Automated Sample Block Geometry Detection System

Abstract

The system includes a chuck configured to receive a sample block, a blade including a blade surface configured to remove a tissue section from the sample block, the chuck being movable relative to the blade surface of the blade, the blade, at least one sensor configured to sense a front face of the sample block, and a control system. The control system is configured to receive a measurement value from the at least one sensor, identify a geometry of the front face from the measurement value, identify an alignment of the front face relative to the blade surface of the blade based on the geometry, and move the chuck or the blade relative to each other to align the front face relative to the blade surface.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 350,660, filed on June 9, 2022, the content of which is hereby incorporated by reference in its entirety into this specification.

[0002] (Field) The present disclosure relates to automated systems and methods for sectioning tissue from a biological sample block, and more particularly, to systems and methods for detecting the geometry of the front face of a sample block and aligning the front face with a blade.

Background Art

[0003] The conventional microtome method, which is the production of tissue sections of micron - thickness for microscopic visualization, is a delicate and time - consuming manual task. Recent advances in digital imaging of tissue sample sections have made it desirable to slice the sample block very rapidly. As an example, when tissue is sectioned as part of clinical care, time is an important variable in improving patient care. Any fraction of time that can be saved during the sectioning of tissue (for example, in examining the margins of a lung cancer to determine if sufficient tissue has been removed) for intraoperative use in anatomic pathology is clinically beneficial. To rapidly generate a large number of sample sections, it is desirable to automate the process of cutting tissue sections from a support sample block with a blade and facilitating the transfer of the exposed tissue section onto a slide.

[0004] Any slight time that can be saved during the sectioning of tissue for intraoperative use in anatomical pathology can be important. Poor cutting quality of the sectioned tissue can slow down the process while the operator or laboratory researcher is trying to determine the root cause of the poor cutting quality. It would be advantageous to provide an automated system that can detect the orientation of the sample block to minimize the facing time or to flag blocks that should be removed from the system. SUMMARY OF THE INVENTION MEANS FOR SOLVING THE PROBLEM

[0005] In some embodiments, the present disclosure relates to a system including a chuck configured to receive a sample block, a blade including a blade surface configured to remove tissue sections from the sample block, the chuck being movable relative to the blade surface of the blade, the blade, at least one sensor configured to sense a front face of the sample block, and a control system. The control system receives measurements from the at least one sensor, identifies the geometry of the front face from the measurements, identifies the alignment of the front face relative to the blade surface of the blade based on the geometry, and is configured to move the chuck or the blade relative to each other to align the front face relative to the blade surface.

[0006] In some embodiments, the present disclosure relates to a system including at least one sensor configured to sense data regarding the alignment of a front face of a sample block and a blade surface of a blade configured to remove tissue sections from the sample block. The system communicates with the at least one sensor, receives data from the at least one sensor, identifies the geometry of the front face from the data, identifies the alignment of the front face relative to the blade surface of the blade based on the geometry, and also includes a controller configured to move the chuck holding the sample block or the blade relative to each other to align the front face relative to the blade surface.

[0007] In some embodiments, the present disclosure relates to a method that includes sensing, using at least one sensor, data regarding a front face of a sample block, the sample block being received within a chuck, the chuck being movable relative to a blade surface of a blade configured to remove a tissue section from the sample block. The method further includes transmitting, by the at least one sensor, the sensed data to a controller; identifying, by the controller, a front face geometry from the sensed data; identifying, by the controller, an alignment of the front face relative to the blade surface of the blade based on the geometry; and moving the chuck or the blade relative to each other to align the front face relative to the blade surface.

[0008] In some embodiments, the present disclosure relates to a method that includes receiving, by a controller, data sensed using at least one sensor, the data being related to an alignment of a front face of a sample block received within a chuck and a blade surface of a blade configured to remove a tissue section from the sample block; identifying, by the controller, a front face geometry from the data; identifying, by the controller, an alignment of the front face relative to the blade surface of the blade based on the geometry; and moving the chuck or the blade relative to each other to align the front face relative to the blade surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present disclosure is further described in the following detailed description with reference to the accompanying drawings, which are described as non-limiting examples of exemplary embodiments, in which like reference numerals represent similar parts throughout several views of the drawings.

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DETAILED DESCRIPTION OF THE INVENTION

[0034] The drawings identified above depict the disclosed embodiments, but other embodiments are also contemplated as described in the discussion. The present disclosure presents exemplary embodiments as an illustration, not a limitation. Numerous other modifications and embodiments can be devised by those skilled in the art that fall within the scope and spirit of the principles of the disclosed embodiments.

[0035] The present disclosure relates to a system including a chuck configured to receive a sample block, a blade including a blade surface configured to face the sample block, the chuck being movable relative to the blade surface of the blade, the blade, at least one stationary sensor configured to sense a front surface of the sample block, and a control system, the control system receiving measurements from the at least one stationary sensor, identifying a geometry of the front surface from the measurements, identifying an alignment of the front surface relative to the blade surface of the blade based on the geometry, aligning the front surface relative to the blade surface, slicing the sample block, and configured to move the chuck or the blade relative to each other to facilitate slicing of the tissue block.

[0036] In some embodiments, the present disclosure relates to a system in which a chuck is configured to move along a first degree of freedom and a second degree of freedom, the first degree of freedom being along an X-axis for aligning a front face with respect to a blade surface, and the second degree of freedom being along a Z-axis for enabling the blade to slice a sample block. In some embodiments, the present disclosure relates to a system in which a blade and a sensor are stationary relative to each other. In some embodiments, the present disclosure relates to a system in which identifying a geometry includes identifying an orientation of a front face with respect to a blade surface from measurements. In some embodiments, the present disclosure relates to a system in which identifying a geometry includes identifying a topography of a front face from measurements. In some embodiments, the present disclosure relates to a system in which at least one stationary sensor is an axial sensor configured to sense a distance between an axial sensor and a front face at a plurality of positions of a sample block. In some embodiments, the present disclosure relates to a system in which at least one stationary sensor is a plurality of axial sensors configured to sense a distance to a front face. In some embodiments, the present disclosure relates to a system in which at least one stationary sensor is a lateral sensor configured to sense an intersection of a signal generated by a lateral sensor and a front face at a plurality of positions of a sample block. In some embodiments, the present disclosure relates to a system in which at least one stationary sensor is a plurality of lateral sensors each configured to sense an intersection of a signal generated by a respective lateral sensor and a front face. In some embodiments, the present disclosure relates to a system in which at least one stationary sensor is a plurality of cameras each configured to capture one or more images of a front face. In some embodiments, the present disclosure relates to a system in which at least one stationary sensor is a plurality of sensors configured to generate a measurement grid and detect a plurality of intersections of the measurement grid and a front face.In some embodiments, the present disclosure relates to a system in which at least one stationary sensor is a position sensor and a motor sensor, the position sensor is configured to identify a plurality of positions of a chuck that holds a sample block, and the motor sensor is configured to identify the power consumption of a motor that moves the chuck at each of the plurality of positions. In some embodiments, the present disclosure relates to a system in which at least one stationary sensor is a position sensor and a force sensor, the position sensor is configured to identify a plurality of positions of a chuck that holds a sample block, and the force sensor is configured to identify the force between the front surface and the blade surface at each of the plurality of positions. In some embodiments, the present disclosure relates to a system in which at least one stationary sensor is a position sensor and a conductivity sensor, the position sensor is configured to identify a plurality of positions of a chuck that holds a sample block, and the conductivity sensor is configured to identify the conductivity on the blade surface at each of the plurality of positions of the chuck that holds the sample block.

[0037] In some embodiments, the microtome method system includes a chuck configured to receive a sample block. In some embodiments, the microtome method system includes a blade including a blade surface configured to plane a sample block, and the chuck is movable relative to the blade surface of the blade. In some embodiments, the microtome method system includes at least one stationary sensor configured to sense the front surface of the sample block. In some embodiments, the microtome method system includes a control system. The control system can receive measurement values from at least one sensor. The control system can identify the orientation of the front surface relative to the blade surface of the blade from the measurement values. The control system can move the chuck or the blade relative to each other to align the front surface with respect to the blade surface.

[0038] The present disclosure relates to processing a sample block with a biological tissue sample that can be embedded in paraffin for preservation. The blade surface of a blade can be used to cut the front face of the sample block, to expose the sample block, to expose (also referred to as face out) the tissue sample within the sample block, and then to slice the tissue sample. The blade can be designed to cut thin sections along the front face of the block. The tissue sections can be transferred to a transfer / transport medium such as tape and then transferred by the transfer medium to a slide for pathological or histological examination.

[0039] However, the front face of the block can have a unique geometry that includes one or both of the front face orientation (e.g., parallel or non-parallel to the blade surface) and topography (e.g., flat or ridged). For example, the front face orientation can be parallel to the blade surface. In contrast, the front face can be tilted or twisted with respect to the blade surface. As another example, the front face topography is flat. In contrast, the front face topography can include protrusions or bulges. The geometry of the front face of the tissue block with respect to the blade surface can be described as alignment.

[0040] If the front orientation or topography is not optimized, the front of the tissue block and the blade surface may be misaligned. When misaligned, the blade may cut a slice of material that is thicker than intended. Such cutting can exert a high torque on the blade relative to the sample block or otherwise damage the sample block or tissue sample, which can cause the sample block to fall out of the chuck or the tissue sample to become damaged or removed within the sample block. If the front orientation of the tissue block is not parallel to the blade surface, the front orientation can be described as not optimized. If the front topography of the tissue block features protrusions and bulges of a certain dimension, the front topography can be described as not optimized.

[0041] If the front orientation or topography is optimized, the front of the tissue block and the blade surface can be aligned. When aligned, the blade can cut a slice of material of the desired thickness intended and can contain a tissue sample of the desired thickness. Such cutting can cause the blade to exert a controlled torque (i.e., little or no torque) on the sample block. When aligned, the cutting does not damage the sample block or tissue sample and may not cause the sample block to fall out of the chuck or the tissue sample to become damaged or removed within the sample block. If the front orientation of the tissue block is parallel to the blade surface, the front orientation can be described as optimized. If the front topography of the tissue block is substantially flat or planar, the front topography can be described as optimized.

[0042] To address this problem and facilitate slicing of the sample block within desired parameters, the methods and systems of the present disclosure detect the geometry of the front face of the sample block, ensure that the sample block is aligned with the blade, and enable the blade to efficiently face the sample block and slice the tissue sample. In some embodiments, the chuck can manipulate (e.g., twist or tilt) the sample block so as to align the front face with the blade surface (e.g., parallelize it or adjust the distance between the blade surface and a protrusion of the sample block). In some embodiments, the chuck can move the sample block (e.g., along the X-axis), adjusting the distance between the blade surface and the tip of a protrusion on the front face of the sample block, while preventing overly excessive torque on the sample block or the tissue inside the sample block, causing the blade to gently shave off a small piece of the tip of the protrusion on the front face (e.g., reducing the cutting thickness) and facilitating slicing of the sample block.

[0043] In some embodiments, as shown in FIGS. 1A-1E, the present disclosure provides a system 100 that can be used to efficiently process a sample block 105 containing a biological tissue sample embedded in paraffin. In some embodiments, system 100 can include a microtome assembly 103 having one or more blades 110, a chuck 108 for holding the sample block 105 and being movable relative to the microtome assembly 103, and a surface sensor 116 configured to generate measurements of the front face 106 of the sample block 105. The system can also include a controller 118 in communication with the surface sensor 116 to receive measurements of the sample block 105.

[0044] As shown in FIGS. 1C - 1E, since the blade surface 111 can be configured to slice the front surface 106 of the sample block 105 along the Z - axis, the cutting quality can be optimal when the blade plane 112 of the blade surface 111 and the face plane 107 of the front surface 106 are parallel to each other. In some embodiments, the blade 110 is stationary and the chuck 108 moves the sample block 105 towards the blade 110 until the front surface 106 is faced by the blade surface 111. For example, the chuck 108 can move along the X - axis towards the blade surface 111 until the blade surface 111 is positioned at a desired distance from the front surface 106 (indicating the desired cutting thickness), and the chuck 108 can move the front surface 106 along the Z - axis and relative to the blade surface 111 such that the blade surface 111 faces the front surface 106. In some embodiments, the blade 110 moves towards the sample block 105 until the blade surface 111 faces the front surface 106. For example, the blade 110 can move along the X - axis towards the front surface 106 until the blade surface 111 is positioned at a desired distance from the front surface 106 (indicating the desired cutting thickness), and then the blade 110 can move up and down along the Z - axis such that the blade surface 111 faces the front surface 106. If the face plane 107 is not parallel to the blade plane 112, the sample block 105 or the tissue sample can be damaged. For example, as shown in FIG. 1D, the sample block 105 and the front surface 106 can be tilted about the Y - axis with respect to the Z - axis. In another example, as shown in FIG. 1E, the sample block 105 and the front surface 106 can be twisted about the Z - axis with respect to the Y - axis. In such cases, the blade 110 cuts more material from the sample block 105 than it is configured to, resulting in higher torque on or damage to the sample block 105 or the tissue sample.

[0045] The systems and methods of the present disclosure can quickly and effectively identify the geometry of the front surface 106 of the sample block 105 to align the front surface 106 with respect to the blade surface 111 of the blade 110. The surface sensor 116 can be configured to generate measurements indicative of the geometry of the front surface 106 with respect to the blade surface 111. In some embodiments, the controller 118 can be configured to identify the geometry of the front surface 106 based on the measurements. In some embodiments, identifying the geometry includes the controller 118 identifying the plane 107 of the front surface 106 to identify the orientation of the front surface 106 with respect to the blade surface 111. When the plane 107 is optimized (e.g., parallel) with the blade plane 112, the blade surface 111 of the blade 110 can cut a section of the front surface 106 of the sample block 105. When the plane 107 is not optimized (e.g., not parallel) with the blade plane 112, the sample block 105 can be flagged for removal or readjusted so that the plane 107 is oriented with the blade plane 112.

[0046] In some embodiments, identifying the geometry includes the controller 118 identifying whether there are protrusions on the front surface 106 to identify the topography of the front surface 106. When the topography is flat, the blade surface 111 of the blade 110 can cut the front surface 106 of the sample block 105. When the topography includes protrusions, ridges, or bulges, the sample block 105 can be flagged for removal or repositioned with respect to the blade surface 111. For example, the chuck 108 can position the sample block 105, and thus the front surface 106, with the blade surface 111 such that the blade surface 111 gently shaves off a small piece of the ridge on the front surface 106, aligns the front surface 106 of the sample block 105 with the blade surface 111, and prevents excessive torque on the sample block 105 or the inner tissue.

[0047] In some embodiments, the controller 118 selects whether to flag or remove the sample block 105 by identifying whether the difference between the face plane 107 and the blade plane 112 meets a preset value. If the difference meets the preset value (e.g., there is a slight bulge or a slight misalignment of the blade surface 111 and the front face 106, thereby resulting in a slight misalignment between the front face 106 and the blade surface 111), the controller 118 selects to align the sample block 105. If the difference cannot meet the preset value (e.g., there is a large bulge or a large misalignment of the blade surface 111 and the front face 106, thereby resulting in a large misalignment between the front face 106 and the blade surface 111), the controller 118 selects to flag the sample block 105 for removal.

[0048] The systems and methods described herein can use optical, acoustic, and other methods to determine the geometry of the front face 106 of the sample block 105 in the chuck 108. The present disclosure further provides methods and systems for enhanced identification of the geometry of the front face 106 of the sample block 105 based on, for example, lasers, ultrasonic pulses, images, currents, and forces. In some embodiments, one or more surface sensors 116 that can monitor the position or geometry of the front face 106 of the sample block 105, or the position of the blade 110, or the chuck 108 that holds the sample block 105, can be used. In some embodiments, the surface sensor 116 can be located on a sensor that monitors the microtome assembly 103 or the microtome assembly 103 itself. In some embodiments, the surface sensor 116 can alternatively or additionally be located on the chuck 108 that holds the sample block 105.

[0049] In some embodiments, the surface sensor 116 is stationary. That is, one or more surface sensors 116 are not required to be moved or rotated to sense the geometry of the front face 106 of the sample block 105 in order to identify the geometry of the front face 106. In some embodiments, the surface sensor 116 is fixed to the microtome assembly 103 at a reference point with respect to the sample block 105. In some embodiments, the geometry of the front face 106 of the sample block 105 can be identified based on the calculation of the angle between the front face 106 of the sample block 105 and the blade surface 111 of the blade 110 using various measurement techniques. The geometry can be used to flag the sample block 105 to be removed or to align the front face 106 of the sample block 105 with the blade surface 111 in order to minimize the facing time. In some embodiments, the surface sensor 116 is movable. In some embodiments, the surface sensor 116 is movable with respect to the front face 106 of the sample block 105.

[0050] In some embodiments, as shown in FIG. 1A, system 100 can be used to facilitate efficient processing of a sample block 105 that includes a biological sample, such as tissue, embedded in paraffin. In particular, as discussed in more detail below, system 100 is designed to receive one or more sample blocks 105 on a chuck 108. Each sample block 105 includes a tissue sample embedded in an embedding or preservation material. The sample block 105 is delivered to a microtome assembly 103 having one or more blades 110 (e.g., a cutting tool, cutter, or any other device configured to face or cut). The one or more sample blocks 105 are "faced" using one or more blades 110 of the microtome assembly 103 by removing one or more layers of the preservation material in which the tissue is embedded and exposing a large cross-section of the tissue sample. Next, one or more tissue sections comprising the tissue sample can be sliced or sectioned from the sample block 105 using one or more blades 110. The sections of the tissue sample are transferred to a slide for further processing, for example, using an automated transfer medium.

[0051] In some embodiments, as shown in FIGS. 1A-1E, chuck 108 can be configured to move sample block 105 toward blade 110 along the X axis. In some embodiments, sample block 105 is aligned with blade 110 to eliminate the gap between the sample block and the blade while considering the unique geometry of the sample block being sectioned. In some embodiments, chuck 108 can be configured to manipulate sample block 105 along the Y and Z axes. In some embodiments, the blade surface 111 of blade 110 can be configured to section the front face 106 of sample block 105 along the Z axis and expose the tissue inside sample block 105, and surface sensor 116 can be configured to sense front face 106 along the X, Y, or Z axis.

[0052] In some embodiments, identifying the geometric shape includes the controller 118 identifying the face plane 107 of the front face 106 to be compared to the blade plane 112 in order to identify the orientation of the front face 106 relative to the blade surface 111. The face plane 107 can define the orientation of the front face 106 relative to the Y and Z axes. In some embodiments, the face plane 107 can be defined by the Y and Z dimensions. In some embodiments, the face plane 107 can include the Y dimension in the direction of the Y axis. In some embodiments, the face plane 107 can include the Z dimension in the direction of the Z axis. The blade plane 112 can define the orientation of the blade surface 111 relative to the Y and Z axes. By sectioning the front face 106 of the sample block 105, the blade surface 111 can remove the preservation material in which the tissue is embedded, expose a large cross-section of the tissue sample, and then section the tissue sample.

[0053] In some embodiments, since the blade surface 111 can be configured to slice the front surface 106 of the sample block 105 along the Z-axis, the cutting quality can be improved by identifying that the blade plane 112 of the blade surface 111 and the plane 107 of the front surface 106 are parallel to each other. If the plane 107 is not properly aligned with the blade plane 112 such that the two are parallel, the blade surface 111 can perform an uneven cut of the sample block 105, which can reduce or degrade the cutting quality, or even remove the sample block 105 from the chuck 108 or remove the tissue sample from the sample block 105. For example, as shown in FIG. 1D, the sample block 105 can be tilted about the Y-axis with respect to the Z-axis. In another example, as shown in FIG. 1E, the sample block 105 can be twisted about the Z-axis with respect to the Y-axis. When the sample block 105 is tilted or twisted, the front surface 106 is not parallel or aligned with the blade surface 111, which can cause the blade 110 to cut only the edge of the sample block 105 or cut out (i.e., remove) the tissue inside the sample block 105.

[0054] To address this problem, system 100 can include a surface sensor 116 configured to generate a measurement indicative of the alignment of the front face 106 with respect to the blade surface 111. The controller 118 can use the measurement to identify whether the face plane 107 is parallel to the blade plane 112. When the controller 118 identifies that the face plane 107 is parallel to the blade plane 112, the controller 118 can slice the front face 106 of the sample block 105 onto the blade surface 111 of the blade 110. If the front face 106 is tilted or twisted, the controller 118 can flag the sample block 105 for removal or align the sample block 105 in the chuck 108 such that the front face 106 is parallel to the blade surface 111 of the blade 110. In some embodiments, the controller 118 selects whether to flag or remove the sample block 105 by identifying whether the difference between the face plane 107 and the blade plane 112 meets a pre-set value. If the difference meets the pre-set value (e.g., there is a slight misorientation between the blade surface 111 and the front face 106, thereby resulting in a slight misalignment between the front face 106 and the blade surface 111), the controller 118 selects to align the sample block 105. If the difference cannot meet the pre-set value (e.g., there is a large misorientation between the blade surface 111 and the front face 106, thereby resulting in a large misalignment between the front face 106 and the blade surface 111), the controller 118 selects to flag the sample block 105 for removal.

[0055] In some embodiments, the surface sensor 116 can be one or more sensors configured to sense the face plane 107. In some embodiments, the surface sensor 116 can be a laser sensor, an ultrasonic sensor, an optical sensor, a camera, a load cell, an electrical sensor, a photosensor, a video sensor, a high-speed image sensor, a strain gauge, a microphone, an acoustic sensor, or a similar sensor configured to identify or detect the face plane 107 relative to the blade plane 112 or other structures in the system 100.

[0056] In some embodiments, the surface sensor 116 can be one or more axial laser sensors configured to generate one or more laser beams toward the front surface 106 and measure the distance between the one or more axial laser sensors and the front surface 106. In some embodiments, the surface sensor 116 can be one or more axial ultrasonic sensors configured to generate one or more ultrasonic pulses toward the front surface 106 and measure the distance between the one or more axial ultrasonic sensors and the front surface 106. In some embodiments, the surface sensor 116 can be one or more lateral laser sensors configured to generate one or more laser beams toward the front surface 106. In some embodiments, when the controller 118 identifies that the intersection of the laser beam occurs along a curve, the controller 118 can identify that there is a bulge on the front surface 106 or that it is not parallel to the blade surface 111. In some embodiments, the surface sensor 116 can be an upper camera and a side camera configured to generate one or more images of the front surface 106. For example, if the image of the tissue camera shows a bulge, swelling, or depression, the controller 118 can determine that the front surface 106 should be readjusted to the blade surface 111. In some embodiments, the surface sensor 116 can be a plurality of sensors configured to generate a laser grid and detect the intersection of the front surface 106 and the laser grid. In some embodiments, the surface sensor 116 can be an electrical sensor configured to identify the motor current drawn by the motor that operates the blade 110 to cut the front surface 106. In some embodiments, the surface sensor 116 can be a force sensor configured to identify the force applied to the front surface 106 by the blade 110. In some embodiments, the surface sensor 116 can be an electrical sensor for identifying the electrical contact between the blade 110 and the sample block 105. In some embodiments, when the surface sensor 116 identifies an increased force or a higher current, the controller 118 can determine that the front surface 106 is not aligned with the blade surface 111.

[0057] Figure 1F presents an exemplary method for determining the geometry of the front face 106 to identify whether the front face 106 is aligned with the blade surface 111. In some embodiments, the system 100 can include a controller 118 configured to cause the surface sensor 116 to generate measurements indicative of the geometry of the front face 106 in step 140. In some embodiments, the controller 118 can be configured to receive measurements of the front face 106 based on sensor readings from one sensor or a combination of sensors described herein.

[0058] In step 142, the controller 118 can use the information received from the surface sensor about the front face 106 to identify the geometry of the front face 106. In some embodiments, the controller 118 can be configured to use the measurements from the surface sensor 116 to identify or calculate the plane 107. In some embodiments, the controller 118 can be configured to use the measurements from the surface sensor 116 to identify or calculate the orientation of the plane 107 or the front face 106. In some embodiments, the controller 118 can be configured to identify the topography of the front face 106. In some embodiments, the controller 118 can be configured to identify any protrusions on the front face 106. In some embodiments, as described in more detail below, the controller 118 can identify the geometry of the front face 106 based on the intersections with the laser grid and the forces identified by the load cells. In some embodiments, the controller 118 can perform these identifications without human intervention.

[0059] In some embodiments, the controller 118 can cause the surface sensor 116 to generate sensor measurements of the blade 110 or the blade surface 111. The controller 118 can use the sensor measurements to identify the blade plane 112. In some embodiments, the controller 118 can be configured to identify the blade plane 112 by identifying the position of the blade 110 as it moves. In some embodiments, the controller 118 can identify or maintain the position (e.g., x, y, z coordinates) of the surface sensor 116 relative to the blade 110. In some embodiments, the surface sensor 116 is in a fixed position such that the controller 118 can identify the orientation of the face plane 107 relative to the blade plane 112. The controller 118 can use the position of the surface sensor 116 to identify the blade plane 112. In some embodiments, the blade plane 112 is known to the controller 118. For example, the blade 110 can be positioned such that the blade surface 111 and its blade plane 112 are parallel to the Z axis. In some embodiments, the controller 118 can be configured to read the blade plane 112 from memory.

[0060] In step 144, the controller 118 can analyze the geometry of the front face 106. In some embodiments, analyzing the geometry includes the controller 118 determining the alignment of the front face 106 relative to the blade surface 111. Determining the alignment of the front face 106 can include analyzing the geometry of the front face 106 relative to the blade surface 111. In some embodiments, analyzing the geometry or determining the alignment includes the controller 118 identifying the orientation of the front face 106 relative to the blade surface 111. In some embodiments, analyzing the geometry or determining the alignment includes the controller 118 identifying the topography of the front face 106. In some embodiments, the controller 118 can include an algorithm that can use data from one or more of the sensor outputs to reach conclusions about the geometry of the front face 106, the alignment of the front face 106 and the blade surface 111, and the cut quality prediction. The control algorithm can determine that the geometry of the front face 106 or the alignment of the front face 106 and the blade surface 111 exceeds a predetermined value outside a predetermined threshold or is within a nominal or non-nominal range. The algorithm can use a decision tree to reach a conclusion as to whether the geometry of the front face 106 or the alignment of the front face 106 and the blade surface is within or outside a predetermined range based on data from one or more measurements of the surface sensor 116. In some embodiments, the algorithm can perform these determinations without human intervention.

[0061] In some embodiments, in step 146, if the controller 118 identifies that the front face 106 is aligned with the blade surface 111, the controller 118 can face or slice the front face 106 onto the blade surface 111 of the blade 110. In some embodiments, if the controller 118 identifies that the face plane 107 is parallel to the blade plane 112, the controller 118 can face or slice the front face 106 onto the blade surface 111 of the blade 110. In some embodiments, if the controller 118 identifies that the front face 106 is flat, the controller 118 can move the front face 106 downward toward the blade surface 111 in the chuck 108 to face or slice the sample block 105. For example, the chuck 108 can move the front face 106 along the Z-axis and toward the blade surface 111 for the blade surface 111 to face or slice the front face 106 along the Z-axis. In some embodiments, if the controller 118 identifies that the front face 106 is flat or parallel to the blade surface 111, the controller 118 can face or slice the front face 106 onto the blade surface 111 of the blade 110. For example, the blade surface 111 can slice the front face 106 along the Z-axis. In some embodiments, the controller 118 can determine that the front face 106 is aligned with the blade surface 111, for example, if a determined alignment of the front face 106 or the geometry of the front face 106 relative to the blade surface 111 is below a predetermined threshold or within a nominal range.

[0062] In some embodiments, at step 148, if the controller 118 identifies that the front face 106 is misaligned with the blade surface 111, the controller can output an alert to the user to manually adjust the sample block 105 (i.e., align the front face 106 with the blade surface 111) or to remove the sample block 105. In some embodiments, if the controller 118 identifies that the face plane 107 is not properly aligned with the blade plane 112, the controller 118 can output an alert to the user for manual adjustment (i.e., alignment) of the sample block 105 or for removal of the sample block 105. In some embodiments, if the controller 118 identifies that the front face 106 is not parallel with the blade surface 111, the controller 118 can output an alert to the user for manual adjustment (i.e., alignment) of the sample block 105 or for removal of the sample block 105. In some embodiments, the surface sensor 116 or the controller 118 can use the orientation of the front face 106 to generate an alert when the orientation is outside the permitted range or when a predetermined threshold is exceeded. In some embodiments, if the controller 118 identifies that the front face 106 is not flat, the controller 118 can output an alert to the user for manual adjustment (i.e., alignment) of the sample block 105 or for removal of the sample block 105. In some embodiments, the surface sensor 116 or the controller 118 can use the topography of the front face 106 to generate an alert when the topography is outside the permitted range or when a predetermined threshold is exceeded. In some embodiments, if the controller 118 identifies that the front face 106 is not flat or not parallel with the blade surface 111, the controller 118 can output an alert to the user.

[0063] In some embodiments, at step 150, if the controller 118 identifies that the front surface 106 is not aligned with the blade surface 111, the controller 118 can send an output control signal to the chuck 108 to reposition the sample block 105 so that the front surface 106 is aligned with the blade surface 111. In some embodiments, if the controller 118 identifies that the front surface 106 is not aligned with the blade surface 111, particularly that the front surface 106 is not parallel with the blade surface 111, the controller can move the sample block 105 so that the front surface 106 is parallel with the blade surface 111 and send an output control signal to the chuck 108 to align it with the blade surface 111 (also, the controller 118 can optionally notify the user of the change). In some embodiments, the controller 118 can use the orientation of the front surface 106 to output a control signal when the orientation is outside the permitted range or when it exceeds a predetermined threshold. In some embodiments, if the controller 118 identifies that the front surface 106 is not flat, the controller 118 can send an output control signal to the chuck 108 to move the front surface 106 relative to the blade surface 111 and optionally notify the user of such a change. In some embodiments, the chuck 108 can move the sample block 105 (e.g., towards or away from the blade 110 along the X or Z axis) to adjust the distance between the blade surface 111 and any protrusions on the front surface 106, gently shave off a small piece of the tip of the protrusion on the front surface 106 to the blade 110 (e.g., reduce the cutting thickness), flatten the front surface 106, and align the front surface 106 with the blade surface 111. In some embodiments, the controller 118 can use the topography of the front surface 106 to output a control signal when the topography is outside the permitted range or when it exceeds a predetermined threshold.Aligning the front face 106 with the blade surface 111 (either manually in step 148 or automatically using a control signal in step 160) can prevent damage to the sample block 105 or the tissue inside the sample block 105. The controller 118 can use the geometry of the front face 106 for cut-off operations or control of the sample block 105 and the blade 110 to improve the quality of the section. In some embodiments, if the controller 118 identifies that the front face 106 is not flat or not parallel to the blade surface 111, the controller 118 can output a control signal to reposition the tissue block 105 or to shave the front face 106 of the tissue block so that the front face 106 is aligned (e.g., parallel or flat) with the blade surface 111.

[0064] In some embodiments, the chuck 108 can be movable in multiple directions (multiple degrees of freedom) and along the X or Z axis to change the orientation of the sample block 105 and properly align the front face 106 with the blade surface 111. In some embodiments, the chuck 108 can have only a single degree of freedom. To simplify the system, the chuck 108 may only be able to move along the X axis towards and away from the blade 110. In some embodiments, the chuck 108 can have two degrees of freedom. For example, in some embodiments, the chuck 108 can move the sample block 105 along the X axis to position the face plane 107 at a desired location relative to the blade 110. Additionally, the chuck 108 can also move the sample block 105 up and down along the Z axis to enable the blade 110 to slice the sample block 105. In some embodiments, the chuck 108 can have three degrees of freedom. For example, in some embodiments, the chuck 108 can move along the X and Z axes as discussed herein and can also move the sample block 105 left and right along the Y axis to enable the blade 110 to slice the sample block 105.

[0065] In such embodiments, if the front face 106 of the sample block 105 is not properly aligned with the blade surface 111, the chuck 108 can move the sample block 105 to a position that minimizes the torque on the sample block 105 or the tissue sample and align the front face 106 with the blade surface 111. The blade surface 111 can then move along the Z axis and make a thin cut into the sample block 105 (e.g., reduce the thickness of the cut). In some embodiments, the chuck 108 can continue to move the sample block 105 a predetermined distance towards the blade surface 111 until the front face 106 of the sample block 105 is sufficiently aligned with the blade surface 111 such that the blade surface 111 can cut slices of a desired size and shape.

[0066] Here, generally referring to FIGS. 2A - 2D, in some embodiments, the surface sensor 116 can include one or more axial sensors 202A - 202C positioned in front of the front face 106. The one or more axial sensors 202A - 202C can be configured to measure a plurality of distances (e.g., d1, d2, d3) between the axial sensors 202A - 202C and various points on the front face 106 (e.g., points along the Z - axis). The controller 118 can then compare the distances, identify a face plane 107 for comparison with the blade plane 112, and identify whether the front face 106 is parallel to the blade surface 111. For example, if the face plane 107 is parallel to the blade plane 112, d1, d2, d3 would be expected to be equal. On the other hand, if one or more of d1, d2, d3 are not the same, the face plane 107 is not parallel to the blade plane 112. In some embodiments, the controller 118 can use the distances to detect the topography of the front face 106 and identify whether the front face 106 is flat. For example, if the front face 106 is flat, d1, d2, d3 would be expected to be equal. In another example, if one or more of d1, d2, d3 are not the same, the front face 106 includes protrusions.

[0067] In some embodiments, as shown in FIG. 2A, a single axial sensor 202A can be provided that is configured to measure the distance to the front surface 106 by generating a laser beam 205A directed at the front surface 106. In some embodiments, as shown in FIG. 2B, the axial sensor 202B can be configured to measure the distance to the front surface 106 by generating an ultrasonic pulse 206A directed at the front surface 106. Here, generally referring to FIGS. 2A and 2B, in some embodiments, the controller 118 can cause the axial sensor 202A to generate the laser beam 205A or the ultrasonic pulse 206A. In some embodiments, the controller 118 causes the laser beam 205A or the ultrasonic pulse 206A to be generated at the axial sensor 202A as the chuck 108 that holds the sample block 105 moves a known distance along the Y or Z axis in front of the axial sensor 202A so that the surface sensor measures the distance to a plurality of locations on the front surface 106 of the sample block 105. In some embodiments, the controller 118 can cause the axial sensor 202A to generate the laser beam 205A or the ultrasonic pulse 206A as the chuck 108 moves along the X axis. In some embodiments, the controller 118 can cause the axial sensor 202A to generate the laser beam 205A or the ultrasonic pulse 206A as the chuck 108 moves along the Y axis. In some embodiments, the controller 118 can cause the axial sensor 202A to generate the laser beam 205A or the ultrasonic pulse 206A as the chuck 108 moves along the Z axis. In some embodiments, the axial sensor 202A can be moved in the Y or Z direction relative to the front surface 106 and generate the laser beam 205A or the ultrasonic pulse 206A at different positions.

[0068] In some embodiments, the axial sensor 202A can be positioned in front of the front face 106. The axial sensor 202A can be configured to measure a plurality of distances (e.g., d1, d2, d3) between the axial sensor 202A and various points on the front face 106 (e.g., points along the Y or Z axis). The controller 118 can then compare the distances, identify the face plane 107 for comparison with the blade plane 112, and identify the orientation of the front face 106 relative to the blade surface 111. For example, if the face plane 107 is parallel to the blade plane 112, d1, d2, d3 would be expected to be equal. On the other hand, if one or more of d1, d2, d3 are not the same, the face plane 107 is not parallel to the blade plane 112, and thus the sample block 105 can be moved, readjusted, or removed by the chuck 108. In some embodiments, the controller 118 can detect whether any protrusions are present on the front face 106 and use the distances to identify whether the topography on the front face 106 is flat or undulating. For example, if the front face is flat, d1, d2, d3 would be expected to be equal. In another example, if one or more of d1, d2, d3 are not the same, the front face 106 includes a protrusion, and thus the sample block 105 can be moved, milled, or removed by the chuck 108.

[0069] In some embodiments, the controller 118 can identify or maintain the blade plane 112. In some embodiments, the axial sensor 202A is configured to generate distance measurements that traverse the blade plane 112. In some embodiments, the axial sensor 202A is configured to generate distance measurements in the direction of the X axis at different points along the Y or Z axis. In some embodiments, the axial sensor 202A is configured to generate distance measurements that are perpendicular to the blade plane 112. In some embodiments, the axial sensor 202A is configured to generate distance measurements along or parallel to the X axis.

[0070] The controller 118 can use the axial sensor 202A to identify the distance to a point on the front surface 106. In some embodiments, the controller 118 can cause the axial sensor 202A to identify the length of the laser beam 205A between the axial sensor 202A and the front surface 106. In some embodiments, the controller 118 can cause the axial sensor 202A to identify the distance of the ultrasonic pulse 206A between the axial sensor 202A and the front surface 106. For example, the controller 118 can cause the axial sensor 202A to identify the distance d1 between the axial sensor 202A and the front surface 106.

[0071] In some embodiments, the axial sensor 202A can identify a plurality of distances as the chuck 108 moves the sample block 105 along the Z-axis (e.g., up and down) or the Y-axis (e.g., left and right) relative to the axial sensor 202A. The controller 118 can be configured to receive a plurality of distances from the axial sensor 202A. In some embodiments, the controller 118 can be configured to receive or identify the position (e.g., Z and Y coordinates) of the chuck 108 as the chuck 108 moves. For example, the controller 118 can identify the position from a motor that moves the chuck 108. The controller 118 can associate the position with each distance identified by the axial sensor 202A. For example, the controller 118 can identify a first distance between the axial sensor 202A and the front surface 106 when the sample block 105 is at a first position along the Y and Z axes, a second distance between the axial sensor 202A and the front surface 106 when the sample block 105 is at a second position along the Y and Z axes, and a third distance between the axial sensor 202A and the front surface 106 when the sample block 105 is at a third position along the Y and Z axes.

[0072] In some embodiments, the axial sensor 202A can identify a plurality of distances by moving relative to a sample block 105 stationary along the Z-axis (e.g., up and down) or the Y-axis (e.g., left and right). The controller 118 can be configured to receive or identify the position (e.g., Z and Y coordinates) of the axial sensor 202A as it moves. For example, the controller 118 can identify the position from a motor that moves the axial sensor 202A. The controller 118 can associate the position with each distance identified by the axial sensor 202A.

[0073] The controller 118 can be configured to use the plurality of distances between the axial sensor 202A and the sample block 105 to identify the plane 107. In some embodiments, the controller 118 can identify the plane 107 based on the Y and Z coordinates of each of the plurality of distances between the axial sensor 202A and the front face 106.

[0074] In some embodiments, the controller 118 can detect the plane 107 of the front face 106 and, if the difference between the plurality of distances is less than a threshold, identify that the front face 106 is parallel to the blade surface 111. For example, if each distance between the axial sensor 202A and the front face 106 is the same or within a threshold, the laser beam 205A or the ultrasonic pulse 206A is perpendicular to the plane 107 along the Y and Z axes. If the blade plane 112 is also perpendicular to the laser beam 205A along the Y and Z axes, the blade plane 112 is parallel to the plane 107. In some embodiments, the controller 118 can detect the topography of the front face 106 and, if the difference between the plurality of distances is less than a threshold, identify that the front face 106 is flat. In some embodiments, if each distance between the axial sensor 202A and the front face 106 is the same or within a threshold, the front face 106 is flat.

[0075] In some embodiments, the controller 118 can detect that the front face 106 is not parallel to the blade surface 111 when the difference between the distances exceeds a threshold. For example, when one or more of the distances between the axial sensor 202A and the front face 106 exceed a threshold, the laser beam 205A or the ultrasonic pulse 206A is not perpendicular to the plane 107 at one or more of the measured points, at least along the Y or Z axis. If the blade plane 112 is perpendicular to the laser beam 205A along the Y and Z axes, the blade plane 112 is not parallel to the plane 107. In some embodiments, the controller 118 can detect that the front face 106 is not flat (e.g., wavy) when the difference between the distances exceeds a threshold. For example, when one or more of the distances between the axial sensor 202A and the front face 106 exceed a threshold, the front face 106 is not flat.

[0076] In some embodiments, as shown in FIG. 2C, the system 100 can include an axial sensor 202A, an axial sensor 202B, and an axial sensor 202C configured to measure the distance to the front face 106 by generating a laser beam 205A, a laser beam 205B, and a laser beam 205C directed at the front face 106. In some embodiments, as shown in FIG. 2D, the axial sensors 202A-202C can be configured to measure the distance to the front face 106 by generating an ultrasonic pulse 206A, an ultrasonic pulse 206B, and an ultrasonic pulse 206C directed at the front face 106.

[0077] Here, generally referring to FIGS. 2C and 2D, in some embodiments, the axial sensors 202A - 202C can be positioned in front of the front face 106. The axial sensors 202A - 202C can be configured to measure distances (e.g., d1, d2, d3) between each of the axial sensors 202A - 202C and various points (e.g., points along the Y or Z axis) on the front face 106. The controller 118 can then compare the distances, identify a face plane 107 for comparison with the blade plane 112, and identify the orientation of the face plane 107 relative to the blade plane 112. For example, if the face plane 107 is parallel to the blade plane 112, d1, d2, d3 would be expected to be equal. On the other hand, if distance d3 is longer than distance d1 and distance d1 is longer than d2, the face plane 107 is not parallel to the blade plane 112, and thus, the sample block 105 can be moved, readjusted, or removed by the chuck 108. In some embodiments, the controller 118 can detect topography, e.g., the presence of protrusions on the front face 106, and use the distances to identify whether the topography on the front face 106 is flat or undulating. For example, if the front face 106 is flat, d1, d2, d3 would be expected to be equal. In another example, if distance d3 is longer than distance d1 and distance d1 is longer than d2, the front face 106 includes protrusions, and thus, the sample block 105 can be moved, milled, or removed by the chuck 108.

[0078] In some embodiments, the axial sensors 202A - 202C are on the same point on the X - axis but are axially positioned along a diagonal or pattern spanning the Z and Y axes. In some embodiments, the controller 118 can identify or maintain the position (e.g., x, y, z coordinates) of each of the axial sensors 202A - 202C relative to each other. In some embodiments, the system 100 can include a different quantity (e.g., five, seven, etc.) of axial sensors that generate a respective number of measurement values together.

[0079] The controller 118 can cause each of the axial sensors 202A - 202C to measure the distance to the front surface 106 by generating laser beams 205A - 205C or ultrasonic pulses 206A - 206C. In some embodiments, the controller 118 can cause the axial sensors 202A - 202C to generate laser beams 205A - 205C or ultrasonic pulses 206A - 206C in the previous sample block 105 of the axial sensors 202A - 202C. In some embodiments, the controller 118 can cause the axial sensors 202A - 202C to generate laser beams 205A - 205C or ultrasonic pulses 206A - 206C when the chuck 108 holding the sample block 105 is stationary. In some embodiments, the controller 118 can cause the axial sensors 202A - 202C to generate laser beams 205A - 205C or ultrasonic pulses 206A - 206C as the chuck 108 moves the sample block 105.

[0080] In some embodiments, the controller 118 can store, maintain, or identify the blade plane 112. In some embodiments, the axial sensors 202A - 202C are configured to generate distance measurement values that traverse the blade plane 112. In some embodiments, the axial sensors 202A - 202C are configured to generate distance measurement values in the direction of the X - axis at different points along the Y or Z axis. In some embodiments, the axial sensors 202A - 202C are configured to measure the distance perpendicular to the blade plane 112. In some embodiments, the axial sensors 202A - 202C are configured to measure the distance along or parallel to the X - axis.

[0081] The controller 118 can cause the axial sensors 202A-202C to identify the distances between each of the axial sensors 202A-202C and their respective points on the front surface 106. In some embodiments, the controller 118 can cause the axial sensors 202A-202C to simultaneously identify the distances while the sample block 105 is stationary. For example, the controller 118 can cause the axial sensor 202A to identify the distance d1 between the axial sensor 202A and the first point on the front surface 106, the axial sensor 202B to identify the distance d2 between the axial sensor 202B and the second point on the front surface 106, and the axial sensor 202C to identify the distance d3 between the axial sensor 202C and the third point on the front surface 106. The controller 118 can be configured to receive the distances from the axial sensors 202A-202C.

[0082] The controller 118 can be configured to use the positions of the axial sensors 202A-202C relative to each other (e.g., x, y, z coordinates) and the plurality of distances between each of the respective axial sensors 202A-202C and the front surface 106 to identify the plane 107. The controller 118 can identify the plane 107 based on the plurality of distances to the front surface 106 along the Y and Z axes. In some embodiments, the controller 118 can identify the plane 107 by identifying three angles formed between the blade plane 112 and points on the front surface 106. In some embodiments, the controller 118 can identify the plane 107 by identifying three points on the front surface 106. In some embodiments, the controller 118 can identify the plane 107 by identifying a point on the front surface 106 and the normal vector of the front surface 106.

[0083] In some embodiments, the controller 118 can be configured to use the face plane 107 to identify the orientation of the front face 106 relative to the blade surface 111. For example, if the controller 118 identifies that the distance d3 is longer than the distance d1 and the distance d1 is longer than d2, the controller 118 can identify that the face plane 107 is not parallel to the blade plane 112. In some embodiments, the controller 118 can identify the topography of the front face 106 and determine whether the front face 106 is flat or undulating. In another example, if the controller 118 identifies that the distance d3 is longer than the distance d1 and the distance d1 is longer than d2, the controller 118 can identify that the front face 106 is not flat.

[0084] Now, generally referring to FIGS. 3A-3D, in some embodiments, the surface sensor 116 can include one or more lateral sensors 305A-305F positioned along the side surface of the sample block 105, and the one or more lateral sensors 305A-305F are configured to measure the intersection of the signals of the lateral sensors 305A-305F along the Y-axis with the front face 106. In some embodiments, the intersection is a data structure including x, y, z coordinates indicating the position of the intersection relative to a known reference location. The controller 118 can then compare the intersections to identify the face plane 107 for comparison with the blade plane 112 and identify the orientation of the face plane 107 relative to the blade plane 112. In some embodiments, the controller 118 can detect whether there are protrusions on the front face 106 and use the intersections to determine whether the topography of the front face 106 is flat or undulating.

[0085] In some embodiments, the side sensors 305A - 305F can identify the distance along the Y-axis between the side sensors 305A - 305F and the front face 106, and can identify the face plane 107. The controller 118 can then compare the distances, identify the face plane 107 for comparison with the blade plane 112, and identify the orientation of the face plane 107 relative to the blade plane 112. For example, if the distances are the same, or within a threshold, the face plane 107 is parallel to the blade plane 112. Conversely, if one or more of the distances are not the same, or the difference exceeds a threshold, the face plane 107 is not parallel to the blade plane 112. In some embodiments, the controller 118 can detect whether there are protrusions on the front face 106 and can use the distances to identify whether the topography of the front face 106 is flat or ridged. For example, if the distances are the same, or within a threshold, the front face 106 is flat. In another example, if one or more of the distances are not the same, or the difference exceeds a threshold, the front face 106 is not flat.

[0086] In some embodiments, as shown in FIGS. 3A - 3C, the side sensors 305A - 305C can be positioned along the sides of the front face 106. The side sensors 305A - 305C can be configured to identify the intersections (e.g., i1, i2, i3) of their signals with various points (e.g., points along the Z - axis or X - axis) on the front face 106 at various positions of the chuck 108. The controller 118 can then compare the intersections and positions, identify the face plane 107 for comparison with the blade plane 112, and identify the orientation of the face plane 107 relative to the blade plane 112. For example, as shown in FIG. 3A, if i1, i2, i3 are the same along the X - axis (i.e., all the signals of the sensors 305A - 305C intersect the front face 106 simultaneously when the chuck 108 moves the sample block 105 in the X - direction), the face plane 107 is parallel to the blade plane 112. Conversely, if one or more of i1, i2, i3 are not the same, the face plane 107 is not parallel to the blade plane 112. In another example, as shown in FIG. 3B, i1, i2, i3 can be the same along the Z - axis. The chuck 108 can move the sample block 105 to various points along the Z - axis and into the paths of the sensors 305A - 305C. In so doing, based on the intersections i1, i2, i3, there is a thickness of the sample block 105 at different positions along the height of the sample block 105 (e.g., along the Z - axis). The variation in thickness can indicate the orientation of the front face 106. For example, if i1, i2, i3 are the same along the Z - axis (e.g., occur simultaneously when the chuck 108 is positioned at different points along the Z - axis and advanced towards the sensors 305A - 305C), the face plane 107 can be parallel to the blade plane 112. In contrast, if i1, i2, i3 are different (e.g., occur at different times when the chuck 108 is positioned at different points along the Z - axis and advanced towards the sensors 305A - 305C), the face plane 107 is not parallel to the blade plane 112.In another example, as shown in FIG. 3C, if i1, i2, and i3 are the same after compensating for the distances between the lateral sensors 305A - 305C and the position of the chuck 108 at each intersection, the face plane 107 is parallel to the blade plane 112 along the Y and Z axes. Conversely, if one or more of i1, i2, and i3 are not the same, the face plane 107 is not parallel to the blade plane 112.

[0087] In some embodiments, the controller 118 can detect whether there are protrusions on the front face 106 and use the intersections to identify whether the topography of the front face 106 is flat or raised. For example, as shown in FIG. 3A, if i1, i2, and i3 are the same along the X axis (e.g., occurring simultaneously as the chuck 108 moves along the X axis as described above), the front face 106 is flat. Conversely, if one or more of i1, i2, and i3 are not the same, the front face 106 is not flat. In another example, as shown in FIG. 3B, if i1, i2, and i3 are the same along the Z axis (e.g., occurring simultaneously when the chuck 108 is positioned at different points along the Z axis and advanced towards the sensors 305A - 305C), the front face 106 is flat. Conversely, if one or more of i1, i2, and i3 are not the same, the front face 106 is not flat. In another example, as shown in FIG. 3C, if i1, i2, and i3 are the same after compensating for the distances between the lateral sensors 305A - 305C and the position of the chuck 108 at each intersection, the front face 106 is flat. Conversely, if one or more of i1, i2, and i3 are not the same, the front face 106 is not flat.

[0088] In some embodiments, the surface sensor 116 can include one or more lateral sensors 305A - 305C (e.g., non-contact reflective laser sensors or ultrasonic sensors) that generate measurements of the front face 106 along the Y-axis. As shown in FIG. 3A, the lateral sensors 305A - 305C are at the same position on the X and Y axes, but have different positions along the Z-axis. In some embodiments, the surface sensor 116 includes axial sensors 202A - 202C configured to generate a laser grid for identifying the face plane 107, and the lateral sensors 305A - 305C. As shown in FIG. 3B, the lateral sensors 305A - 305C are at the same position on the Y and Z axes, but have different positions along the X-axis. As shown in FIG. 3C, the lateral sensors 305A - 305C are at the same position on the Y-axis, but have different positions along the X and Z axes. In some embodiments, the lateral sensors 305A - 305C can be positioned laterally and configured to generate a laser beam or ultrasonic pulse that is parallel to the blade plane 112 along the Y-axis. In some embodiments, the system 100 can include a different quantity (e.g., 5, 7, etc.) of lateral sensors that generate respective numbers of measurements.

[0089] As shown in FIG. 3D, in some embodiments, the lateral sensors 305D - 305F can be positioned in front of the front face 106. The lateral sensors 305D - 305F can be configured to identify intersections (e.g., i1, i2, i3) between each of the lateral sensors 305D - 305F and various points (e.g., points along the X or Z axis) on the front face 106.

[0090] The controller 118 can compare the intersections, identify the face plane 107 for comparison with the blade plane 112, and identify whether the front face 106 is parallel to the blade surface 111. For example, as shown in FIG. 3D, if i1, i2, i3 occur simultaneously, the face plane 107 is parallel to the blade plane 112 along the Y and Z axes. Conversely, if one or more of i1, i2, i3 are not the same, the face plane 107 is not parallel to the blade plane 112.

[0091] In some embodiments, the controller 118 can use intersections to detect whether there are protrusions on the front surface 106 and to identify whether the topography of the front surface 106 is flat. For example, as shown in FIG. 3D, when i1, i2, and i3 occur simultaneously, the front surface 106 is flat. In another example, if one or more of i1, i2, and i3 are not the same, the front surface 106 is not flat.

[0092] In some embodiments, the side sensors 305D, 305E, and 305F can generate a side laser sheet (also known as a fan) for immersing the sample block 105 therein. In some embodiments, the system 100 can include a different quantity (e.g., 5, 7, etc.) of side sensors that generate a respective number of side laser sheets. In some embodiments, the laser sheet can be directed parallel to the Y-axis and spread across the X-axis. In some embodiments, the side sensors 305D-305F are at the same position on the X and Y axes but have different positions along the Z-axis, and the laser sheet enables the identification of intersections along the X-axis, and the variation in the positions of the side sensors 305D-305F along the Z-axis enables the identification of the plane surface 107. In some embodiments, the side sensors 305D-305F are at the same position on the Y and Z axes but have different positions along the X-axis. In some embodiments, the side sensors 305D-305F are at the same position on the Y-axis but have different positions along the X and Z axes.

[0093] Referring now to FIGS. 3A - 3D, in some embodiments, the controller 118 can identify or maintain the position (e.g., x, y, z coordinates) of each of the lateral sensors 305A - 305F relative to each other. In some embodiments, the controller 118 can identify or maintain the position (e.g., x, y, z coordinates) of each of the lateral sensors 305A - 305F relative to the chuck 108 or the blade 110. In some embodiments, the controller 118 can use the positions of the lateral sensors 305A - 305C to identify the position of their respective intersection points. For example, if the lateral sensor 305A is 1 cm away from the lateral sensor 305B along the Z - axis, the positions of the intersection points i1 and i2 will be separated by 1 cm on the Z - axis.

[0094] The system 100 can include a position sensor 310 that can identify the position of the chuck 108 holding the sample block 105. The controller 118 can associate the position of the chuck 108 with the intersection points. For example, the controller 118 can identify where the chuck 108 is located when the sample block 105 intersects the laser beam or ultrasonic pulse of the lateral sensor 305A. In some embodiments, the controller 118 can receive the position (e.g., x, y, z coordinates) of the chuck 108 from the position sensor 310. In some embodiments, the position sensor 310 can sense the movement of the chuck 108 without contacting the chuck itself. For example, the resolution of the position sensor 310 can be in the range of 50 nm to 100 nm. An advantage of the position sensor 310 can be that there is little additional mass to the system 100 or the chuck 108.

[0095] Referring now to FIGS. 3A - 3C, the controller 118 can cause the intersections with the front face 106 to be identified by each of the lateral sensors 305A - 305C by generating a laser beam or an ultrasonic pulse to sense or identify the front face 106. The controller 118 can move the chuck 108 that holds the sample block 105 towards the blade 110 until the sample block 105 crosses the laser beam or ultrasonic pulse of the lateral sensors 305A - 305C. In some embodiments, the controller 118 can generate a laser beam or an ultrasonic pulse to the lateral sensors 305A - 305C when the chuck 108 is moving the sample block 105 in front of (e.g., perpendicular to) the lateral sensors 305A - 305C. In some embodiments, the controller 118 can generate a laser beam or an ultrasonic pulse to the lateral sensors 305A - 305C when the chuck 108 is moving towards the sample block 105.

[0096] In some embodiments, the controller 118 can move the sample block 105 to a plurality of positions on the chuck 108 and identify a plurality of intersections. The controller 118 can identify the intersections (e.g., i1 - i3) corresponding to the locations where the laser beam or ultrasonic pulse of the lateral sensors 305A - 305C intersects the front face 106. For example, the controller 118 can cause the lateral sensors 305A - 305C to identify a first set of intersections of the laser beam or ultrasonic pulse with the front face 106 when the chuck 108 is in a first position, and then cause the second and third sets of intersections to be identified when the chuck 108 is in the second and third positions, respectively. In some embodiments, the controller 118 can move the chuck 108 to different positions along the X and Z axes and identify different positions of the chuck 108 when the front face 106 crosses the laser beam or ultrasonic pulse. For example, the controller 118 can identify or measure at least three intersections where the front face 106 crosses the laser beam or ultrasonic pulse.

[0097] Referring now to FIG. 3D, the controller 118 can move the sample block 105 on the chuck 108 such that it is immersed by the laser sheet. For example, the controller 118 can move the sample block 105 on the chuck 108 until the sample block 105 traverses the laser sheets generated by all three side laser sheet sensors 305D - 305F. In some embodiments, the controller 118 can generate a laser sheet with the side laser sheet sensors 305D - 305F when the sample block 105 is stationary in front of the side laser sheet sensors 305D - 305F. This embodiment can be time - efficient as multiple intersection points can be identified at one position of the sample block 105. In some embodiments, the controller 118 can move the sample block 105 on the chuck 108 to multiple positions to identify additional intersection points.

[0098] In some embodiments, one side sensor can identify multiple intersection points by moving along the X - axis (e.g., left - right) or Z - axis (e.g., up - down) relative to the front face 106. The controller 118 can be configured to receive multiple intersection points from the side sensor. The controller 118 can be configured to receive or identify the position (e.g., x, y, z coordinates) of the side sensor as the side sensor moves. For example, the controller 118 can identify the position from a motor that moves the side sensor. The controller 118 can associate the position with each intersection point identified by the side sensor. For example, the controller 118 can identify a first intersection point between the beam of the side sensor and the front face 106 when the side sensor is at a first position along the X and Z axes, a second intersection point between the beam of the side sensor and the front face 106 when the side sensor is at a second position along the X and Z axes, and a third intersection point between the beam of the side sensor and the front face 106 when the side sensor is at a third position along the X and Z axes.

[0099] In some embodiments, one lateral sensor can identify multiple intersection points by moving a chuck 108 that holds the sample block 105 along the X-axis (e.g., left and right) or the Z-axis (e.g., up and down) relative to the lateral sensor. The controller 118 can be configured to receive the multiple intersection points from the lateral sensor. The controller 118 can be configured to receive or identify the position (e.g., x, y, z coordinates) of the chuck 108 as the chuck 108 moves from a position sensor 310. The controller 118 can associate the position with each intersection point identified by the lateral sensor. For example, the controller 118 can identify a first intersection point between the beam of the lateral sensor and the front surface 106 when the chuck 108 is at a first position along the X and Z axes, a second intersection point between the beam of the lateral sensor and the front surface 106 when the chuck 108 is at a second position along the X and Z axes, and a third intersection point between the beam of the lateral sensor and the front surface 106 when the chuck 108 is at a third position along the X and Z axes.

[0100] Referring now to FIGS. 3A - 3D, the controller 118 can be configured to use the multiple intersection points to identify the plane 107. In some embodiments, the controller 118 can identify the plane 107 based on the positions of multiple intersection points with the front surface 106 along the Y and Z axes. In some embodiments, the controller 118 can be configured to identify the orientation of the plane 107 relative to the blade plane 112 by comparing the plane 107 with the blade plane 112. In some embodiments, the controller 118 can detect whether there are protrusions on the front surface 106 and use the intersection points to identify whether the topography of the front surface 106 is flat.

[0101] For example, the chuck 108 can move the sample block 105, and the side sensor 305A will identify the intersection point at i1 with the front surface 106. The controller 118 will receive and store the intersection point i1. The controller 118 will receive and store the position P1 of the chuck 108 from the position sensor 310 when the intersection point i1 occurs. As the sample block 105 continues to move towards the blade 110, the side sensor 305B will identify the intersection point at i2 with the front surface 106. The controller 118 will receive and store the intersection point i2. The controller 118 will receive and store the position P2 of the chuck 108 from the position sensor 310 when the intersection point i2 occurs.

[0102] In some embodiments, the controller 118 can identify the plane 107 based on the two intersection points. For example, the controller 118 can identify the plane based on the angle formed between the points i1 and i2 and P2. The controller 118 can use the angle between the points and P2 to identify the plane 107.

[0103] In some embodiments, the controller 118 can identify the plane 107 based on three intersection points. For example, as the sample block 105 continues to move towards the blade 110, the side sensor 305C will identify the intersection point at i3 with the front surface 106. The controller 118 will receive and store the intersection point i3. The controller 118 will receive and store the position P3 of the chuck 108 from the position sensor 310 when the intersection point i3 occurs. In some embodiments, the controller 118 can identify the angles formed between point i1 and P1, and i2 and P2, and i3 and P3. The controller 118 can use the three angles between the points to confirm the identified plane or improve the accuracy of the calculation.

[0104] The controller 118 can identify whether the face plane 107 is parallel to the blade plane 112. For example, as shown in FIG. 3A, when i1, i2, and i3 occur simultaneously, the face plane 107 is parallel to the blade plane 112. Conversely, when one or more of i1, i2, and i3 do not occur simultaneously, the face plane 107 is not parallel to the blade plane 112.

[0105] The controller 118 can identify whether there are protrusions on the front face 106 and determine whether the topography of the front face 106 is flat. For example, as shown in FIG. 3A, when i1, i2, and i3 occur simultaneously, the front face 106 is flat. Conversely, when one or more of i1, i2, and i3 do not occur simultaneously, the front face 106 is not flat.

[0106] In some embodiments, as shown in the front view of FIG. 4A and the side view of FIG. 4B, the surface sensor 116 can include a vertical camera 410 (e.g., an upper or bottom camera) that captures an image along the Z-axis and a lateral camera 405 (e.g., a side camera) that captures an image along the Y-axis. The controller 118 can cause the lateral camera 405 and the vertical camera 410 to capture images of the sample block 105 respectively, and can identify or sense the geometric shape of the front face 106. In some embodiments, the controller 118 can detect the orientation of the front face 106 relative to the blade surface 111 by using the images to compare the face plane 107 with the blade plane 112. In some embodiments, the controller 118 can detect whether there are protrusions on the front face 106 and use the images to identify whether the topography on the front face 106 is flat.

[0107] In some embodiments, the controller 118 can cause the side camera 405 and the longitudinal camera 410 to capture images when the chuck 108 moves the sample block 105 to be cut by the blade surface 111 in front of the side camera 405 and the longitudinal camera 410. In some embodiments, the controller 118 can cause the side camera 405 and the longitudinal camera 410 to capture images as the chuck 108 moves the sample block 105. In some embodiments, the controller 118 can move the chuck 108 holding the sample block 105 until the sample block 105 comes into the field of view of the side camera 405 and the longitudinal camera 410.

[0108] In some embodiments, the side camera 405 and the longitudinal camera 410 are high-speed cameras used to track marker pixels throughout the movement of the sample block 105 and the blade 110 during the sectioning process. In some embodiments, the camera can be a high-speed camera that can determine, for example, changes in the speed of the microtome and changes in the displacement of the sample block 105 by the blade at various speeds (such as 540 - 580 fps or 560 fps). In some embodiments, the side camera 405 and the longitudinal camera 410 can be one of a high-speed, still image, or video camera, or a similar imaging sensor. In some embodiments, the controller 118 can associate the position of the chuck 108 with the image. In some embodiments, the controller 118 can identify the location where the chuck 108 is positioned in a particular image captured by the side camera 405 and the longitudinal camera 410. In some embodiments, the controller 118 receives the position of the chuck 108 from the position sensor 310 and associates the position with the image.

[0109] In some embodiments, the controller 118 can use the images collected by the side camera 405 and the vertical camera 410 to identify the geometry of the front face 106. In some embodiments, the controller 118 can use the images to detect the orientation of the front face 106 relative to the blade surface 111 by comparing the face plane 107 to the blade plane 112. In some embodiments, the controller 118 can be configured to identify the orientation of the face plane 107, compare the face plane 107 to that of the blade plane 112, and identify whether the front face 106 is parallel to the blade surface 111. In some embodiments, the controller 118 can use the images to detect whether there are protrusions on the front face 106 and identify whether the topography of the front face 106 is flat. In some embodiments, the controller 118 can identify pixels within the image and identify the face plane 107. In some embodiments, the controller 118 can identify pixels within the image and identify the blade plane 112. In some embodiments, the controller 118 can use the position of the chuck 108 received from the position sensor 310 to assist in identifying the pixels within the image that identify the face plane 107. In some embodiments, the controller 118 can have fluctuations in pixel count, and the fluctuations in pixel count in a given direction can be due to dimensions or depths in the front face 106. In some embodiments, the controller 118 can use one or both of the side camera 405 and the vertical camera 410 to employ optical measurements, obtain optical test data, and confirm and compare the geometry of the front face 106.

[0110] In some embodiments, as shown in FIG. 5, the surface sensor 116 can include a vertical laser grid sensor 505 (e.g., an upper laser) that generates a plurality of laser beams along the Z-axis, and a lateral laser grid sensor 510 (e.g., a side laser) that generates a plurality of laser beams along the Y-axis. The vertical laser grid sensor 505 and the lateral laser grid sensor 510 can be configured to measure the intersections of the lasers along the Y and Z axes with the front face 106. The controller 118 can then compare the intersections, identify a face plane 107 for comparison with the blade plane 112, and identify the orientation of the front face 106 relative to the blade surface 111. For example, if the face plane 107 is parallel to the blade plane 112, the intersections would be expected to occur simultaneously along the Z and Y axes. On the other hand, if one or more of the intersections do not occur simultaneously, the face plane 107 is not parallel to the blade plane 112.

[0111] In some embodiments, the controller 118 can use the intersections to detect whether there are protrusions on the front face 106 and identify whether the topography of the front face 106 is flat. For example, if the front face 106 is flat, the intersections would be expected to occur simultaneously along the Z and Y axes. On the other hand, if one or more of the intersections do not occur simultaneously, the front face 106 is not flat.

[0112] The vertical laser grid sensor 505 and the lateral laser grid sensor 510 can generate a laser beam, generate a laser grid, divide the sample block 105 into volumes marked by the laser grid, and identify or sense the front face 106. In some embodiments, the vertical laser grid sensor 505 comprises a plurality of separate laser sensors that may be similar to the axial sensors 202A - 202C or the lateral sensors 305A - 305C. In some embodiments, the lateral laser grid sensor 510 comprises a plurality of separate laser sensors that may be similar to the axial sensors 202A - 202C or the lateral sensors 305A - 305C. In some embodiments, the controller 118 can generate a laser grid for the vertical laser grid sensor 505 and the lateral laser grid sensor 510 when the sample block 105 is stationary in front of the vertical laser grid sensor 505 and the lateral laser grid sensor 510. In some embodiments, the controller 118 can use the position sensor 310 to identify that the sample block 105 is stationary. In some embodiments, the controller 118 can generate a laser grid for the vertical laser grid sensor 505 and the lateral laser grid sensor 510 when the chuck 108 is moving the sample block 105.

[0113] The controller 118 can use the vertical laser grid sensor 505 and the lateral laser grid sensor 510 to record or identify the intersection points with the sample block 105 on the laser grid. In some embodiments, the controller 118 can generate a laser grid for the vertical laser grid sensor 505 and the lateral laser grid sensor 510 when the sample block 105 is stationary. This embodiment can be time - efficient because multiple intersection points can be identified at one position of the sample block 105. In some embodiments, the controller 118 can identify the positions (e.g., y, z coordinates) of the intersection points on the laser grid.

[0114] In some embodiments, the controller 118 can move the sample block 105 to multiple positions on the chuck 108 and identify additional intersection points. In some embodiments, the controller 118 can associate the position of the chuck 108 with the intersection points. For example, the controller 118 can identify the position of the chuck 108 each time the front surface 106 intersects the laser grid. In some embodiments, the controller 118 receives the position of the chuck 108 from the position sensor 310 and associates the position with the intersection points.

[0115] In some embodiments, the controller 118 can identify the face plane 107 based on the intersection points. For example, if the face plane 107 is parallel to the blade plane 112, the intersection points would be expected to occur simultaneously along the Z and Y axes. On the other hand, if one or more of the intersection points do not occur simultaneously, the face plane 107 is not parallel to the blade plane 112. In some embodiments, the controller 118 can identify the face plane 107 based on the angle formed between the intersection points and the position of the chuck 108. For example, if the controller 118 identifies that the intersection points are in a curved shape, the controller 118 can identify that the front surface 106 is tilted.

[0116] In some embodiments, the controller 118 can use the intersection points to detect whether there are protrusions on the front surface 106 and identify whether the topography of the front surface 106 is flat. For example, if the front surface 106 is flat, the intersection points would be expected to occur simultaneously along the Z and Y axes. On the other hand, if one or more of the intersection points do not occur simultaneously, the front surface 106 is not flat. In some embodiments, the controller 118 can identify the protrusions based on the angle formed between the intersection points and the position of the chuck 108. For example, if the controller 118 identifies that the intersection points are in a curved shape, the controller 118 can identify that the front surface 106 includes protrusions.

[0117] Referring now to FIGS. 6A and 6B, the surface sensor 116 can identify the geometry of the front surface 106 based on the power utilized to move the chuck 108. When the blade surface 111 is touching the front surface 106, the motor 607 will need to use more power to move the chuck 108. The position sensor 310 can record or identify the position of the chuck 108 when the motor 607 is using more power. The controller 118 can identify the contact point at the position measurement 605 received from the position sensor 310 by the motor controller 604. The controller 118 can identify the power utilization at the power measurement 608 received from the motor 607 by the motor controller 604. This detection can be repeated at various positions along the Y and Z axes. For example, the chuck 108 can be moved to various positions within the Y-Z plane. At each position, the chuck 108 can be advanced in the X direction towards the blade surface 111. If the face plane 107 is parallel to the blade plane 112, the power required to move the chuck 108 in the X direction will be constant over all positions within the Y-Z plane (i.e., the front surface 106 will contact the blade surface 111 at the same X coordinate for all positions of the chuck 108 within the Y-Z plane). If the face plane 107 is not parallel to the blade plane 112, the power required to move the chuck 108 in the X direction will not be constant over all positions within the Y-Z plane (i.e., the front surface 106 will contact the blade surface 111 at different X coordinates for at least some positions of the chuck 108 within the Y-Z plane).

[0118] In some embodiments, the controller 118 can use power consumption to detect whether there are protrusions on the front surface 106 and identify whether the topography of the front surface 106 is flat or raised. For example, if the front surface 106 includes bulges, more power will be used to push the chuck 108 when the bulge of the front surface 106 touches the blade surface 111. On the other hand, if the power drawn to advance the chuck 108 remains constant while the chuck 108 is being moved to different positions on the Y-Z, the front surface 106 is flat.

[0119] In some embodiments, as shown in FIG. 6A, the system 100 can include a sample block 105, a blade 110, a position sensor 310, a controller 118, and a motor controller 604. The motor controller 604 is configured to receive a position measurement value 605 from the position sensor 310, transmit a drive signal 606 to the motor 607, and receive a power measurement value 608 from the motor 607.

[0120] The controller 118 can be configured to manage the motor controller 604, and the motor controller 604 itself is configured to manage the motor 607. The controller 118 can be configured to identify the position measurement value 605 received by the motor controller 604 from the position sensor 310. The controller 118 can identify the position coordinates (e.g., x, y, z dimensions) of the chuck 108 that holds the sample block 105 in the position measurement value 605.

[0121] The controller 118 can cause the motor controller 604 to transmit a drive signal 606 to the motor 607, which causes the motor 607 to move the chuck 108 and the sample block 105 toward the blade 110. The controller 118 can cause the motor controller 604 to transmit the drive signal 606 to the motor 607. The controller 118 can select parameters for the drive signal 606, such as torque, speed, and direction. In some embodiments, the controller 118 can select the parameters based on the positioning coordinates in the position measurement value 605. In some embodiments, the controller 118 can select the parameters from a look-up table corresponding to the position of the sample block 105. The controller 118 can cause the motor controller 604 to transmit the drive signal 606 to the motor 607.

[0122] The motor 607 can be configured to move the chuck 108 that holds the sample block 105. In some embodiments, the motor 607 can move the chuck 108 that holds the sample block 105 based on the drive signal 606. The motor 607 can be configured to use power to move the chuck 108 that holds the sample block 105. In some embodiments, in response to receiving the drive signal 606, the motor 607 can be configured to use power to move the chuck 108 that holds the sample block 105.

[0123] In some embodiments, as shown in FIGS. 6A and 6B, the controller 118 can identify the power usage of the motor 607 at multiple positions of the chuck 108 that holds the sample block 105 (identified at the position measurement value 605). In some embodiments, the controller 118 communicates directly with the motor 607 to receive the power measurement value 608. For example, the controller 118 can communicate with the sensor of the motor 607 to receive the power measurement value 608. The controller 118 can identify power usage parameters (such as voltage, current, resistance, revolutions per minute, etc.) in the power measurement value 608.

[0124] In some embodiments, the controller 118 can cause the motor controller 604 to move the chuck 108 that holds the sample block 105 to one or more (e.g., three) unique positions (e.g., along the Y and Z axes) of the motor 607. The controller 118 can identify the power usage of the motor 607 at each position of the chuck 108 in the power measurement value 608 received from the motor 607 by the motor controller 604. For example, the controller 118 can identify the power usage of the motor 607 to advance the chuck 108 in the X direction at each position of the chuck 108 in the power measurement value 608 received from the motor 607 by the motor controller 604.

[0125] In some embodiments, the controller 118 can cause the motor controller 604 to move the chuck 108 around to detect and measure a baseline of the expected power usage by the motor 607. In some embodiments, the controller 118 can detect and measure the magnitude and phase shift of the power usage, determine a baseline or expected power usage for comparison during use, and identify an increase in power usage. In some embodiments, the controller 118 can compare the deviation of the peak frequency to the baseline and use an algorithm to determine, based on those deviations, whether an increase in power usage has occurred.

[0126] As shown in FIG. 6B, the controller 118 can identify a power spike 612 indicating that the power usage (identified from the power measurement value 608) exceeds a predetermined limit at the position of the chuck 108 (identified from the position measurement value 605). For example, if the plane 107 is tilted around the Y-axis with respect to the Z-axis, the motor will need to push harder and use more power to move the chuck 108 when the front surface 106 touches the blade surface 111. For example, if the plane 107 is tilted around the Y-axis with respect to the Z-axis, based on when the front surface 106 touches the blade surface 111, the motor will need to push harder and use more power to move the chuck 108 forward (in the X-direction) at a certain Y-Z position. In another example, if the front surface 106 includes a bulge, the motor 607 will need to push harder and use more power to move the chuck 108 when the bulge of the front surface 106 touches the blade surface 111. For example, when there is a bulge on the front surface 106, based on when the front surface 106 touches the blade surface 111, the motor will need to push harder and use more power to move the chuck 108 forward (in the X-direction) at a certain Y-Z position. In some embodiments, in response to identifying the power spike 612, the controller 118 can cause the motor 607, and thus the sample block 105, to stop at the motor controller 604. When the motor 607 is stopped, the controller 118 can record the position of the chuck 108 holding the sample block 105. In some embodiments, the controller 118 can identify multiple power spikes by moving the chuck 108 along the Y-axis (e.g., left and right) or the Z-axis (e.g., up and down) with respect to the blade surface 111. The controller 118 can be configured to receive or identify the position (e.g., x, y, z coordinates) of the chuck 108 at each of the power spikes from the position sensor 310.

[0127] The controller 118 can use the position measurement value 605 and the power measurement value 608 to identify or calculate the face plane 107 for comparison with the blade plane 112 and identify the orientation of the front face 106 relative to the blade 110. Based on the position of the chuck 108 at each power spike, the controller 118 can calculate the face plane 107 for comparison with the blade plane 112 and identify the orientation of the front face 106 relative to the blade 110. In some embodiments, if the power drawn remains constant (e.g., no power spikes) while the chuck 108 is being moved, the face plane 107 is parallel to the blade plane 112. In some embodiments, if the face plane 107 is not parallel to the blade plane 112, more power will be used to push the chuck 108 when the front face 106 touches the blade surface 111. In one example, if the face plane 107 is not parallel to the blade plane 112, the motor will need to push harder and use more power to move the chuck at a certain position, among other things, based on when the front face 106 touches the blade surface 111. In one example, the controller 118 can identify the face plane 107 based on the position of the chuck 108 among three power spikes. If the three power spikes are associated with the movement of the chuck 108 along the Z-axis, the face plane 107 will be tilted around the Y-axis relative to the blade plane 112.

[0128] The controller 118 can use the position measurement value 605 and the power measurement value 608 to identify whether there are protrusions on the front surface 106 and to identify whether the topography of the front surface 106 is flat. In some embodiments, the controller 118 can use power spikes to detect whether there are protrusions on the front surface 106 and to identify whether the topography of the front surface 106 is flat. In some embodiments, if the power drawn remains constant (e.g., no power spikes) while the chuck 108 is being moved, the front surface 106 is flat. In some embodiments, if the front surface 106 includes bulges, more power will be used to push the chuck 108 when the bulge of the front surface 106 touches the blade surface 111. In one example, if the front surface 106 includes one or more bulges, the motor will need to push harder and use more power to move the chuck 108 at a certain position, more so than at other times, based on when the front surface 106 touches the blade surface 111. In one example, the controller 118 can identify whether there are protrusions on the front surface 106 based on the position of the chuck 108 among three power spikes. If the three power spikes are associated with the movement of the chuck 108 along the Z-axis, the front surface 106 may include protrusions.

[0129] Referring now to FIGS. 7A and 7B, in some embodiments, the surface sensor 116 can identify the geometry of the front surface 106 based on the force applied to the front surface 106 by the blade surface 111. For example, the front surface 106 includes a paraffin layer that protects the tissue inside the sample block 105. When the blade surface 111 approaches the paraffin layer and gently touches it so that the tissue is not affected, an increase in the force measurement value can indicate the contact. The position sensor 310 can record or identify the position of the chuck 108 when the increase in the force measurement value occurs. The controller 118 can identify the contact point in the position measurement value 605 received from the position sensor 310 by the motor controller 604. This touch point displacement detection can be repeated at various positions along the Y and Z axes. For example, if the surface plane 107 is tilted about the Y axis with respect to the blade plane 112, the force measurement value will increase as the chuck 108 moves the sample block 105, and thus the front surface 106, relative to the blade surface 111. In some examples, if the surface plane 107 is tilted with respect to the blade plane 112 and the chuck 108 is advanced toward the blade surface 111 at different positions within the Y-Z plane, the contact force measurement value between the sample block 105 and the blade 110 will be detected at different advance points of the chuck 108 along the X axis depending on the specific Y-Z position of the chuck 108. On the other hand, if the force measurement value remains constant while the chuck 108 is moving toward the blade surface in the X direction (e.g., across different Y-Z positions of the chuck 108), the surface plane 107 is parallel to the blade plane 112.

[0130] In some embodiments, the controller 118 can use the force measurement value to detect whether there are protrusions on the front surface 106 and to identify whether the topography of the front surface 106 is flat or undulating. For example, if the front surface 106 includes a bulge, the force measurement value will increase as the chuck 108 moves the sample block 105, and thus the bulge of the front surface 106, relative to the blade surface 111. For example, if the front surface 106 includes a bulge and the chuck 108 is advanced toward the blade surface 111 at different positions within the Y-Z plane, the contact force measurement value between the sample block 105 and the blade 110 will be detected at different advancement points of the chuck 108 along the X-axis depending on the specific Y-Z position of the chuck 108. On the other hand, if the force measurement value remains constant while the chuck 108 moves, the front surface 106 is flat. For example, if the force measurement value remains constant (e.g., across different Y-Z positions of the chuck 108) while the chuck 108 is moving toward the blade surface in the X direction, the front surface 106 is flat.

[0131] In some embodiments, as shown in FIG. 7A, the surface sensor 116 can be a force sensor or load cell 701 for identifying the geometry of the front surface 106. The system 100 can include the sample block 105, the blade 110, the position sensor 310, the controller 118, the motor controller 604, the motor 607, and the load cell 701 that transmits the force measurement value 702 to the controller 118.

[0132] In some embodiments, the load cell 701 can be positioned on the surface of the chuck 108 configured to receive the sample block 105. In some embodiments, the load cell 701 is a force sensor configured to measure the force acting on it. The load cell 701 can be installed on the force path between the sample block 105 and the blade 110. The load cell 701 can detect or measure the force applied to the chuck 108 by the sample block 105 in order to estimate the force applied to the sample block 105 by the blade 110.

[0133] In some embodiments, as shown in FIG. 7B, the controller 118 can identify the force (identified in the force measurement value 702) applied to the load cell 701 at a plurality of positions of the chuck 108 holding the sample block 105 (identified in the position measurement value 605). In some embodiments, the controller 118 can cause the motor controller 604 to move the chuck 108 holding the sample block 105 to one or more (e.g., three) unique positions (e.g., along the Y and Z axes) by the motor 607. The controller 118 can be configured to identify the force applied to the chuck 108 by the sample block 105 in the force measurement value 702 received from the load cell 701. The controller 118 can identify the mechanical force (e.g., Newton) applied to the load cell 701 from the electrical measurement value in the force measurement value 702.

[0134] In some embodiments, the controller 118 can cause the motor controller 604 to cause the motor 607 to move the chuck 108 around and detect and measure a baseline of the expected force on the chuck 108 in use and identify an increase in force. In some embodiments, the controller 118 can detect and measure the magnitude and phase shift of the force, determine a baseline or expected force for comparison during use, and identify an increase in force. In some embodiments, the controller 118 can use an algorithm that compares the deviation of the peak frequency to the baseline and determines based on those deviations whether an increase in force has occurred.

[0135] In some embodiments, the controller 118 identifies a force spike 704 indicating that the force (identified from the force measurement value 702) exceeds a predetermined threshold at the position of the chuck 108 (based on the position measurement value 605). For example, if the face plane 107 is tilted about the Y-axis with respect to the blade plane 112, the blade surface 111 will exert more force on the front face 106 and will cause the sample block 105 to exert force on the load cell 701. In some examples, when the face plane 107 is tilted with respect to the blade plane 112 and the chuck 108 is advanced towards the blade surface 111 at different positions within the Y-Z plane, the contact force measurement value (which can be the force spike 704) between the sample block 105 and the blade 110 will be detected at different advance points of the chuck 108 along the X-axis depending on the specific Y-Z position of the chuck 108. In some embodiments, in response to identifying the force spike 704, the controller 118 can cause the motor controller 604 to stop the motor 607, and thus the sample block 105. When the motor 607 is stopped, the controller 118 can record the position of the chuck 108 that holds the sample block 105. In some embodiments, the controller 118 can identify multiple force spikes by moving the chuck 108 along the Y-axis (e.g., left-right) or the Z-axis (e.g., up-down). The controller 118 can be configured to receive or identify the position of the chuck 108 (e.g., x, y, z coordinates) at each of the force spikes from the position sensor 310.

[0136] The controller 118 can use the position measurement value 605 and the force measurement value 702 to identify or calculate the plane 107 for comparison with the blade plane 112 and identify the orientation of the front face 106 relative to the blade 110. In some embodiments, if the force measurement value remains constant while the chuck 108 moves, the plane 107 is parallel to the blade plane 112. For example, if the force measurement value remains constant across different Y-Z positions of the chuck 108 while the chuck 108 is moving towards the blade surface in the X direction (e.g., force spikes 704 are detected at the same forward point along the X axis for various Y-Z positions of the chuck 108), the front face 106 is parallel to the blade surface 111. In some embodiments, if the front face 106 is tilted relative to the blade plane 112 and the chuck 108 is advanced towards the blade surface 111 at different positions within the Y-Z plane, the contact force measurement value (e.g., force spike 704) between the sample block 105 and the blade 110 will be detected at different forward points of the chuck 108 along the X axis depending on the specific Y-Z position of the chuck 108. For example, the controller 118 can identify the plane 107 based on the position of the chuck 108 among three force spikes. If the three force spikes are associated with the movement of the blade 110 along the Z axis, the plane 107 will be tilted relative to the Z axis and the blade plane 112.

[0137] In some embodiments, the controller 118 can use the position measurement value 605 and the force measurement value 702 to detect whether there are protrusions on the front surface 106 and to identify whether the topography of the front surface 106 is flat. In some embodiments, if the force measurement value remains constant (e.g., there are no relative force spikes) while the chuck 108 is moving, the front surface 106 is flat. For example, if the force measurement value remains constant across different Y-Z positions of the chuck 108 while the chuck 108 is moving towards the blade surface in the X direction (e.g., force spikes 704 are detected at the same forward point along the X axis for different Y-Z positions of the chuck 108), the front surface 106 may be flat. In some embodiments, if the front surface 106 includes bulges and the chuck 108 is advanced towards the blade surface 111 at different positions within the Y-Z plane, the contact force measurement value (e.g., force spike 704) between the sample block 105 and the blade 110 will be detected at different forward points of the chuck 108 along the X axis depending on the specific Y-Z position of the chuck 108 and the contact of the bulge with the blade 110. For example, the controller 118 can identify whether there are protrusions on the front surface 106 based on the position of the chuck 108 among three force spikes. If the three force spikes are associated with the movement of the blade 110 along the Z axis, the front surface 106 may include bulges.

[0138] Referring now to FIGS. 8A and 8B, the surface sensor 116 can identify the geometry of the front surface 106 based on the conductivity of the blade surface 111 when it touches the front surface 106. In some embodiments, the sample block 105 is non-conductive (e.g., the sample block 105 can include paraffin), but when humidified, the front surface 106 of the sample block 105 can include a layer of conductive water. The blade surface 111 can include a conductivity sensor 802 configured to detect conductivity. The conductivity sensor 802 can detect a baseline conductivity when the blade surface 111 is not in contact with the front surface 106. When the blade surface 111 is in contact with the front surface 106, the conductivity sensor 802 can detect an increase in conductivity due to the front surface 106 being conductive. The position sensor 310 can record or identify the position of the chuck 108 when the conductivity increases. This detection can be repeated at various positions along the Y and Z axes. For example, if the plane surface 107 is tilted about the Z axis or twisted about the Y axis, the conductivity will increase when the chuck 108 moves the sample block 105 along the Z axis and causes the front surface 106 to contact the blade surface 111. In another example, if the plane surface 107 is tilted about the Z axis or twisted about the Y axis, the conductivity will increase as the blade 110 moves along the Z axis and causes the front surface 106 to contact the blade surface 111. In some examples, when the plane surface 107 is tilted with respect to the blade plane 112 and the chuck 108 is advanced towards the blade surface 111 at different positions within the Y-Z plane, the conductivity measurements between the front surface 106 and the blade surface 111 will be detected at different advancement points of the chuck 108 along the X axis depending on the specific Y-Z position of the chuck 108. On the other hand, if the conductivity remains constant while the chuck 108 is moving the sample block 105, the plane surface 107 is parallel to the blade plane 112. In another example, if the conductivity remains constant while the blade 110 is moving, the plane surface 107 is parallel to the blade plane 112.In some examples, the conductivity measurements remain constant across different Y-Z positions of the chuck 108 while the chuck 108 is moving toward the blade surface in the X direction (e.g., conductivity spikes are detected at the same advancement points along the X axis for various Y-Z positions of the chuck 108), the front face 106 can be parallel to the blade surface 111.

[0139] In some embodiments, the controller 118 can use the conductivity to detect whether there are protrusions on the front face 106 and identify whether the topography of the front face 106 is flat. For example, if the front face 106 includes bulges, the conductivity will increase when the chuck 108 moves the sample block 105 along the Z axis and touches the bulges of the front face 106 against the blade surface 111. In some examples, when the front face 106 includes bulges and the chuck 108 is advanced toward the blade surface 111 at different positions within the Y-Z plane, the conductivity measurements between the front face 106 and the blade surface 111 will be detected at different advancement points of the chuck 108 along the X axis depending on the specific Y-Z position of the chuck 108 and the contact of the bulges with the blade surface 111. On the other hand, if the conductivity remains constant while the chuck 108 is being moved, the front face 106 is flat. In some examples, the conductivity measurements remain constant across different Y-Z positions of the chuck 108 while the chuck 108 is moving toward the blade surface in the X direction (e.g., conductivity spikes are detected at the same advancement points along the X axis for various Y-Z positions of the chuck 108), the front face 106 can be flat.

[0140] In some embodiments, as shown in FIG. 8A, the system 100 can include a sample block 105, a blade 110, a position sensor 310, a controller 118, a motor controller 604, a motor 607, and a conductivity sensor 802 that transmits conductivity measurements 804 to the controller 118.

[0141] The conductivity sensor 802 can be configured to measure voltage, current, resistance, or any other measured value of conductivity. The controller 118 can identify an electrical measurement value in the conductivity measurement value 804 indicating contact between the sample block 105 and the blade 110 (e.g., a voltage or current exceeding a threshold, or a resistance below a threshold). At the moment of contact, the controller 118 can identify the position of the chuck 108 from the position measurement value 605 received by the motor controller 604 from the position sensor 310.

[0142] In some embodiments, as shown in FIGS. 8A and 8B, the controller 118 can identify the conductivity (identified in the conductivity measurement value 804) at a plurality of positions of the chuck 108 holding the sample block 105 (identified in the position measurement value 605). The controller 118 can identify the conductivity measurement value during movement of the chuck 108 in the conductivity measurement value 804 received from the conductivity sensor 802. The controller 118 can identify conductivity parameters (e.g., voltage, resistance, current) in the conductivity measurement value 804.

[0143] In some embodiments, the controller 118 can cause the motor controller 604 to move the chuck 108 holding the sample block 105 to one or more (e.g., three) unique positions (e.g., along the Y and Z axes) of the motor 607. In some embodiments, the controller 118 can cause the motor controller 604 to move the chuck 108 around and detect and measure a baseline of the expected conductivity of the motor 607. In some embodiments, the controller 118 can detect and measure the magnitude and phase shift of the conductivity, determine a baseline or expected conductivity for comparison during use, and identify an increase in conductivity. In some embodiments, the controller 118 can use an algorithm to compare the deviation of the peak frequency with the baseline and determine based on those deviations whether an increase in conductivity has occurred.

[0144] As shown in FIG. 8B, the controller 118 can identify a conductivity spike 806 indicating that the conductivity (identified from the conductivity measurement value 804) exceeds a predetermined limit at the position of the chuck 108 (identified from the position measurement value 605). For example, if the surface plane 107 is tilted about the Y-axis with respect to the blade plane 112 or includes a bulge, the conductivity will increase when the front surface 106 touches the blade surface 111. That is, in some examples, when the surface plane 107 is tilted with respect to the blade plane 112 and the chuck 108 is advanced toward the blade surface 111 at different positions within the Y-Z plane, the conductivity measurement between the front surface 106 and the blade surface 111 will be detected at different advance points of the chuck 108 along the X-axis depending on the specific Y-Z position of the chuck 108. In some embodiments, in response to identifying the conductivity spike 806, the controller 118 can cause the motor controller 604 to stop the motor 607 and thus the sample block 105. When the motor 607 is stopped, the controller 118 can record the position of the chuck 108 that holds the sample block 105. In some embodiments, the controller 118 can identify multiple conductivity spikes by moving the chuck 108 along the Y-axis (e.g., left and right) or the Z-axis (e.g., up and down) with respect to the blade surface 111. The controller 118 can be configured to receive or identify the position of the chuck 108 (e.g., x, y, z coordinates) at each of the conductivity spikes from the position sensor 310.

[0145] Controller 118 can identify or calculate the surface plane 107 using the position measurement value 605 and the conductivity measurement value 804. In some embodiments, if the surface plane 107 is tilted about the Z-axis or twisted about the Y-axis, the conductivity will increase when the blade 110 is moved along the Z-axis, causing the front face 106 to touch the blade surface 111. Based on the position of the chuck 108 at each conductivity spike, the controller 118 can calculate the surface plane 107 for comparison with the blade plane 112 and identify the orientation of the front face 106 relative to the blade surface 111. For example, the controller 118 can identify the surface plane 107 based on the position of the chuck 108 among three conductivity spikes. If the three conductivity spikes are associated with the movement of the blade 110 along the Z-axis, the surface plane 107 will be tilted about the Y-axis relative to the blade plane 112. In some embodiments, if the conductivity remains constant while the chuck 108 is being moved, the surface plane 107 is parallel to the blade plane 112. For example, if the conductivity measurement remains constant across different Y-Z positions of the chuck 108 while the chuck 108 is moving towards the blade surface in the X direction (e.g., the conductivity spikes are detected at the same forward point along the X-axis for various Y-Z positions of the chuck 108), the front face 106 can be parallel to the blade surface 111.

[0146] The controller 118 can use the position measurement value 605 and the conductivity measurement value 804 to identify whether there are protrusions on the front surface 106 and to identify whether the topography of the front surface 106 is flat. In some embodiments, if the front surface 106 includes a bulge, the conductivity will increase when the blade 110 moves along the Z-axis, causing the bulge of the front surface 106 to touch the blade surface 111. In one example, if the front surface 106 includes a bulge and the chuck 108 is advanced toward the blade surface 111 at different positions in the Y-Z plane, the conductivity measurement between the front surface 106 and the blade surface 111 will be detected at different advancement points of the chuck 108 along the X-axis depending on the specific Y-Z position of the chuck 108 and the contact between the bulge and the blade surface 111. In one example, the controller 118 can identify the plane surface 107 based on the position of the chuck 108 among three conductivity spikes. If the three conductivity spikes are associated with the movement of the blade 110 along the Z-axis, the front surface 106 may include a bulge. In some embodiments, if the conductivity remains constant while the chuck 108 is being moved, the front surface 106 is flat. In some examples, if the conductivity measurement remains constant across different Y-Z positions of the chuck 108 while the chuck 108 is moving toward the blade surface in the X direction (e.g., the conductivity spikes are detected at the same advancement point along the X-axis for various Y-Z positions of the chuck 108), the front surface 106 may be flat.

[0147] Referring to FIGS. 9A, 9B, and 9C, in some embodiments, an automated pathology system 100 is provided for preparing tissue samples. Such a system can be configured for increased throughput during tissue sectioning. System 100 can be designed to include a block handler 902, one or more microtomes 904, a transfer medium 906 (e.g., tape), a hydration chamber 908, and a block tray 910. The block tray 910 can be a drawer-like device designed to hold a plurality of sample blocks and can be installed within the system 100 for access by the block handler 902. The block tray 910 can have a plurality of columns, each column being designed to hold one or more sample blocks and having sufficient spacing such that the block handler 902 can feed out, grasp, and remove one sample block at a time. In some embodiments, the block tray 910 is designed to securely hold the sample blocks, such as by using a spring-loading mechanism, so that the sample blocks do not move in position or fall out of the block tray 910 during handling. In some embodiments, the spring-loading mechanism can be further designed so that the block handler 902 can extract the sample block 105 without damaging or deforming the sample block 105. For example, the pitch of the sample blocks within the block tray 910 can allow the block handler gripper of the block handler 902 to access the sample block 105 without interfering with adjacent blocks. The block handler 902 can include any combination of mechanisms capable of grasping the sample blocks or moving them in and out of the microtome 904, particularly into the chuck of the microtome 904. For example, the block handler 902 can include a gantry, a push / pull actuator, and a gripper on a Selective Compliance Assembly Robot Arm (SCARA) robot.

[0148] Referring to FIG. 9A, in some embodiments, system 100 can include a combination of mechanisms for transferring sections cut from sample block 105 onto a transfer medium 906 for analysis. The combination of mechanisms can include a slide adhesive coater 912, a slide printer 914, a slide input rack 916, a slide singulator 918 that picks slides from a stack of slides, and a slide output rack 920. This combination of mechanisms cooperates to prepare samples on the slides and to prepare the slides themselves.

[0149] In some embodiments, one or more microtomes 904 can include any combination of microtome types known in the art, particularly for precisely sectioning sample block 105. For example, one or more microtomes 904 can be of a rotational, cryomicrotome, ultramicrotome, vibratory, saw, laser, etc. based design. In some embodiments, one or more microtomes 904 can be designed to move the chuck up and down while also being able to move laterally (e.g., in the direction of the thickness of sample block 105). One or more microtomes 904 can include any combination of components for receiving and sectioning sample block 105. For example, one or more microtomes 904 can include a knife block with a blade handler for holding an exchangeable knife blade, and a sample holding unit with a chuck 108 and a chuck adapter for holding sample block 105.

[0150] One or more microtomes 904 are configured to cut tissue sections from tissue samples encapsulated within a support block of a preservation material such as paraffin wax. One or more microtomes 904 can hold a blade aligned to cut a section from one face of the sample block, i.e., the block cutting face or block face. For example, a rotary microtome can linearly vibrate a chuck that holds the sample block with the cutting face within the blade cutting plane, which is combined with an incremental advancement of the block cutting face into the cutting plane, and the microtome 904 can successively shave thin tissue sections from the block cutting face.

[0151] In operation, one or more microtomes 904 are used to face or section the sample block. When the sample block 105 is first delivered to one or more microtomes 904, the sample block can be faced. Facing is removing a layer of the preservation material to expose a large cross-section of the tissue. That is, the preservation material in which the tissue sample is embedded can first undergo sectioning with relatively thick sections to remove a 0.1 mm to 1 mm layer of paraffin wax over the tissue sample. When sufficient paraffin has been removed and the complete contour of the tissue sample is exposed, the block is "faced" and ready for obtaining processable sections that can be placed on a slide glass. For the facing process, one or more microtomes 904 can shave sections of the sample block 105 until an acceptable portion of the sample within the block is exposed. In some embodiments, the system can include one or more cameras to identify when an acceptable portion of the sample within the sample block 105 is exposed. For the cutting process, one or more microtomes 904 can shave sections of the sample of the sample block 105 with an acceptable thickness to be placed on a slide for analysis.

[0152] When the sample block 105 is exposed, in some embodiments, the exposed sample block can be hydrated in a hydration fluid over a period of time (e.g., within the hydration chamber 908 or directly in one or more microtomes). In addition to being hydrated, the sample block 105 can be cooled. The cooling system can be part of the hydration chamber 908 or a separate component from the hydration chamber 908. In some embodiments, the cooling system can provide cooling to all components within the sectioning chamber 950. The sectioning chamber 950 can provide insulation that encloses one or more microtomes 904, the hydration chamber 908, the block tray 910, the blades and blade exchanger of the microtome 904, and the camera. Thus, within the insulation, a minimum number of openings exist, which can improve the efficiency and effectiveness within the sectioning chamber 950. Regardless of location, the cooling system has a mini compressor, a heat exchanger, and an evaporator plate and can generate a cold surface. The air within the sectioning chamber can be drawn into and passed over the evaporator plate, for example, using a fan. The cooled air can circulate within the sectioning chamber 950 or the hydration chamber 908 to cool the paraffin sample block. The mass of the equipment within the cooling chamber can also provide thermal inertia. When the chamber is cooled, its temperature can be maintained more effectively, for example, when the access door is opened by the user to remove the block tray 910. In some embodiments, the temperature of the sample block 105 is maintained between 4°C and 20°C. Keeping the sample block 105 cold can benefit not only the sectioning process but also the hydration process.

[0153] When the sample block 105 is sufficiently hydrated, in some embodiments, it is ready for sectioning. In essence, one or more microtomes cut thin sections of the tissue sample from the sample block 105. The tissue sections can then be picked up by a transfer medium 906, such as a tape, for subsequent transfer for placement on a slide. In some embodiments, depending on the settings of the microtome 904 of the system 100, the system 100 can include a single or multiple transfer medium 906 units. For example, during tandem operation, the transfer medium 906 can be associated with the polishing and sectioning microtome 904, while during parallel operation, separate transfer media 906 can be associated with each microtome 904 within the system 100. In an automated system, each of these processes / steps of face-out, hydration, sectioning, and transfer to a slide is computer-controlled rather than being performed by a tissue technician in a manual workflow.

[0154] Referring again to FIGS. 9A, 9B, and 9C, in some embodiments, the transfer medium 906 can be designed in a manner such that tissue sections cut from the tissue sample within the sample block 105 adhere and can then be transported by moving the transfer medium 906. For example, the transfer medium 906 can include any combination of materials designed to physically (e.g., electrostatically) or chemically adhere to the sample material. The transfer medium 906 can be designed to accommodate a number of tissue sample sections cut from the sample block 105 that are to be transferred to a slide for inclusion thereon for evaluation. In some embodiments, the transfer medium 906 can be replaced by a water channel for transporting the tissue. The system 100 can include any additional combination of features for use in an automated microtome design.

[0155] In some embodiments, system 100 can follow a process for exposing, hydrating, sectioning, and transporting the cut tissue sections to slides for tissue sections in an efficient automated manner.

[0156] In some embodiments, system 100 can predict the cutting quality of a given sample block 105 based on one or more physical measurements using at least one sensor during the operation of the microtome. Predicting the cutting quality of sample block 105 can be advantageous for preventing any damage to the tissue sections, as opposed to only adjusting the microtome or the chuck holding sample block 105 after tissue damage has been found. Further, by preemptively preventing deviations from a baseline physical state, the automated system can anticipate fluctuations in tissue quality before they occur. Such a system can prevent unnecessary waste of tissue and enable more efficient use of biopsy samples.

[0157] In some embodiments, as shown in FIG. 9D, system 100 can include a chuck accelerometer 955 disposed on chuck 108. The chuck accelerometer 955 can be provided to measure dynamic motion or detect deviations in the vicinity of the moving side of the microtome. Deviations in the vicinity of the motion can indicate loose parts in chuck 108 or any other fixture within the local system. Loose parts in chuck 108 or other fixtures within the local system can create unwanted relative motion between the microtome and the sample, thereby degrading the cutting quality of the overall system. In some embodiments, the chuck accelerometer 955 can, in addition, measure the static state or orientation of the microtome and, for example, determine the relative orientation of the microtome with respect to other structures within the system. The chuck accelerometer 955 can measure low-frequency vibrations, DC vibrations, or zero-order changes in some embodiments.

[0158] In some embodiments, the blade accelerometer 965 is on the blade 110 and can detect deviations in the structural changes in the vicinity of the blade 110. The blade accelerometer 965 can be used in addition to or independently of the chuck accelerometer 955. Depending on the position of the blade accelerometer 965, the rigidity and clamping of the blade 110 can similarly be detected.

[0159] In some embodiments, the system can include a sensor that can be, in addition to or as an alternative to, the temperature sensor 970. The temperature sensor 970 can be a thermocouple or an IR temperature measurement device directed at the sample block 105 or another reference surface. In one example, if the temperature sensor 970 determines that the sample block 105 has reached a temperature exceeding a predetermined maximum value, the controller 118 can determine that there is a risk of thermal damage to the tissue and can alert the operator.

[0160] In addition to or instead of the sensors, the system can use additional sensors to measure the dynamics of the blade 110. The dynamics of the blade 110 can be how the microtome, including vibrational level motion, is moving. The dynamics of the blade 110 can include vibrational characteristics such as the magnitude and frequency of acceleration. In some embodiments, these additional sensors can be used independently of the chuck accelerometer 955, the accelerometer 965, and the temperature sensor 970. In some embodiments, there are ways to measure the dynamics of the microtome and the blade 110 without affecting the dynamics of the measured portion. For example, these sensors and methods may not change the rigidity or add mass to the system 100.

[0161] As shown in FIG. 10, system 100 can function with a closed-loop control and integrity monitoring system. Such a system 100 can take input data from the plurality of sensors discussed above and input them into a device control computer, e.g., a controller 118 as shown in FIG. 11. A control and decision algorithm or a non-transitory computer-readable medium that is launched can be launched on the controller 118 to fuse sensor data and make decisions regarding the integrity and cutting quality of the microtome. The control system controls the actuators and compensates for any perceived degradation in microtome performance. The system can also, alternatively, or in addition, warn the user if self-correction is not sufficient.

[0162] System 100 can, in addition or alternatively, include post-sectioning quality detection. For example, when a section is brought onto the tape, in a continuous manner, unevenness and other periodic marks are searched for on the image of the section. The presence of such marks can indicate loose portions or deterioration of sectioning quality. Additionally, the thickness of the sections on the tape can be measured, section-to-section variations can be determined, and these can be related to the structural integrity of the microtome. For example, cameras such as generally seen in the lateral camera 405 and the longitudinal camera 410 can be directed at the sections on the tape or glass to determine the source of tissue quality variations. Additionally, the cameras can include a dedicated lighting system that can provide illumination at various predetermined wavelengths, as required. In some examples, tissue quality deviations can be determined using quality control algorithms such as those disclosed in the co-owned U.S. Application No. 17 / 451,870, entitled "FACING AND QUALITY CONTROL IN MICROTOMY", which is incorporated herein by reference in its entirety. Those quality control algorithms compare first imaging data or a baseline image with second imaging data acquired after cutting, confirm correspondences in tissue samples within the first imaging data and the second imaging data based on one or more quality control parameters, and can determine cutting quality or variations or quality control issues in the microtome.

[0163] While embodiments have been discussed herein with a focus on moving the chuck and sample block relative to the blade to align the front face of the sample block with the blade surface of the blade, it should be understood that the blade can be moved in addition to or instead of the chuck and sample block to align the front face of the sample block with the blade surface of the blade. For example, the microtome can be configured to move the blade in any number of degrees of freedom to align the blade surface of the blade with the front face of the sample block.

[0164] Any suitable computing device can be used to implement the computing devices and methods / functionality described herein, and as would be understood by one of ordinary skill in the art, can be transformed into a specific system for implementing the operations and features described herein through modifications to hardware, software, and firmware in a manner that significantly exceeds mere execution of software on a general purpose computing device. An exemplary example of such a controller 118 is depicted in FIG. 11. Controller 118 is merely an exemplary example of a suitable computing environment and in no way limits the scope of the present disclosure. A “computing device” as represented by FIG. 11 can include, as would be understood by one of ordinary skill in the art, a “workstation,” “server,” “laptop,” “desktop,” “handheld device,” “mobile device,” “tablet computer,” or other computing device. Assuming that controller 118 is depicted for illustrative purposes, embodiments of the present disclosure can utilize any number of different controllers 118 in any number of different ways to implement a single embodiment of the present disclosure. Thus, embodiments of the present disclosure are not limited to a single controller 118, nor are they limited to a single type of implementation or configuration of the exemplary controller 118, as would be understood by one of ordinary skill in the art.

[0165] Controller 118 can include a bus 1110 that can be coupled directly or indirectly to one or more of the following exemplary components: a memory 1112, one or more processors 1114, one or more presentation components 1116, input / output ports 1118, input / output components 1120, and a power supply 1124. One of ordinary skill in the art will understand that bus 1110 can include one or more buses, such as an address bus, a data bus, or any combination thereof. One of ordinary skill in the art will also understand that, depending on the intended application and use of a particular embodiment, multiple ones of these components can be implemented by a single device. Similarly, in some instances, a single component can be implemented by multiple devices. Accordingly, FIG. 11 is merely an illustration of an exemplary computing device that can be used to implement one or more embodiments of the present disclosure and does not limit the present disclosure in any way.

[0166] Controller 118 can include or interact with various computer-readable media. For example, the computer-readable media can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical or holographic media, magnetic cassettes, magnetic tapes, magnetic disk storage devices, or other magnetic storage devices that can be used to encode information and can be accessed by controller 118.

[0167] Memory 1112 can include a computer storage medium in the form of volatile or non-volatile memory. Memory 1112 can be removable, non-removable, or any combination thereof. Exemplary hardware devices are devices such as hard drives, solid state memories, optical disk drives, and the like. Controller 118 can include one or more processors that read data from components such as memory 1112, various I / O components 1116, and the like. Presentation component 1116 presents data indications to a user or other device. Exemplary presentation components include display devices, speakers, printing components, vibration components, and the like.

[0168] I / O port 1118 can enable controller 118 to be logically coupled to other devices such as I / O component 1120. Some of I / O components 1120 can be built into controller 118. Examples of such I / O components 1120 include microphones, joysticks, recording devices, game pads, satellite television receiving antennas, scanners, printers, wireless devices, networking devices, and the like.

[0169] Non-limiting embodiments of the present disclosure are described in the following appendices.

[0170] 1. A system, the system comprising: a chuck configured to receive a sample block; a blade having a blade surface configured to remove a tissue section from the sample block, the chuck being movable relative to the blade surface of the blade; at least one sensor configured to sense a front surface of the sample block; a control system configured to receive a measurement from the at least one sensor, identify a geometry of the front surface from the measurement, identify an alignment of the front surface relative to the blade surface of the blade based on the geometry, and move the chuck or the blade relative to each other to align the front surface relative to the blade surface.

[0171] 2. The system according to appendix 1, wherein at least one sensor is stationary.

[0172] 3. The system according to appendix 1 or appendix 2, wherein the control system is further configured to move a chuck or a blade relative to each other to slice a sample block.

[0173] 4. The system according to any one of appendices 1 - 3, wherein the control system is configured to move a chuck or a blade relative to each other to slice a sample block after aligning the front face with respect to the blade surface.

[0174] 5. The chuck is configured to move along a first degree of freedom and a second degree of freedom, the first degree of freedom is along the X - axis for aligning the front face with respect to the blade surface, and the second degree of freedom is along the Z - axis for enabling the blade to slice the sample block. The system according to any one of appendices 1 - 4.

[0175] 6. The chuck is configured to move along three degrees of freedom. The system according to any one of appendices 1 - 5.

[0176] 7. The blade and at least one sensor are stationary relative to each other. The system according to any one of appendices 1 - 6.

[0177] 8. Identifying a geometric shape includes identifying the orientation of the front face with respect to the blade surface from measurement values. The system according to any one of appendices 1 - 7.

[0178] 9. Identifying a geometric shape includes identifying the topography of the front face from measurement values. The system according to any one of appendices 1 - 8.

[0179] 10. Identifying a geometric shape includes identifying the orientation of the front face relative to the blade surface from the measurement values and identifying the topography of the front face from the measurement values, the system according to any one of appendices 1-9.

[0180] 11. At least one sensor is an axial sensor, and the axial sensor is configured to sense the distance between the axial sensor and the front face at a plurality of positions of the sample block, the system according to any one of appendices 1-10.

[0181] 12. At least one sensor is a plurality of axial sensors configured to sense their respective distances to the front face, the system according to any one of appendices 1-11.

[0182] 13. At least one sensor is a lateral sensor, and the lateral sensor is configured to sense the intersection of the signal generated by the lateral sensor and the front face at a plurality of positions of the sample block, the system according to any one of appendices 1-12.

[0183] 14. At least one sensor is a plurality of lateral sensors, and the plurality of lateral sensors are configured to sense the intersections of the signals generated by their respective lateral sensors and the front face, the system according to any one of appendices 1-13.

[0184] 15. At least one sensor is a plurality of cameras configured to capture one or more images of the front face, the system according to any one of appendices 1-14.

[0185] 16. At least one sensor is a plurality of sensors configured to generate a measurement grid and detect a plurality of intersections of the measurement grid and the front face, the system according to any one of appendices 1-15.

[0186] 17. At least one sensor is a position sensor and a motor sensor, the position sensor is configured to identify a plurality of positions of a chuck that holds a sample block, and the motor sensor is configured to identify the power consumption of a motor that moves the chuck at each of the plurality of positions, the system according to any one of appended claims 1-16.

[0187] 18. At least one sensor is a position sensor and a force sensor, the position sensor is configured to identify a plurality of positions of a chuck that holds a sample block, and the force sensor is configured to identify the force between the front surface and the blade surface at each of the plurality of positions, the system according to any one of appended claims 1-17.

[0188] 19. At least one sensor is a position sensor and a conductivity sensor, the position sensor is configured to identify a plurality of positions of a chuck that holds a sample block, and the conductivity sensor is configured to identify the conductivity on the blade surface at each of the plurality of positions of the chuck that holds the sample block, the system according to any one of appended claims 1-18.

[0189] 20. Moving the chuck or the blade relative to each other and aligning the front surface with respect to the blade surface includes positioning the front surface parallel to the blade surface, the system according to any one of appended claims 1-19.

[0190] 21. Moving the chuck or the blade relative to each other and aligning the front surface with respect to the blade surface includes shaving off one or more protrusions from the front surface to flatten the front surface, the system according to any one of appended claims 1-20.

[0191] 22. Moving the chuck or the blade relative to each other and aligning the front surface with respect to the blade surface includes shaving off one or more protrusions from the front surface to flatten the front surface and positioning the front surface parallel to the blade surface, the system according to any one of appended claims 1-21.

[0192] 23. A system according to any one of appendices 1-22, wherein identifying the alignment of the front face with respect to the blade surface based on the geometric shape includes determining whether the alignment exceeds a predetermined threshold or is outside the nominal range.

[0193] 24. A system according to any one of appendices 1-23, wherein the control system is further configured to output an alert to the user to manually correct the alignment of the front face with respect to the blade surface.

[0194] 25. A system comprising at least one sensor configured to sense data regarding the alignment of the front face of a sample block and the blade surface of a blade configured to remove a tissue section from the sample block, a controller in communication with the at least one sensor, receiving data from the at least one sensor, identifying the geometric shape of the front face from the data, identifying the alignment of the front face with respect to the blade surface of the blade based on the geometric shape, and configured to move the chuck or the blade holding the sample block relative to each other to align the front face with respect to the blade surface.

[0195] 26. A system according to appendix 25, wherein the at least one sensor is stationary.

[0196] 27. A system according to appendix 25 or appendix 26, wherein the controller is further configured to move the chuck or the blade relative to each other to slice the sample block.

[0197] 28. A system according to any one of appendices 25-27, wherein the controller is further configured to move the chuck or the blade relative to each other to slice the sample block after aligning the front face with respect to the blade surface.

[0198] 29. The chuck is configured to move along a first degree of freedom and a second degree of freedom, the first degree of freedom being along the X-axis for aligning the front face with respect to the blade surface, and the second degree of freedom being along the Z-axis to enable the blade to slice the sample block, the system according to any one of appended claims 25-28.

[0199] 30. The chuck is configured to move along three degrees of freedom, the system according to any one of appended claims 25-29.

[0200] 31. The blade and at least one sensor are stationary relative to each other, the system according to any one of appended claims 25-30.

[0201] 32. Identifying the geometry includes identifying the orientation of the front face with respect to the blade surface from the data, the system according to any one of appended claims 25-31.

[0202] 33. Identifying the geometry includes identifying the topography of the front face from the data, the system according to any one of appended claims 25-32.

[0203] 34. Identifying the geometry includes identifying the orientation of the front face with respect to the blade surface from the data and identifying the topography of the front face from the data, the system according to any one of appended claims 25-33.

[0204] 35. At least one sensor is an axial sensor, the axial sensor being configured to sense the distance between the axial sensor and the front face at a plurality of positions of the sample block, the system according to any one of appended claims 25-34.

[0205] 36. At least one sensor is a plurality of axial sensors configured to sense their respective distances to the front face, the system according to any one of appended claims 25-35.

[0206] 37. At least one sensor is a side sensor, and the side sensor is configured to sense an intersection of a signal generated by the side sensor and the front surface at a plurality of positions of the sample block, the system according to any one of appendices 25 - 36.

[0207] 38. At least one sensor is a plurality of side sensors, and the plurality of side sensors are each configured to sense an intersection of a signal generated by the respective side sensor and the front surface, the system according to any one of appendices 25 - 37.

[0208] 39. At least one sensor is a plurality of cameras configured to capture one or more images of the front surface, the system according to any one of appendices 25 - 38.

[0209] 40. At least one sensor is a plurality of sensors configured to generate a measurement grid and detect a plurality of intersections of the measurement grid and the front surface, the system according to any one of appendices 25 - 39.

[0210] 41. At least one sensor is a position sensor and a motor sensor, the position sensor is configured to identify a plurality of positions of a chuck that holds the sample block, and the motor sensor is configured to identify power consumption of a motor that moves the chuck at each of the plurality of positions, the system according to any one of appendices 25 - 40.

[0211] 42. At least one sensor is a position sensor and a force sensor, the position sensor is configured to identify a plurality of positions of a chuck that holds the sample block, and the force sensor is configured to identify a force between the front surface and the blade surface at each of the plurality of positions, the system according to any one of appendices 25 - 41.

[0212] 43. At least one sensor is a position sensor and a conductivity sensor. The position sensor is configured to identify a plurality of positions of a chuck that holds a sample block, and the conductivity sensor is configured to identify the conductivity on the blade surface at each of the plurality of positions of the chuck that holds the sample block. The system according to any one of appended claims 25 - 42.

[0213] 44. Moving the chuck or the blade relative to each other and aligning the front face with respect to the blade surface includes positioning the front face parallel to the blade surface. The system according to any one of appended claims 25 - 43.

[0214] 45. Moving the chuck or the blade relative to each other and aligning the front face with respect to the blade surface includes removing one or more protrusions from the front face to flatten the front face. The system according to any one of appended claims 25 - 44.

[0215] 46. Moving the chuck or the blade relative to each other and aligning the front face with respect to the blade surface includes removing one or more protrusions from the front face to flatten the front face and positioning the front face parallel to the blade surface. The system according to any one of appended claims 25 - 45.

[0216] 47. Identifying the alignment of the front face with respect to the blade surface based on the geometry includes determining whether the alignment exceeds a predetermined threshold or is outside a nominal range. The system according to any one of appended claims 25 - 46.

[0217] 48. The controller is further configured to output an alert to the user to manually correct the alignment of the front face with respect to the blade surface. The system according to any one of appended claims 25 - 47.

[0218] 49. A method, the method comprising: using at least one sensor to sense data regarding the front surface of a sample block, wherein the sample block is received within a chuck, and the chuck is movable relative to a blade surface of a blade configured to remove a tissue section from the sample block; transmitting the sensed data to a controller by the at least one sensor; identifying a front geometry from the sensed data by the controller; identifying an alignment of the front surface relative to the blade surface based on the geometry by the controller; and moving the chuck or the blade relative to each other to align the front surface relative to the blade surface.

[0219] 50. The method according to appendix 49, further comprising moving the chuck or the blade relative to each other by the controller to slice the sample block.

[0220] 51. The method according to appendix 49 or appendix 50, further comprising moving the chuck or the blade relative to each other by the controller to slice the sample block after aligning the front surface relative to the blade surface by the controller.

[0221] 52. The method according to any one of appendices 49-51, wherein identifying the geometry comprises identifying an orientation of the front surface relative to the blade surface from the sensed data.

[0222] 53. The method according to any one of appendices 49-52, wherein identifying the geometry comprises identifying a topography of the front surface from the sensed data.

[0223] 54. The method according to any one of appendices 49-53, wherein identifying the geometry comprises identifying an orientation of the front surface relative to the blade surface from the sensed data and identifying a topography of the front surface from the sensed data.

[0224] 55. At least one sensor is an axial sensor, and sensing data regarding the front face includes sensing the distance between the axial sensor and the front face at a plurality of positions of the sample block, according to any one of appended claims 49 - 54.

[0225] 56. At least one sensor is a plurality of axial sensors, and sensing data regarding the front face includes sensing the respective distances between the plurality of axial sensors and the front face, according to any one of appended claims 49 - 55.

[0226] 57. At least one sensor is a lateral sensor, and sensing data regarding the front face includes sensing the intersection points between the signals generated by the lateral sensor and the front face at a plurality of positions of the sample block, according to any one of appended claims 49 - 56.

[0227] 58. At least one sensor is a plurality of lateral sensors, and sensing data regarding the front face includes sensing the respective intersection points between the respective signals generated by the plurality of lateral sensors and the front face, according to any one of appended claims 49 - 57.

[0228] 59. At least one sensor is a plurality of cameras, and sensing data regarding the front face includes capturing one or more images of the front face using the plurality of cameras, according to any one of appended claims 49 - 58.

[0229] 60. At least one sensor is a plurality of sensors, and sensing data regarding the front face includes generating a measurement grid using the plurality of sensors and detecting a plurality of intersection points between the measurement grid and the front face, according to any one of appended claims 49 - 59.

[0230] 61. At least one sensor is a position sensor and a motor sensor, and sensing data regarding the front surface includes identifying, using the position sensor, a plurality of positions of a chuck that holds a sample block, and identifying, using the motor sensor, the power consumption of a motor that moves the chuck at each of the plurality of positions, according to any one of appendices 49 - 60.

[0231] 62. At least one sensor is a position sensor and a force sensor, and sensing data regarding the front surface includes identifying, using the position sensor, a plurality of positions of a chuck that holds a sample block, and identifying, using the force sensor, the force between the front surface and the blade surface at each of the plurality of positions, according to any one of appendices 49 - 61.

[0232] 63. At least one sensor is a position sensor and a conductivity sensor, and sensing data regarding the front surface includes identifying, using the position sensor, a plurality of positions of a chuck that holds a sample block, and identifying, using the conductivity sensor, the conductivity on the blade surface at each of the plurality of positions of the chuck that holds the sample block, according to any one of appendices 49 - 62.

[0233] 64. Moving the chuck or the blade relative to each other to align the front surface with the blade surface includes positioning the front surface parallel to the blade surface, according to any one of appendices 49 - 63.

[0234] 65. Moving the chuck or the blade relative to each other to align the front surface with the blade surface includes shaving off one or more protrusions from the front surface to flatten the front surface, according to any one of appendices 49 - 64.

[0235] 66. Moving the chuck or blade relative to each other and aligning the front face with respect to the blade surface includes shaving off one or more protrusions from the front face and positioning the front face parallel to the blade surface to flatten the front face, the method according to any one of appended claims 49 - 65.

[0236] 67. Identifying the alignment of the front face with respect to the blade surface from the sensed data includes determining whether the alignment exceeds a predetermined threshold or is outside a nominal range, the method according to any one of appended claims 49 - 66.

[0237] 68. Further including outputting an alert to the user by the controller to manually correct the alignment of the front face with respect to the blade surface, the method according to any one of appended claims 49 - 67.

[0238] 69. A method, the method comprising receiving, by the controller, data sensed using at least one sensor, the data relating to the alignment of the front face of a sample block received in the chuck and the blade surface of a blade configured to remove a tissue section from the sample block, and identifying, by the controller, the geometry of the front face from the data, and identifying, by the controller, the alignment of the front face with respect to the blade surface of the blade based on the geometry, and moving the chuck or blade relative to each other to align the front face with respect to the blade surface.

[0239] 70. Further including moving the chuck or blade relative to each other by the controller to slice the sample block, the method according to appended claim 69.

[0240] 71. Further including moving the chuck or blade relative to each other by the controller to slice the sample block after aligning the front face with respect to the blade surface, the method according to appended claim 69 or appended claim 70.

[0241] 72. Identifying a geometric shape includes identifying, from the data, the orientation of the front face relative to the blade surface, the method according to any one of appended claims 69-71.

[0242] 73. Identifying a geometric shape includes identifying, from the data, the topography of the front face, the method according to any one of appended claims 69-72.

[0243] 74. Identifying a geometric shape includes identifying, from the data, the orientation of the front face relative to the blade surface and identifying, from the data, the topography of the front face, the method according to any one of appended claims 69-73.

[0244] 75. Moving the chuck or blade relative to each other to align the front face with respect to the blade surface includes positioning the front face parallel to the blade surface, the method according to any one of appended claims 69-74.

[0245] 76. Moving the chuck or blade relative to each other to align the front face with respect to the blade surface includes removing one or more protrusions from the front face to flatten the front face, the method according to any one of appended claims 69-75.

[0246] 77. Moving the chuck or blade relative to each other to align the front face with respect to the blade surface includes removing one or more protrusions from the front face to flatten the front face and positioning the front face parallel to the blade surface, the method according to any one of appended claims 69-76.

[0247] 78. Identifying the alignment of the front face with respect to the blade surface from the data includes determining whether the alignment exceeds a predetermined threshold or is outside a nominal range, the method according to any one of appended claims 69-77.

[0248] The method according to any one of appended claims 69 - 78, further comprising outputting an alert to the user to manually correct the alignment of the front face with respect to the blade surface by the controller.

[0249] Numerous modifications and alternative embodiments of the present disclosure will be apparent to those skilled in the art in view of the foregoing description. Accordingly, this description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the best mode for carrying out the present disclosure. The details of the structure may vary substantially without departing from the spirit of the present disclosure, and exclusive use of all modifications falling within the scope of the appended claims is reserved. In this specification, embodiments are described in a manner that enables a clear and concise specification to be written, but it is intended that the embodiments can be variously combined or separated without departing from the scope of the present disclosure and should be understood as such. It is intended that the present disclosure be limited only to the extent required by the appended claims and applicable laws.

[0250] As used herein, the terms "comprise" and "comprising" are intended to be construed as being non-exclusive and inclusive. As used herein, the terms "exemplary", "example", and "illustrative" are intended to mean "serving as an example, instance, or illustration", and should not be construed as indicating a preferred or advantageous configuration over other configurations, or as indicating or not indicating such. As used herein, the terms "about", "generally", and "approximately" are intended to cover variations that may exist in the upper and lower limits of the range of subjective or objective values, such as variations in properties, parameters, sizes, and dimensions. In one non-limiting example, the terms "about", "generally", and "approximately" mean within 10 percent or +10 percent or less, or -10 percent or less. In one non-limiting example, the terms "about", "generally", and "approximately" mean close enough to be considered included by one of ordinary skill in the art. As used herein, the term "substantially" refers to the full or nearly full extent or degree of an action, characteristic, property, state, structure, item, or result, as would be understood by one of ordinary skill in the art. For example, an object that is "substantially" circular means that the object is either completely circular up to a mathematically determinable limit or is approximately circular as would be recognized or understood by one of ordinary skill in the art. The exact allowable degree of deviation from absolute completeness may, in some instances, depend on the specific context. However, generally, being nearly complete would be such as to have the same overall result as when absolute and total completeness is achieved or obtained. The use of "substantially" is equally applicable when used in a negative sense to refer to the complete or nearly complete absence of an action, characteristic, property, state, structure, item, or result, as would be understood by one of ordinary skill in the art. The use of the term "X or Y" herein should be construed as meaning either individually "X" or "Y", or both "X and Y" together.

[0251] Numerous modifications and alternative embodiments of the present disclosure will be apparent to those skilled in the art in view of the foregoing description. Accordingly, this description is to be construed only as illustrative and is for the purpose of teaching those skilled in the art the best mode for carrying out the present disclosure. The details of the structure may vary substantially without departing from the spirit of the present disclosure, and exclusive use of all modifications falling within the scope of the appended claims is reserved. In this specification, embodiments are described in a manner that enables a clear and concise specification to be written, but it is intended that the embodiments can be variously combined or separated without departing from the present disclosure, and should be understood as such. It is intended that the present disclosure be limited only to the extent required by the appended claims and applicable laws.

[0252] It should also be understood that the following claims contain all of the general and specific features of the disclosure described herein, and all of the language that may be considered to fall therebetween as a matter of language, of the scope of the present disclosure.

Claims

1. A system, wherein the system is A chuck configured to receive a sample block, A blade having a blade surface configured to remove tissue sections from the sample block, wherein the chuck is movable relative to the blade surface of the blade, At least one sensor configured to sense the front surface of the sample block, Control system and Equipped with, The control system is Receiving measurement values ​​from at least one of the aforementioned sensors, From the aforementioned measurement values, the geometric shape of the front surface can be identified, Based on the geometric shape, the alignment of the front surface of the blade with respect to the blade surface is identified. A system configured to perform the following actions.

2. The system according to claim 1, wherein at least one of the sensors is stationary.

3. The system according to claim 1 or 2, wherein the control system is further configured to move the chuck or the blade relative to each other in order to align the front surface with respect to the blade surface.

4. The system according to claim 3, wherein the control system is configured to align the front surface with respect to the blade surface and then move the sample block relative to the chuck or the blade in order to section the sample block.

5. The system according to claim 1, wherein the chuck is configured to move along a first degree of freedom and a second degree of freedom, the first degree of freedom being along the X-axis for aligning the front surface with respect to the blade surface, and the second degree of freedom being along the Z-axis for enabling the blade to section the sample block.

6. The system according to claim 1, wherein the chuck is configured to move along three degrees of freedom.

7. The system according to claim 1, wherein the blade and the at least one sensor are stationary relative to each other.

8. The system according to claim 1, wherein identifying the geometric shape includes identifying the orientation of the front surface relative to the blade surface from the measured values.

9. The system according to claim 1, wherein identifying the geometric shape includes identifying the front topography from the measured values.

10. Identifying the aforementioned geometric shape is From the measured values, the orientation of the front surface relative to the blade surface is identified, From the above measurement values, the topography of the front surface can be identified. The system according to claim 1, including the following:

11. The system according to claim 1, wherein the at least one sensor is an axial sensor, and the axial sensor is configured to sense the distance between the axial sensor and the front surface at a plurality of positions on the sample block.

12. The system according to claim 1, wherein the at least one sensor is a plurality of axial sensors, and each of the plurality of axial sensors is configured to sense the respective distance to the front surface.

13. The system according to claim 1, wherein the at least one sensor is a lateral sensor, and the lateral sensor is configured to sense the intersection of a signal generated by the lateral sensor and the front surface at a plurality of locations on the sample block.

14. The system according to claim 1, wherein the at least one sensor is a plurality of lateral sensors, each of which is configured to sense the intersection of the signal generated by the respective lateral sensor and the front surface.

15. The system according to claim 1, wherein the at least one sensor is a plurality of cameras, each of which is configured to capture one or more images of the front surface.

16. The system according to claim 1, wherein the at least one sensor is a plurality of sensors configured to generate a measurement grid and to detect a plurality of intersections between the measurement grid and the front surface.

17. The system according to claim 1, wherein the at least one sensor is a position sensor and a motor sensor, the position sensor is configured to identify a plurality of positions of the chuck holding the sample block, and the motor sensor is configured to identify the power usage of a motor that moves the chuck at each of the plurality of positions.

18. The system according to claim 1, wherein the at least one sensor is a position sensor and a force sensor, the position sensor is configured to identify a plurality of positions of the chuck holding the sample block, and the force sensor is configured to identify the force between the front surface and the blade surface at each of the plurality of positions.

19. The system according to claim 1, wherein the at least one sensor is a position sensor and a conductivity sensor, the position sensor is configured to identify a plurality of positions of the chuck holding the sample block, and the conductivity sensor is configured to identify the conductivity on the blade surface at each of the plurality of positions of the chuck holding the sample block.

20. The system according to claim 3, wherein moving the chuck or the blade relative to each other and aligning the front surface with respect to the blade surface includes positioning the front surface parallel to the blade surface.

21. The system according to claim 3, wherein moving the chuck or the blade relative to each other and aligning the front surface with respect to the blade surface includes grinding off one or more protrusions from the front surface in order to flatten the front surface.

22. Moving the chuck or the blade relative to each other and aligning the front surface with respect to the blade surface is, In order to make the aforementioned front surface flat, one or more protrusions are removed from the aforementioned front surface, Positioning the front surface parallel to the blade surface The system according to claim 3, including the system described in claim 3.

23. The system according to claim 1, wherein identifying the alignment of the front surface with respect to the blade surface based on the geometric shape includes determining whether the alignment exceeds a predetermined threshold or is outside a nominal range.

24. The system according to claim 1, further configured to output an alert to the user in order to manually correct the alignment of the front surface with respect to the blade surface.

25. A system, wherein the system is At least one sensor configured to sense data relating to the alignment between the front surface of a sample block and the blade surface of a blade, wherein the blade surface of the blade is At least one sensor configured to remove tissue sections from the sample block, A controller that communicates with the at least one sensor and Equipped with, The aforementioned controller, Receiving data from at least one of the aforementioned sensors, From the aforementioned data, the geometric shape of the front surface can be identified, Based on the geometric shape, the alignment of the front surface of the blade with respect to the blade surface is identified, The chuck or blade holding the sample block moves relative to each other, and the front surface is aligned with the blade surface. A system configured to perform the following actions.

26. A method, wherein the said method is The method involves sensing data relating to the front surface of a sample block using at least one sensor, wherein the sample block is received in a chuck, and the chuck is movable relative to the blade surface of a blade configured to remove tissue sections from the sample block. The data sensed by at least one of the sensors is transmitted to the controller. The controller identifies the geometric shape of the front surface from the sensed data, The controller identifies the alignment of the front surface of the blade with respect to the blade surface based on the geometric shape, The chuck or the blade moves relative to each other, and the front surface is aligned with the blade surface. Methods that include...

27. A method, wherein the said method is The controller receives data sensed by at least one sensor, the data relating to the alignment of the front surface of the sample block received in the chuck with the blade surface of the blade, and the blade surface of the blade is configured to remove tissue sections from the sample block. The controller identifies the geometric shape of the front surface from the data, The controller identifies the alignment of the front surface of the blade relative to the blade surface based on the geometric shape, The chuck or the blade moves relative to each other, and the front surface is aligned with the blade surface. Methods that include...

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