and 310b. According to some embodiments, the distance between the outer edges of each of the narrow support portions 324a and 324b may be less than the width of the slide when the slide is placed on the slide platform 308.

[0168]

[0243] FIG. 3G illustrates a rear view of slide carrier 300 according to some embodiments. As shown in FIG. 3G, in some embodiments, the outer width W3 between narrow supports 324a and 324b can be less than the width of slide carrier 300 (and the width between supports 310a and 310b). Further, as previously mentioned, in some embodiments, width W3 can be less than the narrow width of the slide when it is placed on slide platform 308. Thus, the gripper of the mechanical arm can perform a clamping action P against the short or narrow width of the slide resting on slide platform 308. 1 It may be relatively easy to grip the slide with a (described in more detail below).

[0169]

[0244] 3G, there may be a space between the narrow supports 324a and 324b having a width W4 that is smaller than the width W3. The space between the narrow supports 324a and 324b allows the gripper of the mechanical arm to perform the clamping motion P when the slide is placed on the slide platform 308. 2 For example, the space between narrow supports 324a and 324b may accommodate a portion of the gripper to fit underneath the slide, while another portion of the gripper may be manipulated above the slide, resulting in a clamping motion P 2 This allows the gripper to apply pressure to opposing flat surfaces of the slide to pick up or manipulate the slide.

[0170]

[0245] FIG. 3H shows a top view of a slide carrier 300 according to some embodiments. FIG. 3I shows a bottom view of a slide carrier 300 according to some embodiments. As shown in FIG. 3H, the vertical clamping motion P described with respect to FIG. 1 and P 2In addition to providing access for clamping or picking up a slide from the narrow supports 324a and 324b, in some embodiments there may be an opening 326 at the opposite end of slide carrier 300 relative to narrow supports 324a and 324b. Opening 326 may be configured to accommodate a gripper of a mechanical arm to pick up a slide mounted on slide platform 308 in a clamping action perpendicular to the X'-Y' plane.

[0171]

[0246] 3J is a flow diagram illustrating a method of producing pathology slides in a slide processing system, according to some embodiments. Although various steps are illustrated in FIG. 3J as part of a method of producing pathology slides in a slide processing system, embodiments according to the present disclosure are not limited to the steps illustrated in FIG. For example, some embodiments may include additional or fewer steps without departing from the spirit and scope of embodiments according to the present disclosure.

[0172]

[0247] As previously described, the manufacturing process begins, then in step 330, a gripper may grip a slide in a first orientation (e.g., any of the orientations previously described in connection with FIGS. 3A-3I). In step 332, the gripper may place the slide on a slide platform of a slide carrier (e.g., slide carrier 300). In step 334, the slide may be allowed to shift or move (e.g., under gravity) position on the slide platform to align the slide with a predetermined position on the slide platform. In step 336, the slide may be gripped with the gripper in a second orientation (e.g., any of the operations previously described in connection with FIGS. 3A-3I), which may correspond, for example, to a component (e.g., a slide carrier or a slide processing station). In step 338, the gripper may place the slide on a component of a slide processing system using the gripper with the slide in the second orientation to enable a slide processing step corresponding to the component to be performed on the slide by the slide processing system.

[0173]

[0248] Thus, as previously discussed, embodiments according to the present disclosure may include slide carriers that allow slides to be picked up or placed from various angles or orientations during intermediate manufacturing steps. Once a slide is placed on the slide carrier, gravity pulls the slide to a known, fixed position and orientation, allowing the gripper and mechanical arm to pick it up again relatively easily. The slide carrier utilizes a compound angle to bias the edge of the slide toward a known position on the slide carrier (e.g., the bottom right edge). The resting surface of the slide carrier may be minimized or reduced to reduce friction on the surface of the slide, and the angle of the slide carrier may be optimized or designed to increase potential energy to help the slide move reliably under gravity. Additionally, various features are incorporated into the slide carrier to allow for various gripper and suction cup designs for picking up and dropping slides. Additionally, alignment features may be added to facilitate teaching positions for alignment to an automated or robotic system. According to some embodiments, an edge detection system (e.g., by utilizing a camera or sensor on the mechanical arm or gripper) may be utilized to detect the position of the slide.

[0174]

[0249] 4A-4M show a mechanical arm gripper according to some embodiments of the present disclosure. As discussed above with respect to Figures 2 and 3, according to some embodiments of the present disclosure, a mechanical arm having a gripper connected to an end thereof may be configured to pick up and manipulate slides in a slide processing or manufacturing environment.

[0175]

[0250] Figure 4A illustrates an example of a gripper 400 according to some embodiments. Gripper 400 may be the same as or similar to gripper 216 (or an example of gripper 216) shown in slide processing or manufacturing system 200 of Figure 2A.

[0176]

[0251] Gripper 400 according to some embodiments may be configured to grip or manipulate slides in a variety of positions or orientations to allow the slides to interface with a variety of different carriers and machines in the process of manufacturing pathology slides. Thus, embodiments according to the present disclosure may reduce the need to change grippers or tools and / or utilize multiple mechanical arms during the manufacturing process.

[0177]

[0252] Gripper 400 may be formed from any suitable material that is sufficiently rigid to support glass slide 204 without substantial risk of damaging the glass slide or gripper 400. For example, in some embodiments, gripper 400 may be formed from a plastic or polymeric material, although embodiments of the present disclosure are not limited in this respect.

[0178]

[0253] As shown in Figure 4A, gripper 400 may include two or more gripper fingers 402. Although Figures 4A-4M are described in the context of two gripper fingers 402a and 402b, embodiments of the present disclosure are not so limited and some embodiments may include additional gripper fingers 402 without departing from the spirit and scope of embodiments of the present disclosure. In some cases herein, reference number 402 may be used to generally refer to each of gripper fingers 402a and 402b (as well as any additional gripper fingers that may be utilized in some embodiments).

[0179]

[0254] Additionally, according to some embodiments, gripper 400 (or the mechanical arm to which gripper 400 is attached) may include additional components configured to be utilized in connection with the manipulation and handling of slides during the slide manufacturing process. For example, in some embodiments, gripper 400 (or the mechanical arm to which gripper 400 is attached) may include a suction cup for providing a suction force to the slide. Additionally, in some embodiments, gripper 400 (or the mechanical arm to which gripper 400 is attached) may include a camera or sensor (e.g., optical sensor, pressure sensor, etc.) configured to identify or measure the position of a slide, slide carrier, surface, etc.

[0180]

[0255] 4A-4M, gripper 400 may be configured to use gripper fingers 402a and 402b to apply a pinching or inward force P3 toward a centerline CENTER that bisects gripper 400. Gripper fingers 402a and 402b may be located equidistant from centerline CENTER and may be configured to move toward and away from centerline CENTER in coordination with one another (e.g., with the same speed and with the same force).

[0181]

[0256] 4A-4M, the gripper fingers 402a and 402b may be attached to an actuator 404 configured to move the gripper fingers 402a and 402b inward (towards the centerline CENTER) and outward (away from the centerline CENTER) to open and close the space between the gripper fingers 402a and 402b. The actuator 404 may be connected to a mechanical arm (e.g., the mechanical arm 202 shown in FIG. 2A), such that the mechanical arm 202, the actuator 404, and the gripper 400 may collectively operate to manipulate or move a slide from one position to another. Each gripper finger 402a and 402b may have the same or similar shape. For example, in some embodiments, the gripper finger 402b may be the same as the gripper finger 402a, except that it is rotated 180 degrees relative to the gripper finger 402a, although embodiments of the present disclosure are not limited thereto.

[0182]

[0257] FIG. 4A shows gripper 400 holding a slide in a first gripping mode or configuration in which gripper fingers 402a and 402b operate to apply a clamping force P3 widthwise (along an axis parallel to the width of slide 204) against the long edge of slide 204.

[0183]

[0258] In a first gripping mode, gripper 400 may be configured to pick up and / or manipulate slide 204 with a centerline between gripper fingers 402a and 402b extending along the front surface of slide 204 parallel to the long edge of slide 204 and with the centerline oriented such that it bisects the short edge of slide 204.

[0184]

[0259] Gripper fingers 402a and 402b may have a first portion 406 that generally extends in a direction away from actuator 404. For example, in some embodiments, first portion 406 may extend in a direction parallel (or approximately parallel) to centerline CENTER. First portion 406 of each gripper finger 402a and 402b may have inner edges 408a and 408b that are internal to an opening or space between gripper fingers 402a and 402b.

[0185]

[0260] In some embodiments, the inner edges 408a and 408b may be elongated in a direction parallel to the centerline CENTER. In some embodiments, the inner edges 408a and 408b may extend parallel to one another and each may have a groove therein that is adapted to receive the top (or bottom) of the long edge of a slide, as shown in the first gripping mode shown in FIG. 4A. The grooves of the inner edges 408a and 408b are shown and described in more detail below.

[0186]

[0261] When a clamping or inward force P3 is applied to the long edge of the slide, the gripper 400 can pick up the slide 204 and move it throughout three-dimensional space.

[0187]

[0262] 4B illustrates the gripper 400 holding a slide in a second gripping mode or configuration in which the gripper fingers 402a and 402b are operative to apply a clamping force or pressure P4 longitudinally (along an axis parallel to the length of the slide 204) to a short or width edge of the slide 204. That is, the pressure or force P4 may be in a direction toward (e.g., perpendicular to) the centerline CENTER. In the second gripping mode, the gripper 400 may pick up and / or manipulate the slide 204 in an orientation in which the centerline CENTER between the gripper fingers 402a and 402b may extend through the front and rear faces of the slide 204 midway between the short edges of the slide 204. That is, a direction perpendicular or perpendicular to the plane of the front and rear faces of the slide 204 may be parallel to the centerline CENTER, such that the front or rear face of the slide 204 faces the actuator 404.

[0188]

[0263] Gripper fingers 402a and 402b may have a second portion 410 extending from first portion 406 at an angle greater than 0 degrees and less than 90 degrees relative to the direction of extension of first portion 406. For example, if first portion 406 extends in direction D1 away from actuator 404, second portion 410 may extend in direction D2 away from first portion 406, with angle γ between directions D1 and D2 greater than 0 degrees and less than 90 degrees. Thus, end 412, which is the point of second portion 410 furthest from actuator 404, may be further away from actuator 404 and further away from centerline CENTER than inner edges 408a and 408b of first portion 406.

[0189]

[0264] The end 412 of the second portion may include a protrusion or tooth 414 extending toward a centerline CENTER such that a groove or cavity 416 is formed between the protrusion 414 and a body 418 of the second portion 410. Further details of the groove or cavity 416 and the protrusion 414 are shown and described in detail below.

[0190]

[0265] The ends of the second portion 410 may be further away from the actuator 404 and further away from each other compared to the inner edges 408a and 408b, thereby providing a wider space between the ends of the second portion 410 relative to the space between the inner edges 408a and 408b. Additionally, the groove 416 between the protrusion 414 and the body 418 of the second portion 410 may accommodate a width or short edge of the slide 204 such that the gripper 400 can pick up and / or manipulate the slide 204 with a front or rear face of the slide 204 facing the actuator 404.

[0191]

[0266] 4C illustrates gripper 400 holding a slide in a third gripping mode or configuration, according to some embodiments. In the third gripping mode, gripper fingers 402a and 402b operate to apply a clamping force or pressure P5 longitudinally (along an axis parallel to the length of slide 204) to a width or short edge of the slide. That is, pressure or force P5 may be in a direction toward (e.g., perpendicular to) centerline CENTER. In the third gripping mode, gripper 400 may pick up and / or manipulate slide 204 in an orientation in which centerline CENTER between gripper fingers 402a and 402b may extend through a long edge of slide 204 midway between the short edges of slide 204. That is, in the third gripping mode, in contrast to the second gripping mode in which either the front or rear surface of the slide 204 faces the actuator 404, one of the long edges of the slide 204 may face the actuator 404, in which case the centerline CENTER bisects the front and rear surfaces, and the front and rear surfaces face in a direction perpendicular to the extension of the centerline CENTER.

[0192]

[0267] According to some embodiments, the second portion 410 of each gripper finger 402a and 402b may include inner edges 408a and 408b, respectively, that extend parallel to the direction of extension of the inner edges 420a and 402b. The inner edges 420a and 420b may extend parallel to each other and parallel to the inner edges 408a and 408b. The inner edges 420a and 420b may be inward to the opening or space between the gripper fingers 402a and 402b and may be elongate or extend in a direction parallel to the centerline CENTER. Each inner edge 420a and 420b may face the centerline and may include a groove adapted or configured to accommodate or receive the upper or lower end of the width edge of the slide 204. The grooves of the inner edges 420a and 420b are shown and described in detail below.

[0193]

[0268] 4D illustrates gripper 400 holding a slide in a fourth gripping mode or configuration, according to some embodiments. In the fourth gripping mode, gripper fingers 402a and 402b operate to apply a clamping force or pressure P6 longitudinally (along an axis parallel to the length of slide 204) against a short or width edge of slide 204.

[0194]

[0269] That is, the pressure or force P6 may be in a direction toward (e.g., perpendicular to) the centerline CENTER. In the fourth gripping mode, the gripper 400 may pick up and / or manipulate the slide 204 in an orientation such that the centerline CENTER between the gripper fingers 402a and 402b may extend through the front and rear faces of the slide 204 midway between the short edges of the slide 204. That is, a direction perpendicular or perpendicular to the plane of the front and rear faces of the slide 204 may be parallel to the centerline CENTER such that the front or rear face of the slide 204 faces toward the actuator 404.

[0195]

[0270] Gripper fingers 402a and 402b may have protrusions 414 extending from ends 412 in a direction parallel to centerline CENTER below protrusion 426. In some embodiments, protrusion 414 may be configured to contact a front or rear surface of slide 204 in the fourth gripping mode, and protrusion 426 may be configured to apply pressure or force P6 toward the center of slide 204.

[0196]

[0271] The fourth gripping mode may be configured to be utilized in an operation in which slide 204 is manipulated relative to slide carrier 430 (slide carrier 430 may be the same as or similar to any of slide carriers 208, 214a, or 214b described with respect to FIG. 2A). For example, slide carrier 430 may have one or more cavities 432 configured to accommodate slide 204. For example, cavity 432 may have a width, length, and depth that corresponds to the width, length, and thickness of slide 204 (e.g., slightly larger than the width, length, and thickness of slide 204 within a predetermined or acceptable tolerance range).

[0197]

[0272] However, since the protrusion 426 may extend beyond the length of the slide 204, to allow the gripper 400 to safely place the slide 204 within the cavity 432 and / or to access a firm / sufficient grip on the slide 204 when the slide 204 is already within the cavity 432, the cavity 432 may include a first cavity extension 436 and a second cavity extension 438. The first and second cavity extensions 436 and 438 may be located at opposite ends of the cavity 432 in the length direction. The cavity extensions 436 and 438 may have a size or footprint larger than that of the protrusion 426 such that the protrusion 426 can fit within the cavity extensions 436 and 438 when the gripper 400 picks up and / or drops off the slide 204 within the cavity 432. In some embodiments, cavity extensions 436 and 438 may have circular or rounded edges in plan view, although embodiments according to the present disclosure are not limited thereto. For example, cavity extensions 436 and 438 may have a rectangular shape, or a shape that follows the contour of gripper 400 in plan view, or any other suitable shape that can accommodate protrusion 426.

[0198]

[0273] 4E illustrates a gripper 400 that uses an external groove or cavity to manipulate a slide, according to some embodiments. According to some embodiments, the gripper fingers 402 may have an external groove 440 that extends in a direction perpendicular to the centerline CENTER. The external groove 440 may be located, for example, on the opposite side of the gripper fingers 402 relative to the space between the gripper fingers 402. The external groove 440 may also be located on the opposite side of the second portion 410 relative to the groove 416.

[0199]

[0274] The external groove 440 may have a shape configured to receive or accommodate one of the edges of the slide 204 to push or impart a force to the slide 204 in a horizontal direction H and / or a vertical direction V relative to a plane parallel to the front or rear surface of the slide 204. For example, as shown in FIG. 4E, a slide carrier 442 may be utilized to hold or secure the slide 204. The slide carrier 442 may be the same as the slide carrier 208, 214a, or 214b described with respect to FIG. 2A, for example. The slide carrier 442 may include a number of cavities 444 configured or shaped to accommodate the slide 204. Each cavity 444 may further include a cavity extension 446 adjacent a width edge of the cavity 444, the cavity extension 446 configured or shaped to accommodate an end of the gripper finger 402 and allow the groove 440 to engage the width edge of the slide 204.

[0200]

[0275] In some embodiments, the slide carrier 442 may include a spring or clip that requires a force or pressure in a horizontal direction H to remove or insert the slide 204 from or into the slide carrier 442. Thus, the exterior groove 440 may be configured to engage an edge of the slide 204 such that the edge fits within the curvature of the groove 440. The actuator 404 and gripper fingers 402 may then move in the horizontal direction H and / or the vertical direction V to engage or disengage the slide 204 from the slide carrier 442.

[0201]

[0276] FIG. 4F is a top front perspective view of a single gripper finger 402 according to some embodiments. FIG. 4G is a top rear perspective view of a single gripper finger 402 according to some embodiments. As shown in FIGS. 4F and 4G, the gripper finger 402 may include a mounting plate 450. The mounting plate 450 may include a number of holes 452 formed therethrough. Thus, the gripper finger 402 may be mounted or mechanically connected to the actuator 404 by the mounting plate 450 using one or more screws, bolts, or the like that pass through the holes 452 to fasten the gripper finger 402 to the actuator 404. Additionally, some embodiments may utilize any other suitable fastening mechanism to mechanically connect and secure the gripper finger 402 to the actuator 404.

[0202]

[0277] As shown in FIGS. 4F and 4G and as described above, each of the grooves 416 and 440 may have a shape configured to accommodate an edge (e.g., a width edge) of the slide 204. For example, the width or distance across the grooves 416 and 440 may be greater than the thickness (measured from the front to the rear) of the slide. In some embodiments, at least one of the grooves 416 or 440 may have a curvature (e.g., that can match or accommodate an edge of the slide 204). Furthermore, in some embodiments, at least one of the grooves 416 or 440 may have a rectangular shape and / or sloped sidewalls. The grooves 416 and 440 are configured to engage the slide 204 in a configuration in which either the front or rear surface of the slide 204 is oriented toward the actuator 404 (and the mounting plate 450).

[0203]

[0278] Similarly, as shown in Figures 4F and 4G and as described above, each of the inner edges 408 and 420 may have a shape configured to accommodate an edge of the slide 204. In particular, the inner edge 408 may be utilized to accommodate the top or bottom end of a length edge of the slide 204 (as shown in Figure 4A), and the inner edge 420 may be utilized to accommodate a width edge of the slide 204 (as shown in Figure 4C). For example, the distance across the groove or cavity of the inner edges 408 and 420 may be greater than the thickness of the slide. Thus, the inner edges 408 and 420 are configured to engage the slide 204 in a manner in which either the width edge or the length edge of the slide 204 is directed toward the actuator 404 (and the mounting plate 450).

[0204]

[0279] Figure 4H is a bottom view of a single gripper finger 402, according to some embodiments. Figure 4I is a close-up view of portion A of Figure 4H, according to some embodiments. Figure 4J is a close-up view of portion B of Figure 4H, according to some embodiments. Thus, Figures 4I and 4J show further details of inner edges 408 and 420, according to some embodiments.

[0205]

[0280] 4H and 4I, as previously described, the inner edge 408 may be configured to accommodate an edge of the slide 204. Thus, the inner edge 408 may include a groove or cavity 460. The cavity 460 may include a first portion 462 having a width or distance D1 across the cavity 460 at the first portion 462 that is greater than the thickness of the slide 204. Thus, the first portion 462 of the cavity 460 may be configured to accommodate the thickness of the slide 204 to allow the gripper 400 to apply pressure or force against the edge of the slide 204. The cavity 460 may further include a second portion 464 having a width or distance D2 wider than width D1 at the opening of the cavity 460 and then tapering to width D1 at the junction between the first portion 462 and the second portion 464. Thus, because the opening of cavity 460 is wider than width D1 and then tapers to width D1, cavity 460 in some embodiments may allow slide 204 to be inserted into cavity 460 with greater tolerance.

[0206]

[0281] 4H and 4J, as previously described, the inner edge 420 may be configured to accommodate an edge of the slide 204. Thus, the inner edge 420 may include a groove or cavity 470. The cavity 470 may include a first portion 472 having a width or distance D3 across the cavity 470 at the first portion 472 that is greater than the thickness of the slide 204. Thus, the first portion 472 of the cavity 470 may be configured to accommodate the thickness of the slide 204 to allow the gripper 400 to apply pressure or force against the edge of the slide 204. The cavity 460 may further include a second portion 474 having a width or distance D4 that is greater than the width D3 at the opening of the cavity 470 and then tapering to the width D3 at the junction between the first portion 472 and the second portion 474. Thus, because the opening of cavity 470 is wider than width D3 and then tapers to width D3, cavity 470 in some embodiments may allow slide 204 to be inserted into cavity 470 with greater tolerance.

[0207]

[0282] Figure 4K is a side view of a single gripper finger 402 according to some embodiments. Figure 4L is a close-up view of portion C of Figure 4K according to some embodiments. Thus, Figure 4L shows further details of protrusions 414 and 426 and grooves 416 and 440 according to some embodiments.

[0208]

[0283] 4K and 4L, the protrusion 414 may extend in a direction toward the centerline CENTER shown in FIG. 4A, for example. The protrusion 414 may act as a support for the slide 204 when an edge of the slide 204 is inserted or received within the groove 416. Additionally, as discussed with respect to the inner edges 408 and 420, the groove 416 may have a width that corresponds to or is greater than the thickness of the slide 204 at its deeper portion, and the groove 416 may have an even wider width that tapers to a smaller width after being wider at the opening (formed or defined by the body of the gripper fingers 402 and the protrusion 414).

[0209]

[0284] 4L, projection 426 may extend vertically below projection 414 and may have an edge 476 that extends parallel to centerline CENTER (e.g., as shown in FIG. 4A). Edge 476 may provide a surface against which a compressive or lateral force may be applied to slide 204.

[0210]

[0285] An exterior groove 440 may be located above the protrusion 426. A lip or ledge 478 may act as a support or platform for the front or rear surface of the slide 204. The other surface of the groove 440 may provide a surface for pushing against the edge of the slide 204.

[0211]

[0286] 4M is a flow diagram illustrating a method of producing slides in a slide processing system, according to some embodiments. Although various steps are shown in FIG. 4M as part of a method of producing pathology slides in a slide processing system, embodiments according to the present disclosure are not limited to the steps shown in FIG. For example, some embodiments may include additional or fewer steps without departing from the spirit and scope of embodiments according to the present disclosure.

[0212]

[0287] As previously described, the manufacturing process begins, then in step 490, the gripper may grip a slide in a first orientation (e.g., any of the orientations previously described in connection with Figures 3A-4L) using a first groove of a first gripper finger and a first groove of a second gripper finger. In step 492, the gripper may place the slide in the first orientation on a slide in a first component of a slide handling system. In step 494, the gripper may grip the slide in a second orientation using a second groove of the first gripper finger and a second groove of the second gripper finger. In step 496, the slide may be placed in the second orientation on a second component of the slide handling system.

[0213]

[0288] Thus, according to some embodiments, a gripper may be utilized in conjunction with the slide carriers described above or the slide carrier cassettes described below to transfer slides from the slide carriers and / or slide carrier cassettes to other components or devices within the slide processing system 200.

[0214]

[0289] Thus, as previously discussed, embodiments of the present disclosure may include a gripper that may be utilized with multiple different carriers or slide manufacturers, each of which may have different requirements for orientation and gripping position when a slide is inserted or removed as part of a pathology slide manufacturing process or workflow. That is, automating the transfer of slides between carriers and to positions within the equipment requires interfacing with slides and carriers or machines in many different ways. Otherwise, robotic arms and actuators may be limited in the attachment of gripper tools, making it difficult to perform different transfer tasks with a single gripper tool. Thus, embodiments of the present disclosure may reduce the requirement for tool changeover or multiple mechanical arms.

[0215]

[0290] According to various other embodiments, slide carrier cassettes may be utilized to enable or facilitate coordinated and / or simultaneous processing of multiple slides. Slide carrier cassettes may also include features to enable self-alignment of slides similar to those described above with respect to FIGS. 3A-3J and as described below. FIG. 5A is a front perspective view of a slide carrier cassette according to some embodiments. FIG. 5B is a rear perspective view of a slide carrier cassette according to some embodiments. Slide carrier cassette 500 according to various embodiments includes a body or housing 501 having a plurality of slots 502-1-502-n formed therein, the openings of slots 502-1-502-n being located toward the top end of body 501, where "n" is a natural number greater than 1.

[0216]

[0291] Slide carrier cassette 500 may be formed from any suitable material that is sufficiently rigid to support glass slides 204 without substantial friction between the glass and the material of slide carrier cassette 500. For example, in some embodiments, slide carrier cassette 500 may be formed from a plastic or polymeric material, although embodiments of the present disclosure are not limited in this respect.

[0217]

[0292] The slide carrier cassette 500 may include any suitable number of slots 502-1-502-n. The slots 502-1-502-n may be disposed or aligned adjacent to one another along the alignment direction A, and each slot 502-1-502-n may be configured to receive or accommodate a single slide 204. The front and rear faces of each slide 204, when inside one of the slots 502-1-502-n, are oriented toward the front or rear faces of the other slide 204 in the other slot. That is, according to some embodiments, the planes of the front and rear faces of each slide 204 inserted into the slots 502-1-502-n are parallel to the planes of the front and rear faces of each other slide 204. Additionally, the bottom of each slot 502-1 through 502-n may be aligned along the alignment direction A such that each slot 502-1 through 502-n is the same distance or height from the bottom edge 508 of the slide carrier cassette 500.

[0218]

[0293] Each slot 502-1-502-n may be formed at an oblique angle (e.g., an angle greater than 0 degrees and less than 90 degrees) with respect to a plane perpendicular to the direction of gravity. Additionally, in some embodiments, each slot may be rotated either left or right (e.g., when viewed in a front or rear view) such that the slide 204 aligns or self-aligns with a known reference position when placed in one of the slots 502-1-502-n. The orientations and angles of the slots 502-1-502-n are shown and described in more detail below.

[0219]

[0294] Slide carrier cassette 500 may further include one or more protrusions 504 (e.g., on a top surface of slide carrier cassette 500). Slide carrier cassette 500 may have a generally rectangular shape in plan view (e.g., when viewed from above slide carrier cassette 500 or parallel to gravity), and protrusions 504 may be located around the edges of slide carrier cassette 500 (e.g., at or near each corner). Protrusions 504 may be utilized to provide a fixed or semi-permanent attachment mechanism to a slide carrier cassette queue or storage rack (described in more detail below), and may include, for example, holes for utilizing screws or bolts (or other suitable mechanical fastening mechanisms) to secure slide carrier cassette 500 to the queue or storage rack.

[0220]

[0295] In some embodiments, slide carrier cassette 500 may include a spring (e.g., a living hinge spring) or clip 510. Spring 510 may provide a spring force in an outward direction away from the body of slide carrier cassette 500 such that when slide carrier cassette 500 is inserted into a queue or storage rack (described in more detail below), spring 510 may generate a retaining force to enable slide carrier cassette 500 to be maintained or held by a queue or storage rack. Spring 510 may further enable alignment and proper positioning and alignment of slide carrier cassette 500 within a queue or storage rack.

[0221]

[0296] Slide carrier cassette 500 may further include a tab handle 512 on a top surface (or side) 514 of slide carrier cassette 500. Tab handle 512 may extend above top surface 514 of slide carrier cassette 500 and may have a generally planar shape (although embodiments are not limited to this). Tab handle 512 may act as a handle or gripping structure for a human or mechanical gripper to grasp the structure of slide carrier cassette 500, for example, when handling / transporting slide carrier cassette 500 or when inserting slide carrier cassette 500 into or removing slide carrier cassette 500 from a queue or storage rack.

[0222]

[0297] If the table handle 512 has a generally planar shape, the tab handle 512 may have a front face FF and a rear face RF. The front face FF may face toward the front of the slide carrier cassette 500 and may have a space or room to accommodate, for example, a label or unique identification information for the slide carrier cassette 500. The rear face RF may face toward the rear (or back) side of the slots 502-1 through 502-n and the slide carrier cassette 500.

[0223]

[0298] FIG. 5C is a front view of a slide carrier cassette according to some embodiments.

[0224]

[0299] 5C and as previously described, the front surface FF of the tab handle 512 may include a label area 516 configured to receive a label or unique identification information corresponding to the slide carrier cassette 500 and / or the slides held by the slide carrier cassette 500. For example, the label may include a bar code, a QR code, or alphanumeric characters to provide identification information regarding the nature and contents of the slide carrier cassette 500.

[0225]

[0300] At the bottom of slide carrier cassette 500, below bottom edge 508, slide carrier cassette 500 may include a number of feet or posts 520 that may be utilized to provide stability when slide carrier cassette 500 is resting on a flat surface or substrate with bottom edge 508 facing toward the substrate. Additionally, posts 520 may be utilized to register slide carrier cassette 500 to a fixture such as a queue or storage rack.

[0226]

[0301] FIG. 5D is a cross-sectional view taken along line AA of FIG. 5C. FIG. 5E is an enlarged view of portion B of FIG. 5D according to some embodiments. With reference to FIGS. 5D and 5E, as previously discussed, slide carrier cassette 500 may include one or more springs or clips 510 located at one or more locations around the sides of slide carrier cassette 500. In some embodiments, spring 510 may be a living hinge spring, where a narrow piece is connected to the body of slide carrier cassette 500 at one end and a ball or protrusion extends from spring 510 at the opposite end. The protrusion of spring 510 may fit or be received within a corresponding hole or cavity in a storage rack or cue to allow for a "snap-in" retention of slide carrier cassette 500 and to allow alignment of slide carrier cassette 500 in the proper position and orientation.

[0227]

[0302] Further, as previously described, the multiple slots 502-1-502̂n may be aligned with one another within the slide carrier cassette 500 along the alignment direction A such that when a slide is inserted into the slot 502-1-502-n, the face of the slide faces the adjacent slide and the edge of the slide faces the side of the slide carrier cassette 500. Each slot 502-1-502-n may have a thickness T1 corresponding to (e.g., slightly greater than) the thickness of the slide, thereby minimizing or relatively reducing movement of a slide inserted into the slide carrier cassette 500 in the alignment direction (or the direction opposite to the alignment direction) A. Further, each slot 502-1-502-n may have a larger thickness T2 at the opening to allow for relatively easy insertion of the slide into the slot and to accommodate larger tolerance variations. Each slot 502-1-502-n may have a chamfer or tapered portion at the junction between the smaller thickness T1 and the larger thickness T2.

[0228]

[0303] According to some embodiments, each slot may be inclined at an angle σ with respect to alignment direction A, where σ is less than 90 degrees and greater than 0 degrees. In embodiments where σ is less than 90 degrees, it may be possible to more easily read the label on each slide inserted into slide carrier cassette 500.

[0229]

[0304] According to some embodiments, each slot 502-1 through 502-n may be spaced apart a set distance, the size of which may be a function of the size of the gripper to be utilized to insert and retrieve slides from slide carrier cassette 500.

[0230]

[0305] FIG. 5F illustrates an example of a queue or storage rack for multiple slide carrier cassettes according to some embodiments. For example, according to some embodiments, a slide carrier queue 530 may include multiple cavities 532 arranged, for example, in multiple rows and columns. Although FIG. 5F illustrates a queue 530 having four rows and five columns of cavities 532, embodiments according to the present disclosure are not so limited and a queue 530 according to the present disclosure may have any suitable number of rows and columns of cavities 532. Furthermore, embodiments according to the present disclosure are not limited to cavities 532 arranged in rows and columns and various embodiments may include a variety of different arrangements of cavities according to the design of the queue 530.

[0231]

[0306] According to some embodiments, each cavity 532 can be configured to accommodate the shape of slide carrier cassette 500. Thus, in some embodiments, cavity 532 can have an inner edge that conforms to or corresponds to the shape of slide carrier cassette 500.

[0232]

[0307] According to some embodiments, the cavities 532 may be formed (e.g., machined) at an angle (e.g., rotated clockwise or counterclockwise to an angle greater than 0 degrees and less than 90 degrees) relative to a vertical line V (e.g., extending parallel to the direction of gravity or in a row direction), as shown in FIG. 5F. Because the slide carrier cassette 500 is loaded into the queue 530 at an angle relative to the vertical line V, and because the slots 502-1 through 502-n (e.g., as depicted and labeled in FIG. 5A) are also tilted at an angle relative to the bottom edge 508 of the slide carrier cassette 500, the slides may be automatically (i.e., due to gravity) biased to a known position. For example, various slides produced by different manufacturers or in slightly different formats may have variations in width, thickness, length, and features (e.g., edges, corners, bevels, etc.). Such variations may be present in the same slide processing environment due to receiving slides from different sources (e.g., different medical practices from around the world).

[0233]

[0308] This known biased position allows the slide to be re-gripped at a predetermined or known reference point or position, in other words, the slide rest position is in a known location, which may reduce the effects of variations in size and position of the slide when inserted into slots 502-1-502-n.

[0234]

[0309] The queue 530 may act as either an intermediate or long-term storage location for slides. For example, as slides are inserted into individual slots of individual slide carrier cassettes 500, other spaces may remain open, thereby leaving space for other slides produced later to be included in the queue 530. Once all slides in a batch have been produced, the slides may be removed from the queue 530 and placed in a bi-fold or case for long-term storage or transport (e.g., for review by a pathologist). The location of the slides in the individual slots may be managed according to a slot allocation scheme organized and controlled by a computer, or the slides may be manually removed, for example, by using labels on the individual slides and on the slide carrier cassette as described above.

[0235]

[0310] FIG. 5G illustrates an example of a queue or storage rack with a cylindrical shape according to some embodiments. As shown in FIG. 5G, according to some embodiments, instead of being arranged in a plane or linear matrix as shown in FIG. 5F, the queues 530 may be arranged in a circular or cylindrical configuration. In the cylindrical configuration shown in FIG. 5G, each row of cavities 532 may be formed in a circle around a central axis. In some embodiments, the queues 530 may be configured to be rotated around the central axis (e.g., using a rotation system to which the queues 530 can be mounted). The cylindrical configuration may reduce the amount of space required to access the queues 530 by the mechanical arm, and may allow the queues 530 to be rotated to present individual slides or cues 530 to the mechanical arm, thereby increasing processing time.

[0236]

[0311] 5H shows an example of a queue or storage rack in a stacked configuration according to some embodiments. As shown in FIG. 5H, according to some embodiments, multiple tiers of queues 530 of cylindrical storage queues may be arranged in a stacked or stackable configuration. Each tier or level of the queue may include multiple cavities 532 or openings arranged in a cylindrical or circular configuration about a central axis and configured to receive slide carrier cassettes 500.

[0237]

[0312] Individual slide carrier cassettes 500 can be removed or inserted as needed, and individual layers of queue 530 may also be removed or added as needed.

[0238]

[0313] As shown in Figures 5F-5H, the ability to remove individual slide carrier cassettes 500 from queue 530 may allow for manual intervention or interaction with groups of slides, and may allow for cleaning and replacement of cassettes for maintenance over time. The use of slide carrier cassettes 500 in a stackable form in queue 530, as shown in Figure 5H, may allow for relatively simple machined features and may allow the slide carrier cassettes to be molded or three-dimensional printed, thereby allowing for relatively low-cost manufacture of slide carrier cassettes. Additionally, because slide carrier cassette 500 is removable from queue 530, slide carrier cassette 500 may be utilized in other processes or equipment, and individual slides may be transported to different environments without removing them from the slide carrier cassette.

[0239]

[0314] Figure 5I illustrates an example of a slide processing system 540, according to some embodiments. Slide processing system 540 may be the same as or similar to the slide processing systems described above with respect to Figures 2-5 (e.g., slide processing system 200) and may be utilized as part of pathology system 100 (e.g., in steps 108 and 110 shown in Figure 1).

[0240]

[0315] As shown in FIG. 5I, multiple cues 530 may be positioned proximate (e.g., within reach of) multiple corresponding mechanical arms 542. The mechanical arms 542 may be the same as or similar to the mechanical arms described above with respect to FIGS. 1-5 (e.g., mechanical arm 202 shown in FIG. 2A). Each of the mechanical arms 542 may have a gripper (e.g., gripper 400) configured to transfer slides between the cues 530 and a respective slide processing station 544. The slide processing stations 544 may be the same as or similar to the slide processing stations described above (e.g., slide processing station 210) and may be configured to perform one or more processing or manufacturing steps on slides during a pathology slide manufacturing process.

[0241]

[0316] Additionally, one or more slide carriers 550 may be located on the workstation surface or on base 552 and may be accessible by (e.g., within reach of) the grippers of mechanical arm 542. Slide carriers 550 may be the same as or similar to the slide carriers previously described (e.g., slide carriers 208, 214a, 214b, and 300).

[0242]

[0317] Utilizing a cylindrical or rotating queue 530 in slide processing system 540 may allow mechanical arm 542 to be located at a single location from which it can reach various components of slide processing system 540, including queue 530 and various slide processing stations 544 and slide carriers 550. Additionally, as shown in FIGURE 5I, slide processing system 540 may be modular and allow additional mechanical arms 542, queues 530, and additional workstations 552 with slide processing stations 544 to be added or removed from the slide processing system 540 environment as the needs of slide processing system 540 change over time.

[0243]

[0318] 5J is a flow diagram illustrating a method of producing slides in a slide processing system according to some embodiments. Although various steps are illustrated in FIG. 5J as part of a method of producing pathology slides in a slide processing system, embodiments according to the present disclosure are not limited to the steps illustrated in FIG. For example, some embodiments may include additional or fewer steps without departing from the spirit and scope of embodiments according to the present disclosure.

[0244]

[0319] As previously described, the manufacturing process begins, then in step 570, a gripper may grip a slide in a first orientation (e.g., any of the orientations previously described with reference to Figures 3A-4M). In step 572, the gripper may insert the slide into a slot of a slide carrier cassette (e.g., slide carrier cassette 500). In step 574, the gripper may place the slide carrier cassette in a queue having a cavity corresponding to the shape of the slide carrier cassette. In step 576, the gripper may remove the slide from the slide carrier cassette. In step 578, the gripper may place the slide in a component of a slide processing system so that a slide manufacturing process can be performed on the slide.

[0245]

[0320] Thus, as previously discussed, embodiments of the present disclosure enable a relatively improved and efficient pathology slide manufacturing process. For example, during the pathology slide manufacturing process, a mechanical arm with a gripper may be utilized to manipulate and transport slides between different steps and positions. However, different slide processing components, stations, or carriers may require slides to be picked up or inserted from various angles, positions, and orientations. Thus, embodiments of the present disclosure may include providing a slide carrier that allows the mechanical arm gripper to pick up and drop off slides during intermediate steps of the slide manufacturing process. The slide carrier may allow the gripper to pick up slides in various modes or forms according to the next processing step to be performed. For example, a slide may be placed on the slide carrier using a grip with one orientation, and then the gripper may pick up the slide using a grip with a different orientation. Due to the various angles of the surface of the slide carrier relative to gravity, the slide will tend to move or be pulled by gravity towards a known position on the slide carrier, so that the gripper and mechanical arm can pick up the slide again from the known position and orientation.

[0246]

[0321] Additionally, embodiments according to the present disclosure may include grippers or gripper fingers having various protrusions, channels, or grooves to allow for a clamping or compressing action to be performed on the slide from different angles or orientations.

[0247]

[0322] Finally, some embodiments may include a slide carrier cassette configured to hold a plurality of slides and align the slides to a known position after insertion into the slide carrier cassette. A plurality of slide carrier cassettes may be inserted into a queue for access by the mechanical arm and gripper system. In some embodiments, the queue may have a cylindrical or rotating configuration that allows individual slide carrier cassettes or individual slides to be moved into positions accessible to the mechanical arm during the pathology slide manufacturing process.

[0248]

[0323] As discussed above with respect to FIG. 1, pathology environments are generally labor-intensive and time-intensive. Generally speaking, alternative systems involve relatively little automation and a large number of individuals and actions. Highly trained pathologists and tissue technicians / tissue engineers are responsible for performing a large number of repetitive, manual, skilled and unskilled tasks. Each task, when performed by humans, adds cost to the process and introduces the possibility of error. Furthermore, with a dwindling qualified workforce in many countries, it may be desirable to automate aspects of the pathology environment / histology process to allow workers to focus their attention on more complex tasks and problems.

[0249]

[0324] Thus, aspects of some embodiments may include an automated histology system (e.g., slide processing system 200, e.g., as shown and described in connection with FIG. 2A) that can receive pathology slides and tissue samples and process the slides or samples, e.g., through one or more staining steps. According to some embodiments, as described in more detail below, the automated histology system may be capable of processing large volumes of pathology slides without human involvement.

[0250]

[0325] According to some embodiments, the automated histology storage system and method may allow pathology slides to be consolidated into an efficient vertical storage solution, thereby reducing the overall footprint of pathology slide storage. According to some embodiments, the automated histology system may be electronically connected to a database, memory system, or network that stores information about tissue samples and patients in order to efficiently and automatically assign slides to the appropriate case, folder, or tray without human involvement. Furthermore, according to some embodiments, the automated histology system may be capable of storing slide locations in a database, memory system, or network-connected memory in order to prevent or reduce lost time due to humans manually searching for incorrect slides. Some embodiments may further be capable of sorting pathology slides into cases, folders, or trays using a combination of one or more robotic arms and grippers, thereby reducing or eliminating the need for human involvement.

[0251]

[0326] 6A-6D illustrate aspects of an exemplary automated histological storage system and environment, according to some embodiments. FIG. 6A illustrates a histological system and environment 600, according to some embodiments. According to some embodiments, the histological system and environment 600 may operate within or as part of a slide processing or manufacturing environment or system (e.g., slide processing or manufacturing system 200). As shown in FIG. 6A, the histological system and environment 600 may include an automated histological storage system 602. As described in more detail below, the automated histological storage system 602 is configured to receive coverslipped slides at various stages of processing and automatically organize and store the slides during slide manufacturing and processing within the histological system and environment 600.

[0252]

[0327] The histological system and environment 600 may further include one or more processing stations or devices 604a-604c configured to receive slides with tissue samples or specimens (e.g., coverslipped slides) and perform one or more staining or reagent steps on the slides as part of the slide manufacturing process in preparation for further analysis by a pathologist, as previously described. Although three processing stations or devices 604a-604c are shown in FIG. 6A, one of ordinary skill in the art will appreciate that the histological system and environment 600 is not limited to three processing stations or devices and, according to some embodiments, the histological system and environment 600 may include additional or fewer processing stations or devices without departing from the spirit and scope of the embodiments of the present disclosure.

[0253]

[0328] A technician 606 may work within the histology system and environment 600 to initiate and monitor the processing steps of slides at processing stations or devices 604a-604c, and to transfer slides between processing stations or devices 604a-604c. The technician 606 may further transfer slides to the automated histology storage system 602 at various stages of the manufacturing process.

[0254]

[0329] FIG. 6B shows further details of an exemplary automated histology storage system 602, according to some embodiments. In particular, FIG. 6B shows an exemplary front perspective view of the automated histology storage system 602 from a side that may be accessible to a technician (e.g., technician 606). As described in more detail below, the automated histology storage system 602 operates as a mechanism for receiving pathology slides and then organizing and storing the slides in an automated manner, such as between processing steps. Additionally, as described in more detail below, the automated histology storage system 602 can sort stained slides and assemble the slides into cases or folders for review by a pathologist, which is otherwise a labor- and space-intensive process that presents many opportunities for human error.

[0255]

[0330] As described in more detail below, slides may be input to the automated histology storage system 602 via one or more racks or trays that a user or technician may load into an open position in an input rack portal. In some examples, slides may have tissue samples or specimens that may be stained, dried, and coverslipped prior to being inserted into the automated histology storage system 602. However, embodiments according to the present disclosure are not limited in this respect, and in some embodiments, the automated storage system 602 may be configured to receive slides at intermediate processing steps. Additionally, in some embodiments, one or more processing stations or devices (e.g., processing stations or devices 604a-604c) may be housed or located within the automated histology storage system 602 such that one or more slide manufacturing processing steps may be performed by the automated histology storage system 602.

[0256]

[0331] Individual slides may be labeled or marked with unique identification information (e.g., in the form of a bar code or QR code). Once loaded into the automated histology storage system 602, the slides may be individually scanned and then loaded into a temporary storage location, such as the slide carrier cassette 500 described above, to await assembly into a case or folder for transport to a different environment (e.g., a high resolution digital scanner or camera, or a pathologist) for further review and processing.

[0257]

[0332] When assembling a case or folder, a user or technician may initiate the folder creation process by providing user input to the automated histology archiving system 602. The automated histology archiving system 602 may then retrieve associated slides from one or more queues of slide carrier cassettes and automatically assemble a case or folder with the associated slides. The assembled case or folder may then be automatically transported to an output portal to be retrieved by the user or technician.

[0258]

[0333] 6B, the automated histology storage system 602 may include a number of input portals 610 (shown and described in more detail below) to allow a user or technician to insert a tray or rack of slides into the automated histology storage system 602. That is, the input portals 610 act as an interface for exchanging slides between a user or technician and the automated histology storage system 602. According to some embodiments, the input portals 610 may be configured to receive slides that are stored, secured, or housed in a temporary tray or rack, as described in more detail below.

[0259]

[0334] In some embodiments, each portal may have the same width and height dimensions and utilize the same mechanical and electrical connection interface with the automated histology storage system 602. Thus, the input portals 610 may be configured to be modular components that can be interchanged (e.g., removed, replaced, etc.) according to the operational desires or requirements of the automated histology storage system 602. For example, depending on the operations to be performed and the use case of the automated histology storage system 602, it may be desirable to utilize a first type of portal (e.g., a tray portal, described in more detail below) for a period of time and then remove the first type of portal so that a second type of portal (e.g., a rack portal, described in more detail below) can be inserted into the space or slot previously occupied by the first type of portal.

[0260]

[0335] The automated histology storage system 602 may further include one or more output portals 612 to enable the automated histology storage system 602 to provide one or more trays or racks of slides to a user or technician. That is, the output portals 612 may act as an interface for a user or technician to retrieve a tray or rack of slides from the automated histology storage system 602.

[0261]

[0336] The automated histology archiving system 602 may further include a user interface. According to some embodiments, the user interface may include a graphical display device or display panel 614 for displaying images or a graphical user interface. In some embodiments, the display panel 614 may include touch screen functionality that allows a user to provide touch input. The automated histology archiving system 602 may further include other mechanisms for providing user input, such as a keyboard, a mouse, and one or more buttons.

[0262]

[0337] Using the user interface, a user or technician may provide input to the automated histology archiving system 602 to indicate that the user wishes to deposit slides, a folder of slides, or a rack of slides into the automated histology archiving system 602. For example, the user or technician may provide identifying information regarding the slides and the archiving mechanism (e.g., whether the slides are in a folder, in a rack, etc.). The automated histology archiving system 602, in some embodiments, may direct the user to a particular input portal 610 for depositing the slides. Once deposited in the input portal 610, the automated histology archiving system 602 may proceed to organize, sort, and assemble the slides into one or more archiving queues until a user requests that they be retrieved, as described below.

[0263]

[0338] For example, when it is desired to retrieve a slide, a folder of slides, or a rack of slides from the automated histology archiving system 602, a user or technician may provide input to a user interface of the automated histology archiving system 602 to request retrieval of a particular slide. As described in more detail below, in response to the retrieval request, the automated histology archiving system 602 may identify the corresponding slides, retrieve them from a storage queue, and insert the slides into one of the output portals 612.

[0264]

[0339] According to some embodiments, the user interface may allow a user to request, for example, that slides be retrieved and / or assembled into one or more trays or racks. The slides may be stored in various locations or slide carrier cassettes within the automated histology archiving system 602. For example, some of the requested slides may be stored in one location or slide carrier cassette, while other slides may be stored in a different location or slide carrier cassette. According to some embodiments, the user interface may allow a user to provide information regarding the characteristics of the slides to be retrieved. For example, a user may request all slides corresponding to a particular patient, all slides corresponding to multiple patients, or a subset of slides in a particular patient or group of patients having particular characteristics (e.g., tissue samples from a particular part of the patient's body, or tissue samples having particular stain or reagent characteristics, etc.). In response to user input, the automated histology archiving system 602 may proceed to retrieve the relevant slides from various storage locations within the automated histology archiving system 602 and assemble them into one or more trays or racks, while not including or retrieving slides that do not fit the criteria of the user request.

[0265]

[0340] In some embodiments, the automated histology storage system 602 may further include one or more service doors 616. In some embodiments, the service doors 616 may be transparent (or may have transparent areas) to allow a user or technician to observe the interior of the automated histology storage system 602. Additionally, the service doors 616 may be configured to be opened to allow maintenance or repair of components within the automated histology storage system 602.

[0266]

[0341] FIG. 6C illustrates further details of an exemplary automated histology archiving system 602, according to some embodiments. In particular, FIG. 6C illustrates an exemplary top-front perspective view of an automated histology archiving system 602, according to some embodiments. As shown in FIG. 6C, the automated histology archiving system 602 may include a mechanical or robotic arm 620. The mechanical arm 620 may be the same as or similar to the mechanical arm 202 described above, and some repeated or duplicated descriptions thereof may be omitted. The mechanical arm 620 may be configured to retrieve slides, slide folders, and slide racks from the input portal 610, manipulate individual slides while organizing and assembling the slides into a storage rack or queue, and then retrieve the slides, folders, or racks from the storage location and deposit them in the output portal 612. The retrieval, manipulation, and storage operations of the mechanical arm 620 may be performed in response to user input (e.g., input via the user input interface and graphical display panel 614), individual data corresponding to each slide, and one or more predefined handling protocols.

[0267]

[0342] The automated histology storage system 602 may further include one or more slide carrier queues 624. The slide carrier queue 624 shown in FIG. 6C may be the same as or similar to the slide carrier queue 530 described above, and repeated or duplicated descriptions thereof may be omitted. The slide carrier queue 624 may store multiple racks of slides (e.g., slide carrier cassettes 500 of FIGS. 5A-5E), as described above with respect to FIGS. 5F-5I. Furthermore, although FIG. 6C shows the slide carrier queue 624 configured in a planar form of rows and columns of cavities for storing slides, embodiments according to the present disclosure are not limited thereto, and in some embodiments, the slide carrier queue 624 may be configured in a cylindrical shape as shown in FIG. 5G, which may be configured to be rotated, and may be modular in that different levels or rows may be added or removed as needed.

[0268]

[0343] Additionally, according to some embodiments, the automated histology storage system 602 may include a tool change shelf or rack 630. The tool change rack 630 may be configured to hold or store a number of different tools or grippers used by the mechanical arm 620. In some embodiments, the automated histology storage system 602 may be configured to automatically (e.g., without human involvement) change the tool or gripper utilized by the mechanical arm 620 depending on the operation being performed. For example, a first type of gripper may be utilized to remove a slide tray or rack (e.g., slide carrier cassette) from the input portal 610, while a different tool or gripper may be utilized to manipulate individual slides within the automated histology storage system 602. Thus, in some embodiments, between steps involving slides, the automated histology storage system 602 may send an electronic signal to the mechanical arm 620 to cause the mechanical arm 620 to remove a first tool or gripper and store it in rack 630, and then attach a second tool or gripper to the mechanical arm 620 that is stored in rack 630. As will be appreciated by one of ordinary skill in the art, embodiments according to the present disclosure are not limited to two grippers or tools, and any suitable number of tool or gripper configurations may be utilized according to the design and configuration of the automated histology storage system 602.

[0269]

[0344] 6D illustrates an exemplary top view of an automated histology archiving system 602 according to some embodiments. As shown in FIG. 6D, the automated histology archiving system 602 may include a work platform or workstation 640 to be utilized by the mechanical arm 620 to manipulate and process slides within the automated histology archiving system 602. According to some embodiments, various components may be secured to the workstation 640 (or elsewhere within the automated histological storage system 602). For example, according to some embodiments, the slide carrier 300 may be secured to the workstation 640. Additionally, the workstation 640 may include various sensors, e.g., cameras, barcode readers, etc., for identifying aspects of components or slides within the automated histological storage system 602. In some embodiments, the workstation 640 may further include one or more rack carriage nests and / or one or more tray carriage nests, which are described in more detail below. The rack carriage nests and tray carriage nests may act as intermediate platforms to enable the mechanical arm 620 to cooperate and manipulate slides, trays of slides, and racks of slides. Further details of some of the components that may be mounted to the workstation 640 are described below.

[0270]

[0345] As shown in FIG. 6D , the automated histological archiving system 602 may further include a control system 650 or may be electrically connected to the control system 650. The control system 650 may include a processor 652 and a memory 654 coupled to (e.g., in electronic communication with) the processor 652. The memory 654 may store instructions that, when executed by the processor 652, cause the automated histological archiving system 602 to perform various operations as described herein. For example, the instructions stored in the memory 654, when executed by the processor 652, may send one or more signals to a user interface to receive and display data or information from a user. Similarly, the instructions stored in the memory 654, when executed by the processor 652, may control or change the position or configuration of the mechanical arm 620 and / or a gripper of the mechanical arm 620 (e.g., to pick up and manipulate slides, folders, trays, racks, etc.).

[0271]

[0346] Control system 650 may further be in electronic communication (via wired or wireless communication channels) with a network 660 (e.g., a local area network (LAN), a private wide area network (WAN), and / or a public wide area network such as the Internet). In some embodiments, control system 650 may be configured to send and receive signals to and from external components or computer systems that are also connected to or in electronic communication with control system 650 via network 660.

[0272]

[0347] In some embodiments, database 662 may be connected to control system 650, for example, via network 660. Database 662 may store data corresponding to unique identification information for individual slides, groups of slides, patient data, tissue sample data, processing step data, etc. In some embodiments, database 662 may be remote to automated histology archiving system 602, or database 662 may be local or contained within automated histology archiving system 602.

[0273]

[0348] 7A-7P show aspects of a portal system operating as part of an automated histology storage system 602 according to some embodiments. Within the histology system and environment 600, various slide storage devices may be utilized to mount or store slides during processing.

[0274]

[0349] For example, in certain advanced staining processes or applications, slides may be stored in racks or baskets in which individual slides are vertically arranged and can be slid into individual slots in succession behind one another. The racks can then be utilized to transport the slides to or from a processing machine, or in some cases the racks may be inserted into a processing machine to allow a staining or reagent process step to be performed.

[0275]

[0350] 7A illustrates exemplary racks 702a-702e, all of which are generally capable of storing individual slides vertically, with the front and back of the slide facing the adjacent slides in front and behind. However, as may be apparent, while each of the slide racks 702a-702e has a similar shape or configuration, each individual design has a different form factor. For example, different vendors or processes may manufacture or utilize racks having slightly different shapes or form factors for a variety of reasons.

[0276]

[0351] Thus, it may be difficult or time consuming for an automated histology storage system 602 utilizing a mechanical arm 620 to pick up and manipulate a variety of different racks having different form factors, as each different form factor may have a different location, handle, or protrusion at which the gripper of the mechanical arm 620 may grasp the rack.

[0277]

[0352] As will be appreciated by those skilled in the art, the exemplary rack form factor shown in Figure 7A is not intended to be limiting and a variety of other form factors may be utilized, rather the example shown in Figure 7A is merely intended to convey the concept that embodiments in accordance with the present disclosure can accommodate a wide variety of different rack form factors.

[0278]

[0353] Similarly, in other staining processes or applications, slides may be stored in flat folders or trays, with individual slides arranged, for example, in rows or columns, with the front and back surfaces flush with one another. Similar to the racks discussed above, trays of slides may be utilized to transport slides to and from processing machines.

[0279]

[0354] 7B illustrates exemplary slide trays or folders 704a-704g, all of which are generally capable of storing individual slides in a planar orientation, e.g., with the slides arranged in rows and columns such that the front and back surfaces of the slides are flush with one another. However, as may be apparent, while each of the trays 704a-704g has a similar shape or configuration, each individual design has a different form factor. For example, similar to the racks discussed above, different tray manufacturers may utilize different form factors for different applications for a variety of reasons.

[0280]

[0355] Thus, as with racks of various shapes, the various shapes of trays may make it difficult for an automated histology storage system 602 using a mechanical arm 620 to pick up and manipulate a variety of different trays, all having different form factors, because the positions for picking up and manipulating the trays with the grippers of the mechanical arm 620 may differ between the various form factors.

[0281]

[0356] As will be appreciated by those skilled in the art, the exemplary tray form factor shown in Figure 7B is not intended to be limiting, and a variety of other form factors may be utilized, rather, the example shown in Figure 7B is merely intended to convey the concept that embodiments in accordance with the present disclosure can accommodate a wide variety of different tray form factors.

[0282]

[0357] Thus, as described below, embodiments of the present disclosure provide a mechanism that allows the automated histology storage system 602 to receive, pick up, manipulate, and store slides from a wide variety of racks and trays that may have different form factors, without necessarily requiring the mechanical arm 620 to change gripping mechanisms for each changing form factor.

[0283]

[0358] In this disclosure and claims, the term "slide holder" may be utilized to collectively refer to either a slide tray or a slide rack, i.e., "slide holder" in accordance with this disclosure and claims refers to a component configured to physically hold slides in slide slots or cavities in either a vertical orientation (as in the case of a slide rack shown and described in connection with FIG. 7A) or a planar orientation (as in the case of a slide tray or folder shown and described in connection with FIG. 7B).

[0284]

[0359] FIG 7C illustrates an exemplary input or output portal according to some embodiments. As described with respect to FIGs 6A-6D, the input and output portals 610 and 612 may act as interface mechanisms that allow a user or technician to insert slides into the automated histology archiving system 602. As shown in FIG 7C, the automated histology archiving system 602 may include a tray portal 710a that is the same as or similar to the input portal 610 and / or output portal 612 described above with respect to FIGs 6A-6D. The tray portal 710a may be capable of receiving a slide tray (e.g., the same as or similar to the trays 704a-704g described above).

[0285]

[0360] Similarly, the automated histology archiving system 602 can include a rack portal 710b that is the same as or similar to the input portal 610 and / or output portal 612 described above with respect to Figures 6A-6D. The rack portal 710b can be capable of receiving a slide rack (e.g., the same as or similar to racks 702a-702f described above).

[0286]

[0361] According to some embodiments, the tray portal 710a and the rack portal 710b may have the same or similar exterior dimensions. For example, the tray portal 710a and the rack portal 710b may have the same or similar height H, width W, and / or depth D. Additionally, according to some embodiments, the tray portal 710a and the rack portal 710b may have the same or similar mechanical mounting hardware for securing the portals to the automated histology archiving system 602. Additionally, according to some embodiments, the tray portal 710a and the rack portal 710b may have the same or similar electrical connection mechanisms for electrically connecting to the automated histology archiving system 602.

[0287]

[0362] Thus, the portals may act as modular components of the automated histology storage system 602, allowing portals to be moved in and out of the automated histology storage system 602 according to the design, operation, or use case. For example, in some environments or use cases, it may be desirable to utilize only or primarily tray portals 710a. In other environments or use cases, it may be desirable to utilize only or primarily rack portals 710b. In some environments, it may be desirable to be able to vary the configuration or number of different types of portals. Because the portals 710a and 710b may have the same or similar dimensions, it may be possible to configure or reconfigure the portals to move in and out according to the design and operation of the automated histology storage system 602.

[0288]

[0363] FIG. 7D illustrates further details of an exemplary tray portal 710a, according to some embodiments. As shown in FIG. 7D, the tray portal 710a includes four layers, tray levels, or portal slots, although embodiments of the present disclosure are not limited thereto. For example, in some embodiments, there may be additional or fewer layers without departing from the spirit and scope of the embodiments of the present disclosure. As shown in FIG. 7D, each level or portal slot may be configured to hold a tray carriage. Although further details of the tray carriages are described in more detail below, each tray carriage may be configured to receive a tray of slides. Each tray carriage may have substantially the same form factor such that the mechanical arm 620 and its gripping mechanism can pick up and manipulate the tray carriages in substantially the same manner without requiring adjustment of the gripping position or gripper tooling. As described in more detail below, each tray carriage may further include a cavity configured to receive a tray of slides. The internal form factor of the cavity may vary depending on the form of the tray. Thus, while each of the various different trays may have slightly different shapes or form factors, the interior of the tray carriage cavity may fit their corresponding tray shape. According to some embodiments, the interior cavity of the tray carriage may be keyed to the corresponding tray type such that only the tray form corresponding to the particular tray carriage can fit properly within the interior cavity, and other tray forms cannot fit properly or fully seat within the interior cavity of an incorrect tray carriage.

[0289]

[0364] As an example, Figure 7D shows a portal with three tray carriages 716a-c in the bottom three tiers or portal slots 714b-d, with the top portal slot 714a being empty. The bottom tray carriage 716a includes a tray inside the interior cavity of the tray carriage 716a, while the other two tray carriages 716b and 716c are empty or void, meaning that there is no tray inside their respective interior cavities. As will be appreciated by those skilled in the art, the particular configuration shown in Figure 7D is for illustrative purposes only, and depending on the use and context of the automated histology archiving system 602, the various portal slots and tray carriages may be occupied or empty at various times.

[0290]

[0365] As shown in FIG. 7D, the tray portal 710a may include a door 718 that can be opened to allow a user to place a tray within the portal 710a. In some embodiments, a user may first interact with a user interface (e.g., the display panel 614 shown in FIGS. 6A-6D) before inserting a tray into the portal 710a. For example, the user interface may have a graphical interface to allow the user to indicate that they would like to insert a tray into the automated histology storage system 602.

[0291]

[0366] The automated histology storage system 602, in some embodiments, may be configured to detect whether any of the portals 710a, or portal slots or levels within one or more of the portals 710a, are currently empty (e.g., no trays are currently inserted). For example, according to some embodiments, the automated histology storage system 602 may include one or more sensors (e.g., magnets, visual or non-visual wavelength light sensors, cameras, etc.) configured to detect whether a portal slot has a tray carriage and whether the tray carriage is occupied by a tray.

[0292]

[0367] In response to identifying an open portal or portal slot, the automated histological storage system 602 may identify whether the portal slot is currently inserting a tray carriage that is not occupied by a tray (i.e., empty). If the portal slot is empty (i.e., no tray or tray carriage is inserted), the automated histological storage system 602 may send one or more signals to the mechanical arm to retrieve the empty tray carriage and insert the empty tray carriage into the empty portal slot. However, before inserting the empty tray carriage into the empty slot, the automated histological storage system 602 may prompt the user to identify the type of tray to be inserted into the portal 710a. For example, the user may select the type of tray from a menu, or the user may provide unique identification information (e.g., in the form of a barcode scan, etc.) regarding the tray to enable the automated histological storage system 602 to identify the tray carriage to select that corresponds to the tray to be inserted. In other embodiments, the automated histological storage system 602 may automatically identify the type of tray inserted into the portal 710a. For example, each portal may include a barcode reader, camera, RFID reader, NFC scanner, or other device capable of retrieving unique identification information about the tray, including the tray type and its internal and external form factors.

[0293]

[0368] Similarly, if portal 710a has a portal slot with an empty tray carriage, but the empty tray carriage does not correspond to a tray that the user wants to insert into portal 710a, the automated histology storage system 602 may be configured to detect, via one or more sensors, data stored in memory and / or user input, that one of the tray carriages needs to be replaced with a tray carriage that matches the tray that the user wants to insert. Thus, the automated histology storage system 602 may send one or more signals to the mechanical arm 620 to cause the mechanical arm 620 to remove one or more of the empty tray carriages from portal 710a, retrieve a tray carriage having an internal cavity that corresponds to the tray that the user wants to insert into portal 710a, and insert the corresponding tray carriage into the empty slot of portal 710a.

[0294]

[0369] When an empty tray carriage is ready to be filled with a tray, according to some embodiments, the automated histology storage system 602 may provide or display a graphical alert to the user regarding the availability and / or location of an appropriate empty tray carriage. For example, in some embodiments, the automated histology storage system 602 may display a message on a graphical user interface displayed on the display panel 614 to guide the user to the appropriate portal and portal slot. In some embodiments, the automated histology storage system 602 may display a light or other indicator in the portal slot.

[0295]

[0370] As shown in FIG. 7D, the tray carriage is configured to move laterally in and out of the portal 710a. However, according to some embodiments, a user may be prevented from completely removing the tray carriage from the portal slot, but rather the tray carriage need only slide out of the portal to a fixed or predetermined limit that provides sufficient clearance to allow a user to insert a tray into the tray carriage's internal cavity without removing the tray carriage. Mechanisms for preventing the tray carriage from being completely removed are described in more detail below, but in some embodiments the tray carriage may have one or more rails configured to seat in and slide along one or more slots or grooves, or a protrusion or peg on the back of the tray carriage may hook into the groove or the body of the portal 710a to prevent the tray carriage from being fully pulled out of the portal 710a. Additionally or alternatively, the slot or groove along which the tray carriage slides may not extend all the way to the front edge of the portal 710a, but rather may be recessed a predetermined distance into the portal 710a to prevent the tray carriage from being fully withdrawn from the portal 710a.

[0296]

[0371] FIG. 7E shows further details of the internal components of the portal according to some embodiments. For example, FIG. 7E shows two layers or levels of portal slots of a tray portal 710a with an external housing and structure, with two of the four layers shown in FIG. 7D removed. As shown in FIG. 7E, each layer or portal slot may be configured to accommodate a single tray carriage 716. As previously mentioned, the tray carriages 716a and 716b are configured to slide into and out of the portal slots 714 when inserted into the corresponding portal slots 714 to allow the tray to be inserted into the tray carriage. FIG. 7E shows an example where different trays 720a and 720b are inserted into the tray carriages 716a and 716b, respectively. As shown in FIG. 7E, the trays 720a and 720b are similar to each other in that they are both configured to receive or hold individual slides in multiple columns and rows, with the front and back faces of the slides being approximately flush with each other when stored in their respective trays. However, each of trays 720a and 720b has a slightly different external form factor. Thus, tray carriage 716a has an internal cavity that is specifically configured to accommodate tray 720a. Similarly, tray carriage 716b has an internal cavity that is specifically configured to accommodate tray 720b. When attempting to insert tray 720a into tray carriage 716b, the tray may not fit or seat properly, or there may be undesirable movement or spacing around the edges of tray 720a. Similarly, when attempting to insert tray 720b into tray carriage 716a, the tray may not fit or seat properly, or there may be undesirable movement or spacing around the edges of tray 720b.

[0297]

[0372] As shown in FIG. 7E , the tray carriages 716a and 716b have the same or similar external form factors, albeit with different form factors in their respective internal cavities corresponding to a particular tray configuration. Thus, the tray carriages 716a and 716b can be positioned within any open portal slot. Each tray carriage 716a and 716b may include the same or similar contours or protrusions. For example, the tray carriages 716a and 716b may include one or more rails 724 for guiding the tray carriages 716a and 716b along the slots or grooves 726 of the corresponding portal slots. Additionally, as previously mentioned and further described below, the tray carriages 716a and 716b may be configured in some embodiments to slide in and out of the tray portal 710a, but may be prevented from being completely removed from the tray portal 710a from the front side (e.g., by a protrusion or sliding mechanism that prevents the tray carriages 716a and 716b from being removed from the tray portal 710a).

[0298]

[0373] FIG. 7F shows further details of the exemplary tray carriages 716a and 716b. As previously mentioned, the tray carriages 716 act as an intermediate component or base to allow a user to load and unload trays or folders of slides into the automated histological storage system 602. The external features (e.g., gripping locations, handles, rails, grooves, dimensions, etc.) may be the same or similar, but the cavities for holding the trays may vary depending on the tray form that corresponds to the tray carriage. The mechanical arm 620 of the automated histological storage system 602 may interact with the tray carriage 716 rather than the tray itself. Because the external form factor is the same, the mechanical arm 620 of the automated histological storage system 602 can interact with different tray carriages 716 in the same manner without the need to change the gripping tools or mechanisms.

[0299]

[0374] FIG. 7G illustrates a bottom view of a portion of a portal slot of a portal 710a according to some embodiments when the tray carriage 716a is in an extended or withdrawn position. As shown in FIG. 7G, a protrusion or peg 728 may protrude or extend from a bottom surface or base of the portal slot. The protrusion 728 may be configured to fit within a groove or slot 729 in the bottom surface of the tray carriage 716a. According to some embodiments, the groove 729 may extend to the front side of the tray carriage 716a so that the tray carriage 716a can be removed from the portal 710a from the back side of the portal 710a. However, the slot 729 may not extend all the way to the back side of the tray carriage 716a. Thus, as the tray carriage 716a moves in and out of the portal slot, the tray carriage 716a may not be removed from the portal 710a from the front side. That is, the protrusion may prevent the tray carriage 716a from being withdrawn beyond a predetermined point.

[0300]

[0375] 7H illustrates a close-up view of rails 724 of an example tray carriage 716b according to some embodiments. As shown in FIG. 7H, rails 724 of tray carriage 716b may be configured to slide within grooves 726 to guide tray carriage 716b into and out of portal slot 714c. Additionally, the mechanical coupling between rails 724 and grooves 726 acts to prevent a user from vertically moving tray carriage 716b.

[0301]

[0376] FIG. 7I shows a close-up of a portion of the internal structure of the portal slot when the carrier tray is in the extended or pulled position. FIG. 7J shows a close-up of a portion of the internal structure of the portal slot when the carrier tray is in the retracted or pushed position. As shown in FIG. 7I, the groove 726 guides the rail 724 of the tray carriage 716b into and out of the tray portal 710a. As shown in FIG. 7I, the rear of the groove 726 may be cut out to form a notch 730 so that the groove 726 is located at the front of the tray portal 710a and not at the rear. This allows the rail 724 to no longer engage the groove 726 when the tray carriage 716b is in the pushed or pulled position, as shown in FIG. Thus, from the rear or back side of the portal 710a (i.e., inside the automated histological storage system 602), the tray carriage 716b can be lifted and removed from the portal 710a by the mechanical arm 620 and retracted into the interior of the automated histological storage system 602.

[0302]

[0377] FIG. 7K illustrates further details of the internal components of a rack portal according to some embodiments. For example, FIG. 7K illustrates four rack slots 740a-740d of rack portal 710b with the exterior housing and structure removed. Although four rack slots are shown in FIG. 7K, embodiments of the present disclosure are not so limited and, according to some embodiments, there may be fewer or more rack slots without departing from the spirit and scope of embodiments of the present disclosure. Additionally, as previously discussed, rack portal 710b and tray portal 710a may have the same or similar exterior dimensions such that the number of rack slots in rack portal 710b may be a function of the shared width of rack portal 710b and tray portal 710a, and may also be a function of the width of the largest or widest tray that tray portal 710a is designed to accommodate.

[0303]

[0378] As shown in FIGURE 7K, each rack slot 740a-740d may be configured to accommodate a single rack carriage 742. As previously described, when inserted into a corresponding portal slot 740, the tray carriage 742 is configured to slide into and out of the portal slot 740 to allow a rack to be inserted into the rack carriage. FIGURE 7K illustrates an example in which racks 744a-744d are inserted into rack carriages 742a-742d, respectively. Racks 744a-744d may correspond to one of racks 702a-702f previously described.

[0304]

[0379] As shown in FIG. 7K, each of the racks 744a-744d are identical to one another. However, as previously described with respect to FIG. 7A, a variety of different racks having a variety of different form factors may be utilized as part of the histology system and environment 600. Thus, similar to the tray carriage 716, the rack carriages 742a-742d may each have the same external form factor. However, the form factor of the internal cavity configured to receive the rack 744 may vary according to the configuration and form factor of the corresponding rack 742. For example, the different racks 702a-702f each have a different form factor. A corresponding rack carriage 740 may be designed for each rack 702a-702f such that an individual rack can be properly seated in its corresponding rack carriage. However, each rack carriage 740 is keyed to the shape of its corresponding rack configuration, so that a rack that does not correspond to the rack carriage will not be able to fit into the incorrect rack carriage or will not be able to seat properly (e.g., will not be able to seat fully without lateral or vertical movement).

[0305]

[0380] FIG. 7L shows further details of an exemplary rack carriage 742 according to some embodiments. As previously mentioned, the rack carriage 742 acts as an intermediate component or base to allow a user to load and unload racks of slides into the automated histological storage system 602. The external features (e.g., gripping locations, handles, rails, grooves, dimensions, etc.) may be the same or similar, but the cavities for holding the racks may vary depending on the rack configuration or form factor that corresponds to the rack carriage. The mechanical arm 620 of the automated histological storage system 602 may interact with the rack carriage 742 rather than the rack itself. Because the external form factor is the same, the mechanical arm 620 of the automated histological storage system 602 may interact with different rack carriages 742 in the same manner without the need to change the gripping tools or mechanisms.

[0306]

[0381] 7M illustrates an exemplary rack carriage nest 750 according to some embodiments. According to some embodiments, the rack carriage nest 750 may be located within the automated histology storage system 602. For example, the rack carriage nest 750 may be mechanically secured or attached to a surface of the workstation 640. The rack carriage 750 may act as a location and platform that allows the mechanical arm 620 to pick up a slide from the rack 744 for further processing (e.g., placing the slide in a slide carrier cassette 500 for storage in the slide carrier queue 530 or placing the slide in a rack 744). According to some embodiments, the rack carriage nest 750 may have a surface onto which the rack carriage 742 (with the rack 744 inserted) may be positioned by the mechanical arm 620. Similar to the slide carrier 300 shown in FIG. 3A, for example, the surface of the rack carriage nest 750 may be inclined with respect to the x-axis and y-axis directions, similar or identical to the slide platform 308 of the slide carrier 300 shown in FIG. 3A. Accordingly, some detailed description of the rack carriage nest 750 may be omitted for the sake of brevity. Because the surface of the rack carriage nest 750 is inclined with respect to the x-axis and y-axis, the rack carriage 742 may be pulled by gravity to a known, fixed position and orientation when placed on the rack carriage nest 750, allowing the gripper of the mechanical arm 620 to pick up an individual slide or rack carriage 742 with relative ease. That is, similar to the slide carrier 300, the rack carriage nest 750 may bias an edge of the rack carriage 742 toward a known position of the rack carriage 750 (e.g., a lower right or lower left corner or edge).

[0307]

[0382] FIG. 7N illustrates an exemplary tray carrier nest 760 according to some embodiments. According to some embodiments, the tray carrier nest 760 may be located within the automated histology storage system 602. For example, the tray carrier nest 760 may be mechanically fixed or attached to a surface of the workstation 640. The tray carrier nest may act as a location and platform that allows the mechanical arm 620 to pick up slides from the tray 720 for further processing (e.g., placing the slide in the slide carrier cassette 500 for storage in the slide carrier queue 530 or placing the slide in the tray 720). According to some embodiments, the tray carrier nest 760 may have a surface on which the tray carriage 716 (with the tray 720 inserted) may be located by the mechanical arm 620. In some embodiments, the top surface of the tray carriage nest 760 may be tilted with respect to the x-axis and / or y-axis to allow the tray carriage 716 to be pulled by gravity to a known fixed position and orientation. Thus, the mechanical arm 620 can pick up individual slides or tray carriages 716 with relative ease.

[0308]

[0383] 7O and 7P show aspects of a rack nest 770 according to some embodiments. Certain types of staining and reagent machines may require the use of racks having particular form factors, as discussed above. In some cases, the spacing between individual slides may be relatively narrow. That is, each slide may be located relatively close to the slide before and after it in order to fit a desired number of slides into the rack while still allowing the rack to fit within the spatial parameters of the staining machine. Due to the narrow spacing between slides, it may be difficult for the mechanical arm 620 to manipulate the gripper in a manner that allows the gripper to fit into the narrow spacing when attempting to pick up individual slides without hitting adjacent slides.

[0309]

[0384] Thus, according to some embodiments, the rack nest 770 may be utilized to passively lift certain slides (e.g., every other slide) to provide sufficient spacing to allow the mechanical arm 620 to grasp the slide without contacting or damaging adjacent slides. FIG. 7O illustrates a side view of an example rack nest 770 according to some embodiments. FIG. 7P illustrates a perspective view of an example rack nest 770 according to some embodiments. For example, according to some embodiments, each of the protrusions 774 has a height of about 1 inch.

[0310]

[0385] According to some embodiments, the mechanical arm 620 may place the rack 744 directly on the rack nest 770 in the nest area 772. Within the nest area 772, the rack nest 770 may include one or more protrusions 774. According to some embodiments, the protrusions 774 may be located at positions corresponding to all other slides or slide positions within the rack 744. According to some embodiments, each protrusion may have a width that is less than the distance between the front and rear faces of the adjacent slides. Thus, when the rack 744 is placed within the nest area 772, slides that correspond to or align with the protrusions 774 are lifted or elevated by the protrusions 774 above the slides adjacent to them. Additionally, each protrusion may have a height sufficient to allow the gripper of the mechanical arm 620 to grip the slide elevated by the protrusions 774 without the gripper contacting or damaging the adjacent slides that are not elevated. Further, according to some embodiments, each protrusion may have a height sufficient to allow the unique identification information (e.g., a barcode) of an elevated slide to be exposed above a non-elevated slide.

[0311]

[0386] According to some embodiments, the mechanical arm 620 may lift the rack 744 and rotate the rack 744 180 degrees before reinserting the rack into the nesting area 772 to elevate other slides. For example, in a first position, the protrusion 774 may elevate a first group of slides (e.g., even numbered slides) above a second group of slides. In a second position, where the rack 744 is rotated 180 degrees relative to the first position, the protrusion 774 may elevate the second group of slides (e.g., odd numbered slides) above the first group of slides. Furthermore, according to some embodiments, rather than having a fixed or stationary protrusion 774, the protrusion may be dynamically raised or lowered (e.g., by using an actuator), thereby allowing the automated histology storage system 602 to dynamically raise or lower a particular slide according to the movement of the mechanical arm 620. Thus, the rack nest 770 may relax the size constraints of the gripper of the mechanical arm 620, improving the robustness and ease of picking up and manipulating slides.

[0312]

[0387] 8A-8E illustrate an exemplary slide position detection system according to some embodiments. As previously described, for example with respect to FIGS. 7O and 7P, the slides in the rack 744 may be very close to each other, and the close spacing between adjacent slides may make it difficult for the mechanical arm 620 and the gripper of the mechanical arm 620 to pick up individual slides. Furthermore, in many cases, an individual rack 744 may not be completely filled with slides. Thus, for each rack, the mechanical arm 620 may have to spend a certain amount of time identifying whether a slide is present at each position in the rack 744. Over the course of a day, during which a large number of slides may be processed through the automated histology storage system 602, the time spent by the mechanical arm 620 checking whether a slide is present at various positions in the numerous racks it processes may be significant. If the mechanical arm 620 erroneously identifies a location in the rack as empty when in fact a slide is present, this may pose a threat to the slide and the automated histological storage system 602 in that the slide may be damaged and may cause debris within the automated histological storage system 602 that may damage other components or contaminate the environment and other slides.

[0313]

[0388] Thus, according to some embodiments, the automated histology storage system 602 may include a slide position detection sensor 800 configured to enable the automated histology storage system 602 to identify the presence or absence of slides at various positions within a given rack 744. According to some embodiments, the slide position detection sensor 800 may include, for example, a depth camera (e.g., a stereo depth camera) including two or more image sensors 802.

[0314]

[0389] According to some embodiments, slide position detection sensor 800 may be located in front of rack 744 and / or rack nest 750 / 770, a predetermined distance D from rack 744. Although rack nest 770 is shown in FIG. 8A, embodiments are not so limited and according to some embodiments, rack nest 750 (e.g., a rack nest without protrusion 774) may be utilized. For ease of explanation, rack nest 770 may be referred to in connection with slide position detection sensor 800, although embodiments of the present disclosure are not so limited.

[0315]

[0390] Because the distance D between the rack 744 and the slide position detection sensor 800 is known and fixed, the distance between the slide position detection sensor 800 and each slide slot or slide position may also be known. Thus, according to some embodiments, the slide position detection sensor 800 may be configured to cycle through the known distances of each slide position and capture an image at each predetermined distance of each slide position or slide slot to identify whether a slide is present at that position.

[0316]

[0391] Since the distance from the front of the rack 744 to the first slide position is known, and the distance from the slide position detection sensor 800 is known, the distance from the slide position detection sensor 800 to the first slide position is also known. Furthermore, the distance between each subsequent slide position may be a known distance. For example, according to some embodiments, the distance between each slide position may be the same (e.g., 4 millimeters (mm), 6.5 mm, etc.), although embodiments of the present disclosure are not limited thereto, and in some embodiments, the distance between the slide positions may vary but is known or predetermined.

[0317]

[0392] The slide position detection sensor 800 may capture an image focused at a position a particular distance away from the slide position detection sensor 800 that corresponds to a given slide position to detect or determine whether a slide is located at the given slide position. If an element of the slide (e.g., a barcode, unique identification information, etc.) is visible or identified at the particular distance, the slide position detection sensor 800 may determine that the slide position is occupied by a slide. In contrast, if an element of the slide is not visible or identified at the particular distance, the slide position detection sensor 800 may determine that the slide position is vacant (e.g., not occupied by a slide).

[0318]

[0393] For example, FIG. 8B shows an example image of a first slide position (e.g., slide slot 1) in the rack 744 at a first distance away from the slide position detection sensor 800. The first distance corresponds to the distance D plus the distance from the front of the rack 744 to the first slide position (e.g., in front of the first slide position). In the example shown in FIG. 8B, the left image 810 shows a depth map image or rendering of the slide rack 744, and the right image 812 shows an RGB image of the slide rack 744. An element 814 (e.g., a barcode) affixed to the surface of the slide is at the first distance. Thus, the slide position detection sensor 800 and / or the automated histology storage system 602 can identify that the slide is at the first slide position and can cause the mechanical arm 620 to interact with the slide (e.g., by picking up the slide, etc.).

[0319]

[0394] As the slide rack 744 is positioned within the rack carriage 770, the protrusions 774 (e.g., as shown in FIGS. 7O and 7P) raise the slide in the second slide position behind the slide in the first slide position and above the slide in the first slide position (as described above). Thus, if necessary, before the slide in the first slide position is removed, the slide position detection sensor 800 may be configured to adjust the distance it is measuring / evaluating to the distance of the second slide position to identify whether an element of the second slide in the second slide position is visible.

[0320]

[0395] 8C shows an example image of a second slide position (e.g., slide slot 2) of rack 744 at a second distance away from slide position sensor 800. The second distance corresponds to distance D plus the distance from the front of rack 744 to the second slide position (e.g., in front of the second slide position). In the example shown in FIG. 8C, left image 820 shows a depth map image or rendering of slide rack 744 and right image 822 shows an RGB image of slide rack 744.

[0321]

[0396] As shown in Figure 8C, the second slide is positioned rearward relative to the first slide shown in Figure 8B. An element 824 (e.g., a barcode) affixed to the surface of the slide is at a second distance. Thus, without the first slide being removed, the slide position detection sensor 800 and / or the automated histology archiving system 602 may identify the presence of a slide at the second slide position and may cause the mechanical arm 620 to interact with the slide (e.g., by picking up the slide, etc.).

[0322]

[0397] The automated histology storage system 602 and / or slide position detection sensor 800 may continue to cycle through each slide position in the rack 744 to help identify whether each slide position is occupied by a slide. Once a slide has been identified, the slide may be removed from the rack 744 to allow the slide position detection sensor 800 to view the next slide position. If no slide elements are identified at a given slide position, the slide position detection sensor 800 and / or the automated histology storage system 602 may determine that no slide is present at that slide position.

[0323]

[0398] Alternatively, according to some embodiments, as described in more detail below, the slide position detection sensor 800 may be configured to capture one or more images of the slide rack 744 and identify the presence of a slide element in the images. Based on the presence of a slide element (e.g., a barcode, a QR code, etc.) in the images and the depth map or depth image information, the slide position detection sensor 800 may be configured to identify a distance between the slide position detection sensor 800 and the identified slide element. The slide position detection sensor 800 and / or the automated histology archiving system 602 may then infer or identify (e.g., using a lookup table or stored distance data) to determine a slide position of the identified slide element.

[0324]

[0399] Thus, embodiments according to the present disclosure may enable the automated histology archiving system 602 to automatically identify the presence or absence of a slide at each slide position (e.g., without human involvement or intervention) without potential risks to slide safety and the environment of the automated histology archiving system 602 that may otherwise be caused, for example, by the mechanical arm 620 attempting to grasp a slide that is not present or by erroneously determining that a slide is not present when a slide is present. Additionally, the slide position detection sensor 800 may enable a relatively quick determination of whether a slide is present at each slide position.

[0325]

[0400] 8D illustrates an exemplary method for determining one or more slide positions according to some embodiments of the present disclosure. Although various steps are illustrated in FIG. 8D, embodiments according to the present disclosure are not limited to the specific steps illustrated in FIG. For example, according to some embodiments, there may be additional steps or fewer steps without departing from the spirit and scope of the embodiments according to the present disclosure. Furthermore, according to some embodiments, the order of steps may be varied without departing from the spirit and scope of the embodiments according to the present disclosure, unless otherwise stated or implied.

[0326]

[0401] The steps illustrated in Figure 8D may be initiated and / or controlled by various elements of the automated histology archiving system 602 including, for example, the control system 650, the slide position detection sensor 800, the mechanical arm 620, etc. Unless otherwise indicated, any suitable components within the automated histology archiving system 602 may be utilized to perform the steps described in Figure 8D, and for ease of description, the various components of the automated histology archiving system 602 that perform the steps of the process illustrated in Figure 8D may be collectively referred to as the "system."

[0327]

[0402] As shown in FIG. 8D, the process begins and then in step 840, the system begins a slide position detection process. For example, according to some embodiments, the automated histology storage system 602 may detect the presence of a rack and / or rack carriage (e.g., rack 744 and / or rack carriage 742) in a rack carriage nest (e.g., rack carriage nest 750 or 770). For example, according to some embodiments, a sensor (e.g., optical sensor, magnetic sensor, mechanical switch, etc.) may be triggered in response to the rack and / or rack carriage being placed in the rack carriage nest. Alternatively (or additionally), according to some embodiments, the automated histology storage system 602 and / or mechanical arm 620 may identify the completion of a step in which the mechanical arm 620 has placed a rack and / or rack carriage in the rack carriage nest.

[0328]

[0403] In some cases, the racks and / or rack carriages may be transported directly from the input portal to the rack carriage nest by the mechanical arm 620, and the automated histology storage system 602 may not have information regarding which slots in the rack are occupied by slides. Thus, prior to manipulating (e.g., removing, processing, etc.) a slide from a rack, the automated histology storage system 602 may identify or determine whether a slide is present at a given slide position in the rack, thereby allowing the mechanical arm 620 to safely begin manipulating the slide.

[0329]

[0404] Thus, in step 842, the system may capture one or more images of the slide rack and / or one or more exposed slides. According to some embodiments, the system may capture unique identification information (e.g., in the form of a barcode, ID number, QR code, etc.) corresponding to the rack. For example, the unique identification information may be affixed (e.g., using a sticker or label) to the front side of the rack opposite the slide position detection sensor 800. The unique identification information may identify information about the samples on the slides in the rack (e.g., patient information, tissue / sample information, etc.), as well as the type or style of the rack. For example, in some embodiments, different styles or types of slide racks may have different spacing between slide positions.

[0330]

[0405] According to some embodiments, the system may crop one or more photographs to correspond to the rack and a predetermined area around it to reduce errors in subsequent processing.

[0331]

[0406] Based on the distance (e.g., a set or predetermined distance) from the slide position detection sensor 800 and the position of the first slide in the rack, the slide position detection sensor 800 may capture a color image of the rack and / or any exposed slides and a depth map image of the rack and / or any exposed slides, where the color and depth map images are focused at a known distance to the first slide position.

[0332]

[0407] In step 844, the system may determine whether a slide element is present in the color image and / or the depth map image at a distance to the first slide position. The slide element may include unique identification information affixed to the slide, for example, in the form of a barcode, a QR code, an identification number or letter, etc. If a slide element is present, the system may proceed to control the mechanical arm 620 to manipulate the slide at the first slide position, for example, by removing the slide and placing the slide in the slide carrier cassette 500, in step 846.

[0333]

[0408] The system may then proceed to determine whether the slide position is the last slide position in the rack, at step 848. For example, based on the type or style of the rack, the automated histology archiving system 602 may know the number of slide positions in the rack, as well as the distance between the slide position detection sensor 800 and the last slide position (e.g., the slide position furthest from the slide position detection sensor 800). If the slide position is the last slide position in the rack, the process may end. Otherwise, if there are more slide positions in the rack, the system may return to step 842 to capture an image corresponding to the next slide position.

[0334]

[0409] Alternatively, if a slide element is not present or identified in step 844, the system may proceed to step 848 to determine whether the empty slide position is the last slide position in the rack. If the empty slide position is also the last slide position in the rack, processing may end. If the empty slide position is not the last slide position in the rack, the process may return to step 842 to capture an image corresponding to the next slide position.

[0335]

[0410] Additionally or alternatively, according to some embodiments, rather than iterating through each individual slide location according to some embodiments, the automated histology archiving system 602 may capture an image of the slide and then identify the corresponding slide location when the slide is identified as present. For example, Figure 8E illustrates an exemplary method for determining one or more slide locations according to some embodiments of the present disclosure.

[0336]

[0411] Although various steps are shown in Figure 8E, embodiments of the present disclosure are not limited to the specific steps shown in Figure 8E. For example, according to some embodiments, there may be additional or fewer steps without departing from the spirit and scope of the embodiments of the present disclosure. Furthermore, according to some embodiments, the order of steps may be varied without departing from the spirit and scope of the embodiments of the present disclosure, unless otherwise stated or implied.

[0337]

[0412] The steps illustrated in Figure 8E may be initiated and / or controlled by various elements of the automated histology archiving system 602 including, for example, the control system 650, the slide position detection sensor 800, the mechanical arm 620, etc. Unless otherwise indicated, any suitable components within the automated histology archiving system 602 may be utilized to perform the steps set forth in Figure 8E, and for ease of explanation, the various components of the automated histology archiving system 602 that perform the steps of the process illustrated in Figure 8E may be collectively referred to as the "system."

[0338]

[0413] As shown in FIG. 8E, the process begins and then in step 860, the system initiates a slide position detection process. For example, according to some embodiments, the automated histology storage system 602 may detect the presence of a rack and / or rack carriage (e.g., rack 744 and / or rack carriage 742) in a rack carriage nest (e.g., rack carriage nest 750 or 770). For example, according to some embodiments, a sensor (e.g., optical sensor, magnetic sensor, mechanical switch, etc.) may be triggered in response to the rack and / or rack carriage being placed in the rack carriage nest. Alternatively (or additionally), according to some embodiments, the automated histology storage system 602 and / or mechanical arm 620 may identify completion of a step in which the mechanical arm 620 has placed a rack and / or rack carriage in the rack carriage nest.

[0339]

[0414] As previously mentioned, in some instances, the automated histology storage system 602 may not know which slide positions in the rack are occupied by slides and which positions are vacant. Thus, in step 862, the system may capture one or more images of the slide rack and / or one or more exposed slides. According to some embodiments, the system may capture unique identification information (e.g., in the form of a barcode, ID number, QR code, etc.) corresponding to the rack. For example, the unique identification information may be affixed (e.g., using a sticker or label) to the front of the rack opposite the slide position detection sensor 800. The unique identification information may identify information about the samples on the slides in the rack (e.g., patient information, tissue / sample information, etc.), as well as the type or style of the rack. For example, in some embodiments, different styles or types of slide racks may have different spacing between slide positions.

[0340]

[0415] The one or more photographs may include, for example, a color image (e.g., a high resolution color image) of the rack and / or one or more exposed slides, and a depth map image of the rack and / or one or more exposed slides. According to some embodiments, the system may crop the one or more photographs to correspond to the rack and a predetermined area around it to reduce errors in subsequent processing.

[0341]

[0416] In step 864, the system may determine whether a slide element is present. For example, the system may determine whether unique identification information (e.g., a barcode, a QR code, an identification number or letter, etc.) corresponding to the slide is present in one or more photographs. If a slide element is not present, the process may end.

[0342]

[0417] However, if the slide element is present, the system may proceed to identify slide information in step 866. For example, the slide element may include unique identifying information regarding the patient, the sample, etc. The system may retrieve such information and store the information for subsequent processing.

[0343]

[0418] Further, in step 868, the system may create a pixel mapping between the color image and the depth image to identify the coordinates of the slide element. Then, in step 870, based on the coordinates of the slide element and the depth image, the system may identify the depth or distance of the slide element relative to the slide position detection sensor 800. According to some embodiments, based on the coordinates and the distance derived from the depth image, the system may identify the slide position of the slide element. For example, a look-up table (LUT) or slide position data may be stored in a memory (e.g., memory 652 and / or database 662) that stores information regarding the distance between each slide position and the slide position detection sensor 800. Once the slide position is identified, the system may cause the mechanical arm 620 to manipulate or move the slide from the rack.

[0344]

[0419] Next, in step 872, the system may determine whether the slide was at the last slide position. If the position of the slide corresponds to the last slide position in the rack, the process may end. Alternatively, if the position of the slide does not correspond to the last slide position in the rack, the system may return to step 862 to capture an image corresponding to a subsequent slide position.

[0345]

[0420] 9A-9E show a mechanical arm gripper according to some embodiments of the present disclosure. As discussed above with respect to Figures 2 and 3, according to some embodiments of the present disclosure, a mechanical arm having a gripper connected to an end thereof may be configured to pick up and manipulate slides in a slide processing or manufacturing environment and / or an automated histology archiving system.

[0346]

[0421] Figure 9A illustrates an example of a gripper 900 according to some embodiments. Gripper 900 may be the same as or similar to gripper 216 (or an example of gripper 216) illustrated in slide processing or manufacturing system 200 of Figure 2A.

[0347]

[0422] Gripper 900 according to some embodiments may be configured to grip or manipulate slides in a variety of positions or orientations to allow the slides to interface with a variety of different carriages, racks, machines, etc. in the process of manufacturing or storing pathology slides. Thus, embodiments according to the present disclosure may reduce the need to change grippers or tools and / or utilize multiple mechanical arms to manipulate slides.

[0348]

[0423] Gripper 900 may be formed from any suitable material that is sufficiently rigid to support glass slide 204 without substantial risk of damaging the glass slide or gripper 900. For example, in some embodiments, gripper 900 may be formed from a plastic or polymeric material, although embodiments of the present disclosure are not limited in this respect.

[0349]

[0424] As shown in Figure 9A, gripper 900 may include two or more gripper fingers 902. Although Figures 9A-9E are described in the context of two gripper fingers 902a and 902b, embodiments of the present disclosure are not so limited and some embodiments may include additional gripper fingers 902 without departing from the spirit and scope of embodiments of the present disclosure. In some cases herein, reference number 902 may be used to generally refer to each of gripper fingers 902a and 902b (as well as any additional gripper fingers that may be utilized in some embodiments).

[0350]

[0425] Additionally, according to some embodiments, the gripper 900 (or the mechanical arm 620 to which the gripper 900 is attached) may include additional components configured to be utilized in connection with the manipulation and handling of slides during the slide manufacturing process. For example, in some embodiments, the gripper 900 (or the mechanical arm 620 to which the gripper 900 is attached) may include a suction cup for generating a suction force against the slide. Additionally, in some embodiments, the gripper 900 (or the mechanical arm 620 to which the gripper 900 is attached) may include a camera or a sensor (e.g., an optical sensor, a pressure sensor, etc.) configured to identify or measure the position of a slide, a slide carrier, a surface, etc.

[0351]

[0426] 9A-9E, gripper 900 may be configured to use gripper fingers 902a and 902b to apply a pinching or inward force F1 toward a centerline CENTER that bisects gripper 900 and slide 204. Gripper fingers 902a and 902b may be positioned equidistant from centerline CENTER and may be configured to move toward and away from centerline CENTER in coordination with one another (e.g., with the same speed and with the same force).

[0352]

[0427] 9A-9E, the gripper fingers 902a and 902b may be attached to an actuator 904 configured to move the gripper fingers 902a and 902b inward (toward the centerline CENTER) and outward (away from the centerline CENTER) to open and close the space between the fingers 902a and 902b. The actuator 904 may be connected to a mechanical arm (e.g., the mechanical arm 202 shown in FIG. 2A and / or the mechanical arm 620 shown in FIG. 6A), such that the mechanical arm, the actuator 904, and the gripper 900 may collectively operate to manipulate or move a slide from one position to another. Each gripper finger 902a and 902b may have the same or similar shape. For example, in some embodiments, gripper fingers 902b may be the same as gripper fingers 902a except that they are rotated 180 degrees relative to gripper fingers 902a, although embodiments of this disclosure are not limited in this respect.

[0353]

[0428] FIG. 9A shows gripper 400 holding a slide in a first gripping mode or configuration in which gripper fingers 902a and 902b operate to apply a clamping force F1 widthwise (along an axis parallel to the width of slide 204) against the long edge of slide 204.

[0354]

[0429] In a first gripping mode, gripper 900 may be configured to pick up and / or manipulate slide 204 with a centerline between gripper fingers 902a and 902b extending along the front surface of slide 204 parallel to the long edge of slide 204 and with the centerline bisects the short edge of slide 204.

[0355]

[0430] Gripper fingers 902a and 902b may have a first portion 906 that extends generally in a direction away from actuator 904. For example, according to some embodiments, first portions 906 of gripper fingers 902a and 902b may extend in a direction parallel (or approximately parallel) to centerline CENTER.

[0356]

[0431] Gripper fingers 902a and 902b (e.g., first portions 906 of gripper fingers 902a and 902b) may have inner edges 908a and 908b, respectively, that are internal to the opening or space between gripper fingers 902a and 902b. According to some embodiments, inner edges 908a and 908b may be elongate in a direction parallel to centerline CENTER and may define (or be located at) the inner edge of the first portion 906 of each corresponding gripper finger 902a and 902b. In some embodiments, inner edges 908a and 908b may extend parallel to each other and each may have a groove that is adapted to receive the top (or bottom) of a long edge of a slide, as shown in the first gripping mode shown in FIG. 9A. The grooves in the inner edges 908a and 908b are shown and described in more detail below.

[0357]

[0432] When a clamping or inward force F1 is applied to the long edge of the slide, the gripper 900 can pick up the slide 204 and move it in three-dimensional space.

[0358]

[0433] 9B illustrates gripper 900 holding a slide in a second gripping mode or configuration, with gripper fingers 902a and 902b operating to apply a clamping force or pressure F2 longitudinally (along an axis parallel to the length of slide 204) to a short or width edge of slide 204. That is, pressure or force F2 may be in a direction toward (e.g., perpendicular to) centerline CENTER. In the second gripping mode, gripper 900 may pick up and / or manipulate slide 204 in an orientation such that centerline CENTER between gripper fingers 902a and 902b may extend through the front and rear faces of slide 204 midway between the short edges of slide 204. That is, a direction perpendicular or perpendicular to the plane of the front and rear faces of slide 204 may be parallel to centerline CENTER such that the front or rear face of slide 204 faces actuator 904.

[0359]

[0434] Gripper fingers 902a and 902b may have second portions 910 extending from first portion 906 at an angle parallel or substantially parallel to the extension of first portion 906. Second portion 910 may include protrusions or teeth 914 extending toward a centerline CENTER such that a groove or cavity 916 is formed between protrusions 914 and a body of second portion 910.

[0360]

[0435] The ends of the second portion 910, including the grooves 916, are further away from the actuator 904 and further away from each other as compared to the inner edges 908a and 908b. Thus, more space may be provided between the ends of the second portion 910 (and the grooves 916) relative to the space between the inner edges 908a and 908b. Additionally, the grooves 916 between the protrusions 914 and the body of the second portion 910 may accommodate a width or short edge of the slide 204 such that the gripper 900 can pick up and / or manipulate the slide 204 with a front or rear face of the slide 204 facing the actuator 904.

[0361]

[0436] According to some embodiments, the gripper fingers 902a and 902b may be mechanically connected to the actuator 904 via the support brackets 920a and 920b. That is, each gripper finger 902a and 902b may be connected to a corresponding support bracket 920a and 920b, respectively. According to some embodiments, the gripper fingers 902a and 902b may be mechanically secured to the brackets 920a and 920b using any suitable mechanical connection mechanism. For example, in some embodiments, the brackets 920a and 920b may have a channel or groove 922 that extends horizontally (e.g., perpendicular to the centerline CENTER and / or parallel to the direction of the force F2). The support brackets 920a and 920b may have an upper portion (e.g., a flared upper portion) configured to fit within the channel 922, for example. Additionally or alternatively, according to some embodiments, one or more screws or bolts may be inserted into one or more holes 924 that extend through the vertical portion of the support bracket 920 and connect with one or more corresponding holes (e.g., screw holes) located on the gripper fingers 902. By utilizing support brackets 920a and 920b,

[0362]

[0437] According to some embodiments, the gripper fingers 902a and 902b may include one or more notches or gaps, as shown, for example, in FIG. 9C. For example, a first notch 930 may be cut or machined into the inner edges 908a and 908b. The first notch 930 may be located at a first distance R1 from the bottom end of the gripper fingers (e.g., the outer edge of the protrusion 914). Additionally, a second notch 932 may be cut or machined into the inner edges 908a and 908b. The second notch 932 may be located at a second distance R2 from the bottom end of the gripper fingers that is less than the first distance R1. The first notch 930 and the second notch 932 may be utilized to manually calibrate the pick-up distance of the mechanical arm 620 when picking up a slide. For example, when more precise control of the slide is desired, a first pick-up distance may be selected such that the width edge of the slide is aligned with the first notch 930 (as shown in FIG. 9C). A second pick-up distance may be selected such that the width edge of the slide is aligned with the second notch 932 when less precision is desired, but taking into account spacing (e.g., if the slide is located deep in a fixture, rack, or carriage). Additionally, the second notch 932 may operate to reduce overall friction on the slide at edges 908a and 908b, as less surface area of ​​the gripper fingers 902a and 902b may come into contact with the slide, thereby reducing the potential for damage to the slide caused by the gripper fingers.

[0363]

[0438] 9D and 9E, the inner edge 908 of the gripper finger 902 may have a groove formed therein. According to some embodiments, the groove may have a rounded surface 940 for contacting the slide 204, as shown in FIG. 9D. Alternatively, the groove may have a flat surface 940 for contacting the slide 204. The rounded or flat surface 940 may be an inner surface of the groove that exerts lateral pressure (e.g., in the direction of force F1) against the long edge of the slide 204. The rounded surface 940 may allow for relatively improved grip position control. In contrast, the flat surface 940 may have relatively improved wear performance compared to a rounded surface, but may provide slightly less grip control over the slide because the slide may generally be capable of greater movement or angular misalignment within the flat surface groove.

[0364]

[0439] 10A-10F show a mechanical arm gripper according to some embodiments of the present disclosure. As discussed above with respect to Figures 2, 3, 6, and 7, according to some embodiments of the present disclosure, a mechanical arm having a gripper connected to an end of the mechanical arm may be configured to pick up and manipulate slides in a slide processing or manufacturing environment and / or an automated histology storage system. Additionally, the mechanical arm with the gripper may be configured to pick up and manipulate racks or trays carrying slides, as well as rack or tray carriages carrying racks and trays, respectively.

[0365]

[0440] Figure 10A illustrates an example of a gripper 1000 according to some embodiments. Gripper 1000 may be the same as or similar to gripper 216 (or an example of gripper 216) illustrated in slide processing or manufacturing system 200 of Figure 2A.

[0366]

[0441] The gripper 1000 according to some embodiments may be configured to grip or manipulate different carriages at different positions or orientations to transport slides or empty carriages to and / or from a process for manufacturing or storing pathology slides at different locations within the slide processing or manufacturing system 200 and / or the automated histology storage system 602. Thus, embodiments according to the present disclosure may reduce the need to change grippers or tools and / or utilize multiple mechanical arms to manipulate slides or carriages.

[0367]

[0442] Gripper 1000 may be formed from any suitable material that is sufficiently rigid to support a glass slide and / or a carriage (e.g., tray carriage 716, rack carriage 742, etc.) without substantial risk of damaging glass slide 204 or gripper 900. For example, in some embodiments, gripper 900 may be formed from a plastic or polymeric material, although embodiments of the present disclosure are not limited in this respect.

[0368]

[0443] As shown in FIG. 10A, gripper 1000 may include two or more gripper finger brackets 1002, each having one or more gripper finger rods 1004 protruding therefrom. Although FIGS. 10A-10F are described in the context of two gripper finger brackets 1002a and 1002b, embodiments of the present disclosure are not so limited and some embodiments may include additional gripper finger brackets without departing from the spirit and scope of embodiments of the present disclosure. In some instances herein, reference number 1002 may be used to generally refer to each of gripper finger brackets 1002a and 1002b (as well as any additional gripper finger brackets that may be utilized in some embodiments).

[0369]

[0444] 10A-10F are illustrated and described in conjunction with each gripper finger bracket 1002 including two gripper finger rods 1004, embodiments of the present disclosure are not so limited and some embodiments may include additional or fewer gripper finger rods without departing from the spirit and scope of embodiments of the present disclosure. In some instances herein, reference number 1004 may be used to generally refer to each of gripper finger rods 1004a and 1004b (as well as any additional gripper finger rods utilized in some embodiments).

[0370]

[0445] Additionally, according to some embodiments, the gripper 1000 (or the mechanical arm 620 to which the gripper 1000 is attached) may include additional components configured to be utilized in connection with the manipulation and handling of slides during the slide manufacturing process. For example, in some embodiments, the gripper 1000 (or the mechanical arm 620 to which the gripper 1000 is attached) may include a suction cup for generating a suction force against the slide. Additionally, in some embodiments, the gripper 1000 (or the mechanical arm 620 to which the gripper 1000 is attached) may include a camera or a sensor (e.g., an optical sensor, a pressure sensor, etc.) configured to identify or measure the position of a slide, a slide carrier, a surface, etc.

[0371]

[0446] 10A-10F, gripper 1000 using gripper finger brackets 1002a and 1002b and gripper finger rods 1004a and 1004b may be configured to apply a pinching or inward force F3 toward a center of gripper 1000. Gripper finger brackets 1002a and 1002b may be positioned equidistant from the center of gripper 1000 and may be configured to move toward and away from the center in coordination with one another (e.g., with the same speed and with the same force).

[0372]

[0447] 10A-10F, the gripper finger brackets 1002a and 1002b may be attached to an actuator 1006 configured to move the gripper finger brackets 1002a and 1002b inward (towards the center) and outward (away from the center) to open and close the space between the gripper finger brackets 1002a and 1002b. The actuator 1006 may be connected to a mechanical arm (e.g., the mechanical arm 202 shown in FIG. 2A and / or the mechanical arm 620 shown in FIG. 6A), and the mechanical arm, actuator 1006, and gripper 1000 may collectively operate to manipulate or move a slide from one position to another. Each gripper finger bracket 1002a and 1002b may have the same or similar shape, and each gripper finger rod 1004a and 1004b may have the same or similar shape. For example, in some embodiments, gripper finger bracket 1002b may be the same as gripper finger bracket 1002a except that it is rotated 180 degrees relative to gripper finger bracket 1002a, although embodiments of the present disclosure are not limited in this respect.

[0373]

[0448] 10B, each gripper finger rod 1004 may extend generally in a direction away from the gripper finger bracket 1002. According to some embodiments, the gripper finger rod 1004 may have a generally cylindrical shape with a constant diameter along the length of the gripper finger rod 1004. As embodiments of the present disclosure are not limited in this respect, according to some embodiments, the gripper finger rod 1004 may have a rectangular or square shape (or any other suitable shape) in cross section, and in some embodiments, the gripper finger rod 1004 may have a curved shape in the direction of extension instead of a straight cylinder as shown in FIGS. 10A-10F.

[0374]

[0449] The gripper finger brackets 1002 may be attached to the actuator 1006 using any suitable attachment mechanism, such as one or more screws or bolts, clips, springs, etc. The gripper finger rods 1004 may be attached to their corresponding gripper finger brackets 1002 by being inserted into holes (e.g., threaded holes), connected to threaded bolts extending from the gripper finger brackets 1002, or by any other suitable mechanism (e.g., clips, springs, friction, adhesive material, etc.).

[0375]

[0450] According to some embodiments, the gripper finger rod 1004 may have one or more segments extending away from the gripper finger bracket 1002. For example, although Figure 10B shows the gripper finger rod 1004 having three segments 1008a, 1008b, and 1008c, embodiments of the present disclosure are not so limited and some embodiments may include fewer or additional segments without departing from the spirit and scope of embodiments of the present disclosure.

[0376]

[0451] Additionally, the gripper finger rod 1004 may incorporate one or more flared portions. For example, while FIG. 10B illustrates a gripper finger rod having two flared portions 1010a and 1010b, embodiments of the present disclosure are not so limited and some embodiments may include fewer or additional flared portions without departing from the spirit and scope of the embodiments of the present disclosure. According to some embodiments, the flared portion 1010 may be made of the same material as the segments 1008. For example, the flared portion 1010 and the segments 1008 may be made of a polymer or plastic material, although embodiments are not so limited and any other suitable material (e.g., metal) may be utilized. Furthermore, according to some embodiments, the flared portion 1010 may be an O-ring made of a different material (e.g., rubber) than the segments and may be placed or inserted into a groove or channel in the gripper finger rod 1004 corresponding to the location of the flared portion 1010. The flared portion 1010 can operate to aid in traction when the gripper 1000 is being utilized to pick up an object (eg, a tray or rack carriage).

[0377]

[0452] 10C and 10D, the rack carriage 742 (shown in FIG. 10C) and the tray carriage 716 (shown in FIG. 10D) may have one or more channels or grooves formed in various locations. For example, as shown in FIG. 10C, the rack carriage 742 has a first channel 1020a and a second channel 1020b on one side of the rack carriage 742. On the opposite side of the rack carriage 742, the rack carriage 742 also includes a first channel 1020a and a second channel 1020b. The first channel 1020a may correspond to, for example, a first gripper finger rod 1004a, and the second channel 1020b may correspond to, for example, a second gripper finger rod 1004b. For example, the distance between the first channel 1020a and the second channel 1020b may correspond to (or be equal to) the distance between the first gripper finger rod 1004a and the second gripper finger rod 1004b on the same gripper finger bracket 1002. Furthermore, according to some embodiments, the shape of the channels 1020a and 1020b may have a contour that corresponds to or matches the shape of the gripper finger rods 1004a and 1004b, respectively. Although FIG. 10C illustrates the channel 1020 at one end of the rack carriage 742, embodiments according to the present disclosure are not limited in this respect. For example, in various embodiments, the channel 1020 may be located in any suitable location, such as the other end of the rack carriage 742, the center of the rack carriage 742, etc.

[0378]

[0453] 10D, the tray carriage 716 includes a first channel 1030a and a second channel 1030b on a top side of the tray carriage 716. On the opposite side of the tray carriage 716, the tray carriage 716 also includes two corresponding channels. The first channel 1030a may correspond to, for example, the first gripper finger rod 1004a, and the second channel 1030b may correspond to, for example, the second gripper finger rod 1004b. For example, the distance between the first channel 1020a and the second channel 1030b may correspond to (or be equal to) the distance between the first gripper finger rod 1004a and the second gripper finger rod 1004b on the same gripper finger bracket 1002. Additionally, according to some embodiments, the shape of channels 1030a and 1030b may have contours that correspond or match the shape of gripper finger rods 1004a and 1004b, respectively. Although FIG. 10D illustrates channel 1030 at a particular location (e.g., at the handle) of tray carriage 716, embodiments according to the present disclosure are not so limited. For example, in various embodiments, channel 1030 may be located at any suitable location around tray carriage 716.

[0379]

[0454] As shown in Figures 10E and 10F, a gripper 1000 utilizing gripper finger brackets 1002, gripper finger rods 1004, and actuators 1006 may be utilized to grasp, manipulate, and handle rack carriages 744 and tray carriages 716 in three-dimensional space. Depending on the object being picked up or manipulated, the gripper 1000 may rotate in an appropriate direction to apply a clamping force F3 against the object. For example, as shown in Figure 10E, the force F3 may be applied generally horizontally against an opposing surface or edge of the rack carriage 744 to keep the rack carriage 744 upright and prevent racks or slides from falling off the rack carriage 744 during movement. The gripper 1000 may rotate (e.g., by 90 degrees) to apply force F3 against an opposing surface or edge of the tray carriage 716 to keep the tray carriage 716 upright and prevent trays or slides from falling off the tray carriage 716 during movement.

[0380]

[0455] 11A-11B show a mechanical arm gripper according to some embodiments of the present disclosure. As discussed above with respect to Figures 2, 3, 6, and 7, according to some embodiments of the present disclosure, a mechanical arm having a gripper connected to an end of the mechanical arm may be configured to pick up and manipulate slides in a slide processing or manufacturing environment and / or an automated histology storage system.

[0381]

[0456] Figure 11A illustrates an example of a gripper 1100 according to some embodiments. Gripper 1100 may be the same as or similar to gripper 216 (or an example of gripper 216) illustrated in slide processing or manufacturing system 200 of Figure 2A.

[0382]

[0457] Gripper 1100 may be configured to grip or manipulate slides in a variety of positions and orientations to allow the slides to interface with a variety of different carriages, racks, machines, etc. in the process of manufacturing or storing pathology slides. Thus, embodiments according to the present disclosure may reduce the need to change grippers or tools and / or utilize multiple mechanical arms to manipulate slides.

[0383]

[0458] Gripper 1100 may be formed from any suitable material that is sufficiently rigid to support slide 204 without substantial risk of damaging the slide or gripper 1100. For example, in some embodiments, gripper 1100 may be formed from a plastic or polymeric material, although embodiments of the present disclosure are not limited in this respect.

[0384]

[0459] 11A, the gripper 1100 may include two gripper fingers 1102 and 1104 configured to engage with one another to pick up the slide 204. The first gripper finger 1102 and the second gripper finger 1104 may be configured to be coupled to an actuator of a mechanical arm (e.g., actuator 904 and / or mechanical arm 620 of FIG. 9A) at mounting locations 1106 and 1108, respectively.

[0385]

[0460] The gripper 1100 may be configured to use gripper fingers 1102 and 1104 to apply a pinching or inward force F4 toward a centerline CENTER that bisects the slide 204. The gripper finger 1102 may have a vertical portion 1110 extending in the Z direction and a horizontal portion 1112 extending in the Y direction. Similarly, the gripper finger 1104 may have a vertical portion 1114 extending in the Z direction and a horizontal portion 1116 extending in the Y direction. The horizontal portion 1112 of the first gripper finger 1102 may be configured to slide (for example) along the horizontal portion 1116 of the second gripper finger 1104 as the vertical portions 1110 and 1114 move toward and away from each other when gripping or releasing a slide.

[0386]

[0461] 11B shows a rear view of the first gripper finger 1102 as seen from the Y direction. As shown in FIG. 11B, the first gripper finger 1102 may have a protrusion or projection 1120 extending vertically below the horizontal portion 1112. Similarly, referring to FIG. 11A, the second gripper finger 1104 may have a protrusion or projection 1122 extending vertically below the horizontal portion 1112 of the first gripper finger 1102. Thus, as shown in FIG. 11A, the projection 1120 of the first gripper finger 1102 and the projection 1122 of the second gripper finger 1104 may cooperate to apply a clamping force F4 to the slide 204 at a position where the front or rear surface of the slide 204 faces the Z direction.

[0387]

[0462] Furthermore, an edge 1130 at the end of the horizontal portion 1112 of the first gripper finger 1102 and an inner edge 1132 of the protrusion 1122 opposite the edge 1130 can cooperate to apply a clamping force F4 to the front and rear surfaces of the slide 204 at a position where the front or rear surface of the slide faces in the Y direction.

[0388]

[0463] According to some embodiments, the surface of edge 1130, inner edge 1132, inner edges of protrusions 1120 and / or protrusions 1122, and / or the bottom of horizontal portion 1112 may have one or more pads (e.g., rubber pads) that may provide conformance when gripping slides having various thicknesses and / or various label thicknesses. Additionally, the pads may provide additional friction or gripping retention strength. In some embodiments, the pads may be small balls (e.g., rubber balls) inserted into preformed or machined cavities that conform to the shape of the ball. Alternatively, the pads may be a rubber material that is adhered to the surfaces of gripper fingers 1102 and 1104 using a suitable adhesive material.

[0389]

[0464] 12A-12B illustrate aspects of a method for operating an automated histology archiving system according to some embodiments.

[0390]

[0465] FIG. 12A illustrates an exemplary process for an automated histology archiving system to receive slides from a user or technician. Although various steps are illustrated in FIG. 12A, embodiments of the present disclosure are not limited to the specific steps illustrated in FIG. 12A. For example, according to some embodiments, there may be additional or fewer steps without departing from the spirit and scope of the embodiments of the present disclosure. Furthermore, according to some embodiments, the order of steps may be varied without departing from the spirit and scope of the embodiments of the present disclosure, unless otherwise stated or implied.

[0391]

[0466] The steps illustrated in Figure 12A may be initiated and / or controlled by various elements of the automated histological archiving system 602, including, for example, the control system 650, the mechanical arm 620, etc. Unless otherwise indicated, any suitable components within the automated histological archiving system 602 may be utilized to perform the steps set forth in Figure 12A, and for ease of explanation, the various components of the automated histological archiving system 602 that perform the steps of the process illustrated in Figure 12A may be collectively referred to as the "system."

[0392]

[0467] As shown in FIG. 12A, the process begins and then, in step 1200, the system receives patient and / or slide information regarding slides to be received and / or archived by the automated histology archiving system 602. For example, in some cases, a user or technician may desire to archive individual slides in the automated histology archiving system 602 as they are processed or during the manufacturing process (e.g., during a staining step, etc.). A user may provide information regarding the patient and individual slides using a user interface (e.g., a graphical user interface displayed on the display panel 614 and one or more input devices). The information may be entered manually using the user interface, or in some embodiments, an imaging sensor or barcode scanner may be configured to scan unique identification information (e.g., in the form of a barcode, QR code, letters or numbers, etc.) that may be affixed to, for example, the slides and / or trays or racks. In some embodiments, in response to receiving the unique identification information, the identification information may be retrieved from a database (e.g., database 662). For example, particular patient or slide data may be stored in a database, and in response to scanning a code or other data corresponding to a slide and / or tray or rack, the system may retrieve the patient or slide data from the database and match it to the slide and / or tray / rack.

[0393]

[0468] Additionally, in step 1200, the user may provide further information regarding the type of storage mechanism being used. For example, the user may use the user interface to indicate whether the slide is currently in a tray or rack and what the automated histology storage system 602 is going to do with the slide.

[0394]

[0469] In step 1204, the system may identify a portal location for the slide to be inserted into the automated histology archiving system 602. For example, in some embodiments, the system may display information on a user interface regarding the portal and / or portal slot where the user should deposit the slide. Alternatively or additionally, the system may display, for example, a light in front of one of the portal slots indicating to the user that the adjacent portal slot is where the user should deposit the slide.

[0395]

[0470] In step 1208, the system may insert an empty tray or rack carriage into the identified portal slot. According to some embodiments, the empty tray or rack may be selected according to user input. For example, depending on the type of tray or rack to be inserted, the system may select a corresponding carriage having an internal cavity that corresponds to the shape of the tray or rack. The user may then insert a sliding tray or rack into the empty carriage.

[0396]

[0471] In some embodiments, the user may push the carriage back into the portal. In some embodiments, one or more sensors (e.g., mechanical buttons, lasers, cameras, pressure sensors, magnets, etc.) may identify the presence of a carriage with the tray or rack successfully inserted. The system may then retrieve the carriage from the portal from the rear (interior) side of the portal in step 1212. In some embodiments, the carriage may be transferred (e.g., by mechanical arm 620) to the nest without human involvement.

[0397]

[0472] In step 1216, the system may retrieve individual slides from the carriages in the nest, and in step 1220, the system may transfer the individual slides to a storage location. The retrieval and transfer steps 1216 and 1220 may be performed by the mechanical arm 620 using any suitable gripper or gripping action, for example, as described above. For example, according to some embodiments, the retrieval and transfer steps 1216 and 1220 may utilize one or more steps, such as those described above with respect to Figures 3J, 4M, and 5J. For example, in some embodiments, the slides may be individually transferred from the carriage to a carrier cassette (e.g., carrier cassette 500), which may then be transferred to slide carrier queue 530 for storage. When removing a slide from a carriage, some embodiments may utilize one or more sensors (e.g., slide position detection sensors) to identify whether a slide is present at any given slide position in a tray or rack before attempting to pick up the slide, for example, as described above with respect to Figures 8D and 8E.

[0398]

[0473] Once each of the slides has been removed from the carriage and transferred to a storage location, in step 1224, the system may return the carriage and empty tray or rack to the empty portal slot.

[0399]

[0474] Additionally, according to some embodiments, at or between various steps between 1208 and 1224, the system may cause the mechanical arm 620 to change grippers to perform subsequent steps. For example, according to some embodiments, the system may utilize a first gripper (e.g., a gripper described in connection with FIGS. 10A-10E) to handle or manipulate a tray, rack, or carriage (e.g., in the process of removing a carriage from a portal slot, transferring a carriage to a carriage nest, etc.). The system may then cause the mechanical arm 620 to switch to a different gripper (e.g., a gripper described in reference to FIGS. 4A-4L, 9A-9E, or 11A-11B) to pick up or manipulate individual slides according to the configuration of the corresponding slide tray or slide rack.

[0400]

[0475] Each of steps 1200-1224, including the movement, transport, or storage of slides, carriages, trays, or racks, can be performed automatically without human intervention other than a user providing input data regarding the patient or slide, and the type of rack or tray, and the user inserting the rack or tray into the portal.

[0401]

[0476] 12B illustrates an exemplary process by which an automated histology archive system retrieves slides from an archive and transfers them to a user or technician. Although various steps are illustrated in FIG. 12B, embodiments according to the present disclosure are not limited to the specific steps illustrated in FIG. 12B. For example, according to some embodiments, there may be additional or fewer steps without departing from the spirit and scope of the embodiments according to the present disclosure. Furthermore, according to some embodiments, the order of steps may vary without departing from the spirit and scope of the embodiments according to the present disclosure, unless otherwise stated or implied.

[0402]

[0477] The steps illustrated in Figure 12B may be initiated and / or controlled by various elements of the automated histology archiving system 602, including, for example, the control system 650, the mechanical arm 620, etc. Unless otherwise indicated, any suitable components within the automated histology archiving system 602 may be utilized to perform the steps set forth in Figure 12B, and for ease of explanation, the various components of the automated histology archiving system 602 that perform the steps of the process illustrated in Figure 12B may be collectively referred to as the "system."

[0403]

[0478] As shown in FIG. 12B, the process begins and then, in step 1240, the system receives slide information regarding a patient and / or slides to be retrieved from storage by the automated histology archiving system 602. For example, a user may desire that a slide or group of slides be retrieved and delivered to the user for further processing or to move to a new step in the pathology process. The user may, for example, use the user interface (including, for example, the display panel 614 and one or more input devices) to search for a patient, slide, or group of slides to see if a corresponding slide is currently archived by the automated histology archiving system 602. The user may then use the user interface to provide input requesting that a particular slide be returned to the user.

[0404]

[0479] In step 1244, the system may identify a portal location or slot where the slide will be returned by the automated histology archiving system 602. According to some embodiments, the system may display information on the user interface regarding the portal or portal slot where the user should expect the slide. Additionally or alternatively, the system may display graphical indicators (e.g., lights) in the portal slots to guide the user to the appropriate portal slot.

[0405]

[0480] According to some embodiments, in step 1246, the identified portal slot may not contain an empty tray or rack. Thus, in some embodiments, the system may prompt the user to insert a rack or tray into the carriage of the tray or rack portal slot. In some embodiments, when an empty tray or rack is inserted into the carriage of the tray or rack portal slot, the system may identify that an empty tray or rack has been inserted using one or more sensors (e.g., mechanical buttons, switches, magnets, lasers, cameras, springs, etc.). In some embodiments, the user may be prompted to push the empty tray or rack and carriage into the portal.

[0406]

[0481] At step 1250, the system may remove the empty tray or rack and / or carriage from the portal from the rear or inside of the portal. At step 1254, the system may transfer the tray or rack and / or carriage to a nest.

[0407]

[0482] Next, in step 1258, the system may retrieve each of the requested slides from the storage device based on the user input and the requested slides. For example, the slides may be stored in one or more carrier cassettes (e.g., carrier cassette 500) and one or more slide carrier queues (e.g., slide carrier queues). The system may remove slides individually or as a group with the entire carrier cassette and transfer each individual slide to an empty tray or rack in the nest. That is, the gripper of the mechanical arm 620 may pick up each slide and transfer it to the corresponding slide position in the tray or rack.

[0408]

[0483] In step 1262, the system may pick up a tray or rack and / or corresponding carriage and transport it to an empty portal slot to be retrieved by the user.

[0409]

[0484] The electronic or electrical devices according to the embodiments of the invention described herein and / or any other related devices or components may be implemented utilizing any suitable hardware, firmware (e.g., application specific integrated circuits), software, or a combination of software, firmware, and hardware. For example, the various components of these devices may be formed on one integrated circuit (IC) chip or on separate IC chips. Furthermore, the various components of these devices may be implemented on a flexible printed circuit film, a tape carrier package (TCP), a printed circuit board (PCB), or may be formed on one substrate. Furthermore, the various components of these devices may be processes or threads running on one or more processors, executing computer program instructions within one or more computing devices, and interacting with other system components to perform the various functions described herein. The computer program instructions are stored in a memory that may be implemented in the computing device using standard memory devices such as, for example, a random access memory (RAM). The computer program instructions may also be stored on other non-transitory computer readable media such as, for example, a CD-ROM, a flash drive, and the like. Additionally, those skilled in the art will appreciate that the functionality of various computing devices may be combined or integrated into a single computing device, or the functionality of a particular computing device may be distributed across one or more other computing devices, without departing from the spirit and scope of exemplary embodiments of the present invention.

[0410]

[0485] Unless otherwise specified, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant art and / or this specification, and should not be interpreted in an idealized or overly formal sense unless expressly so defined in this specification.

[0411]

[0486] Although aspects of several exemplary embodiments of the pathology slide manufacturing system and method have been described and illustrated herein, various modifications and variations may be made, as will be understood by those skilled in the art, without departing from the spirit and scope of the embodiments of the present disclosure. It should therefore be understood that the pathology slide manufacturing system and method according to the principles of the present disclosure may be embodied in other ways than those specifically described herein. The present disclosure is also defined in the following claims and their equivalents.

Claims

1. A base support; a slide platform having a surface parallel to a first plane defined by a first vector and a second vector, a vector extending in a direction opposite to a gravity direction being perpendicular to a second plane defined by a third vector and a fourth vector, an angle between the first vector and the third vector being greater than 0 degrees and less than 90 degrees, and an angle between the second vector and the fourth vector being greater than 0 degrees and less than 90 degrees; A slide carrier comprising:

2. 2. The slide carrier of claim 1, wherein the slide platform comprises a first long edge and a second long edge, the height of the first long edge being greater than the height of the second long edge.

3. The slide carrier of claim 2 further comprising a barrier protruding from said slide platform at said second long edge.

4. The slide carrier of claim 3 further comprising a protrusion extending from the barrier.

5. 2. The slide carrier of claim 1, wherein the slide platform comprises a first elongated support portion extending along the length of the slide platform and a second elongated support portion extending along the length of the slide platform, the first elongated support portion and the second elongated support portion being separated from each other by a gap.

6. 6. The slide carrier of claim 5, further comprising a cross member support extending between and connecting said first elongated support portion and said second elongated support portion.

7. a first narrow support portion connected to an upper end of the first long support portion, the upper end surface of the first narrow support portion being flush with the upper end surface of the first long support portion; a second narrow support portion connected to an upper end of the second long support portion, the upper end surface of the second narrow support portion being flush with the upper end surface of the second long support portion; Further comprising: A width between the first narrow support portion and the second narrow support portion is smaller than a width between the first long support portion and the second long support portion. The slide carrier of claim 5 .

8. A mechanical arm and A gripper connected to the mechanical arm; A slide carrier according to claim 1 ; A pathology slide manufacturing system comprising:

9. 1. A method for producing pathology slides in a slide processing system, comprising: The slide processing system comprises: A mechanical arm and A gripper connected to the mechanical arm; a slide carrier within reach of the gripper; The method comprises: gripping a slide in a first orientation with the gripper; placing the slide on a slide platform of the slide carrier with the gripper; allowing the slide to shift position on the slide platform to align with a predetermined position on the slide platform; gripping the slide with the gripper in a second orientation corresponding to a component of the slide processing system; placing the slide at the component of the slide processing system using the gripper with the slide in the second orientation by the gripper to enable a slide processing operation corresponding to the component to be performed on the slide by the slide processing system; A method comprising:

10. 10. The method of claim 9, wherein at least one of the first orientation or the second orientation involves a lateral grip in which the grippers apply a lateral compressive force to opposite edges of the slide.

11. 10. The method of claim 9, wherein at least one of the first orientation or the second orientation involves a longitudinal grip in which the gripper applies a longitudinal compressive force to opposite edges of the slide.

12. 10. The method of claim 9, wherein at least one of the first orientation or the second orientation involves a thickness grip in which the gripper applies a compressive force against both sides of the slide.

13. 10. The method of claim 9, wherein the slide platform comprises a first elongate support extending along a length of the slide platform and a second elongate support extending along the length of the slide platform, the first elongate support and the second elongate support being separated from each other by a gap.

14. 14. The method of claim 13, wherein a cross member support extends between and connects the first elongate support and the second elongate support.

15. The slide platform comprises: a first narrow support portion connected to an upper end of the first long support portion, the upper end surface of the first narrow support portion being flush with the upper end surface of the first long support portion; a second narrow support portion connected to an upper end of the second long support portion, the upper end surface of the second narrow support portion being flush with the upper end surface of the second long support portion; Further comprising: A width between the first narrow support portion and the second narrow support portion is smaller than a width between the first long support portion and the second long support portion. The method of claim 13.

16. a first gripper finger having a first groove and a second groove on an inner edge of the first gripper finger; a second gripper finger having a first groove and a second groove on an inner edge of the second gripper finger; wherein the first grooves of the first gripper fingers face the first grooves of the second gripper fingers such that the grippers are configured to apply a first compressive force in a width direction to a length edge of a slide at the first grooves; the second grooves of the first gripper fingers oppose the second grooves of the second gripper fingers such that at these second grooves the grippers are configured to apply a second compressive force in a longitudinal direction to a width edge of the slide; Gripper.

17. 17. The gripper of claim 16, wherein a distance between the first groove of the first gripper finger and the first groove of the second gripper finger is less than a distance between the second groove of the first gripper finger and the second groove of the second gripper finger.

18. 17. The gripper of claim 16, wherein the first groove of the first gripper finger is in a first portion of the first gripper finger that extends from an actuator in a direction parallel to a centerline between the first gripper finger and the second gripper finger.

19. 20. The gripper of claim 18, wherein the second groove of the first gripper finger is in a second portion of the first gripper finger that extends from the first portion in a direction that is at an angle greater than 0 degrees and less than 90 degrees relative to the centerline.

20. The second groove of the first gripper finger comprises: a projection extending from the first gripper finger toward a centerline that bisects a space between the first gripper finger and the second gripper finger; a body of the first gripper finger; and 17. The gripper of claim 16, wherein the gripper is defined by a space between

21. each of the first and second gripper fingers includes a protrusion at an end of the first and second gripper fingers, the protrusion extending in a direction parallel to a center line that bisects the first and second gripper fingers; a distance between the protrusion of the first gripper finger and the protrusion of the second gripper finger is greater than a distance between the second groove of the first gripper finger and the second groove of the second gripper finger; the gripper is configured to apply a third compressive force in the longitudinal direction against the width edge of the slide. The gripper of claim 16.

22. 17. The gripper of claim 16, wherein the first gripper finger comprises a third groove on an outer edge of the first gripper finger, the third groove extending perpendicular to a centerline that bisects a space between the first gripper finger and the second gripper finger.

23. 17. The gripper of claim 16, wherein the first gripper finger has a third groove extending in a direction parallel to the first groove of the first gripper finger, the second gripper finger has a third groove opposing the third groove of the first gripper finger and extending in the direction parallel to the first groove of the first gripper finger, and a distance between the third groove of the first gripper finger and the third groove of the second gripper finger is greater than a distance between the first groove of the first gripper finger and the first groove of the second gripper finger.

24. 24. The gripper of claim 23, wherein the gripper is configured to apply a third compressive force in the longitudinal direction against the width edge of the slide in an orientation in which the slide is rotated 90 degrees about an axis extending parallel to the length of the slide compared to an orientation corresponding to a gripping position of the second groove.

25. A mechanical arm and A gripper connected to the mechanical arm; The gripper includes: a first gripper finger having a first groove and a second groove on an inner edge of the first gripper finger; a second gripper finger having a first groove and a second groove on an inner edge of the second gripper finger; wherein the first grooves of the first gripper fingers face the first grooves of the second gripper fingers such that the grippers are configured to apply a widthwise compressive force to a length edge of a slide at the first grooves; the second grooves of the first gripper fingers oppose the second grooves of the second gripper fingers such that at these second grooves the grippers are configured to apply a longitudinal compressive force to a width edge of the slide; Pathology slide production system.

26. 1. A method of manufacturing slides in a slide processing system, the slide processing system comprising: A mechanical arm and A gripper connected to the mechanical arm; The gripper includes: a first gripper finger having a first groove and a second groove on an inner edge of the first gripper finger; a second gripper finger having a first groove and a second groove on an inner edge of the second gripper finger; wherein the first grooves of the first gripper fingers face the first grooves of the second gripper fingers such that the grippers are configured to apply a first compressive force in a width direction to a length edge of a slide at the first grooves; the second grooves of the first gripper fingers face the second grooves of the second gripper fingers such that the grippers are configured to apply a second compressive force longitudinally to a width edge of the slide at the second grooves; The method comprises: gripping the slide in a first orientation using the first groove of the first gripper finger and the first groove of the second gripper finger; placing the slide in the first orientation in a first component of the slide processing system; gripping the slide in a second orientation using the second groove of the first gripper finger and the second groove of the second gripper finger; placing the slide in the second orientation in a second component of the slide processing system; A method comprising:

Images